Diff of the two buildlogs:

--
--- b1/build.log	2025-10-30 19:09:29.233426150 +0000
+++ b2/build.log	2025-10-30 19:11:50.793625257 +0000
@@ -1,8 +1,2550 @@
 I: pbuilder: network access will be disabled during build
-I: Current time: Thu Oct 30 07:05:49 -12 2025
-I: pbuilder-time-stamp: 1761851149
+I: Current time: Fri Oct 31 09:09:34 +14 2025
+I: pbuilder-time-stamp: 1761851374
 I: Building the build Environment
 I: extracting base tarball [/var/cache/pbuilder/forky-reproducible-base.tgz]
+tar: ./build: time stamp 2026-11-29 07:50:53 is 34036873.237839554 s in the future
+tar: ./dev/ptmx: time stamp 2026-11-29 07:46:28 is 34036608.237606635 s in the future
+tar: ./dev/zero: time stamp 2026-11-29 07:46:28 is 34036608.237472989 s in the future
+tar: ./dev/null: time stamp 2026-11-29 07:46:28 is 34036608.237412469 s in the future
+tar: ./dev/console: time stamp 2026-11-29 07:46:28 is 34036608.237327282 s in the future
+tar: ./dev/random: time stamp 2026-11-29 07:46:28 is 34036608.237273268 s in the future
+tar: ./dev/full: time stamp 2026-11-29 07:46:28 is 34036608.237224247 s in the future
+tar: ./dev/pts: time stamp 2026-11-29 07:46:28 is 34036608.237148925 s in the future
+tar: ./dev/tty: time stamp 2026-11-29 07:46:28 is 34036608.237069296 s in the future
+tar: ./dev/urandom: time stamp 2026-11-29 07:46:28 is 34036608.23701944 s in the future
+tar: ./etc/terminfo: time stamp 2026-11-29 07:46:38 is 34036618.236655305 s in the future
+tar: ./etc/opt: time stamp 2026-11-29 07:46:28 is 34036608.233063577 s in the future
+tar: ./etc/security/opasswd: time stamp 2026-11-29 07:46:40 is 34036620.23215398 s in the future
+tar: ./etc/security: time stamp 2026-11-29 07:46:40 is 34036620.231643334 s in the future
+tar: ./etc/shadow: time stamp 2026-11-29 07:51:36 is 34036916.230669955 s in the future
+tar: ./etc/cron.daily: time stamp 2026-11-30 23:31:29 is 34179709.230346672 s in the future
+tar: ./etc/apt/apt.conf.d/80proxy: time stamp 2026-11-29 07:52:40 is 34036980.229713456 s in the future
+tar: ./etc/apt/apt.conf.d/15pbuilder: time stamp 2026-11-29 07:50:53 is 34036873.229582979 s in the future
+tar: ./etc/apt/apt.conf.d: time stamp 2026-11-30 23:31:29 is 34179709.228396982 s in the future
+tar: ./etc/apt/sources.list: time stamp 2026-11-29 07:52:40 is 34036980.228174199 s in the future
+tar: ./etc/apt/trusted.gpg.d: time stamp 2026-11-29 07:50:07 is 34036827.22620956 s in the future
+tar: ./etc/apt: time stamp 2026-11-29 07:52:40 is 34036980.226035082 s in the future
+tar: ./etc/fstab: time stamp 2026-11-29 07:46:28 is 34036608.225896876 s in the future
+tar: ./etc/update-motd.d: time stamp 2026-11-29 07:46:39 is 34036619.225183175 s in the future
+tar: ./etc/ld.so.conf.d: time stamp 2026-11-29 07:52:00 is 34036940.224758015 s in the future
+tar: ./etc/gshadow: time stamp 2026-11-29 07:51:36 is 34036916.224516021 s in the future
+tar: ./etc/shells: time stamp 2026-11-29 07:46:39 is 34036619.224352958 s in the future
+tar: ./etc/default: time stamp 2026-11-29 07:51:35 is 34036915.223932405 s in the future
+tar: ./etc/group: time stamp 2026-11-29 07:51:36 is 34036916.223794043 s in the future
+tar: ./etc/ld.so.cache: time stamp 2026-12-02 23:31:27 is 34352507.223589778 s in the future
+tar: ./etc/.pwd.lock: time stamp 2026-11-29 07:51:36 is 34036916.223476038 s in the future
+tar: ./etc/skel: time stamp 2026-11-29 07:46:39 is 34036619.223254766 s in the future
+tar: ./etc/group-: time stamp 2026-11-29 07:46:28 is 34036608.223143928 s in the future
+tar: ./etc/subuid: time stamp 2026-11-29 07:46:28 is 34036608.223094769 s in the future
+tar: ./etc/logrotate.d: time stamp 2026-11-30 23:31:29 is 34179709.222347237 s in the future
+tar: ./etc/pam.d/common-session: time stamp 2026-11-29 07:46:40 is 34036620.222190322 s in the future
+tar: ./etc/pam.d/common-password: time stamp 2026-11-29 07:46:40 is 34036620.222079268 s in the future
+tar: ./etc/pam.d/common-account: time stamp 2026-11-29 07:46:40 is 34036620.218211885 s in the future
+tar: ./etc/pam.d/common-session-noninteractive: time stamp 2026-11-29 07:46:40 is 34036620.217995987 s in the future
+tar: ./etc/pam.d/common-auth: time stamp 2026-11-29 07:46:40 is 34036620.217812335 s in the future
+tar: ./etc/pam.d: time stamp 2026-12-02 20:29:29 is 34341589.217451762 s in the future
+tar: ./etc/subgid: time stamp 2026-11-29 07:46:28 is 34036608.216926946 s in the future
+tar: ./etc/passwd-: time stamp 2026-11-29 07:46:28 is 34036608.216718001 s in the future
+tar: ./etc/environment: time stamp 2026-11-29 07:46:40 is 34036620.216330719 s in the future
+tar: ./etc/perl/Net: time stamp 2026-11-29 07:50:24 is 34036844.215318072 s in the future
+tar: ./etc/perl: time stamp 2026-11-29 07:50:02 is 34036822.215215956 s in the future
+tar: ./etc/selinux: time stamp 2026-11-29 07:51:27 is 34036907.214959609 s in the future
+tar: ./etc/kernel: time stamp 2026-11-29 07:46:41 is 34036621.214770947 s in the future
+tar: ./etc/passwd: time stamp 2026-11-29 07:51:36 is 34036916.214605844 s in the future
+tar: ./etc/dpkg/origins/default: time stamp 2026-11-29 07:46:28 is 34036608.214200299 s in the future
+tar: ./etc/dpkg/origins: time stamp 2026-11-29 07:46:39 is 34036619.21403602 s in the future
+tar: ./etc/dpkg/dpkg.cfg.d/02speedup: time stamp 2026-11-29 07:52:40 is 34036980.213703887 s in the future
+tar: ./etc/dpkg/dpkg.cfg.d: time stamp 2026-11-29 07:52:40 is 34036980.213479674 s in the future
+tar: ./etc/dpkg: time stamp 2026-11-29 07:50:27 is 34036847.213410469 s in the future
+tar: ./media: time stamp 2026-11-29 07:46:28 is 34036608.213047674 s in the future
+tar: ./mnt: time stamp 2026-11-29 07:46:28 is 34036608.212909599 s in the future
+tar: ./opt: time stamp 2026-11-29 07:46:28 is 34036608.212779234 s in the future
+tar: ./root: time stamp 2026-11-29 07:46:28 is 34036608.21247835 s in the future
+tar: ./run/lock: time stamp 2026-11-29 07:46:28 is 34036608.212264738 s in the future
+tar: ./srv: time stamp 2026-11-29 07:46:28 is 34036608.212095233 s in the future
+tar: ./usr/share/base-passwd: time stamp 2026-11-29 07:46:31 is 34036611.211631742 s in the future
+tar: ./usr/share/terminfo/a: time stamp 2026-11-29 07:46:37 is 34036617.211398226 s in the future
+tar: ./usr/share/terminfo/p: time stamp 2026-11-29 07:46:37 is 34036617.211209218 s in the future
+tar: ./usr/share/terminfo/E: time stamp 2026-11-29 07:46:37 is 34036617.210963931 s in the future
+tar: ./usr/share/terminfo/s: time stamp 2026-11-29 07:46:37 is 34036617.210398536 s in the future
+tar: ./usr/share/terminfo/h: time stamp 2026-11-29 07:46:37 is 34036617.210203823 s in the future
+tar: ./usr/share/terminfo/d: time stamp 2026-11-29 07:46:37 is 34036617.210027058 s in the future
+tar: ./usr/share/terminfo/l: time stamp 2026-11-29 07:46:37 is 34036617.209831649 s in the future
+tar: ./usr/share/terminfo/m: time stamp 2026-11-29 07:46:37 is 34036617.209439159 s in the future
+tar: ./usr/share/terminfo/c: time stamp 2026-11-29 07:46:37 is 34036617.209206822 s in the future
+tar: ./usr/share/terminfo/v: time stamp 2026-11-29 07:46:37 is 34036617.208861943 s in the future
+tar: ./usr/share/terminfo/w: time stamp 2026-11-29 07:46:37 is 34036617.208624103 s in the future
+tar: ./usr/share/terminfo/x: time stamp 2026-11-29 07:46:37 is 34036617.208025468 s in the future
+tar: ./usr/share/terminfo/t: time stamp 2026-11-29 07:46:37 is 34036617.207541011 s in the future
+tar: ./usr/share/terminfo/r: time stamp 2026-11-29 07:46:37 is 34036617.207146334 s in the future
+tar: ./usr/share/gdb/auto-load/usr/lib/x86_64-linux-gnu: time stamp 2026-12-02 23:31:17 is 34352497.206743361 s in the future
+tar: ./usr/share/gdb/auto-load/usr/lib: time stamp 2026-11-29 07:47:59 is 34036699.206636875 s in the future
+tar: ./usr/share/gdb/auto-load/usr: time stamp 2026-11-29 07:47:59 is 34036699.206575227 s in the future
+tar: ./usr/share/gdb/auto-load/lib/x86_64-linux-gnu: time stamp 2026-11-29 07:47:28 is 34036668.206304597 s in the future
+tar: ./usr/share/gdb/auto-load/lib: time stamp 2026-11-29 07:47:28 is 34036668.206222386 s in the future
+tar: ./usr/share/gdb/auto-load: time stamp 2026-11-29 07:47:59 is 34036699.206162707 s in the future
+tar: ./usr/share/gdb: time stamp 2026-11-29 07:47:28 is 34036668.206107276 s in the future
+tar: ./usr/share/info: time stamp 2026-11-29 07:46:38 is 34036618.198985987 s in the future
+tar: ./usr/share/build-essential: time stamp 2026-11-29 07:46:42 is 34036622.198699934 s in the future
+tar: ./usr/share/libc-bin: time stamp 2026-11-29 07:46:34 is 34036614.198484965 s in the future
+tar: ./usr/share/zsh/vendor-completions: time stamp 2026-11-29 07:50:05 is 34036825.198214716 s in the future
+tar: ./usr/share/zsh: time stamp 2026-11-29 07:46:47 is 34036627.198133975 s in the future
+tar: ./usr/share/apt: time stamp 2026-11-30 23:31:29 is 34179709.197977455 s in the future
+tar: ./usr/share/man/fr/man7: time stamp 2026-11-30 23:31:29 is 34179709.197682213 s in the future
+tar: ./usr/share/man/fr/man5: time stamp 2026-11-30 23:31:29 is 34179709.180377341 s in the future
+tar: ./usr/share/man/fi/man1: time stamp 2026-11-29 07:51:34 is 34036914.179971992 s in the future
+tar: ./usr/share/man/id/man8: time stamp 2026-11-29 07:51:34 is 34036914.179200468 s in the future
+tar: ./usr/share/man/id/man1: time stamp 2026-11-29 07:51:34 is 34036914.179073665 s in the future
+tar: ./usr/share/man/id: time stamp 2026-11-29 07:51:34 is 34036914.179042145 s in the future
+tar: ./usr/share/man/uk/man8: time stamp 2026-11-29 07:51:34 is 34036914.178092625 s in the future
+tar: ./usr/share/man/uk/man1: time stamp 2026-11-29 07:51:34 is 34036914.177275042 s in the future
+tar: ./usr/share/man/uk/man5: time stamp 2026-11-29 07:51:34 is 34036914.176992331 s in the future
+tar: ./usr/share/man/uk: time stamp 2026-11-29 07:51:34 is 34036914.176959444 s in the future
+tar: ./usr/share/man/pt/man7: time stamp 2026-11-30 23:31:29 is 34179709.17670504 s in the future
+tar: ./usr/share/man/pt/man8: time stamp 2026-11-30 23:31:29 is 34179709.175522791 s in the future
+tar: ./usr/share/man/pt/man1: time stamp 2026-11-30 23:31:29 is 34179709.173358139 s in the future
+tar: ./usr/share/man/pt/man5: time stamp 2026-11-30 23:31:29 is 34179709.171505725 s in the future
+tar: ./usr/share/man/pt: time stamp 2026-11-29 07:46:41 is 34036621.171471312 s in the future
+tar: ./usr/share/man/sr/man1: time stamp 2026-11-29 07:50:06 is 34036826.170865177 s in the future
+tar: ./usr/share/man/sr: time stamp 2026-11-29 07:50:06 is 34036826.170831773 s in the future
+tar: ./usr/share/man/nl/man7: time stamp 2026-11-30 23:31:29 is 34179709.170559466 s in the future
+tar: ./usr/share/man/nl/man8: time stamp 2026-11-30 23:31:29 is 34179709.169629252 s in the future
+tar: ./usr/share/man/nl/man1: time stamp 2026-11-30 23:31:29 is 34179709.167274444 s in the future
+tar: ./usr/share/man/nl/man5: time stamp 2026-11-30 23:31:29 is 34179709.165426346 s in the future
+tar: ./usr/share/man/nl: time stamp 2026-11-29 07:46:41 is 34036621.165391052 s in the future
+tar: ./usr/share/man/zh_CN/man8: time stamp 2026-11-29 07:51:34 is 34036914.162901465 s in the future
+tar: ./usr/share/man/zh_CN/man1: time stamp 2026-11-29 07:51:34 is 34036914.162421689 s in the future
+tar: ./usr/share/man/zh_CN/man5: time stamp 2026-11-29 07:51:34 is 34036914.162139034 s in the future
+tar: ./usr/share/man/zh_CN: time stamp 2026-11-29 07:51:34 is 34036914.162107751 s in the future
+tar: ./usr/share/man/tr/man8: time stamp 2026-11-29 07:51:34 is 34036914.161621873 s in the future
+tar: ./usr/share/man/tr/man1: time stamp 2026-11-29 07:51:34 is 34036914.158655716 s in the future
+tar: ./usr/share/man/tr/man5: time stamp 2026-11-29 07:51:34 is 34036914.158434329 s in the future
+tar: ./usr/share/man/tr: time stamp 2026-11-29 07:51:34 is 34036914.158402678 s in the future
+tar: ./usr/share/man/hu/man1: time stamp 2026-11-29 07:51:34 is 34036914.157629467 s in the future
+tar: ./usr/share/man/hu/man5: time stamp 2026-11-29 07:51:34 is 34036914.157469114 s in the future
+tar: ./usr/share/man/hu: time stamp 2026-11-29 07:51:34 is 34036914.157439205 s in the future
+tar: ./usr/share/man/sv/man7: time stamp 2026-11-29 07:46:47 is 34036627.156921499 s in the future
+tar: ./usr/share/man/sv/man8: time stamp 2026-11-29 07:51:34 is 34036914.156064448 s in the future
+tar: ./usr/share/man/sv/man5: time stamp 2026-11-29 07:51:37 is 34036917.149632188 s in the future
+tar: ./usr/share/man/es/man5: time stamp 2026-11-30 23:31:29 is 34179709.148112264 s in the future
+tar: ./usr/share/man/ro/man8: time stamp 2026-11-29 07:51:37 is 34036917.147625037 s in the future
+tar: ./usr/share/man/ro/man1: time stamp 2026-11-29 07:51:45 is 34036925.146857456 s in the future
+tar: ./usr/share/man/ro/man5: time stamp 2026-11-29 07:51:37 is 34036917.146661304 s in the future
+tar: ./usr/share/man/ro: time stamp 2026-11-29 07:51:37 is 34036917.146629235 s in the future
+tar: ./usr/share/man/ko/man8: time stamp 2026-11-29 07:51:34 is 34036914.146416703 s in the future
+tar: ./usr/share/man/ko/man1: time stamp 2026-11-29 07:51:34 is 34036914.145826848 s in the future
+tar: ./usr/share/man/ko/man5: time stamp 2026-11-29 07:51:34 is 34036914.145692864 s in the future
+tar: ./usr/share/man/ko: time stamp 2026-11-29 07:51:34 is 34036914.145662523 s in the future
+tar: ./usr/share/man/de/man7: time stamp 2026-11-30 23:31:29 is 34179709.145396082 s in the future
+tar: ./usr/share/man/de/man5: time stamp 2026-11-30 23:31:29 is 34179709.13360031 s in the future
+tar: ./usr/share/man/zh_TW/man8: time stamp 2026-11-29 07:51:34 is 34036914.125695614 s in the future
+tar: ./usr/share/man/zh_TW/man1: time stamp 2026-11-29 07:51:34 is 34036914.125507981 s in the future
+tar: ./usr/share/man/zh_TW/man5: time stamp 2026-11-29 07:51:34 is 34036914.125379334 s in the future
+tar: ./usr/share/man/zh_TW: time stamp 2026-11-29 07:51:34 is 34036914.125350902 s in the future
+tar: ./usr/share/man/pl/man5: time stamp 2026-11-30 23:31:29 is 34179709.097490761 s in the future
+tar: ./usr/share/man/ja/man5: time stamp 2026-11-30 23:31:29 is 34179709.094853786 s in the future
+tar: ./usr/share/man/it/man5: time stamp 2026-11-30 23:31:29 is 34179709.089832144 s in the future
+tar: ./usr/share/man/man3: time stamp 2026-11-29 07:47:29 is 34036669.085088029 s in the future
+tar: ./usr/share/man/da/man8: time stamp 2026-11-29 07:51:34 is 34036914.08483213 s in the future
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+tar: ./usr/share/man/cs/man1: time stamp 2026-11-29 07:51:34 is 34036914.083992221 s in the future
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+tar: ./usr/share/man/man5: time stamp 2026-12-02 20:29:29 is 34341589.080738835 s in the future
+tar: ./usr/share/man/sl/man8: time stamp 2026-11-29 07:46:32 is 34036612.080386128 s in the future
+tar: ./usr/share/man/pt_BR/man8: time stamp 2026-11-29 07:51:34 is 34036914.079973828 s in the future
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+tar: ./usr/share/man/ru/man8: time stamp 2026-11-29 07:51:39 is 34036919.07463684 s in the future
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+tar: ./usr/share/util-linux/logcheck/ignore.d.server: time stamp 2026-12-02 20:29:28 is 34341588.073527902 s in the future
+tar: ./usr/share/keyrings: time stamp 2026-11-29 07:46:47 is 34036627.071382243 s in the future
+tar: ./usr/share/tabset: time stamp 2026-11-29 07:46:37 is 34036617.071061309 s in the future
+tar: ./usr/share/polkit-1/actions: time stamp 2026-11-29 07:46:32 is 34036612.070889692 s in the future
+tar: ./usr/share/pam: time stamp 2026-11-29 07:46:36 is 34036616.070301957 s in the future
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+tar: ./usr/share/debianutils: time stamp 2026-11-29 07:46:32 is 34036612.070010366 s in the future
+tar: ./usr/share/fish/completions: time stamp 2026-11-29 07:50:05 is 34036825.069859168 s in the future
+tar: ./usr/share/fish: time stamp 2026-11-29 07:50:05 is 34036825.069831773 s in the future
+tar: ./usr/share/common-licenses: time stamp 2026-11-29 07:46:31 is 34036611.067689007 s in the future
+tar: ./usr/share/menu: time stamp 2026-11-29 07:51:41 is 34036921.067464568 s in the future
+tar: ./usr/share/lintian/overrides: time stamp 2026-12-02 23:31:26 is 34352506.064323178 s in the future
+tar: ./usr/share/lintian/profiles/dpkg: time stamp 2026-11-29 07:46:32 is 34036612.064156558 s in the future
+tar: ./usr/share/lintian: time stamp 2026-11-29 07:46:27 is 34036607.064109425 s in the future
+tar: ./usr/share/locale/fr/LC_MESSAGES: time stamp 2026-11-30 23:31:29 is 34179709.029852987 s in the future
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+tar: ./usr/share/locale/id/LC_MESSAGES: time stamp 2026-11-30 05:29:45 is 34114804.993895363 s in the future
+tar: ./usr/share/locale/uk/LC_MESSAGES: time stamp 2026-11-30 23:31:29 is 34179708.963865291 s in the future
+tar: ./usr/share/locale/pt/LC_MESSAGES: time stamp 2026-11-30 23:31:29 is 34179708.935077495 s in the future
+tar: ./usr/share/locale/sr/LC_MESSAGES: time stamp 2026-11-30 05:29:45 is 34114804.912054868 s in the future
+tar: ./usr/share/locale/bn_IN/LC_MESSAGES: time stamp 2026-11-29 07:46:36 is 34036615.911577742 s in the future
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+tar: ./usr/share/locale/ml/LC_MESSAGES: time stamp 2026-11-29 07:46:36 is 34036615.89249671 s in the future
+tar: ./usr/share/locale/my/LC_MESSAGES: time stamp 2026-11-29 07:46:36 is 34036615.892315243 s in the future
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+tar: ./usr/share/locale/ga/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226654945 s in the future
+tar: ./usr/share/locale/ga: time stamp 2026-11-29 07:46:26 is 34036598.226634202 s in the future
+tar: ./usr/share/locale/ru/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226609798 s in the future
+tar: ./usr/share/locale/ru: time stamp 2026-11-29 07:46:26 is 34036598.226588592 s in the future
+tar: ./usr/share/locale/af/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226565696 s in the future
+tar: ./usr/share/locale/af: time stamp 2026-11-29 07:46:26 is 34036598.226543194 s in the future
+tar: ./usr/share/locale/pt_BR/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.22651975 s in the future
+tar: ./usr/share/locale/pt_BR: time stamp 2026-11-29 07:46:26 is 34036598.226496198 s in the future
+tar: ./usr/share/locale/hr/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226472991 s in the future
+tar: ./usr/share/locale/hr: time stamp 2026-11-29 07:46:26 is 34036598.226449993 s in the future
+tar: ./usr/share/locale/vi/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226425417 s in the future
+tar: ./usr/share/locale/vi: time stamp 2026-11-29 07:46:26 is 34036598.226403106 s in the future
+tar: ./usr/share/locale/eo/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226378667 s in the future
+tar: ./usr/share/locale/eo: time stamp 2026-11-29 07:46:26 is 34036598.226357242 s in the future
+tar: ./usr/share/locale/eu/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226332911 s in the future
+tar: ./usr/share/locale/sl/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.22629471 s in the future
+tar: ./usr/share/locale/sl: time stamp 2026-11-29 07:46:26 is 34036598.226272265 s in the future
+tar: ./usr/share/locale/el/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226248793 s in the future
+tar: ./usr/share/locale/el: time stamp 2026-11-29 07:46:26 is 34036598.226225834 s in the future
+tar: ./usr/share/locale/cs/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226201678 s in the future
+tar: ./usr/share/locale/cs: time stamp 2026-11-29 07:46:26 is 34036598.226179008 s in the future
+tar: ./usr/share/locale/da/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226153423 s in the future
+tar: ./usr/share/locale/da: time stamp 2026-11-29 07:46:26 is 34036598.226131563 s in the future
+tar: ./usr/share/locale/ms/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226107723 s in the future
+tar: ./usr/share/locale/bg/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226067177 s in the future
+tar: ./usr/share/locale/bg: time stamp 2026-11-29 07:46:26 is 34036598.22604369 s in the future
+tar: ./usr/share/locale/lg/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.226019329 s in the future
+tar: ./usr/share/locale/it/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225979511 s in the future
+tar: ./usr/share/locale/it: time stamp 2026-11-29 07:46:26 is 34036598.22595573 s in the future
+tar: ./usr/share/locale/ja/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225932747 s in the future
+tar: ./usr/share/locale/ja: time stamp 2026-11-29 07:46:26 is 34036598.225910592 s in the future
+tar: ./usr/share/locale/sk/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225886937 s in the future
+tar: ./usr/share/locale/sk: time stamp 2026-11-29 07:46:26 is 34036598.225864523 s in the future
+tar: ./usr/share/locale/gl/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225840975 s in the future
+tar: ./usr/share/locale/gl: time stamp 2026-11-29 07:46:26 is 34036598.22581885 s in the future
+tar: ./usr/share/locale/ka/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225794718 s in the future
+tar: ./usr/share/locale/ka: time stamp 2026-11-29 07:46:26 is 34036598.225772306 s in the future
+tar: ./usr/share/locale/ca/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225746531 s in the future
+tar: ./usr/share/locale/ca: time stamp 2026-11-29 07:46:26 is 34036598.225723728 s in the future
+tar: ./usr/share/locale/pl/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225699352 s in the future
+tar: ./usr/share/locale/pl: time stamp 2026-11-29 07:46:26 is 34036598.225677081 s in the future
+tar: ./usr/share/locale/ta/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225652564 s in the future
+tar: ./usr/share/locale/zh_TW/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225612972 s in the future
+tar: ./usr/share/locale/zh_TW: time stamp 2026-11-29 07:46:26 is 34036598.225588378 s in the future
+tar: ./usr/share/locale/kk/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225562708 s in the future
+tar: ./usr/share/locale/ia/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225520953 s in the future
+tar: ./usr/share/locale/de/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225479008 s in the future
+tar: ./usr/share/locale/de: time stamp 2026-11-29 07:46:26 is 34036598.225443787 s in the future
+tar: ./usr/share/locale/ko/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225413903 s in the future
+tar: ./usr/share/locale/ko: time stamp 2026-11-29 07:46:26 is 34036598.225390125 s in the future
+tar: ./usr/share/locale/ro/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225365037 s in the future
+tar: ./usr/share/locale/ro: time stamp 2026-11-29 07:46:26 is 34036598.225339896 s in the future
+tar: ./usr/share/locale/lt/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.22531406 s in the future
+tar: ./usr/share/locale/lt: time stamp 2026-11-29 07:46:26 is 34036598.225290597 s in the future
+tar: ./usr/share/locale/es/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.22526383 s in the future
+tar: ./usr/share/locale/es: time stamp 2026-11-29 07:46:26 is 34036598.225240084 s in the future
+tar: ./usr/share/locale/be/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225216255 s in the future
+tar: ./usr/share/locale/sv/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225175424 s in the future
+tar: ./usr/share/locale/sv: time stamp 2026-11-29 07:46:26 is 34036598.225152303 s in the future
+tar: ./usr/share/locale/hu/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225126523 s in the future
+tar: ./usr/share/locale/hu: time stamp 2026-11-29 07:46:26 is 34036598.225103307 s in the future
+tar: ./usr/share/locale/tr/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225078364 s in the future
+tar: ./usr/share/locale/tr: time stamp 2026-11-29 07:46:26 is 34036598.225055223 s in the future
+tar: ./usr/share/locale/nb/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.225030249 s in the future
+tar: ./usr/share/locale/nb: time stamp 2026-11-29 07:46:26 is 34036598.225006842 s in the future
+tar: ./usr/share/locale/et/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224980502 s in the future
+tar: ./usr/share/locale/et: time stamp 2026-11-29 07:46:26 is 34036598.224957904 s in the future
+tar: ./usr/share/locale/zh_CN/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224932145 s in the future
+tar: ./usr/share/locale/zh_CN: time stamp 2026-11-29 07:46:26 is 34036598.224908412 s in the future
+tar: ./usr/share/locale/nl/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.22488342 s in the future
+tar: ./usr/share/locale/nl: time stamp 2026-11-29 07:46:26 is 34036598.224860068 s in the future
+tar: ./usr/share/locale/sr/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224834153 s in the future
+tar: ./usr/share/locale/sr: time stamp 2026-11-29 07:46:26 is 34036598.224810907 s in the future
+tar: ./usr/share/locale/pt/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224786204 s in the future
+tar: ./usr/share/locale/pt: time stamp 2026-11-29 07:46:26 is 34036598.224762329 s in the future
+tar: ./usr/share/locale/uk/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224735294 s in the future
+tar: ./usr/share/locale/uk: time stamp 2026-11-29 07:46:26 is 34036598.224711061 s in the future
+tar: ./usr/share/locale/id/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224686318 s in the future
+tar: ./usr/share/locale/id: time stamp 2026-11-29 07:46:26 is 34036598.224663681 s in the future
+tar: ./usr/share/locale/fi/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224637275 s in the future
+tar: ./usr/share/locale/fi: time stamp 2026-11-29 07:46:26 is 34036598.224612904 s in the future
+tar: ./usr/share/locale/fr/LC_TIME: time stamp 2026-11-29 07:46:31 is 34036603.224587921 s in the future
+tar: ./usr/share/locale/fr: time stamp 2026-11-29 07:46:26 is 34036598.224565435 s in the future
+tar: ./usr/share/locale: time stamp 2026-11-29 07:51:38 is 34036910.22454324 s in the future
+tar: ./usr/share/man/sl/man1: time stamp 2026-11-29 07:46:39 is 34036611.224517208 s in the future
+tar: ./usr/share/man/cs/man8: time stamp 2026-11-29 07:52:01 is 34036933.2244735 s in the future
+tar: ./usr/share/man/cs: time stamp 2026-11-29 07:51:34 is 34036906.22444877 s in the future
+tar: ./usr/share/man/it/man1: time stamp 2026-11-29 07:51:39 is 34036911.224423073 s in the future
+tar: ./usr/share/man/it/man8: time stamp 2026-11-30 23:31:29 is 34179701.224397797 s in the future
+tar: ./usr/share/man/it: time stamp 2026-11-29 07:46:27 is 34036599.224374141 s in the future
+tar: ./usr/share/man/ja/man1: time stamp 2026-11-29 07:51:34 is 34036906.224349633 s in the future
+tar: ./usr/share/man/ja/man8: time stamp 2026-11-30 23:31:29 is 34179701.224324333 s in the future
+tar: ./usr/share/man/ja: time stamp 2026-11-29 07:46:27 is 34036599.224300037 s in the future
+tar: ./usr/share/man/gl/man8: time stamp 2026-11-29 07:52:01 is 34036933.224275485 s in the future
+tar: ./usr/share/man/gl: time stamp 2026-11-29 07:51:39 is 34036911.224252637 s in the future
+tar: ./usr/share/man/pl/man1: time stamp 2026-11-29 07:51:34 is 34036906.224226699 s in the future
+tar: ./usr/share/man/pl/man8: time stamp 2026-11-30 23:31:29 is 34179701.224200496 s in the future
+tar: ./usr/share/man/pl: time stamp 2026-11-29 07:46:27 is 34036599.224176612 s in the future
+tar: ./usr/share/man/man1: time stamp 2026-12-02 23:31:24 is 34352496.224151227 s in the future
+tar: ./usr/share/man/man8: time stamp 2026-12-02 20:29:29 is 34341581.224126428 s in the future
+tar: ./usr/share/man/de/man1: time stamp 2026-11-30 23:31:29 is 34179701.224101207 s in the future
+tar: ./usr/share/man/de/man8: time stamp 2026-11-30 23:31:29 is 34179701.224074621 s in the future
+tar: ./usr/share/man/de: time stamp 2026-11-29 07:46:41 is 34036613.224051437 s in the future
+tar: ./usr/share/man/es/man1: time stamp 2026-11-29 07:52:00 is 34036932.224025625 s in the future
+tar: ./usr/share/man/es/man8: time stamp 2026-11-30 23:31:29 is 34179701.224000887 s in the future
+tar: ./usr/share/man/es: time stamp 2026-11-29 07:46:27 is 34036599.223977026 s in the future
+tar: ./usr/share/man/sv/man1: time stamp 2026-11-29 07:52:00 is 34036932.223951446 s in the future
+tar: ./usr/share/man/sv: time stamp 2026-11-29 07:46:47 is 34036619.223929558 s in the future
+tar: ./usr/share/man/man7: time stamp 2026-11-30 23:31:29 is 34179701.22390437 s in the future
+tar: ./usr/share/man/fi/man8: time stamp 2026-11-29 07:52:01 is 34036933.22387925 s in the future
+tar: ./usr/share/man/fi: time stamp 2026-11-29 07:51:39 is 34036911.223855753 s in the future
+tar: ./usr/share/man/fr/man1: time stamp 2026-11-30 23:31:29 is 34179701.223829795 s in the future
+tar: ./usr/share/man/fr/man8: time stamp 2026-11-30 23:31:29 is 34179701.223783082 s in the future
+tar: ./usr/share/man/fr: time stamp 2026-11-29 07:46:41 is 34036613.223758836 s in the future
+tar: ./usr/share/man: time stamp 2026-11-29 07:51:39 is 34036911.223736314 s in the future
+tar: ./usr/share: time stamp 2026-11-29 07:51:42 is 34036914.223712927 s in the future
+tar: ./usr: time stamp 2026-11-29 07:46:28 is 34036600.223691435 s in the future
+tar: ./etc/systemd/system/timers.target.wants: time stamp 2026-11-29 07:50:27 is 34036839.223650411 s in the future
+tar: ./etc/systemd/system: time stamp 2026-11-29 07:46:29 is 34036601.223627145 s in the future
+tar: ./etc/alternatives: time stamp 2026-11-29 07:52:01 is 34036933.223586553 s in the future
 I: copying local configuration
 W: --override-config is not set; not updating apt.conf Read the manpage for details.
 I: mounting /proc filesystem
@@ -24,53 +2566,85 @@
 dpkg-source: info: applying 1010-use-system-gtest.patch
 I: Not using root during the build.
 I: Installing the build-deps
-I: user script /srv/workspace/pbuilder/731538/tmp/hooks/D02_print_environment starting
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/D01_modify_environment starting
+debug: Running on ionos15-amd64.
+I: Changing host+domainname to test build reproducibility
+I: Adding a custom variable just for the fun of it...
+I: Changing /bin/sh to bash
+'/bin/sh' -> '/bin/bash'
+lrwxrwxrwx 1 root root 9 Oct 30 19:09 /bin/sh -> /bin/bash
+I: Setting pbuilder2's login shell to /bin/bash
+I: Setting pbuilder2's GECOS to second user,second room,second work-phone,second home-phone,second other
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/D01_modify_environment finished
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/D02_print_environment starting
 I: set
-  BUILDDIR='/build/reproducible-path'
-  BUILDUSERGECOS='first user,first room,first work-phone,first home-phone,first other'
-  BUILDUSERNAME='pbuilder1'
-  BUILD_ARCH='amd64'
-  DEBIAN_FRONTEND='noninteractive'
-  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=40 '
-  DISTRIBUTION='forky'
-  HOME='/root'
-  HOST_ARCH='amd64'
+  BASH=/bin/sh
+  BASHOPTS=checkwinsize:cmdhist:complete_fullquote:extquote:force_fignore:globasciiranges:globskipdots:hostcomplete:interactive_comments:patsub_replacement:progcomp:promptvars:sourcepath
+  BASH_ALIASES=()
+  BASH_ARGC=()
+  BASH_ARGV=()
+  BASH_CMDS=()
+  BASH_LINENO=([0]="12" [1]="0")
+  BASH_LOADABLES_PATH=/usr/local/lib/bash:/usr/lib/bash:/opt/local/lib/bash:/usr/pkg/lib/bash:/opt/pkg/lib/bash:.
+  BASH_SOURCE=([0]="/tmp/hooks/D02_print_environment" [1]="/tmp/hooks/D02_print_environment")
+  BASH_VERSINFO=([0]="5" [1]="3" [2]="3" [3]="1" [4]="release" [5]="x86_64-pc-linux-gnu")
+  BASH_VERSION='5.3.3(1)-release'
+  BUILDDIR=/build/reproducible-path
+  BUILDUSERGECOS='second user,second room,second work-phone,second home-phone,second other'
+  BUILDUSERNAME=pbuilder2
+  BUILD_ARCH=amd64
+  DEBIAN_FRONTEND=noninteractive
+  DEB_BUILD_OPTIONS='buildinfo=+all reproducible=+all parallel=42 '
+  DIRSTACK=()
+  DISTRIBUTION=forky
+  EUID=0
+  FUNCNAME=([0]="Echo" [1]="main")
+  GROUPS=()
+  HOME=/root
+  HOSTNAME=i-capture-the-hostname
+  HOSTTYPE=x86_64
+  HOST_ARCH=amd64
   IFS=' 	
   '
-  INVOCATION_ID='b17130b6240746d49b8d6592e3f1614c'
-  LANG='C'
-  LANGUAGE='en_US:en'
-  LC_ALL='C'
-  MAIL='/var/mail/root'
-  OPTIND='1'
-  PATH='/usr/sbin:/usr/bin:/sbin:/bin:/usr/games'
-  PBCURRENTCOMMANDLINEOPERATION='build'
-  PBUILDER_OPERATION='build'
-  PBUILDER_PKGDATADIR='/usr/share/pbuilder'
-  PBUILDER_PKGLIBDIR='/usr/lib/pbuilder'
-  PBUILDER_SYSCONFDIR='/etc'
-  PPID='731538'
-  PS1='# '
-  PS2='> '
+  INVOCATION_ID=cb98f7cbc5e54adc9d954ff7aafc13fd
+  LANG=C
+  LANGUAGE=et_EE:et
+  LC_ALL=C
+  MACHTYPE=x86_64-pc-linux-gnu
+  MAIL=/var/mail/root
+  OPTERR=1
+  OPTIND=1
+  OSTYPE=linux-gnu
+  PATH=/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path
+  PBCURRENTCOMMANDLINEOPERATION=build
+  PBUILDER_OPERATION=build
+  PBUILDER_PKGDATADIR=/usr/share/pbuilder
+  PBUILDER_PKGLIBDIR=/usr/lib/pbuilder
+  PBUILDER_SYSCONFDIR=/etc
+  PIPESTATUS=([0]="0")
+  POSIXLY_CORRECT=y
+  PPID=2404977
   PS4='+ '
-  PWD='/'
-  SHELL='/bin/bash'
-  SHLVL='2'
-  SUDO_COMMAND='/usr/bin/timeout -k 18.1h 18h /usr/bin/ionice -c 3 /usr/bin/nice /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.fgclGE6o/pbuilderrc_MQuP --distribution forky --hookdir /etc/pbuilder/first-build-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.fgclGE6o/b1 --logfile b1/build.log ondselsolver_0~2024.11.27-1.dsc'
-  SUDO_GID='110'
-  SUDO_HOME='/var/lib/jenkins'
-  SUDO_UID='105'
-  SUDO_USER='jenkins'
-  TERM='unknown'
-  TZ='/usr/share/zoneinfo/Etc/GMT+12'
-  USER='root'
-  _='/usr/bin/systemd-run'
-  http_proxy='http://46.16.76.132:3128'
+  PWD=/
+  SHELL=/bin/bash
+  SHELLOPTS=braceexpand:errexit:hashall:interactive-comments:posix
+  SHLVL=3
+  SUDO_COMMAND='/usr/bin/timeout -k 24.1h 24h /usr/bin/ionice -c 3 /usr/bin/nice -n 11 /usr/bin/unshare --uts -- /usr/sbin/pbuilder --build --configfile /srv/reproducible-results/rbuild-debian/r-b-build.fgclGE6o/pbuilderrc_dAhr --distribution forky --hookdir /etc/pbuilder/rebuild-hooks --debbuildopts -b --basetgz /var/cache/pbuilder/forky-reproducible-base.tgz --buildresult /srv/reproducible-results/rbuild-debian/r-b-build.fgclGE6o/b2 --logfile b2/build.log ondselsolver_0~2024.11.27-1.dsc'
+  SUDO_GID=111
+  SUDO_HOME=/var/lib/jenkins
+  SUDO_UID=106
+  SUDO_USER=jenkins
+  TERM=unknown
+  TZ=/usr/share/zoneinfo/Etc/GMT-14
+  UID=0
+  USER=root
+  _='I: set'
+  http_proxy=http://213.165.73.152:3128
 I: uname -a
-  Linux ionos1-amd64 6.12.48+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.48-1 (2025-09-20) x86_64 GNU/Linux
+  Linux i-capture-the-hostname 6.12.48+deb13-amd64 #1 SMP PREEMPT_DYNAMIC Debian 6.12.48-1 (2025-09-20) x86_64 GNU/Linux
 I: ls -l /bin
   lrwxrwxrwx 1 root root 7 Aug 10 12:30 /bin -> usr/bin
-I: user script /srv/workspace/pbuilder/731538/tmp/hooks/D02_print_environment finished
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/D02_print_environment finished
  -> Attempting to satisfy build-dependencies
  -> Creating pbuilder-satisfydepends-dummy package
 Package: pbuilder-satisfydepends-dummy
@@ -176,7 +2750,7 @@
 Get: 62 http://deb.debian.org/debian forky/main amd64 googletest all 1.17.0-1 [522 kB]
 Get: 63 http://deb.debian.org/debian forky/main amd64 libgtest-dev amd64 1.17.0-1 [259 kB]
 Get: 64 http://deb.debian.org/debian forky/main amd64 libgmock-dev amd64 1.17.0-1 [134 kB]
-Fetched 32.8 MB in 1s (48.2 MB/s)
+Fetched 32.8 MB in 0s (104 MB/s)
 Preconfiguring packages ...
 Selecting previously unselected package libexpat1:amd64.
 (Reading database ... 
(Reading database ... 5%
(Reading database ... 10%
(Reading database ... 15%
(Reading database ... 20%
(Reading database ... 25%
(Reading database ... 30%
(Reading database ... 35%
(Reading database ... 40%
(Reading database ... 45%
(Reading database ... 50%
(Reading database ... 55%
(Reading database ... 60%
(Reading database ... 65%
(Reading database ... 70%
(Reading database ... 75%
(Reading database ... 80%
(Reading database ... 85%
(Reading database ... 90%
(Reading database ... 95%
(Reading database ... 100%
(Reading database ... 19869 files and directories currently installed.)
@@ -447,7 +3021,11 @@
 Building tag database...
  -> Finished parsing the build-deps
 I: Building the package
-I: Running cd /build/reproducible-path/ondselsolver-0~2024.11.27/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games" HOME="/nonexistent/first-build" dpkg-genchanges -S  > ../ondselsolver_0~2024.11.27-1_source.changes
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/A99_set_merged_usr starting
+Not re-configuring usrmerge for forky
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/A99_set_merged_usr finished
+hostname: Name or service not known
+I: Running cd /build/reproducible-path/ondselsolver-0~2024.11.27/ && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-buildpackage -us -uc -b && env PATH="/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/i/capture/the/path" HOME="/nonexistent/second-build" dpkg-genchanges -S  > ../ondselsolver_0~2024.11.27-1_source.changes
 dpkg-buildpackage: info: source package ondselsolver
 dpkg-buildpackage: info: source version 0~2024.11.27-1
 dpkg-buildpackage: info: source distribution unstable
@@ -478,8 +3056,8 @@
 -- Detecting CXX compile features
 -- Detecting CXX compile features - done
 -- [OndselSolver] Building shared library
--- Configuring done (3.3s)
--- Generating done (0.2s)
+-- Configuring done (0.6s)
+-- Generating done (0.1s)
 CMake Warning:
   Manually-specified variables were not used by the project:
 
@@ -491,7 +3069,7 @@
 -- Build files have been written to: /build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu
 make[1]: Leaving directory '/build/reproducible-path/ondselsolver-0~2024.11.27'
    dh_auto_build
-	cd obj-x86_64-linux-gnu && make -j40 INSTALL="install --strip-program=true" VERBOSE=1
+	cd obj-x86_64-linux-gnu && make -j42 INSTALL="install --strip-program=true" VERBOSE=1
 make[1]: Entering directory '/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu'
 /usr/bin/cmake -S"/build/reproducible-path/ondselsolver-0~2024.11.27" -B"/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu" --check-build-system CMakeFiles/Makefile.cmake 0
 /usr/bin/cmake -E cmake_progress_start "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/CMakeFiles" "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu//CMakeFiles/progress.marks"
@@ -504,99 +3082,99 @@
 make  -f OndselSolver/CMakeFiles/OndselSolver.dir/build.make OndselSolver/CMakeFiles/OndselSolver.dir/build
 make[3]: Entering directory '/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu'
 [  0%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Abs.cpp.o
-[  0%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccICKineNewtonRaphson.cpp.o
 [  0%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AbsConstraint.cpp.o
+[  0%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccICKineNewtonRaphson.cpp.o
 [  1%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccICNewtonRaphson.cpp.o
-[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotation.cpp.o
-[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccNewtonRaphson.cpp.o
-[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotationConstraintIqctJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Abs.cpp.o -MF CMakeFiles/OndselSolver.dir/Abs.cpp.o.d -o CMakeFiles/OndselSolver.dir/Abs.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Abs.cpp"
-[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccKineNewtonRaphson.cpp.o
-[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleJoint.cpp.o
-[  3%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIJ.cpp.o
-[  3%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJqc.cpp.o
-[  3%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJc.cpp.o
+[  1%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccNewtonRaphson.cpp.o
+[  1%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AccKineNewtonRaphson.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AbsConstraint.cpp.o -MF CMakeFiles/OndselSolver.dir/AbsConstraint.cpp.o.d -o CMakeFiles/OndselSolver.dir/AbsConstraint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AbsConstraint.cpp"
+[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotation.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AccICKineNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/AccICKineNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/AccICKineNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AccICKineNewtonRaphson.cpp"
-[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIecJec.cpp.o
-[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJec.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AccICNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/AccICNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/AccICNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AccICNewtonRaphson.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AccKineNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/AccKineNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/AccKineNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AccKineNewtonRaphson.cpp"
+[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotationConstraintIqctJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AccNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/AccNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/AccNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AccNewtonRaphson.cpp"
-[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AnyPosICNewtonRaphson.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotation.cpp.o -MF CMakeFiles/OndselSolver.dir/AllowZRotation.cpp.o.d -o CMakeFiles/OndselSolver.dir/AllowZRotation.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AllowZRotation.cpp"
-[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan.cpp.o
-[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcSine.cpp.o
-[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJeqc.cpp.o
+[  2%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AllowZRotationConstraintIqctJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/AllowZRotationConstraintIqctJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AllowZRotationConstraintIqctJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AllowZRotationConstraintIqctJqc.cpp"
-[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AnyGeneralSpline.cpp.o
-[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan2.cpp.o
-[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Arguments.cpp.o
+[  3%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIJ.cpp.o
+[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan.cpp.o
+[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcSine.cpp.o
+[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AnyPosICNewtonRaphson.cpp.o
+[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleJoint.cpp"
-[  7%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Array.cpp.o
+[  4%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJqc.cpp.o
+[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIecJec.cpp.o
+[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJec.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZConstraintIJ.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZConstraintIqcJc.cpp"
+[  5%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJeqc.cpp.o
+[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AnyGeneralSpline.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZConstraintIqcJqc.cpp"
-[  7%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAllowRotation.cpp.o
+[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan2.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIecJec.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZIecJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZIecJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZIecJec.cpp"
+[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Arguments.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJec.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZIeqcJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZIeqcJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZIeqcJec.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AngleZIeqcJeqc.cpp.o -MF CMakeFiles/OndselSolver.dir/AngleZIeqcJeqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AngleZIeqcJeqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AngleZIeqcJeqc.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AnyGeneralSpline.cpp.o -MF CMakeFiles/OndselSolver.dir/AnyGeneralSpline.cpp.o.d -o CMakeFiles/OndselSolver.dir/AnyGeneralSpline.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AnyGeneralSpline.cpp"
+[  6%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAngleJoint.cpp.o
+[  7%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Array.cpp.o
+[  7%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAllowRotation.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AnyPosICNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/AnyPosICNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/AnyPosICNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AnyPosICNewtonRaphson.cpp"
+[  7%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAnimationParameters.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ArcSine.cpp.o -MF CMakeFiles/OndselSolver.dir/ArcSine.cpp.o.d -o CMakeFiles/OndselSolver.dir/ArcSine.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ArcSine.cpp"
+[  8%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan.cpp.o -MF CMakeFiles/OndselSolver.dir/ArcTan.cpp.o.d -o CMakeFiles/OndselSolver.dir/ArcTan.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ArcTan.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ArcTan2.cpp.o -MF CMakeFiles/OndselSolver.dir/ArcTan2.cpp.o.d -o CMakeFiles/OndselSolver.dir/ArcTan2.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ArcTan2.cpp"
+[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConeConeContact.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Arguments.cpp.o -MF CMakeFiles/OndselSolver.dir/Arguments.cpp.o.d -o CMakeFiles/OndselSolver.dir/Arguments.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Arguments.cpp"
+[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylConeContact.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Array.cpp.o -MF CMakeFiles/OndselSolver.dir/Array.cpp.o.d -o CMakeFiles/OndselSolver.dir/Array.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Array.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAllowRotation.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTAllowRotation.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTAllowRotation.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTAllowRotation.cpp"
-[  8%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o
-[  8%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAngleJoint.cpp.o
-[  8%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConeConeContact.cpp.o
-[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylConeContact.cpp.o
 [  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTAssembly.cpp"
-[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAnimationParameters.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTContact.cpp"
-[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o
-[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylCylContact.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAngleJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTAngleJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTAngleJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTAngleJoint.cpp"
+[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCompoundJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAnimationParameters.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTAnimationParameters.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTAnimationParameters.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTAnimationParameters.cpp"
-[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCompoundJoint.cpp.o
+[  9%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylCylContact.cpp.o
+[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o
+[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o
+[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantVelocityJoint.cpp.o
+[ 11%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylindricalJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTAssembly.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTAssembly.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConeConeContact.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConeConeContact.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConeConeContact.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConeConeContact.cpp"
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTContact.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTContact.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylConeContact.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTCylConeContact.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTCylConeContact.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTCylConeContact.cpp"
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylCylContact.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTCylCylContact.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTCylCylContact.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTCylCylContact.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConstantGravity.cpp"
-[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantVelocityJoint.cpp.o
-[ 10%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTExtrusion.cpp.o
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylSphJoint.cpp.o
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTForceTorque.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCompoundJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTCompoundJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTCompoundJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTCompoundJoint.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConstraintSet.cpp"
-[ 11%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylindricalJoint.cpp.o
-[ 11%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylSphJoint.cpp.o
-[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConstantGravity.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConstantGravity.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstantVelocityJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConstantVelocityJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConstantVelocityJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConstantVelocityJoint.cpp"
-[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTExtrusion.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTConstraintSet.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTConstraintSet.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylindricalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTCylindricalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTCylindricalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTCylindricalJoint.cpp"
-[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTGearJoint.cpp.o
-[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTForceTorque.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTFixedJoint.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTCylSphJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTCylSphJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTCylSphJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTCylSphJoint.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTExtrusion.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTExtrusion.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTExtrusion.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTExtrusion.cpp"
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTFixedJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTFixedJoint.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTForceTorque.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTForceTorque.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTForceTorque.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTForceTorque.cpp"
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTGearJoint.cpp.o
+[ 12%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTGearJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTGearJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTGearJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTGearJoint.cpp"
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTInPlaneJoint.cpp"
 [ 13%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTGeneralMotion.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTGeneralMotion.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTGeneralMotion.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTGeneralMotion.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTGeneralMotion.cpp"
-[ 13%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTInPlaneJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTInPlaneJoint.cpp"
 [ 13%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTItem.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTItem.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTItem.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTItem.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTItem.cpp"
 [ 14%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTItemIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTItemIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTItemIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTItemIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTItemIJ.cpp"
 [ 14%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTJoint.cpp"
-[ 14%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o
 [ 14%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTKinematicIJ.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTLimit.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTKinematicIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTKinematicIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTKinematicIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTKinematicIJ.cpp"
+[ 14%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTLimit.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTLimit.cpp"
 [ 15%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLineInPlaneJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTLineInPlaneJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTLineInPlaneJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTLineInPlaneJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTLineInPlaneJoint.cpp"
 [ 15%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTMarker.cpp.o
@@ -606,8 +3184,8 @@
 [ 16%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTNoRotationJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTNoRotationJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTNoRotationJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTNoRotationJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTNoRotationJoint.cpp"
 [ 16%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTParallelAxesJoint.cpp"
 [ 16%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPart.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTParallelAxesJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTParallelAxesJoint.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPart.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTPart.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTPart.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTPart.cpp"
 [ 17%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPerpendicularJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPerpendicularJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTPerpendicularJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTPerpendicularJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTPerpendicularJoint.cpp"
@@ -620,9 +3198,9 @@
 [ 18%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPrincipalMassMarker.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTPrincipalMassMarker.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTPrincipalMassMarker.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTPrincipalMassMarker.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTPrincipalMassMarker.cpp"
 [ 18%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTRackPinionJoint.cpp"
 [ 19%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRefCurve.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRefCurve.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTRefCurve.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTRefCurve.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTRefCurve.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTRackPinionJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTRackPinionJoint.cpp"
 [ 19%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRefItem.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRefItem.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTRefItem.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTRefItem.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTRefItem.cpp"
 [ 19%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTRefPoint.cpp.o
@@ -650,9 +3228,9 @@
 [ 23%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTSphericalJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTSphericalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTSphericalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTSphericalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTSphericalJoint.cpp"
 [ 23%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTSphSphJoint.cpp"
 [ 23%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTTime.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTTime.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTTime.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTTime.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTTime.cpp"
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTSphSphJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTSphSphJoint.cpp"
 [ 24%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTTranslationalJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTTranslationalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTTranslationalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTTranslationalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTTranslationalJoint.cpp"
 [ 24%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ASMTTranslationalMotion.cpp.o
@@ -663,10 +3241,10 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ASMTUniversalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ASMTUniversalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ASMTUniversalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ASMTUniversalJoint.cpp"
 [ 25%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/AtPointConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/AtPointConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AtPointConstraintIJ.cpp"
+[ 25%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AtPointConstraintIqcJc.cpp"
 [ 26%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AtPointConstraintIqcJqc.cpp"
-[ 26%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AtPointConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AtPointConstraintIqcJc.cpp"
 [ 26%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqctJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/AtPointConstraintIqctJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/AtPointConstraintIqctJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/AtPointConstraintIqctJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/AtPointConstraintIqctJqc.cpp"
 [ 26%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/AtPointJoint.cpp.o
@@ -691,24 +3269,24 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstantVelocityJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstantVelocityJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstantVelocityJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstantVelocityJoint.cpp"
 [ 29%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Constraint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Constraint.cpp.o -MF CMakeFiles/OndselSolver.dir/Constraint.cpp.o.d -o CMakeFiles/OndselSolver.dir/Constraint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Constraint.cpp"
+[ 29%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstraintSet.cpp"
 [ 30%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstraintIJ.cpp"
-[ 30%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstraintSet.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstraintSet.cpp"
 [ 30%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstVelConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstVelConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstVelConstraintIJ.cpp"
-[ 30%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstVelConstraintIqcJqc.cpp"
 [ 31%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstVelConstraintIqcJc.cpp"
+[ 31%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o
 [ 31%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Cosine.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/ConstVelConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ConstVelConstraintIqcJqc.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Cosine.cpp.o -MF CMakeFiles/OndselSolver.dir/Cosine.cpp.o.d -o CMakeFiles/OndselSolver.dir/Cosine.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Cosine.cpp"
 [ 32%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/CREATE.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/CREATE.cpp.o -MF CMakeFiles/OndselSolver.dir/CREATE.cpp.o.d -o CMakeFiles/OndselSolver.dir/CREATE.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/CREATE.cpp"
-[ 32%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o
 [ 32%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/CylindricalJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/CylSphJoint.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/CylindricalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/CylindricalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/CylindricalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/CylindricalJoint.cpp"
+[ 32%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/CylSphJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/CylSphJoint.cpp"
 [ 33%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DiagonalMatrix.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DiagonalMatrix.cpp.o -MF CMakeFiles/OndselSolver.dir/DiagonalMatrix.cpp.o.d -o CMakeFiles/OndselSolver.dir/DiagonalMatrix.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DiagonalMatrix.cpp"
 [ 33%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DifferenceOperator.cpp.o
@@ -719,10 +3297,10 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineConstraintIJ.cpp"
 [ 34%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineConstraintIqcJc.cpp"
-[ 34%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineConstraintIqcJqc.cpp"
+[ 35%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o
 [ 35%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqctJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqctJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqctJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqctJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineConstraintIqctJqc.cpp"
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineConstraintIqcJqc.cpp"
 [ 35%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineIecJec.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineIecJec.cpp.o -MF CMakeFiles/OndselSolver.dir/DirectionCosineIecJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/DirectionCosineIecJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DirectionCosineIecJec.cpp"
 [ 35%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DirectionCosineIeqcJec.cpp.o
@@ -742,9 +3320,9 @@
 [ 37%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIecJecO.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIecJecO.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIecJecO.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIecJecO.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIecJecO.cpp"
 [ 38%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqcJecIe.cpp"
 [ 38%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecKeqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecKeqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqcJecKeqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqcJecKeqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqcJecKeqc.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqcJecIe.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqcJecIe.cpp"
 [ 38%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecO.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJecO.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqcJecO.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqcJecO.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqcJecO.cpp"
 [ 39%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJeqcIe.cpp.o
@@ -756,16 +3334,16 @@
 [ 40%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJeqcO.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqcJeqcO.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqcJeqcO.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqcJeqcO.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqcJeqcO.cpp"
 [ 40%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqctJeqcIe.cpp"
 [ 40%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcKeqct.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcIe.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqctJeqcIe.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcKeqct.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcKeqct.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcKeqct.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqctJeqcKeqct.cpp"
 [ 41%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcO.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcO.cpp.o -MF CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcO.cpp.o.d -o CMakeFiles/OndselSolver.dir/DispCompIeqctJeqcO.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DispCompIeqctJeqcO.cpp"
 [ 41%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/DistanceConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/DistanceConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DistanceConstraintIJ.cpp"
-[ 41%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DistanceConstraintIqcJc.cpp"
 [ 42%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJqc.cpp.o
+[ 42%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DistanceConstraintIqcJc.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DistanceConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DistanceConstraintIqcJqc.cpp"
 [ 42%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqctJqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/DistanceConstraintIqctJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/DistanceConstraintIqctJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/DistanceConstraintIqctJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/DistanceConstraintIqctJqc.cpp"
@@ -802,8 +3380,8 @@
 [ 47%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EndFrameqct2.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EndFrameqct2.cpp.o -MF CMakeFiles/OndselSolver.dir/EndFrameqct2.cpp.o.d -o CMakeFiles/OndselSolver.dir/EndFrameqct2.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EndFrameqct2.cpp"
 [ 47%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerAngles.cpp"
 [ 48%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerAnglesDDot.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerAngles.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerAngles.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerAnglesDDot.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerAnglesDDot.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerAnglesDDot.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerAnglesDDot.cpp"
 [ 48%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerAnglesDot.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerAnglesDot.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerAnglesDot.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerAnglesDot.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerAnglesDot.cpp"
@@ -815,9 +3393,9 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerAngleszxzDot.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerAngleszxzDot.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerAngleszxzDot.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerAngleszxzDot.cpp"
 [ 49%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerArray.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerArray.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerArray.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerArray.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerArray.cpp"
+[ 50%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerParameters.cpp.o
 [ 50%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerConstraint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerConstraint.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerConstraint.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerConstraint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerConstraint.cpp"
-[ 50%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerParameters.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerParameters.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerParameters.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerParameters.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerParameters.cpp"
 [ 50%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/EulerParametersDDot.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/EulerParametersDDot.cpp.o -MF CMakeFiles/OndselSolver.dir/EulerParametersDDot.cpp.o.d -o CMakeFiles/OndselSolver.dir/EulerParametersDDot.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/EulerParametersDDot.cpp"
@@ -838,8 +3416,8 @@
 [ 53%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FullColumn.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FullColumn.cpp.o -MF CMakeFiles/OndselSolver.dir/FullColumn.cpp.o.d -o CMakeFiles/OndselSolver.dir/FullColumn.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FullColumn.cpp"
 [ 53%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o -MF CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o.d -o CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FullMatrix.cpp"
 [ 53%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FullMotion.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o -MF CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o.d -o CMakeFiles/OndselSolver.dir/FullMatrix.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FullMatrix.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FullMotion.cpp.o -MF CMakeFiles/OndselSolver.dir/FullMotion.cpp.o.d -o CMakeFiles/OndselSolver.dir/FullMotion.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FullMotion.cpp"
 [ 54%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FullRow.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FullRow.cpp.o -MF CMakeFiles/OndselSolver.dir/FullRow.cpp.o.d -o CMakeFiles/OndselSolver.dir/FullRow.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FullRow.cpp"
@@ -853,9 +3431,9 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FunctionWithManyArgs.cpp.o -MF CMakeFiles/OndselSolver.dir/FunctionWithManyArgs.cpp.o.d -o CMakeFiles/OndselSolver.dir/FunctionWithManyArgs.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FunctionWithManyArgs.cpp"
 [ 55%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FunctionX.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FunctionX.cpp.o -MF CMakeFiles/OndselSolver.dir/FunctionX.cpp.o.d -o CMakeFiles/OndselSolver.dir/FunctionX.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FunctionX.cpp"
-[ 56%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FunctionXY.cpp.o
 [ 56%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FunctionXcParameter.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FunctionXcParameter.cpp.o -MF CMakeFiles/OndselSolver.dir/FunctionXcParameter.cpp.o.d -o CMakeFiles/OndselSolver.dir/FunctionXcParameter.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FunctionXcParameter.cpp"
+[ 56%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/FunctionXY.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/FunctionXY.cpp.o -MF CMakeFiles/OndselSolver.dir/FunctionXY.cpp.o.d -o CMakeFiles/OndselSolver.dir/FunctionXY.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/FunctionXY.cpp"
 [ 56%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/GearConstraintIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/GearConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/GearConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/GearConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/GearConstraintIJ.cpp"
@@ -901,10 +3479,10 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Integrator.cpp.o -MF CMakeFiles/OndselSolver.dir/Integrator.cpp.o.d -o CMakeFiles/OndselSolver.dir/Integrator.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Integrator.cpp"
 [ 63%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/IntegratorInterface.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/IntegratorInterface.cpp.o -MF CMakeFiles/OndselSolver.dir/IntegratorInterface.cpp.o.d -o CMakeFiles/OndselSolver.dir/IntegratorInterface.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/IntegratorInterface.cpp"
+[ 63%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Item.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Item.cpp.o -MF CMakeFiles/OndselSolver.dir/Item.cpp.o.d -o CMakeFiles/OndselSolver.dir/Item.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Item.cpp"
 [ 64%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ItemIJ.cpp.o
-[ 64%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Item.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ItemIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/ItemIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/ItemIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ItemIJ.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Item.cpp.o -MF CMakeFiles/OndselSolver.dir/Item.cpp.o.d -o CMakeFiles/OndselSolver.dir/Item.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Item.cpp"
 [ 64%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Joint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Joint.cpp.o -MF CMakeFiles/OndselSolver.dir/Joint.cpp.o.d -o CMakeFiles/OndselSolver.dir/Joint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Joint.cpp"
 [ 64%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/KineIntegrator.cpp.o
@@ -919,11 +3497,11 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMat.cpp.o -MF CMakeFiles/OndselSolver.dir/LDUSpMat.cpp.o.d -o CMakeFiles/OndselSolver.dir/LDUSpMat.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LDUSpMat.cpp"
 [ 66%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPv.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPv.cpp.o -MF CMakeFiles/OndselSolver.dir/LDUSpMatParPv.cpp.o.d -o CMakeFiles/OndselSolver.dir/LDUSpMatParPv.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LDUSpMatParPv.cpp"
-[ 66%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o
 [ 66%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvMarko.cpp.o
-[ 67%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LimitIJ.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o -MF CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o.d -o CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LDUSpMatParPvPrecise.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvMarko.cpp.o -MF CMakeFiles/OndselSolver.dir/LDUSpMatParPvMarko.cpp.o.d -o CMakeFiles/OndselSolver.dir/LDUSpMatParPvMarko.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LDUSpMatParPvMarko.cpp"
+[ 66%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o -MF CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o.d -o CMakeFiles/OndselSolver.dir/LDUSpMatParPvPrecise.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LDUSpMatParPvPrecise.cpp"
+[ 67%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LimitIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LimitIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/LimitIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/LimitIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LimitIJ.cpp"
 [ 67%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/LinearMultiStepMethod.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/LinearMultiStepMethod.cpp.o -MF CMakeFiles/OndselSolver.dir/LinearMultiStepMethod.cpp.o.d -o CMakeFiles/OndselSolver.dir/LinearMultiStepMethod.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/LinearMultiStepMethod.cpp"
@@ -964,13 +3542,13 @@
 [ 73%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Numeric.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Numeric.cpp.o -MF CMakeFiles/OndselSolver.dir/Numeric.cpp.o.d -o CMakeFiles/OndselSolver.dir/Numeric.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Numeric.cpp"
 [ 73%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o -MF CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/OrbitAngleZIecJec.cpp"
+[ 73%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Orientation.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Orientation.cpp.o -MF CMakeFiles/OndselSolver.dir/Orientation.cpp.o.d -o CMakeFiles/OndselSolver.dir/Orientation.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Orientation.cpp"
 [ 73%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJec.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJec.cpp.o -MF CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/OrbitAngleZIeqcJec.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o -MF CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o.d -o CMakeFiles/OndselSolver.dir/OrbitAngleZIecJec.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/OrbitAngleZIecJec.cpp"
 [ 74%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJeqc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJeqc.cpp.o -MF CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJeqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/OrbitAngleZIeqcJeqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/OrbitAngleZIeqcJeqc.cpp"
-[ 74%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Orientation.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Orientation.cpp.o -MF CMakeFiles/OndselSolver.dir/Orientation.cpp.o.d -o CMakeFiles/OndselSolver.dir/Orientation.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Orientation.cpp"
 [ 74%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ParallelAxesJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ParallelAxesJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/ParallelAxesJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/ParallelAxesJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ParallelAxesJoint.cpp"
 [ 75%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Part.cpp.o
@@ -983,10 +3561,10 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/PiecewiseFunction.cpp.o -MF CMakeFiles/OndselSolver.dir/PiecewiseFunction.cpp.o.d -o CMakeFiles/OndselSolver.dir/PiecewiseFunction.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/PiecewiseFunction.cpp"
 [ 76%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/PlanarJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/PlanarJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/PlanarJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/PlanarJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/PlanarJoint.cpp"
-[ 76%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/PointInLineJoint.cpp"
 [ 77%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/PointInPlaneJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/PointInPlaneJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/PointInPlaneJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/PointInPlaneJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/PointInPlaneJoint.cpp"
+[ 77%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/PointInLineJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/PointInLineJoint.cpp"
 [ 77%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Polynomial.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Polynomial.cpp.o -MF CMakeFiles/OndselSolver.dir/Polynomial.cpp.o.d -o CMakeFiles/OndselSolver.dir/Polynomial.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Polynomial.cpp"
 [ 77%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/PosICDragLimitNewtonRaphson.cpp.o
@@ -1027,10 +3605,10 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RedundantConstraint.cpp.o -MF CMakeFiles/OndselSolver.dir/RedundantConstraint.cpp.o.d -o CMakeFiles/OndselSolver.dir/RedundantConstraint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RedundantConstraint.cpp"
 [ 83%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RevCylJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RevCylJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/RevCylJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/RevCylJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RevCylJoint.cpp"
-[ 83%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RevoluteJoint.cpp"
 [ 84%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RevRevJoint.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RevRevJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/RevRevJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/RevRevJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RevRevJoint.cpp"
+[ 84%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/RevoluteJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RevoluteJoint.cpp"
 [ 84%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RotationLimitIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/RotationLimitIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/RotationLimitIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/RotationLimitIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/RotationLimitIJ.cpp"
 [ 84%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/RowTypeMatrix.cpp.o
@@ -1073,12 +3651,12 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Sum.cpp.o -MF CMakeFiles/OndselSolver.dir/Sum.cpp.o.d -o CMakeFiles/OndselSolver.dir/Sum.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Sum.cpp"
 [ 90%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Symbolic.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Symbolic.cpp.o -MF CMakeFiles/OndselSolver.dir/Symbolic.cpp.o.d -o CMakeFiles/OndselSolver.dir/Symbolic.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Symbolic.cpp"
-[ 90%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o -MF CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o.d -o CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/SyntaxError.cpp"
 [ 91%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o -MF CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o.d -o CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/SymbolicParser.cpp"
+[ 91%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o -MF CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o.d -o CMakeFiles/OndselSolver.dir/SyntaxError.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/SyntaxError.cpp"
 [ 91%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/System.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/System.cpp.o -MF CMakeFiles/OndselSolver.dir/System.cpp.o.d -o CMakeFiles/OndselSolver.dir/System.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/System.cpp"
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o -MF CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o.d -o CMakeFiles/OndselSolver.dir/SymbolicParser.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/SymbolicParser.cpp"
 [ 92%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/SystemNewtonRaphson.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/SystemNewtonRaphson.cpp.o -MF CMakeFiles/OndselSolver.dir/SystemNewtonRaphson.cpp.o.d -o CMakeFiles/OndselSolver.dir/SystemNewtonRaphson.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/SystemNewtonRaphson.cpp"
 [ 92%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/SystemSolver.cpp.o
@@ -1097,17 +3675,17 @@
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationConstraintIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationConstraintIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationConstraintIJ.cpp"
 [ 94%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJc.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJc.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJc.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationConstraintIqcJc.cpp"
-[ 94%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationConstraintIqcJqc.cpp"
+[ 95%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationLimitIJ.cpp.o
+[ 95%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o
 [ 95%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqctJqc.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationConstraintIqcJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationConstraintIqcJqc.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationConstraintIqctJqc.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationConstraintIqctJqc.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationConstraintIqctJqc.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationConstraintIqctJqc.cpp"
-[ 95%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/TranslationLimitIJ.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/TranslationLimitIJ.cpp.o -MF CMakeFiles/OndselSolver.dir/TranslationLimitIJ.cpp.o.d -o CMakeFiles/OndselSolver.dir/TranslationLimitIJ.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/TranslationLimitIJ.cpp"
 [ 95%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Units.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Units.cpp.o -MF CMakeFiles/OndselSolver.dir/Units.cpp.o.d -o CMakeFiles/OndselSolver.dir/Units.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Units.cpp"
 [ 96%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/UniversalJoint.cpp.o
-[ 96%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/UserFunction.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/UniversalJoint.cpp.o -MF CMakeFiles/OndselSolver.dir/UniversalJoint.cpp.o.d -o CMakeFiles/OndselSolver.dir/UniversalJoint.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/UniversalJoint.cpp"
+[ 96%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/UserFunction.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/UserFunction.cpp.o -MF CMakeFiles/OndselSolver.dir/UserFunction.cpp.o.d -o CMakeFiles/OndselSolver.dir/UserFunction.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/UserFunction.cpp"
 [ 96%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/Variable.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/Variable.cpp.o -MF CMakeFiles/OndselSolver.dir/Variable.cpp.o.d -o CMakeFiles/OndselSolver.dir/Variable.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/Variable.cpp"
@@ -1116,11 +3694,11 @@
 [ 97%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/VelICKineSolver.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/VelICKineSolver.cpp.o -MF CMakeFiles/OndselSolver.dir/VelICKineSolver.cpp.o.d -o CMakeFiles/OndselSolver.dir/VelICKineSolver.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/VelICKineSolver.cpp"
 [ 98%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/VelKineSolver.cpp.o
+[ 98%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o
+cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o -MF CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o.d -o CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/VelICSolver.cpp"
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/VelKineSolver.cpp.o -MF CMakeFiles/OndselSolver.dir/VelKineSolver.cpp.o.d -o CMakeFiles/OndselSolver.dir/VelKineSolver.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/VelKineSolver.cpp"
 [ 98%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/VelSolver.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/VelSolver.cpp.o -MF CMakeFiles/OndselSolver.dir/VelSolver.cpp.o.d -o CMakeFiles/OndselSolver.dir/VelSolver.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/VelSolver.cpp"
-[ 98%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o
-cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o -MF CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o.d -o CMakeFiles/OndselSolver.dir/VelICSolver.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/VelICSolver.cpp"
 [ 98%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ZRotation.cpp.o
 cd "/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/OndselSolver" && /usr/bin/c++ -DOndselSolver_EXPORTS -DTEST_DATA_PATH="\"/build/reproducible-path/ondselsolver-0~2024.11.27/testapp\""  -g -O2 -ffile-prefix-map=/build/reproducible-path/ondselsolver-0~2024.11.27=. -fstack-protector-strong -fstack-clash-protection -Wformat -Werror=format-security -fcf-protection -Wdate-time -D_FORTIFY_SOURCE=2 -std=gnu++17 -fPIC -MD -MT OndselSolver/CMakeFiles/OndselSolver.dir/ZRotation.cpp.o -MF CMakeFiles/OndselSolver.dir/ZRotation.cpp.o.d -o CMakeFiles/OndselSolver.dir/ZRotation.cpp.o -c "/build/reproducible-path/ondselsolver-0~2024.11.27/OndselSolver/ZRotation.cpp"
 [ 99%] Building CXX object OndselSolver/CMakeFiles/OndselSolver.dir/ZTranslation.cpp.o
@@ -1150,10 +3728,10 @@
    debian/rules override_dh_auto_test
 make[1]: Entering directory '/build/reproducible-path/ondselsolver-0~2024.11.27'
 dh_auto_test
-	cd obj-x86_64-linux-gnu && make -j40 test ARGS\+=--verbose ARGS\+=-j40
+	cd obj-x86_64-linux-gnu && make -j42 test ARGS\+=--verbose ARGS\+=-j42
 make[2]: Entering directory '/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu'
 Running tests...
-/usr/bin/ctest --force-new-ctest-process --verbose -j40
+/usr/bin/ctest --force-new-ctest-process --verbose -j42
 UpdateCTestConfiguration  from :/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/DartConfiguration.tcl
 Parse Config file:/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/DartConfiguration.tcl
 UpdateCTestConfiguration  from :/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu/DartConfiguration.tcl
@@ -1425,11 +4003,11 @@
 2: MbD: Solving for kinematic velocity.
 2: MbD: Solving for kinematic acceleration.
 2: MbD: Convergence = 0
-2: [       OK ] OndselSolver.runOndselSinglePendulum (8 ms)
-2: [----------] 1 test from OndselSolver (8 ms total)
+2: [       OK ] OndselSolver.runOndselSinglePendulum (3 ms)
+2: [----------] 1 test from OndselSolver (3 ms total)
 2: 
 2: [----------] Global test environment tear-down
-2: [==========] 1 test from 1 test suite ran. (8 ms total)
+2: [==========] 1 test from 1 test suite ran. (3 ms total)
 2: [  PASSED  ] 1 test.
 3: Running main() from ./googletest/src/gtest_main.cc
 3: Note: Google Test filter = OndselSolver.runPreDragBackhoe1
@@ -1473,7 +4051,6 @@
 3: MbD: No limits reached. 
 3: Time = 0
 3: MbD: Convergence = 21423446.428309239
-3: MbD: Convergence = 1010800.0932990005
 4: Running main() from ./googletest/src/gtest_main.cc
 4: Note: Google Test filter = OndselSolver.runPreDragBackhoe2
 4: [==========] Running 1 test from 1 test suite.
@@ -1513,16 +4090,6 @@
 4: MbD: No limits reached. 
 4: Time = 0
 4: MbD: Convergence = 339247988.08139938
-4: MbD: Convergence = 889411376.25239861
-4: MbD: Convergence = 2035155223.7298079
-4: MbD: Convergence = 17808531936.948589
-4: MbD: Convergence = 22776765901.703167
-4: MbD: Convergence = 14550089211.229471
-4: MbD: Convergence = 15982698661.477552
-4: MbD: Convergence = 27859608372.112427
-4: MbD: Convergence = 36727192970.521431
-4: MbD: Convergence = 26303635358.489727
-4: MbD: Convergence = 421956895267.38446
 5: Running main() from ./googletest/src/gtest_main.cc
 5: Note: Google Test filter = OndselSolver.runPreDragBackhoe3
 5: [==========] Running 1 test from 1 test suite.
@@ -1558,6 +4125,8 @@
 5: MbD: Convergence = 2.4364674281520207e-06
 5: MbD: Convergence = 1.4431677645509125e-06
 5: MbD: Convergence = 7.5703918663751521e-06
+5: MbD: Convergence = 8.7663240402244207e-06
+5: MbD: Assembling system with limits. 
 6: Running main() from ./googletest/src/gtest_main.cc
 6: Note: Google Test filter = OndselSolver.pistonAllowZRotation
 6: [==========] Running 1 test from 1 test suite.
@@ -1813,46 +4382,6 @@
 6: MbD: Solving for quasi kinematic position.
 6: MbD: Convergence = 1.2070848423527684e-11
 6: MbD: Solving for velocity initial conditions.
-6: MbD: Solving for quasi kinematic acceleration.
-6: MbD: Convergence = 2.1630664212583781
-6: MbD: Convergence = 7.1054745615436066e-15
-6: MbD: Convergence = 4.6588828633171522e-16
-6: MbD: Convergence = 2.6307089681386864e-17
-6: Time = 0.92
-6: MbD: Solving for quasi kinematic position.
-6: MbD: Convergence = 1.8603984505490546e-11
-6: MbD: Solving for velocity initial conditions.
-6: MbD: Solving for quasi kinematic acceleration.
-6: MbD: Convergence = 2.1630664212583781
-6: MbD: Convergence = 1.0201240348325181e-14
-6: MbD: Convergence = 6.0295472409092804e-16
-6: MbD: Convergence = 4.1070356937922578e-16
-6: MbD: Convergence = 1.0810935934334392e-16
-6: Time = 0.96
-6: MbD: Solving for quasi kinematic position.
-6: MbD: Convergence = 1.2049306979455141e-11
-6: MbD: Solving for velocity initial conditions.
-6: MbD: Solving for quasi kinematic acceleration.
-6: MbD: Convergence = 2.1630664212583781
-6: MbD: Convergence = 7.0076635314602566e-15
-6: MbD: Convergence = 4.4017144770372165e-16
-6: MbD: Convergence = 5.7363919703497489e-17
-6: Time = 1
-6: MbD: Solving for quasi kinematic position.
-6: MbD: Convergence = 1.975132952666371e-11
-6: MbD: Solving for velocity initial conditions.
-6: MbD: Solving for quasi kinematic acceleration.
-6: MbD: Convergence = 2.1630664212583781
-6: MbD: Convergence = 1.028097142075778e-14
-6: MbD: Convergence = 6.0041486161508378e-16
-6: MbD: Convergence = 4.9554244885708867e-16
-6: MbD: Convergence = 4.7669356630996892e-16
-6: [       OK ] OndselSolver.pistonAllowZRotation (109 ms)
-6: [----------] 1 test from OndselSolver (110 ms total)
-6: 
-6: [----------] Global test environment tear-down
-6: [==========] 1 test from 1 test suite ran. (110 ms total)
-6: [  PASSED  ] 1 test.
 7: Running main() from ./googletest/src/gtest_main.cc
 7: Note: Google Test filter = OndselSolver.RevRevJt
 7: [==========] Running 1 test from 1 test suite.
@@ -1962,11 +4491,11 @@
 7: MbD: Solving for velocity initial conditions.
 7: MbD: Solving for quasi kinematic acceleration.
 7: MbD: Convergence = 0
-7: [       OK ] OndselSolver.RevRevJt (48 ms)
-7: [----------] 1 test from OndselSolver (48 ms total)
+7: [       OK ] OndselSolver.RevRevJt (15 ms)
+7: [----------] 1 test from OndselSolver (15 ms total)
 7: 
 7: [----------] Global test environment tear-down
-7: [==========] 1 test from 1 test suite ran. (48 ms total)
+7: [==========] 1 test from 1 test suite ran. (15 ms total)
 7: [  PASSED  ] 1 test.
 8: Running main() from ./googletest/src/gtest_main.cc
 8: Note: Google Test filter = OndselSolver.RevCylJt
@@ -2077,11 +4606,11 @@
 8: MbD: Solving for velocity initial conditions.
 8: MbD: Solving for quasi kinematic acceleration.
 8: MbD: Convergence = 0
-8: [       OK ] OndselSolver.RevCylJt (24 ms)
-8: [----------] 1 test from OndselSolver (24 ms total)
+8: [       OK ] OndselSolver.RevCylJt (13 ms)
+8: [----------] 1 test from OndselSolver (13 ms total)
 8: 
 8: [----------] Global test environment tear-down
-8: [==========] 1 test from 1 test suite ran. (24 ms total)
+8: [==========] 1 test from 1 test suite ran. (13 ms total)
 8: [  PASSED  ] 1 test.
 9: Running main() from ./googletest/src/gtest_main.cc
 9: Note: Google Test filter = OndselSolver.CylSphJt
@@ -2239,11 +4768,11 @@
 9: MbD: Solving for velocity initial conditions.
 9: MbD: Solving for quasi kinematic acceleration.
 9: MbD: Convergence = 0
-9: [       OK ] OndselSolver.CylSphJt (66 ms)
-9: [----------] 1 test from OndselSolver (66 ms total)
+9: [       OK ] OndselSolver.CylSphJt (20 ms)
+9: [----------] 1 test from OndselSolver (20 ms total)
 9: 
 9: [----------] Global test environment tear-down
-9: [==========] 1 test from 1 test suite ran. (66 ms total)
+9: [==========] 1 test from 1 test suite ran. (20 ms total)
 9: [  PASSED  ] 1 test.
 10: Running main() from ./googletest/src/gtest_main.cc
 10: Note: Google Test filter = OndselSolver.SphSphJt
@@ -2354,11 +4883,11 @@
 10: MbD: Solving for velocity initial conditions.
 10: MbD: Solving for quasi kinematic acceleration.
 10: MbD: Convergence = 0
-10: [       OK ] OndselSolver.SphSphJt (35 ms)
-10: [----------] 1 test from OndselSolver (35 ms total)
+10: [       OK ] OndselSolver.SphSphJt (19 ms)
+10: [----------] 1 test from OndselSolver (19 ms total)
 10: 
 10: [----------] Global test environment tear-down
-10: [==========] 1 test from 1 test suite ran. (35 ms total)
+10: [==========] 1 test from 1 test suite ran. (19 ms total)
 10: [  PASSED  ] 1 test.
 11: Running main() from ./googletest/src/gtest_main.cc
 11: Note: Google Test filter = OndselSolver.Gears
@@ -2687,6 +5216,26 @@
 11: Time = 0.3
 11: 31 bryzs 2.19911 != -0.942478 tol = 1e-06
 11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956125
+11: MbD: Convergence = 0.00011152671578490284
+11: MbD: Convergence = 2.7199172582564015e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.8811815335321497e-16
+11: Time = 0.31
+11: 32 bryzs 2.1677 != -0.973894 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955604
+11: MbD: Convergence = 0.00011152671578488667
+11: MbD: Convergence = 2.7199172579980498e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689268
+11: MbD: Convergence = 7.7648572526959815e-17
+11: Time = 0.32
+11: 33 bryzs 2.13628 != -1.00531 tol = 1e-06
+11: MbD: Solving for kinematic position.
 12: Running main() from ./googletest/src/gtest_main.cc
 12: Note: Google Test filter = OndselSolver.anglejoint
 12: [==========] Running 1 test from 1 test suite.
@@ -3142,14 +5691,6 @@
 12: MbD: Solving for quasi kinematic acceleration.
 12: MbD: Convergence = 0
 12: Time = 0.7
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 3.0918699352880484e-10
-12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-12: Time = 0.71
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 3.0918718700938483e-10
 13: Running main() from ./googletest/src/gtest_main.cc
 13: Note: Google Test filter = OndselSolver.constvel
 13: [==========] Running 1 test from 1 test suite.
@@ -3452,319 +5993,6 @@
 13: MbD: Convergence = 3.8180977941470694e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3248669118163763
-13: MbD: Convergence = 1.5248112802791927e-15
-13: Time = 0.29
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878356
-13: MbD: Convergence = 0.00015291749096386405
-13: MbD: Convergence = 3.818097792488342e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3134737200344224
-13: MbD: Convergence = 1.5570762305003667e-15
-13: Time = 0.3
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878391
-13: MbD: Convergence = 0.00015291749096386448
-13: MbD: Convergence = 3.8180977957202968e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3012853353445921
-13: MbD: Convergence = 9.8746365835602966e-16
-13: Time = 0.31
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878148
-13: MbD: Convergence = 0.00015291749096384833
-13: MbD: Convergence = 3.8180977939490166e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2884661811428035
-13: MbD: Convergence = 9.1467959631438799e-16
-13: Time = 0.32
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878235
-13: MbD: Convergence = 0.00015291749096386348
-13: MbD: Convergence = 3.8180977958972433e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.275194560966999
-13: MbD: Convergence = 1.4581568178664407e-15
-13: Time = 0.33
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878304
-13: MbD: Convergence = 0.00015291749096386356
-13: MbD: Convergence = 3.8180977927755351e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2616614209410359
-13: MbD: Convergence = 1.4074783080276571e-15
-13: Time = 0.34
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878564
-13: MbD: Convergence = 0.00015291749096388131
-13: MbD: Convergence = 3.8180977925613106e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2480686403005197
-13: MbD: Convergence = 1.3236149456065006e-15
-13: Time = 0.35
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878408
-13: MbD: Convergence = 0.00015291749096386508
-13: MbD: Convergence = 3.8180977957623388e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2346267789677934
-13: MbD: Convergence = 2.6049861989651179e-15
-13: Time = 0.36
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878321
-13: MbD: Convergence = 0.00015291749096386299
-13: MbD: Convergence = 3.8180977943914933e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2215522335645219
-13: MbD: Convergence = 2.2982660472306364e-15
-13: Time = 0.37
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878547
-13: MbD: Convergence = 0.000152917490963847
-13: MbD: Convergence = 3.8180977959975717e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2090637843632819
-13: MbD: Convergence = 1.4557212792082896e-15
-13: Time = 0.38
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878165
-13: MbD: Convergence = 0.00015291749096388091
-13: MbD: Convergence = 3.8180977941038065e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1973785550756122
-13: MbD: Convergence = 2.5125028212214501e-15
-13: Time = 0.39
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878321
-13: MbD: Convergence = 0.00015291749096388042
-13: MbD: Convergence = 3.8180977942013914e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1867074536326641
-13: MbD: Convergence = 1.3470805527755445e-15
-13: Time = 0.4
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878287
-13: MbD: Convergence = 0.0001529174909638651
-13: MbD: Convergence = 3.8180977922984776e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1772502125633033
-13: MbD: Convergence = 1.1536889936968805e-15
-13: Time = 0.41
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878408
-13: MbD: Convergence = 0.00015291749096386426
-13: MbD: Convergence = 3.8180977938191406e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1691901981928403
-13: MbD: Convergence = 2.0634998224450848e-15
-13: Time = 0.42
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877662
-13: MbD: Convergence = 0.00015291749096386475
-13: MbD: Convergence = 3.8180977942189918e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1626892034514502
-13: MbD: Convergence = 1.1126352314322219e-15
-13: Time = 0.43
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878321
-13: MbD: Convergence = 0.00015291749096388047
-13: MbD: Convergence = 3.818097792480325e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1578824736459952
-13: MbD: Convergence = 2.1453489953728269e-15
-13: Time = 0.44
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878408
-13: MbD: Convergence = 0.00015291749096384705
-13: MbD: Convergence = 3.818097795771852e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1548742322446435
-13: MbD: Convergence = 1.0282522160787258e-15
-13: Time = 0.45
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987846
-13: MbD: Convergence = 0.00015291749096386396
-13: MbD: Convergence = 3.8180977942356433e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1537339698272402
-13: MbD: Convergence = 2.2208823118970893e-15
-13: Time = 0.46
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878269
-13: MbD: Convergence = 0.00015291749096384743
-13: MbD: Convergence = 3.818097794172309e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1544937313901142
-13: MbD: Convergence = 2.6552363287080099e-15
-13: Time = 0.47
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878443
-13: MbD: Convergence = 0.00015291749096386489
-13: MbD: Convergence = 3.8180977925353431e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1571465857978773
-13: MbD: Convergence = 1.1057882980861466e-15
-13: Time = 0.48
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878564
-13: MbD: Convergence = 0.00015291749096384656
-13: MbD: Convergence = 3.8180977907895585e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1616463904283969
-13: MbD: Convergence = 1.2435685813826969e-15
-13: Time = 0.49
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877697
-13: MbD: Convergence = 0.00015291749096386537
-13: MbD: Convergence = 3.8180977940981354e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1679088811097698
-13: MbD: Convergence = 1.2623151780163129e-15
-13: Time = 0.5
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878321
-13: MbD: Convergence = 0.00015291749096384675
-13: MbD: Convergence = 3.818097795891504e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1758140314356278
-13: MbD: Convergence = 1.2302849000478602e-15
-13: Time = 0.51
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878425
-13: MbD: Convergence = 0.00015291749096386415
-13: MbD: Convergence = 3.8180977925969157e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.185209546033442
-13: MbD: Convergence = 9.8768931611520636e-16
-13: Time = 0.52
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878339
-13: MbD: Convergence = 0.0001529174909638473
-13: MbD: Convergence = 3.818097794135205e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1959152876944725
-13: MbD: Convergence = 1.7566230302715535e-15
-13: Time = 0.53
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878287
-13: MbD: Convergence = 0.00015291749096386415
-13: MbD: Convergence = 3.8180977957057517e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2077283942446879
-13: MbD: Convergence = 1.0118483892635194e-15
-13: Time = 0.54
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878373
-13: MbD: Convergence = 0.00015291749096386399
-13: MbD: Convergence = 3.8180977942368893e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2204288201691078
-13: MbD: Convergence = 1.2752440104287456e-15
-13: Time = 0.55
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987853
-13: MbD: Convergence = 0.0001529174909638647
-13: MbD: Convergence = 3.818097794015637e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2337850395697236
-13: MbD: Convergence = 2.1918531806552091e-15
-13: Time = 0.56
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878321
-13: MbD: Convergence = 0.00015291749096386432
-13: MbD: Convergence = 3.8180977959731672e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2475596676863803
-13: MbD: Convergence = 1.549925573839508e-15
-13: Time = 0.57
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987872
-13: MbD: Convergence = 0.00015291749096384865
-13: MbD: Convergence = 3.8180977939387681e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2615147929573522
-13: MbD: Convergence = 1.7393133585394807e-15
-13: Time = 0.58
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987768
-13: MbD: Convergence = 0.00015291749096384833
-13: MbD: Convergence = 3.8180977940068616e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2754168548941101
-13: MbD: Convergence = 1.7849848533575628e-15
-13: Time = 0.59
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878339
-13: MbD: Convergence = 0.00015291749096388044
-13: MbD: Convergence = 3.8180977926433629e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2890409496834629
-13: MbD: Convergence = 3.0540362670147864e-15
-13: Time = 0.6
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.00970794391898782
-13: MbD: Convergence = 0.00015291749096382913
-13: MbD: Convergence = 3.8180977974170481e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3021744911366677
-13: MbD: Convergence = 9.876743457852242e-16
-13: Time = 0.61
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878287
-13: MbD: Convergence = 0.00015291749096384719
-13: MbD: Convergence = 3.8180977958462956e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3146201963109143
-13: MbD: Convergence = 1.4234923938600756e-15
-13: Time = 0.62
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878634
-13: MbD: Convergence = 0.00015291749096386494
-13: MbD: Convergence = 3.8180977942067627e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3261984009686114
-13: MbD: Convergence = 2.6372295897460729e-15
-13: Time = 0.63
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878408
-13: MbD: Convergence = 0.0001529174909638651
-13: MbD: Convergence = 3.8180977941723507e-08
 14: Running main() from ./googletest/src/gtest_main.cc
 14: Note: Google Test filter = OndselSolver.rackscrew
 14: [==========] Running 1 test from 1 test suite.
@@ -3964,40 +6192,6 @@
 14: MbD: Convergence = 0.013177068994508455
 14: MbD: Convergence = 0.00034464872108613608
 14: MbD: Convergence = 2.9208034097387583e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4672673529723346
-14: MbD: Convergence = 6.1663748537283633e-15
-14: Time = 0.2
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508059
-14: MbD: Convergence = 0.00034464872108611055
-14: MbD: Convergence = 2.9208034094148821e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4596627958644603
-14: MbD: Convergence = 6.4003379903401495e-15
-14: Time = 0.21
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508032
-14: MbD: Convergence = 0.00034464872108610936
-14: MbD: Convergence = 2.9208034095617618e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4522588755533103
-14: MbD: Convergence = 5.5921598030906598e-15
-14: Time = 0.22
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508455
-14: MbD: Convergence = 0.00034464872108614129
-14: MbD: Convergence = 2.9208034097768044e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4450564104871404
-14: MbD: Convergence = 5.9623894266432528e-15
-14: Time = 0.23
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508321
 15: Running main() from ./googletest/src/gtest_main.cc
 15: Note: Google Test filter = OndselSolver.planarbug
 15: [==========] Running 1 test from 1 test suite.
@@ -4329,6 +6523,66 @@
 16: MbD: Solving for velocity initial conditions.
 16: MbD: Solving for quasi kinematic acceleration.
 16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.1
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.15
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.2
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.25
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.3
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.35
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
 17: Running main() from ./googletest/src/gtest_main.cc
 17: Note: Google Test filter = OndselSolver.quasikine
 17: [==========] Running 1 test from 1 test suite.
@@ -4473,6 +6727,62 @@
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 6905.340236755459
 17: MbD: Convergence = 784.9736050721458
+17: MbD: Convergence = 0.26670324007342738
+17: MbD: Convergence = 5.7161709749091258e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 10.319434694476744
+17: MbD: Convergence = 1.6602822265667819e-15
+17: MbD: Convergence = 1.5273625580257574e-15
+17: MbD: Convergence = 1.1224506528306733e-15
+17: MbD: Convergence = 7.1312716935024538e-16
+17: Time = 0.09
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 7248.3962515820922
+17: MbD: Convergence = 796.0647152350964
+17: MbD: Convergence = 0.53247502346305442
+17: MbD: Convergence = 1.9160447734356383e-07
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 10.179338064623197
+17: MbD: Convergence = 1.1383314956010006e-15
+17: MbD: Convergence = 8.0660517581241214e-16
+17: MbD: Convergence = 1.326452658481893e-15
+17: MbD: Convergence = 6.4891724590748232e-16
+17: Time = 0.1
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 8012.7998033896138
+17: MbD: Convergence = 819.04479790962102
+17: MbD: Convergence = 0.74496184734302318
+17: MbD: Convergence = 3.9138859603956475e-07
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 9.948724443434223
+17: MbD: Convergence = 1.8700951134335765e-15
+17: MbD: Convergence = 5.3317778628472755e-16
+17: MbD: Convergence = 6.8213687166211203e-16
+17: MbD: Convergence = 8.2582718753597557e-16
+17: Time = 0.11
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 9068.1583551529493
+17: MbD: Convergence = 843.94480872850841
+17: MbD: Convergence = 0.89065993671328414
+17: MbD: Convergence = 6.1224092601685644e-07
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 9.6334321336424207
+17: MbD: Convergence = 1.2470663761740637e-15
+17: MbD: Convergence = 1.6300518816471425e-15
+17: MbD: Convergence = 1.4984943784224535e-15
+17: MbD: Convergence = 7.0859237019754261e-16
+17: Time = 0.12
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 10292.576878223594
+17: MbD: Convergence = 861.46570615656435
+17: MbD: Convergence = 0.96724023971757389
+17: MbD: Convergence = 8.0653832589080775e-07
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
 18: Running main() from ./googletest/src/gtest_main.cc
 18: Note: Google Test filter = OndselSolver.piston
 18: [==========] Running 1 test from 1 test suite.
@@ -4683,101 +6993,6 @@
 18: MbD: Convergence = 2.1314995399391365e-10
 18: MbD: Solving for kinematic velocity.
 18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 71.10675665501293
-18: MbD: Convergence = 1.8235164923747705e-13
-18: Time = 0.68
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.040704438312626288
-18: MbD: Convergence = 0.0051360656437696543
-18: MbD: Convergence = 7.5878061471049211e-06
-18: MbD: Convergence = 2.1738627117276227e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 62.462710241559286
-18: MbD: Convergence = 3.8235944241165445e-14
-18: Time = 0.72
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.039755330256128908
-18: MbD: Convergence = 0.0049218466983109877
-18: MbD: Convergence = 7.6048026171754536e-06
-18: MbD: Convergence = 2.171873273388804e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 60.798456099268329
-18: MbD: Convergence = 5.2964879834965465e-14
-18: Time = 0.76
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.039580619555285204
-18: MbD: Convergence = 0.0048768912522244206
-18: MbD: Convergence = 7.844635378450899e-06
-18: MbD: Convergence = 2.0758876514754579e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 65.858763713164876
-18: MbD: Convergence = 4.0602153128518185e-14
-18: Time = 0.8
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.040119753394837004
-18: MbD: Convergence = 0.0049864525797369622
-18: MbD: Convergence = 1.1137806474626967e-05
-18: MbD: Convergence = 2.0845104925439776e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 78.341428492871287
-18: MbD: Convergence = 9.6447295261631446e-14
-18: Time = 0.84
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.04155602639955152
-18: MbD: Convergence = 0.0052626815946355482
-18: MbD: Convergence = 2.1956559774444155e-05
-18: MbD: Convergence = 2.2335479341596507e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 98.859148026050647
-18: MbD: Convergence = 1.009664428578729e-13
-18: Time = 0.88
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.044318935772930258
-18: MbD: Convergence = 0.0056967211118401371
-18: MbD: Convergence = 4.4744517209743354e-05
-18: MbD: Convergence = 5.1205716018137698e-10
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 124.27146429018424
-18: MbD: Convergence = 7.6719055653277463e-14
-18: Time = 0.92
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.048960451655446671
-18: MbD: Convergence = 0.0061188595972152988
-18: MbD: Convergence = 7.9866393762264179e-05
-18: MbD: Convergence = 3.9411541693779713e-09
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 141.37740578975868
-18: MbD: Convergence = 3.0027936242462725e-13
-18: Time = 0.96
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.055616121327274927
-18: MbD: Convergence = 0.0060562747967846673
-18: MbD: Convergence = 0.00011008407786416943
-18: MbD: Convergence = 1.0103067159264043e-08
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 128.8129584202355
-18: MbD: Convergence = 1.9402380087434663e-13
-18: Time = 1
-18: MbD: Solving for kinematic position.
-18: MbD: Convergence = 0.06307910858480055
-18: MbD: Convergence = 0.0051124148722313575
-18: MbD: Convergence = 0.00010556830456570025
-18: MbD: Convergence = 9.0621324990914112e-09
-18: MbD: Solving for kinematic velocity.
-18: MbD: Solving for kinematic acceleration.
-18: MbD: Convergence = 80.015196764337091
-18: MbD: Convergence = 1.5280465408422308e-13
-18: FileName = assembly.asmt
-18: 
-18: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
 19: Running main() from ./googletest/src/gtest_main.cc
 19: Note: Google Test filter = OndselSolver.runSinglePendulumSuperSimplified
 19: [==========] Running 1 test from 1 test suite.
@@ -4791,11 +7006,11 @@
 19: MbD: Solving for acceleration initial conditions.
 19: MbD: Convergence = 0
 19: Time = 0
-19: [       OK ] OndselSolver.runSinglePendulumSuperSimplified (1 ms)
-19: [----------] 1 test from OndselSolver (1 ms total)
+19: [       OK ] OndselSolver.runSinglePendulumSuperSimplified (0 ms)
+19: [----------] 1 test from OndselSolver (0 ms total)
 19: 
 19: [----------] Global test environment tear-down
-19: [==========] 1 test from 1 test suite ran. (1 ms total)
+19: [==========] 1 test from 1 test suite ran. (0 ms total)
 19: [  PASSED  ] 1 test.
 20: Running main() from ./googletest/src/gtest_main.cc
 20: Note: Google Test filter = OndselSolver.runSinglePendulumSuperSimplified2
@@ -4814,11 +7029,11 @@
 20: MbD: Solving for acceleration initial conditions.
 20: MbD: Convergence = 0
 20: Time = 0
-20: [       OK ] OndselSolver.runSinglePendulumSuperSimplified2 (13 ms)
-20: [----------] 1 test from OndselSolver (13 ms total)
+20: [       OK ] OndselSolver.runSinglePendulumSuperSimplified2 (1 ms)
+20: [----------] 1 test from OndselSolver (1 ms total)
 20: 
 20: [----------] Global test environment tear-down
-20: [==========] 1 test from 1 test suite ran. (13 ms total)
+20: [==========] 1 test from 1 test suite ran. (1 ms total)
 20: [  PASSED  ] 1 test.
 21: Running main() from ./googletest/src/gtest_main.cc
 21: Note: Google Test filter = OndselSolver.runSinglePendulumSimplified
@@ -4834,11 +7049,11 @@
 21: MbD: Solving for acceleration initial conditions.
 21: MbD: Convergence = 0
 21: Time = 0
-21: [       OK ] OndselSolver.runSinglePendulumSimplified (6 ms)
-21: [----------] 1 test from OndselSolver (6 ms total)
+21: [       OK ] OndselSolver.runSinglePendulumSimplified (1 ms)
+21: [----------] 1 test from OndselSolver (1 ms total)
 21: 
 21: [----------] Global test environment tear-down
-21: [==========] 1 test from 1 test suite ran. (6 ms total)
+21: [==========] 1 test from 1 test suite ran. (1 ms total)
 21: [  PASSED  ] 1 test.
 22: Running main() from ./googletest/src/gtest_main.cc
 22: Note: Google Test filter = OndselSolver.runSinglePendulum
@@ -5036,13 +7251,6 @@
 23: MbD: Convergence = 2.1856289645725772e-13
 23: Time = 0.52
 23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.059391947098620369
-23: MbD: Convergence = 0.0074526305637905845
-23: MbD: Convergence = 8.7996908877881175e-05
-23: MbD: Convergence = 5.6121116626863542e-09
-23: MbD: Solving for kinematic velocity.
-23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 135.18051204125388
 24: Running main() from ./googletest/src/gtest_main.cc
 24: Note: Google Test filter = OndselSolver.00backhoe
 24: [==========] Running 1 test from 1 test suite.
@@ -5507,6 +7715,49 @@
 25: MbD: Convergence = 4.5380918100779493e-07
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.376851670804911
+25: MbD: Convergence = 1.3300565523852457e-14
+25: Time = 0.19
+25: 20 vxs 0.815495 != 0.815458 tol = 1e-06
+25: 20 vys 0.352896 != 0.352846 tol = 1e-06
+25: 20 axs -2.21731 != -2.21854 tol = 1e-06
+25: 20 ays 5.12391 != 5.12209 tol = 1e-06
+25: 20 alpzs -5.32907e-15 != 8.44081e-06 tol = 1e-06
+25: 20 ys 0.00444213 != 0.00442749 tol = 1e-06
+25: 20 zs 0.141351 != 0.141355 tol = 1e-06
+25: 20 vys 1.77627 != 1.77251 tol = 1e-06
+25: 20 vzs -0.0558215 != -0.0547127 tol = 1e-06
+25: 20 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 20 ays -0.701474 != -0.828119 tol = 1e-06
+25: 20 azs -22.3213 != -22.2706 tol = 1e-06
+25: 20 alpxs 1.77636e-15 != -0.00107214 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089397
+25: MbD: Convergence = 0.001670526988803555
+25: MbD: Convergence = 4.5380918103306102e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.782484397171892
+25: MbD: Convergence = 6.0458716931071624e-15
+25: Time = 0.2
+25: 21 vxs 0.791727 != 0.791696 tol = 1e-06
+25: 21 vys 0.403405 != 0.403362 tol = 1e-06
+25: 21 axs -2.53467 != -2.53154 tol = 1e-06
+25: 21 ays 4.97457 != 4.97867 tol = 1e-06
+25: 21 alpzs -1.77636e-15 != -3.08463e-05 tol = 1e-06
+25: 21 ys 0.0221231 != 0.022071 tol = 1e-06
+25: 21 zs 0.13968 != 0.139695 tol = 1e-06
+25: 21 vys 1.75527 != 1.75208 tol = 1e-06
+25: 21 vzs -0.278007 != -0.27695 tol = 1e-06
+25: 21 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 21 ays -3.49354 != -3.18184 tol = 1e-06
+25: 21 azs -22.0573 != -22.1417 tol = 1e-06
+25: 21 alpxs 7.10543e-15 != 0.0038538 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089341
+25: MbD: Convergence = 0.0016705269888035814
+25: MbD: Convergence = 4.538091809851142e-07
+25: MbD: Solving for kinematic velocity.
 26: Running main() from ./googletest/src/gtest_main.cc
 26: Note: Google Test filter = OndselSolver.engine1
 26: [==========] Running 1 test from 1 test suite.
@@ -6036,6 +8287,61 @@
 26: MbD: Convergence = 5.5401353118256532e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915836
+26: MbD: Convergence = 9.968726711965654e-16
+26: Time = 0.35
+26: 36 vxs 3.69178e-08 != 9.37882e-06 tol = 1e-06
+26: 36 vys 1.13625e-07 != 8.19607e-06 tol = 1e-06
+26: 36 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 36 axs -1.42786e-06 != -0.00835157 tol = 1e-06
+26: 36 ays 4.6391e-07 != -0.00618353 tol = 1e-06
+26: 36 alpzs 2.84217e-14 != -0.00486523 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.01689635618543121
+26: MbD: Convergence = 0.00053807828411887989
+26: MbD: Convergence = 5.540135311617371e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915845
+26: MbD: Convergence = 3.4013921214168531e-16
+26: Time = 0.36
+26: 37 vxs 2.23857e-08 != -0.000151548 tol = 1e-06
+26: 37 vys 1.17356e-07 != -0.000117585 tol = 1e-06
+26: 37 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 37 axs -1.47474e-06 != -0.0254531 tol = 1e-06
+26: 37 ays 2.81293e-07 != -0.0205837 tol = 1e-06
+26: 37 alpzs 0 != -0.0174024 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431189
+26: MbD: Convergence = 0.00053807828411885149
+26: MbD: Convergence = 5.5401353121048945e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915872
+26: MbD: Convergence = 1.7057953172934213e-15
+26: Time = 0.37
+26: 38 vxs 7.50059e-09 != 2.94419e-05 tol = 1e-06
+26: 38 vys 1.19236e-07 != 4.4076e-05 tol = 1e-06
+26: 38 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 38 axs -1.49837e-06 != -0.00110976 tol = 1e-06
+26: 38 ays 9.42409e-08 != -0.00129416 tol = 1e-06
+26: 38 alpzs 3.55271e-14 != -0.000818142 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431186
+26: MbD: Convergence = 0.00053807828411885268
+26: MbD: Convergence = 5.5401353118744275e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915899
+26: MbD: Convergence = 1.9080415315939332e-15
+26: Time = 0.38
+26: 39 vxs -7.50285e-09 != -1.32011e-05 tol = 1e-06
+26: 39 vys 1.19236e-07 != -1.83662e-05 tol = 1e-06
+26: 39 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 39 axs -1.49837e-06 != -0.00828501 tol = 1e-06
+26: 39 ays -9.42978e-08 != -0.0127374 tol = 1e-06
+26: 39 alpzs 4.9738e-14 != -0.00735234 tol = 1e-06
+26: MbD: Solving for kinematic position.
 27: Running main() from ./googletest/src/gtest_main.cc
 27: Note: Google Test filter = OndselSolver.fourbar
 27: [==========] Running 1 test from 1 test suite.
@@ -6159,6 +8465,47 @@
 27: Time = 0.08
 27: MbD: Solving for kinematic position.
 27: MbD: Convergence = 0.0093401649638531238
+27: MbD: Convergence = 0.00057653651396909135
+27: MbD: Convergence = 5.4705120733199367e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 16.382976652351243
+27: MbD: Convergence = 3.2912160583136167e-15
+27: Time = 0.09
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0095088363146574057
+27: MbD: Convergence = 0.00054014660074095929
+27: MbD: Convergence = 4.5049647607732145e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 15.059439192275564
+27: MbD: Convergence = 1.2747179327099354e-14
+27: Time = 0.1
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0097583007581255737
+27: MbD: Convergence = 0.00050429481212008133
+27: MbD: Convergence = 3.6614217528878844e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 13.712211693690154
+27: MbD: Convergence = 7.1107087179204595e-15
+27: Time = 0.11
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010058486863842388
+27: MbD: Convergence = 0.00047047713868588609
+27: MbD: Convergence = 2.94894345882452e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 12.393701171304471
+27: MbD: Convergence = 4.0067693630785008e-15
+27: Time = 0.12
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010384978566735937
+27: MbD: Convergence = 0.00043971484425840013
+27: MbD: Convergence = 2.3621497309029409e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 11.141701604093431
 28: Running main() from ./googletest/src/gtest_main.cc
 28: Note: Google Test filter = OndselSolver.fourbot
 28: [==========] Running 1 test from 1 test suite.
@@ -6201,14 +8548,6 @@
 29: MbD: Convergence = 7.6707137455425257e-10
 29: MbD: Convergence = 1.0054766075983002e-11
 29: MbD: Convergence = 4.1906954025679754e-12
-29: MbD: Convergence = 1.0283099411521204e-11
-29: MbD: Convergence = 1.4832329514306618e-11
-29: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for acceleration initial conditions.
-29: MbD: Convergence = 16.089863748148186
-29: MbD: Convergence = 4.2450737019160914e-15
-29: MbD: Convergence = 1.4296618728978658e-15
-29: MbD: Convergence = 1.1388621779007979e-15
 30: Running main() from ./googletest/src/gtest_main.cc
 30: Note: Google Test filter = OndselSolver.runOndselDoublePendulum
 30: [==========] Running 1 test from 1 test suite.
@@ -6247,11 +8586,11 @@
 30: MbD: Solving for velocity initial conditions.
 30: MbD: Solving for quasi kinematic acceleration.
 30: MbD: Convergence = 0
-30: [       OK ] OndselSolver.runOndselDoublePendulum (9 ms)
-30: [----------] 1 test from OndselSolver (9 ms total)
+30: [       OK ] OndselSolver.runOndselDoublePendulum (3 ms)
+30: [----------] 1 test from OndselSolver (3 ms total)
 30: 
 30: [----------] Global test environment tear-down
-30: [==========] 1 test from 1 test suite ran. (9 ms total)
+30: [==========] 1 test from 1 test suite ran. (3 ms total)
 30: [  PASSED  ] 1 test.
 31: Running main() from ./googletest/src/gtest_main.cc
 31: Note: Google Test filter = OndselSolver.runOndselPiston
@@ -6270,14 +8609,14 @@
 31: revJoint1->name /Assembly1/Joint1
 31: revJoint2->name /Assembly1/Joint2
 31: revJoint3->name /Assembly1/Joint3
-31: cylJoint4->name 1761851296681575298
+31: cylJoint4->name 1761851480123030653
 31: rotMotion1->name /Assembly1/Motion1
 31: rotMotion1->phiBlk (6.28319*(1*t))
 31: MbD: Assembling system. 
 31: MbD: Checking for redundant constraints.
 31: MbD: luteJointE /Assembly1/Joint3 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-31: MbD: ndricalJointE 1761851296681575298 has the following constraint(s) removed: 
+31: MbD: ndricalJointE 1761851480123030653 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 31: MbD: Assembling system. 
@@ -6294,7 +8633,7 @@
 31: MbD: Checking for redundant constraints.
 31: MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-31: MbD: ndricalJointE 1761851296681575298 has the following constraint(s) removed: 
+31: MbD: ndricalJointE 1761851480123030653 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 31: MbD: Assembling system. 
 31: MbD: Convergence = 256244.98622252379
@@ -6309,7 +8648,7 @@
 31: MbD: Checking for redundant constraints.
 31: MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-31: MbD: ndricalJointE 1761851296681575298 has the following constraint(s) removed: 
+31: MbD: ndricalJointE 1761851480123030653 has the following constraint(s) removed: 
 31: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 31: MbD: Assembling system. 
 31: MbD: Convergence = 1.6603732760913954e-11
@@ -6322,87 +8661,13 @@
 31: MbD: Convergence = 28.922423760281863
 31: MbD: Convergence = 2.4460335525828212e-14
 31: MbD: Convergence = 4.5308110284358219e-15
-31: MbD: Convergence = 3.0542749279036042e-15
-31: MbD: Convergence = 6.3268972148127063e-15
-31: MbD: Starting kinematic analysis.
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.063079108584800966
-31: MbD: Convergence = 0.0051124148722313774
-31: MbD: Convergence = 0.00010556830456563228
-31: MbD: Convergence = 9.0621326207234018e-09
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 19.760844981035625
-31: MbD: Convergence = 1.7532300527078352e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.068627776775308083
-31: MbD: Convergence = 0.0042471646672358988
-31: MbD: Convergence = 6.8693029685652294e-05
-31: MbD: Convergence = 2.6836737734668944e-09
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 13.197008658046682
-31: MbD: Convergence = 4.7763048488072469e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.069578856219114707
-31: MbD: Convergence = 0.0054215109825668968
-31: MbD: Convergence = 3.2505983295342307e-05
-31: MbD: Convergence = 2.9809645596823172e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 18.968060856398107
-31: MbD: Convergence = 1.0375994257532302e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.065028304448092364
-31: MbD: Convergence = 0.0076401633172809265
-31: MbD: Convergence = 1.3555310950119321e-05
-31: MbD: Convergence = 2.0776955752353224e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 26.750883255747009
-31: MbD: Convergence = 2.0524658239243143e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.05617405800385683
-31: MbD: Convergence = 0.0094622326448794199
-31: MbD: Convergence = 8.2300415378379267e-06
-31: MbD: Convergence = 2.2029060775652943e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 31.971413392198468
-31: MbD: Convergence = 2.6619758392039668e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.046089777734135563
-31: MbD: Convergence = 0.010429102752432395
-31: MbD: Convergence = 7.6467827888842287e-06
-31: MbD: Convergence = 2.1894393890707151e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 34.196464840413746
-31: MbD: Convergence = 1.3686489870840926e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.039856419380437602
-31: MbD: Convergence = 0.010445817799283941
-31: MbD: Convergence = 8.1750265848347928e-06
-31: MbD: Convergence = 2.2534918048061098e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 33.45672959129282
-31: MbD: Convergence = 1.2820536924274492e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.042114906399157978
-31: MbD: Convergence = 0.0095400455490806165
-31: MbD: Convergence = 1.0575119610490743e-05
-31: MbD: Convergence = 2.2937333924136215e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
- 1/35 Test  #1: OndselSolver.TestName ............................   Passed    0.22 sec
- 2/35 Test  #2: OndselSolver.runOndselSinglePendulum .............   Passed    0.21 sec
- 3/35 Test  #6: OndselSolver.pistonAllowZRotation ................   Passed    0.19 sec
- 4/35 Test  #7: OndselSolver.RevRevJt ............................   Passed    0.19 sec
- 5/35 Test  #8: OndselSolver.RevCylJt ............................   Passed    0.19 sec
- 6/35 Test  #9: OndselSolver.CylSphJt ............................   Passed    0.18 sec
- 7/35 Test #10: OndselSolver.SphSphJt ............................   Passed    0.17 sec
- 8/35 Test #15: OndselSolver.planarbug ...........................Subprocess aborted***Exception:   0.16 sec
+ 1/35 Test  #1: OndselSolver.TestName ............................   Passed    0.07 sec
+ 2/35 Test  #2: OndselSolver.runOndselSinglePendulum .............   Passed    0.07 sec
+ 3/35 Test  #7: OndselSolver.RevRevJt ............................   Passed    0.06 sec
+ 4/35 Test  #8: OndselSolver.RevCylJt ............................   Passed    0.06 sec
+ 5/35 Test  #9: OndselSolver.CylSphJt ............................   Passed    0.06 sec
+ 6/35 Test #10: OndselSolver.SphSphJt ............................   Passed    0.05 sec
+ 7/35 Test #15: OndselSolver.planarbug ...........................Subprocess aborted***Exception:   0.05 sec
 Running main() from ./googletest/src/gtest_main.cc
 Note: Google Test filter = OndselSolver.planarbug
 [==========] Running 1 test from 1 test suite.
@@ -6493,70 +8758,69 @@
 
 test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
 
- 9/35 Test #19: OndselSolver.runSinglePendulumSuperSimplified ....   Passed    0.14 sec
-10/35 Test #20: OndselSolver.runSinglePendulumSuperSimplified2 ...   Passed    0.14 sec
-11/35 Test #21: OndselSolver.runSinglePendulumSimplified .........   Passed    0.13 sec
-12/35 Test #22: OndselSolver.runSinglePendulum ...................   Passed    0.12 sec
-13/35 Test #30: OndselSolver.runOndselDoublePendulum .............   Passed    0.10 sec
+ 8/35 Test #19: OndselSolver.runSinglePendulumSuperSimplified ....   Passed    0.04 sec
+ 9/35 Test #20: OndselSolver.runSinglePendulumSuperSimplified2 ...   Passed    0.04 sec
+10/35 Test #21: OndselSolver.runSinglePendulumSimplified .........   Passed    0.04 sec
+11/35 Test #22: OndselSolver.runSinglePendulum ...................   Passed    0.04 sec
+12/35 Test #30: OndselSolver.runOndselDoublePendulum .............   Passed    0.03 sec
+3: MbD: Convergence = 1010800.0932990005
 3: MbD: Convergence = 13646.380360475185
 3: MbD: Convergence = 38.66670535909968
 3: MbD: Convergence = 0.0082639693043799374
 3: MbD: Convergence = 2.9962744166844797e-06
-3: MbD: Convergence = 8.9335768721947495e-07
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-3: MbD: Convergence = 2147190.449934552
-3: MbD: Convergence = 10422.416561970538
-4: MbD: Convergence = 30357927667270.359
-4: MbD: Convergence = 28717137892640.793
-4: MbD: Convergence = 1324037800749.376
-4: MbD: Convergence = 27398768267256.547
-4: MbD: Convergence = 6206833399780935
-4: MbD: Singular Matrix Error. 
-4: MbD: Convergence = 291538238.67026126
-4: MbD: Convergence = 216106797.60120988
-4: MbD: Convergence = 189620100.41964987
-4: MbD: Convergence = 53348146.713246964
-4: MbD: Convergence = 1632845.1943181544
-4: MbD: Convergence = 42918.116205927137
-4: MbD: Convergence = 44.956715462591909
-4: MbD: Convergence = 0.4455582710584845
-4: MbD: Convergence = 0.00069810496397948332
-5: MbD: Convergence = 8.7663240402244207e-06
-5: MbD: Assembling system with limits. 
+4: MbD: Convergence = 889411376.25239861
+4: MbD: Convergence = 2035155223.7298079
+4: MbD: Convergence = 17808531936.948589
+4: MbD: Convergence = 22776765901.703167
+4: MbD: Convergence = 14550089211.229471
+4: MbD: Convergence = 15982698661.477552
 5: MbD: No limits reached. 
 5: Time = 0
 5: MbD: Convergence = 366456993.49735719
 5: MbD: Convergence = 152523224343.53745
 5: MbD: Convergence = 594048984332886
 5: MbD: Singular Matrix Error. 
-5: MbD: Convergence = 445398669.65587616
-5: MbD: Convergence = 286538517.09908801
-5: MbD: Convergence = 531021526.77693832
-5: MbD: Convergence = 1501647780.0691876
-5: MbD: Convergence = 690007159.77102411
-5: MbD: Convergence = 3396494498.5540104
-11: MbD: Convergence = 0.0076748035452956125
-11: MbD: Convergence = 0.00011152671578490284
-11: MbD: Convergence = 2.7199172582564015e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689277
-11: MbD: Convergence = 2.8811815335321497e-16
-11: Time = 0.31
-11: 32 bryzs 2.1677 != -0.973894 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955604
-11: MbD: Convergence = 0.00011152671578488667
-11: MbD: Convergence = 2.7199172579980498e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689268
-11: MbD: Convergence = 7.7648572526959815e-17
-11: Time = 0.32
-11: 33 bryzs 2.13628 != -1.00531 tol = 1e-06
-11: MbD: Solving for kinematic position.
+6: MbD: Solving for quasi kinematic acceleration.
+6: MbD: Convergence = 2.1630664212583781
+6: MbD: Convergence = 7.1054745615436066e-15
+6: MbD: Convergence = 4.6588828633171522e-16
+6: MbD: Convergence = 2.6307089681386864e-17
+6: Time = 0.92
+6: MbD: Solving for quasi kinematic position.
+6: MbD: Convergence = 1.8603984505490546e-11
+6: MbD: Solving for velocity initial conditions.
+6: MbD: Solving for quasi kinematic acceleration.
+6: MbD: Convergence = 2.1630664212583781
+6: MbD: Convergence = 1.0201240348325181e-14
+6: MbD: Convergence = 6.0295472409092804e-16
+6: MbD: Convergence = 4.1070356937922578e-16
+6: MbD: Convergence = 1.0810935934334392e-16
+6: Time = 0.96
+6: MbD: Solving for quasi kinematic position.
+6: MbD: Convergence = 1.2049306979455141e-11
+6: MbD: Solving for velocity initial conditions.
+6: MbD: Solving for quasi kinematic acceleration.
+6: MbD: Convergence = 2.1630664212583781
+6: MbD: Convergence = 7.0076635314602566e-15
+6: MbD: Convergence = 4.4017144770372165e-16
+6: MbD: Convergence = 5.7363919703497489e-17
+6: Time = 1
+6: MbD: Solving for quasi kinematic position.
+6: MbD: Convergence = 1.975132952666371e-11
+6: MbD: Solving for velocity initial conditions.
+6: MbD: Solving for quasi kinematic acceleration.
+6: MbD: Convergence = 2.1630664212583781
+6: MbD: Convergence = 1.028097142075778e-14
+6: MbD: Convergence = 6.0041486161508378e-16
+6: MbD: Convergence = 4.9554244885708867e-16
+6: MbD: Convergence = 4.7669356630996892e-16
+6: [       OK ] OndselSolver.pistonAllowZRotation (49 ms)
+6: [----------] 1 test from OndselSolver (49 ms total)
+6: 
+6: [----------] Global test environment tear-down
+6: [==========] 1 test from 1 test suite ran. (49 ms total)
+6: [  PASSED  ] 1 test.
+13/35 Test  #6: OndselSolver.pistonAllowZRotation ................   Passed    0.06 sec
 11: MbD: Convergence = 0.0076748035452955995
 11: MbD: Convergence = 0.0001115267157849073
 11: MbD: Convergence = 2.7199172607881555e-08
@@ -6677,6 +8941,18 @@
 11: Time = 0.44
 11: 45 bryzs 1.75929 != -1.3823 tol = 1e-06
 11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955977
+11: MbD: Convergence = 0.0001115267157849322
+11: MbD: Convergence = 2.7199172577859872e-08
+11: MbD: Solving for kinematic velocity.
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 3.0918699352880484e-10
+12: MbD: Solving for velocity initial conditions.
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+12: Time = 0.71
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 3.0918718700938483e-10
 12: MbD: Solving for velocity initial conditions.
 12: MbD: Solving for quasi kinematic acceleration.
 12: MbD: Convergence = 0
@@ -6828,268 +9104,140 @@
 12: MbD: Solving for quasi kinematic position.
 12: MbD: Convergence = 3.0918699352880484e-10
 12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-12: Time = 0.97
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 1.0865514979073127e-09
-12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-12: Time = 0.98
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 3.0918699352880484e-10
-12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-12: Time = 0.99
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 3.0918718700938483e-10
-12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-12: Time = 1
-12: MbD: Solving for quasi kinematic position.
-12: MbD: Convergence = 3.0918699352880484e-10
-12: MbD: Solving for velocity initial conditions.
-12: MbD: Solving for quasi kinematic acceleration.
-12: MbD: Convergence = 0
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3367487391634665
-13: MbD: Convergence = 5.522415920413674e-16
-13: Time = 0.64
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879119
-13: MbD: Convergence = 0.00015291749096386426
-13: MbD: Convergence = 3.8180977959094843e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3461312435483781
-13: MbD: Convergence = 1.742997725849797e-15
-13: Time = 0.65
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987768
-13: MbD: Convergence = 0.00015291749096386334
-13: MbD: Convergence = 3.8180977925158434e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.354226938860311
-13: MbD: Convergence = 9.467644623258073e-16
-13: Time = 0.66
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877593
-13: MbD: Convergence = 0.0001529174909638638
-13: MbD: Convergence = 3.8180977923917452e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3609380110655116
-13: MbD: Convergence = 1.1738836889601099e-15
-13: Time = 0.67
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878911
-13: MbD: Convergence = 0.00015291749096386323
-13: MbD: Convergence = 3.8180977942823684e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3661876395318466
-13: MbD: Convergence = 1.6119243443393276e-15
-13: Time = 0.68
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877714
-13: MbD: Convergence = 0.00015291749096386426
-13: MbD: Convergence = 3.8180977924331095e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3699195799927542
-13: MbD: Convergence = 1.2296612648899637e-15
-13: Time = 0.69
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878981
-13: MbD: Convergence = 0.00015291749096386388
-13: MbD: Convergence = 3.8180977924744487e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3720975825630024
-13: MbD: Convergence = 2.3347488139449476e-15
-13: Time = 0.7
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987768
-13: MbD: Convergence = 0.00015291749096386375
-13: MbD: Convergence = 3.8180977941590503e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3727047221630029
-13: MbD: Convergence = 8.3171350426732021e-16
-13: Time = 0.71
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879085
-13: MbD: Convergence = 0.00015291749096384727
-13: MbD: Convergence = 3.8180977924447813e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3717427088472065
-13: MbD: Convergence = 2.4130559905584391e-15
-13: Time = 0.72
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877749
-13: MbD: Convergence = 0.00015291749096384708
-13: MbD: Convergence = 3.8180977941989416e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3692312331234473
-13: MbD: Convergence = 1.4196716528996722e-15
-13: Time = 0.73
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879102
-13: MbD: Convergence = 0.00015291749096386432
-13: MbD: Convergence = 3.81809779244747e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3652073868074033
-13: MbD: Convergence = 2.0773256704611111e-15
-13: Time = 0.74
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987768
-13: MbD: Convergence = 0.00015291749096384697
-13: MbD: Convergence = 3.8180977941606061e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3597251837237652
-13: MbD: Convergence = 2.1813458378272071e-15
-13: Time = 0.75
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879102
-13: MbD: Convergence = 0.00015291749096386434
-13: MbD: Convergence = 3.8180977941582271e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3528551871412038
-13: MbD: Convergence = 1.5096813519121399e-15
-13: Time = 0.76
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877645
-13: MbD: Convergence = 0.00015291749096388115
-13: MbD: Convergence = 3.8180977924065233e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3446842327756778
-13: MbD: Convergence = 1.1810562034894907e-15
-13: Time = 0.77
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879102
-13: MbD: Convergence = 0.00015291749096388156
-13: MbD: Convergence = 3.8180977958249246e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3353152181543022
-13: MbD: Convergence = 1.7451998987182009e-15
-13: Time = 0.78
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877593
-13: MbD: Convergence = 0.00015291749096384667
-13: MbD: Convergence = 3.8180977958248187e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3248669118163807
-13: MbD: Convergence = 1.3707233976754309e-15
-13: Time = 0.79
+13: MbD: Convergence = 2.3248669118163763
+13: MbD: Convergence = 1.5248112802791927e-15
+13: Time = 0.29
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987761
-13: MbD: Convergence = 0.0001529174909638473
-13: MbD: Convergence = 3.8180977957781624e-08
+13: MbD: Convergence = 0.0097079439189878356
+13: MbD: Convergence = 0.00015291749096386405
+13: MbD: Convergence = 3.818097792488342e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3134737200344202
-13: MbD: Convergence = 1.569921453783669e-15
-13: Time = 0.8
+13: MbD: Convergence = 2.3134737200344224
+13: MbD: Convergence = 1.5570762305003667e-15
+13: Time = 0.3
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878981
-13: MbD: Convergence = 0.00015291749096388066
-13: MbD: Convergence = 3.8180977924680112e-08
+13: MbD: Convergence = 0.0097079439189878391
+13: MbD: Convergence = 0.00015291749096386448
+13: MbD: Convergence = 3.8180977957202968e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.3012853353445926
-13: MbD: Convergence = 1.3775112190774224e-15
-13: Time = 0.81
+13: MbD: Convergence = 2.3012853353445921
+13: MbD: Convergence = 9.8746365835602966e-16
+13: Time = 0.31
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877766
-13: MbD: Convergence = 0.00015291749096386453
-13: MbD: Convergence = 3.8180977923501949e-08
+13: MbD: Convergence = 0.0097079439189878148
+13: MbD: Convergence = 0.00015291749096384833
+13: MbD: Convergence = 3.8180977939490166e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
 13: MbD: Convergence = 2.2884661811428035
-13: MbD: Convergence = 1.039698292104931e-15
-13: Time = 0.82
+13: MbD: Convergence = 9.1467959631438799e-16
+13: Time = 0.32
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878946
-13: MbD: Convergence = 0.00015291749096384713
-13: MbD: Convergence = 3.818097794136367e-08
+13: MbD: Convergence = 0.0097079439189878235
+13: MbD: Convergence = 0.00015291749096386348
+13: MbD: Convergence = 3.8180977958972433e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2751945609669995
-13: MbD: Convergence = 1.0814138600898097e-15
-13: Time = 0.83
+13: MbD: Convergence = 2.275194560966999
+13: MbD: Convergence = 1.4581568178664407e-15
+13: Time = 0.33
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877662
-13: MbD: Convergence = 0.00015291749096386364
-13: MbD: Convergence = 3.8180977941761895e-08
+13: MbD: Convergence = 0.0097079439189878304
+13: MbD: Convergence = 0.00015291749096386356
+13: MbD: Convergence = 3.8180977927755351e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2616614209410337
-13: MbD: Convergence = 2.0105736495252051e-15
-13: Time = 0.84
+13: MbD: Convergence = 2.2616614209410359
+13: MbD: Convergence = 1.4074783080276571e-15
+13: Time = 0.34
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879067
-13: MbD: Convergence = 0.00015291749096386464
-13: MbD: Convergence = 3.818097792412387e-08
+13: MbD: Convergence = 0.0097079439189878564
+13: MbD: Convergence = 0.00015291749096388131
+13: MbD: Convergence = 3.8180977925613106e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2480686403005188
-13: MbD: Convergence = 1.9058839700932246e-15
-13: Time = 0.85
+13: MbD: Convergence = 2.2480686403005197
+13: MbD: Convergence = 1.3236149456065006e-15
+13: Time = 0.35
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877628
-13: MbD: Convergence = 0.00015291749096384643
-13: MbD: Convergence = 3.8180977941358648e-08
+13: MbD: Convergence = 0.0097079439189878408
+13: MbD: Convergence = 0.00015291749096386508
+13: MbD: Convergence = 3.8180977957623388e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2346267789677956
-13: MbD: Convergence = 2.2524385784914012e-15
-13: Time = 0.86
+13: MbD: Convergence = 2.2346267789677934
+13: MbD: Convergence = 2.6049861989651179e-15
+13: Time = 0.36
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879206
-13: MbD: Convergence = 0.0001529174909638647
-13: MbD: Convergence = 3.8180977957523272e-08
+13: MbD: Convergence = 0.0097079439189878321
+13: MbD: Convergence = 0.00015291749096386299
+13: MbD: Convergence = 3.8180977943914933e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
 13: MbD: Convergence = 2.2215522335645219
-13: MbD: Convergence = 2.2942746743680649e-15
-13: Time = 0.87
+13: MbD: Convergence = 2.2982660472306364e-15
+13: Time = 0.37
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987768
-13: MbD: Convergence = 0.0001529174909638821
-13: MbD: Convergence = 3.8180977923004317e-08
+13: MbD: Convergence = 0.0097079439189878547
+13: MbD: Convergence = 0.000152917490963847
+13: MbD: Convergence = 3.8180977959975717e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.2090637843632801
-13: MbD: Convergence = 1.4824326504251718e-15
-13: Time = 0.88
+13: MbD: Convergence = 2.2090637843632819
+13: MbD: Convergence = 1.4557212792082896e-15
+13: Time = 0.38
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879241
-13: MbD: Convergence = 0.00015291749096384697
-13: MbD: Convergence = 3.8180977959486747e-08
+13: MbD: Convergence = 0.0097079439189878165
+13: MbD: Convergence = 0.00015291749096388091
+13: MbD: Convergence = 3.8180977941038065e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1973785550756135
-13: MbD: Convergence = 2.1197319091244199e-15
-13: Time = 0.89
+13: MbD: Convergence = 2.1973785550756122
+13: MbD: Convergence = 2.5125028212214501e-15
+13: Time = 0.39
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.009707943918987735
-13: MbD: Convergence = 0.00015291749096384627
-13: MbD: Convergence = 3.8180977940226211e-08
+13: MbD: Convergence = 0.0097079439189878321
+13: MbD: Convergence = 0.00015291749096388042
+13: MbD: Convergence = 3.8180977942013914e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1867074536326641
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4672673529723346
+14: MbD: Convergence = 6.1663748537283633e-15
+14: Time = 0.2
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508059
+14: MbD: Convergence = 0.00034464872108611055
+14: MbD: Convergence = 2.9208034094148821e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4596627958644603
+14: MbD: Convergence = 6.4003379903401495e-15
+14: Time = 0.21
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508032
+14: MbD: Convergence = 0.00034464872108610936
+14: MbD: Convergence = 2.9208034095617618e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4522588755533103
+14: MbD: Convergence = 5.5921598030906598e-15
+14: Time = 0.22
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508455
+14: MbD: Convergence = 0.00034464872108614129
+14: MbD: Convergence = 2.9208034097768044e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4450564104871404
+14: MbD: Convergence = 5.9623894266432528e-15
+14: Time = 0.23
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508321
 14: MbD: Convergence = 0.00034464872108615072
 14: MbD: Convergence = 2.9208034094614631e-07
 14: MbD: Solving for kinematic velocity.
@@ -7121,64 +9269,11 @@
 14: MbD: Convergence = 2.9208034096806079e-07
 14: MbD: Solving for kinematic velocity.
 14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4182768331892905
-14: MbD: Convergence = 5.9888200237219035e-15
-14: Time = 0.27
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508136
-14: MbD: Convergence = 0.00034464872108613581
-14: MbD: Convergence = 2.920803409539658e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.412093276873823
-14: MbD: Convergence = 5.895795537992174e-15
-14: Time = 0.28
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508351
-14: MbD: Convergence = 0.00034464872108613636
-14: MbD: Convergence = 2.9208034097100206e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4061156942784709
-14: MbD: Convergence = 5.5874638086816939e-15
-14: Time = 0.29
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508278
-14: MbD: Convergence = 0.00034464872108614259
-14: MbD: Convergence = 2.9208034096466165e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4003447693734232
-14: MbD: Convergence = 5.9078477214852069e-15
-14: Time = 0.3
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508158
-14: MbD: Convergence = 0.00034464872108613641
-14: MbD: Convergence = 2.9208034094770024e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3947811653585998
-14: MbD: Convergence = 5.5896870312759755e-15
-14: Time = 0.31
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508183
-14: MbD: Convergence = 0.00034464872108611088
-14: MbD: Convergence = 2.9208034096799483e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3894255242976232
-14: MbD: Convergence = 8.6994876119321958e-15
-14: Time = 0.32
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508189
-14: MbD: Convergence = 0.00034464872108613614
-14: MbD: Convergence = 2.9208034097023672e-07
-14: MbD: Solving for kinematic velocity.
 16: MbD: Convergence = 1.3831147369825216e-14
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.1
+16: Time = 1.4
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7188,7 +9283,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.15
+16: Time = 1.45
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7198,7 +9293,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.2
+16: Time = 1.5
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7208,7 +9303,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.25
+16: Time = 1.55
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7218,7 +9313,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.3
+16: Time = 1.6
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7228,7 +9323,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.35
+16: Time = 1.65
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7238,7 +9333,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.4
+16: Time = 1.7
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7248,7 +9343,7 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.45
+16: Time = 1.75
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -7258,368 +9353,156 @@
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.5
+16: Time = 1.8
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-17: MbD: Convergence = 0.26670324007342738
-17: MbD: Convergence = 5.7161709749091258e-08
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.85
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 9.2415713461564586
+17: MbD: Convergence = 1.2158884524723333e-15
+17: MbD: Convergence = 9.2014751055633314e-16
+17: MbD: Convergence = 7.3313026823203846e-16
+17: MbD: Convergence = 6.9174623205813173e-16
+17: Time = 0.13
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 11593.389033893871
+17: MbD: Convergence = 865.11012970080822
+17: MbD: Convergence = 0.98172349650750423
+17: MbD: Convergence = 9.3482793636693842e-07
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 10.319434694476744
-17: MbD: Convergence = 1.6602822265667819e-15
-17: MbD: Convergence = 1.5273625580257574e-15
-17: MbD: Convergence = 1.1224506528306733e-15
-17: MbD: Convergence = 7.1312716935024538e-16
-17: Time = 0.09
+17: MbD: Convergence = 8.7836830463165541
+17: MbD: Convergence = 1.1318167639814411e-15
+17: MbD: Convergence = 5.5692219040940055e-16
+17: MbD: Convergence = 5.0854387911630733e-16
+17: MbD: Convergence = 4.4963168289957616e-16
+17: Time = 0.14
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 7248.3962515820922
-17: MbD: Convergence = 796.0647152350964
-17: MbD: Convergence = 0.53247502346305442
-17: MbD: Convergence = 1.9160447734356383e-07
+17: MbD: Convergence = 12903.961004956233
+17: MbD: Convergence = 851.70719829003406
+17: MbD: Convergence = 0.94763984307216742
+17: MbD: Convergence = 9.766313543277356e-07
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 10.179338064623197
-17: MbD: Convergence = 1.1383314956010006e-15
-17: MbD: Convergence = 8.0660517581241214e-16
-17: MbD: Convergence = 1.326452658481893e-15
-17: MbD: Convergence = 6.4891724590748232e-16
-17: Time = 0.1
+17: MbD: Convergence = 8.2727562951870421
+17: MbD: Convergence = 1.1965365558124478e-15
+17: MbD: Convergence = 1.0655038431768473e-15
+17: MbD: Convergence = 9.3595961506418231e-16
+17: MbD: Convergence = 7.2579374056758051e-16
+17: Time = 0.15
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 8012.7998033896138
-17: MbD: Convergence = 819.04479790962102
-17: MbD: Convergence = 0.74496184734302318
-17: MbD: Convergence = 3.9138859603956475e-07
+17: MbD: Convergence = 14176.163372839319
+17: MbD: Convergence = 821.06999870251741
+17: MbD: Convergence = 0.88155894354868758
+17: MbD: Convergence = 9.3289094706402826e-07
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 9.948724443434223
-17: MbD: Convergence = 1.8700951134335765e-15
-17: MbD: Convergence = 5.3317778628472755e-16
-17: MbD: Convergence = 6.8213687166211203e-16
-17: MbD: Convergence = 8.2582718753597557e-16
-17: Time = 0.11
+17: MbD: Convergence = 7.7240737555549748
+17: MbD: Convergence = 1.7857844689505136e-15
+17: MbD: Convergence = 6.0422425380168124e-16
+17: MbD: Convergence = 5.4494721918537699e-16
+17: MbD: Convergence = 4.15635651737209e-16
+17: Time = 0.16
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 9068.1583551529493
-17: MbD: Convergence = 843.94480872850841
-17: MbD: Convergence = 0.89065993671328414
-17: MbD: Convergence = 6.1224092601685644e-07
+17: MbD: Convergence = 15374.838857910214
+17: MbD: Convergence = 775.33769973746087
+17: MbD: Convergence = 0.79976231342018245
+17: MbD: Convergence = 8.2244372883775791e-07
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 9.6334321336424207
-17: MbD: Convergence = 1.2470663761740637e-15
-17: MbD: Convergence = 1.6300518816471425e-15
-17: MbD: Convergence = 1.4984943784224535e-15
-17: MbD: Convergence = 7.0859237019754261e-16
-17: Time = 0.12
+17: MbD: Convergence = 7.1549037774247388
+17: MbD: Convergence = 1.1072570281309291e-15
+17: MbD: Convergence = 4.4091950615226409e-16
+17: MbD: Convergence = 2.7861821477561459e-16
+17: MbD: Convergence = 7.0970080821338371e-16
+17: Time = 0.17
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 10292.576878223594
-14/35 Test #18: OndselSolver.piston ..............................Subprocess aborted***Exception:   0.15 sec
-Running main() from ./googletest/src/gtest_main.cc
-Note: Google Test filter = OndselSolver.piston
-[==========] Running 1 test from 1 test suite.
-[----------] Global test environment set-up.
-[----------] 1 test from OndselSolver
-[ RUN      ] OndselSolver.piston
-(6.28319*imeE)
-Time = 0
-0 axs 19.7392 != 0 tol = 1e-06
-0 ays 3.94784 != 0 tol = 1e-06
-MbD: Assembling system. 
-MbD: Checking for redundant constraints.
-MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: ndricalJointE /Assembly1/Joint4 has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: Assembling system. 
-MbD: Convergence = 1.9294582202835268e-08
-MbD: Convergence = 6.5530256965483025e-11
-MbD: Convergence = 1.012298057868986e-10
-MbD: Convergence = 5.5642055523079802e-11
-MbD: Convergence = 8.9775477508056309e-12
-MbD: Assembling system. 
-MbD: Checking for redundant constraints.
-MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: ndricalJointE /Assembly1/Joint4 has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: Assembling system. 
-MbD: Convergence = 2.1508736091014029e-11
-MbD: Convergence = 8.9775045850675335e-12
-MbD: Convergence = 8.9775093146085211e-12
-MbD: Convergence = 8.977505719999966e-12
-MbD: Convergence = 8.9775070569558455e-12
-MbD: Solving for velocity initial conditions.
-MbD: Solving for acceleration initial conditions.
-MbD: Convergence = 128.81295842023582
-MbD: Convergence = 1.9767051151203499e-13
-MbD: Convergence = 1.2479208212596523e-14
-MbD: Convergence = 1.5001268928062787e-14
-MbD: Convergence = 1.56887708660595e-14
-Time = 0
-MbD: Starting kinematic analysis.
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.063079108584800814
-MbD: Convergence = 0.0051124148722313722
-MbD: Convergence = 0.00010556830456570752
-MbD: Convergence = 9.062132543622069e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 80.015196764337318
-MbD: Convergence = 1.451445483743702e-13
-Time = 0.04
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.068627776775307958
-MbD: Convergence = 0.0042471646672358788
-MbD: Convergence = 6.8693029685741984e-05
-MbD: Convergence = 2.6836736195706069e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 16.30648992868333
-MbD: Convergence = 4.279591720665427e-14
-Time = 0.08
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.069578856219114443
-MbD: Convergence = 0.00542151098256685
-MbD: Convergence = 3.2505983295338017e-05
-MbD: Convergence = 2.9809639615942913e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 40.215221449304195
-MbD: Convergence = 3.4266963587414942e-14
-Time = 0.12
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.065028304448092183
-MbD: Convergence = 0.0076401633172808138
-MbD: Convergence = 1.3555310950037771e-05
-MbD: Convergence = 2.0776958769433295e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 78.774390557019828
-MbD: Convergence = 6.2327388439010258e-14
-Time = 0.16
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.056174058003856775
-MbD: Convergence = 0.009462232644879413
-MbD: Convergence = 8.2300415378842594e-06
-MbD: Convergence = 2.2029061104977949e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 101.39546483139857
-MbD: Convergence = 1.8804918884486994e-13
-Time = 0.2
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.046089777734135549
-MbD: Convergence = 0.010429102752432343
-MbD: Convergence = 7.6467827889040866e-06
-MbD: Convergence = 2.1894380865890392e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 110.56049624044059
-MbD: Convergence = 8.7829285482230039e-14
-Time = 0.24
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.03985641938043756
-MbD: Convergence = 0.010445817799283851
-MbD: Convergence = 8.1750265849024149e-06
-MbD: Convergence = 2.2534913193855872e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 107.54154350143644
-MbD: Convergence = 5.0170605660587371e-14
-Time = 0.28
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.042114906399157721
-MbD: Convergence = 0.0095400455490805506
-MbD: Convergence = 1.0575119610545309e-05
-MbD: Convergence = 2.2937332022829147e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 91.908500286412576
-MbD: Convergence = 8.2278764410222071e-14
-Time = 0.32
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.051014947252028257
-MbD: Convergence = 0.0078324210661269659
-MbD: Convergence = 1.7535996759303687e-05
-MbD: Convergence = 2.0794608226803665e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 61.638179677180879
-MbD: Convergence = 4.0333181635861306e-14
-Time = 0.36
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.060991594202247229
-MbD: Convergence = 0.0056797066219933792
-MbD: Convergence = 3.3469599171488203e-05
-MbD: Convergence = 2.3612283853558203e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 14.725836870945221
-MbD: Convergence = 2.9124481173330785e-14
-Time = 0.4
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.06796155506881503
-MbD: Convergence = 0.0042587125665635847
-MbD: Convergence = 6.2436814831664202e-05
-MbD: Convergence = 1.7275120621330261e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 48.130510161678977
-MbD: Convergence = 2.2749691389401953e-14
-Time = 0.44
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.069786893519196078
-MbD: Convergence = 0.0051662977079234007
-MbD: Convergence = 9.799413997655133e-05
-MbD: Convergence = 7.1967645340847217e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 108.10546463912573
-MbD: Convergence = 4.4317499475176743e-14
-Time = 0.48
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.066287475779829269
-MbD: Convergence = 0.006819424769036379
-MbD: Convergence = 0.00011285191302979719
-MbD: Convergence = 1.0927822599255794e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 139.91258901336488
-MbD: Convergence = 2.1856289645725772e-13
-Time = 0.52
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.059391947098620369
-MbD: Convergence = 0.0074526305637905845
-MbD: Convergence = 8.7996908877881175e-05
-MbD: Convergence = 5.6121116626863542e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 135.18051204125388
-MbD: Convergence = 1.1190435448997344e-13
-Time = 0.56
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.052070422100473586
-MbD: Convergence = 0.0070281890429214414
-MbD: Convergence = 4.6933174053404027e-05
-MbD: Convergence = 8.3474099823268846e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 111.47452330609977
-MbD: Convergence = 2.2786322411796116e-13
-Time = 0.6
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.046376299803425759
-MbD: Convergence = 0.0062365788315285886
-MbD: Convergence = 1.8520320267834953e-05
-MbD: Convergence = 2.1737865521914063e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 87.634916182029215
-MbD: Convergence = 6.1794234640976486e-14
-Time = 0.64
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.042736510765799526
-MbD: Convergence = 0.005563983684224936
-MbD: Convergence = 8.2263292589222736e-06
-MbD: Convergence = 2.1314995399391365e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 71.10675665501293
-MbD: Convergence = 1.8235164923747705e-13
-Time = 0.68
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.040704438312626288
-MbD: Convergence = 0.0051360656437696543
-MbD: Convergence = 7.5878061471049211e-06
-MbD: Convergence = 2.1738627117276227e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 62.462710241559286
-MbD: Convergence = 3.8235944241165445e-14
-Time = 0.72
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.039755330256128908
-MbD: Convergence = 0.0049218466983109877
-MbD: Convergence = 7.6048026171754536e-06
-MbD: Convergence = 2.171873273388804e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 60.798456099268329
-MbD: Convergence = 5.2964879834965465e-14
-Time = 0.76
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.039580619555285204
-MbD: Convergence = 0.0048768912522244206
-MbD: Convergence = 7.844635378450899e-06
-MbD: Convergence = 2.0758876514754579e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 65.858763713164876
-MbD: Convergence = 4.0602153128518185e-14
-Time = 0.8
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.040119753394837004
-MbD: Convergence = 0.0049864525797369622
-MbD: Convergence = 1.1137806474626967e-05
-MbD: Convergence = 2.0845104925439776e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 78.341428492871287
-MbD: Convergence = 9.6447295261631446e-14
-Time = 0.84
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.04155602639955152
-MbD: Convergence = 0.0052626815946355482
-MbD: Convergence = 2.1956559774444155e-05
-MbD: Convergence = 2.2335479341596507e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 98.859148026050647
-MbD: Convergence = 1.009664428578729e-13
-Time = 0.88
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.044318935772930258
-MbD: Convergence = 0.0056967211118401371
-MbD: Convergence = 4.4744517209743354e-05
-MbD: Convergence = 5.1205716018137698e-10
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 124.27146429018424
-MbD: Convergence = 7.6719055653277463e-14
-Time = 0.92
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.048960451655446671
-MbD: Convergence = 0.0061188595972152988
-MbD: Convergence = 7.9866393762264179e-05
-MbD: Convergence = 3.9411541693779713e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 141.37740578975868
-MbD: Convergence = 3.0027936242462725e-13
-Time = 0.96
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.055616121327274927
-MbD: Convergence = 0.0060562747967846673
-MbD: Convergence = 0.00011008407786416943
-MbD: Convergence = 1.0103067159264043e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 128.8129584202355
-MbD: Convergence = 1.9402380087434663e-13
-Time = 1
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.06307910858480055
-MbD: Convergence = 0.0051124148722313575
-MbD: Convergence = 0.00010556830456570025
-MbD: Convergence = 9.0621324990914112e-09
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 80.015196764337091
-MbD: Convergence = 1.5280465408422308e-13
-FileName = assembly.asmt
-
-test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
-
+17: MbD: Convergence = 16474.553225095035
+17: MbD: Convergence = 718.28596054173306
+18: MbD: Convergence = 71.10675665501293
+18: MbD: Convergence = 1.8235164923747705e-13
+18: Time = 0.68
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.040704438312626288
+18: MbD: Convergence = 0.0051360656437696543
+18: MbD: Convergence = 7.5878061471049211e-06
+18: MbD: Convergence = 2.1738627117276227e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 62.462710241559286
+18: MbD: Convergence = 3.8235944241165445e-14
+18: Time = 0.72
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.039755330256128908
+18: MbD: Convergence = 0.0049218466983109877
+18: MbD: Convergence = 7.6048026171754536e-06
+18: MbD: Convergence = 2.171873273388804e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 60.798456099268329
+18: MbD: Convergence = 5.2964879834965465e-14
+18: Time = 0.76
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.039580619555285204
+18: MbD: Convergence = 0.0048768912522244206
+18: MbD: Convergence = 7.844635378450899e-06
+18: MbD: Convergence = 2.0758876514754579e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 65.858763713164876
+18: MbD: Convergence = 4.0602153128518185e-14
+18: Time = 0.8
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.040119753394837004
+18: MbD: Convergence = 0.0049864525797369622
+18: MbD: Convergence = 1.1137806474626967e-05
+18: MbD: Convergence = 2.0845104925439776e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 78.341428492871287
+18: MbD: Convergence = 9.6447295261631446e-14
+18: Time = 0.84
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.04155602639955152
+18: MbD: Convergence = 0.0052626815946355482
+18: MbD: Convergence = 2.1956559774444155e-05
+18: MbD: Convergence = 2.2335479341596507e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 98.859148026050647
+18: MbD: Convergence = 1.009664428578729e-13
+18: Time = 0.88
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.044318935772930258
+18: MbD: Convergence = 0.0056967211118401371
+18: MbD: Convergence = 4.4744517209743354e-05
+18: MbD: Convergence = 5.1205716018137698e-10
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 124.27146429018424
+18: MbD: Convergence = 7.6719055653277463e-14
+18: Time = 0.92
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.048960451655446671
+18: MbD: Convergence = 0.0061188595972152988
+18: MbD: Convergence = 7.9866393762264179e-05
+23: MbD: Convergence = 0.059391947098620369
+23: MbD: Convergence = 0.0074526305637905845
+23: MbD: Convergence = 8.7996908877881175e-05
+23: MbD: Convergence = 5.6121116626863542e-09
+23: MbD: Solving for kinematic velocity.
+23: MbD: Solving for kinematic acceleration.
+23: MbD: Convergence = 135.18051204125388
 23: MbD: Convergence = 1.1190435448997344e-13
 23: Time = 0.56
 23: MbD: Solving for kinematic position.
@@ -7673,20 +9556,6 @@
 23: MbD: Convergence = 5.2964879834965465e-14
 23: Time = 0.76
 23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.039580619555285204
-23: MbD: Convergence = 0.0048768912522244206
-23: MbD: Convergence = 7.844635378450899e-06
-23: MbD: Convergence = 2.0758876514754579e-10
-23: MbD: Solving for kinematic velocity.
-23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 65.858763713164876
-23: MbD: Convergence = 4.0602153128518185e-14
-23: Time = 0.8
-23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.040119753394837004
-23: MbD: Convergence = 0.0049864525797369622
-23: MbD: Convergence = 1.1137806474626967e-05
-23: MbD: Convergence = 2.0845104925439776e-10
 24: MbD: luteJointE /backhoe/rev10 has the following constraint(s) removed: 
 24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 24: MbD: luteJointE /backhoe/rev2 has the following constraint(s) removed: 
@@ -7708,49 +9577,6 @@
 24: MbD: Convergence = 2.0559214734141271e-08
 24: MbD: Convergence = 3.6324901114548362e-09
 24: MbD: Convergence = 3.7489401873746449e-09
-25: MbD: Convergence = 58.376851670804911
-25: MbD: Convergence = 1.3300565523852457e-14
-25: Time = 0.19
-25: 20 vxs 0.815495 != 0.815458 tol = 1e-06
-25: 20 vys 0.352896 != 0.352846 tol = 1e-06
-25: 20 axs -2.21731 != -2.21854 tol = 1e-06
-25: 20 ays 5.12391 != 5.12209 tol = 1e-06
-25: 20 alpzs -5.32907e-15 != 8.44081e-06 tol = 1e-06
-25: 20 ys 0.00444213 != 0.00442749 tol = 1e-06
-25: 20 zs 0.141351 != 0.141355 tol = 1e-06
-25: 20 vys 1.77627 != 1.77251 tol = 1e-06
-25: 20 vzs -0.0558215 != -0.0547127 tol = 1e-06
-25: 20 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 20 ays -0.701474 != -0.828119 tol = 1e-06
-25: 20 azs -22.3213 != -22.2706 tol = 1e-06
-25: 20 alpxs 1.77636e-15 != -0.00107214 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089397
-25: MbD: Convergence = 0.001670526988803555
-25: MbD: Convergence = 4.5380918103306102e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 58.782484397171892
-25: MbD: Convergence = 6.0458716931071624e-15
-25: Time = 0.2
-25: 21 vxs 0.791727 != 0.791696 tol = 1e-06
-25: 21 vys 0.403405 != 0.403362 tol = 1e-06
-25: 21 axs -2.53467 != -2.53154 tol = 1e-06
-25: 21 ays 4.97457 != 4.97867 tol = 1e-06
-25: 21 alpzs -1.77636e-15 != -3.08463e-05 tol = 1e-06
-25: 21 ys 0.0221231 != 0.022071 tol = 1e-06
-25: 21 zs 0.13968 != 0.139695 tol = 1e-06
-25: 21 vys 1.75527 != 1.75208 tol = 1e-06
-25: 21 vzs -0.278007 != -0.27695 tol = 1e-06
-25: 21 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 21 ays -3.49354 != -3.18184 tol = 1e-06
-25: 21 azs -22.0573 != -22.1417 tol = 1e-06
-25: 21 alpxs 7.10543e-15 != 0.0038538 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089341
-25: MbD: Convergence = 0.0016705269888035814
-25: MbD: Convergence = 4.538091809851142e-07
-25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 59.209461746553615
 25: MbD: Convergence = 1.1824064098408428e-14
@@ -7927,62 +9753,6 @@
 25: MbD: Convergence = 4.5380918098607177e-07
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 62.44509888658952
-26: MbD: Convergence = 7.4869948035915836
-26: MbD: Convergence = 9.968726711965654e-16
-26: Time = 0.35
-26: 36 vxs 3.69178e-08 != 9.37882e-06 tol = 1e-06
-26: 36 vys 1.13625e-07 != 8.19607e-06 tol = 1e-06
-26: 36 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 36 axs -1.42786e-06 != -0.00835157 tol = 1e-06
-26: 36 ays 4.6391e-07 != -0.00618353 tol = 1e-06
-26: 36 alpzs 2.84217e-14 != -0.00486523 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.01689635618543121
-26: MbD: Convergence = 0.00053807828411887989
-26: MbD: Convergence = 5.540135311617371e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915845
-26: MbD: Convergence = 3.4013921214168531e-16
-26: Time = 0.36
-26: 37 vxs 2.23857e-08 != -0.000151548 tol = 1e-06
-26: 37 vys 1.17356e-07 != -0.000117585 tol = 1e-06
-26: 37 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 37 axs -1.47474e-06 != -0.0254531 tol = 1e-06
-26: 37 ays 2.81293e-07 != -0.0205837 tol = 1e-06
-26: 37 alpzs 0 != -0.0174024 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431189
-26: MbD: Convergence = 0.00053807828411885149
-26: MbD: Convergence = 5.5401353121048945e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915872
-26: MbD: Convergence = 1.7057953172934213e-15
-26: Time = 0.37
-26: 38 vxs 7.50059e-09 != 2.94419e-05 tol = 1e-06
-26: 38 vys 1.19236e-07 != 4.4076e-05 tol = 1e-06
-26: 38 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 38 axs -1.49837e-06 != -0.00110976 tol = 1e-06
-26: 38 ays 9.42409e-08 != -0.00129416 tol = 1e-06
-26: 38 alpzs 3.55271e-14 != -0.000818142 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431186
-26: MbD: Convergence = 0.00053807828411885268
-26: MbD: Convergence = 5.5401353118744275e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915899
-26: MbD: Convergence = 1.9080415315939332e-15
-26: Time = 0.38
-26: 39 vxs -7.50285e-09 != -1.32011e-05 tol = 1e-06
-26: 39 vys 1.19236e-07 != -1.83662e-05 tol = 1e-06
-26: 39 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 39 axs -1.49837e-06 != -0.00828501 tol = 1e-06
-26: 39 ays -9.42978e-08 != -0.0127374 tol = 1e-06
-26: 39 alpzs 4.9738e-14 != -0.00735234 tol = 1e-06
-26: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.016896356185431189
 26: MbD: Convergence = 0.0005380782841188787
 26: MbD: Convergence = 5.5401353115286591e-07
@@ -8166,74 +9936,6 @@
 26: MbD: Convergence = 0.00053807828411888022
 26: MbD: Convergence = 5.5401353115863219e-07
 26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915872
-26: MbD: Convergence = 6.4393857988323879e-15
-26: Time = 0.51
-26: 52 vxs -1.1853e-07 != -3.61506e-05 tol = 1e-06
-26: 52 vys -1.4975e-08 != 1.66326e-05 tol = 1e-06
-26: 52 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 52 axs 1.88195e-07 != 0.00494018 tol = 1e-06
-26: 52 ays -1.48949e-06 != -0.00255365 tol = 1e-06
-26: 52 alpzs -9.76996e-15 != -0.00252741 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431206
-26: MbD: Convergence = 0.00053807828411888109
-26: MbD: Convergence = 5.54013531185225e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915863
-26: MbD: Convergence = 6.0298407826935001e-15
-26: Time = 0.52
-26: 53 vxs -1.15718e-07 != 8.55983e-05 tol = 1e-06
-26: 53 vys -2.97126e-08 != -4.0363e-05 tol = 1e-06
-26: 53 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 53 axs 3.73394e-07 != 0.0213287 tol = 1e-06
-26: 53 ays -1.45416e-06 != -0.00951862 tol = 1e-06
-26: 53 alpzs 1.77636e-15 != -0.0118645 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431199
-27: MbD: Convergence = 0.00057653651396909135
-27: MbD: Convergence = 5.4705120733199367e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 16.382976652351243
-27: MbD: Convergence = 3.2912160583136167e-15
-27: Time = 0.09
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0095088363146574057
-27: MbD: Convergence = 0.00054014660074095929
-27: MbD: Convergence = 4.5049647607732145e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 15.059439192275564
-27: MbD: Convergence = 1.2747179327099354e-14
-27: Time = 0.1
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0097583007581255737
-27: MbD: Convergence = 0.00050429481212008133
-27: MbD: Convergence = 3.6614217528878844e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 13.712211693690154
-27: MbD: Convergence = 7.1107087179204595e-15
-27: Time = 0.11
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010058486863842388
-27: MbD: Convergence = 0.00047047713868588609
-27: MbD: Convergence = 2.94894345882452e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 12.393701171304471
-27: MbD: Convergence = 4.0067693630785008e-15
-27: Time = 0.12
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010384978566735937
-27: MbD: Convergence = 0.00043971484425840013
-27: MbD: Convergence = 2.3621497309029409e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 11.141701604093431
 27: MbD: Convergence = 4.5931694207254938e-15
 27: Time = 0.13
 27: MbD: Solving for kinematic position.
@@ -8278,80 +9980,37 @@
 27: MbD: Convergence = 8.0434713115209249e-08
 27: MbD: Solving for kinematic velocity.
 27: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 8.4938571488313062e-16
-29: Time = 0
-29: MbD: Starting kinematic analysis.
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074697813615314211
-29: MbD: Convergence = 0.00031738129166310246
-29: MbD: Convergence = 1.1223032469537231e-06
-29: MbD: Convergence = 8.3916606933699053e-12
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.089130994205831
-29: MbD: Convergence = 8.3912902838154605e-15
-29: Time = 0.02
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.007471645086685073
-31: MbD: Convergence = 29.733706878290118
-31: MbD: Convergence = 2.4194314475602086e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.051014947252028466
-31: MbD: Convergence = 0.0078324210661269641
-31: MbD: Convergence = 1.7535996759158797e-05
-31: MbD: Convergence = 2.0794609002931e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 23.085531711192324
-31: MbD: Convergence = 1.7208452313524687e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.060991594202247555
-31: MbD: Convergence = 0.0056797066219933714
-31: MbD: Convergence = 3.3469599171537297e-05
-31: MbD: Convergence = 2.3612283242499169e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 15.100022517948995
-31: MbD: Convergence = 1.1976913410807663e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.067961555068815432
-31: MbD: Convergence = 0.0042587125665636194
-31: MbD: Convergence = 6.2436814831706567e-05
-31: MbD: Convergence = 1.7275119369543058e-09
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 15.088641132243323
-31: MbD: Convergence = 5.3975866032267046e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.0697868935191963
-31: MbD: Convergence = 0.0051662977079235811
-31: MbD: Convergence = 9.7994139976793405e-05
-31: MbD: Convergence = 7.1967644014480434e-09
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 24.899051591837964
-31: MbD: Convergence = 1.3718179581672947e-14
+27: MbD: Convergence = 6.5283557137827142
+27: MbD: Convergence = 3.6882091630597921e-15
+27: Time = 0.18
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01219497077903613
+27: MbD: Convergence = 0.00033336596478623345
+27: MbD: Convergence = 6.6807880003737149e-08
+29: MbD: Convergence = 1.0283099411521204e-11
+29: MbD: Convergence = 1.4832329514306618e-11
+29: MbD: Solving for velocity initial conditions.
+31: MbD: Convergence = 3.0542749279036042e-15
+31: MbD: Convergence = 6.3268972148127063e-15
+31: MbD: Starting kinematic analysis.
 31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.066287475779829311
-31: MbD: Convergence = 0.0068194247690365672
-31: MbD: Convergence = 0.00011285191302994408
-31: MbD: Convergence = 1.0927822630051473e-08
+31: MbD: Convergence = 0.063079108584800966
+31: MbD: Convergence = 0.0051124148722313774
+31: MbD: Convergence = 0.00010556830456563228
+31: MbD: Convergence = 9.0621326207234018e-09
 31: MbD: Solving for kinematic velocity.
 31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 31.03998757493272
-31: MbD: Convergence = 4.0926946448534399e-14
+31: MbD: Convergence = 19.760844981035625
+31: MbD: Convergence = 1.7532300527078352e-14
 31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.059391947098620182
-31: MbD: Convergence = 0.0074526305637906704
-31: MbD: Convergence = 8.7996908877886908e-05
-31: MbD: Convergence = 5.6121117863747084e-09
+31: MbD: Convergence = 0.068627776775308083
+31: MbD: Convergence = 0.0042471646672358988
+31: MbD: Convergence = 6.8693029685652294e-05
+31: MbD: Convergence = 2.6836737734668944e-09
 31: MbD: Solving for kinematic velocity.
 31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 29.673719106789637
-31: MbD: Convergence = 7.3593232669828248e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.052070422100473412
-31: MbD: Convergence = 0.0070281890429213841
+31: MbD: Convergence = 13.197008658046682
+31: MbD: Convergence = 4.7763048488072469e-15
 32: Running main() from ./googletest/src/gtest_main.cc
 32: Note: Google Test filter = OndselSolver.runPiston
 32: [==========] Running 1 test from 1 test suite.
@@ -8369,14 +10028,14 @@
 32: revJoint1->name /Assembly1/Joint1
 32: revJoint2->name /Assembly1/Joint2
 32: revJoint3->name /Assembly1/Joint3
-32: cylJoint4->name 1761851296691311617
+32: cylJoint4->name 1761851480123954793
 32: rotMotion1->name /Assembly1/Motion1
 32: rotMotion1->phiBlk (6.28319*(0.04*t))
 32: MbD: Assembling system. 
 32: MbD: Checking for redundant constraints.
 32: MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
 32: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-32: MbD: ndricalJointE 1761851296691311617 has the following constraint(s) removed: 
+32: MbD: ndricalJointE 1761851480123954793 has the following constraint(s) removed: 
 32: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 32: MbD: Assembling system. 
 32: MbD: Convergence = 9.9886550550615357e-09
@@ -8388,7 +10047,7 @@
 32: MbD: Checking for redundant constraints.
 32: MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
 32: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-32: MbD: ndricalJointE 1761851296691311617 has the following constraint(s) removed: 
+32: MbD: ndricalJointE 1761851480123954793 has the following constraint(s) removed: 
 32: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 32: MbD: Assembling system. 
 32: MbD: Convergence = 3.4992048486784203e-11
@@ -8488,66 +10147,6 @@
 32: MbD: Convergence = 3.2253396382505247e-05
 32: MbD: Convergence = 2.3380998413432016e-10
 32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.016980711026994777
-32: MbD: Convergence = 3.4185521665312218e-18
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.065690503862654542
-32: MbD: Convergence = 0.0041456880753366603
-32: MbD: Convergence = 6.0113060848735086e-05
-32: MbD: Convergence = 1.6751975340709555e-09
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.007425126222086036
-32: MbD: Convergence = 2.6225050477075257e-18
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.067400350700106346
-32: MbD: Convergence = 0.0050205329135194808
-32: MbD: Convergence = 9.4363790272016247e-05
-32: MbD: Convergence = 6.9619561012974194e-09
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.025511762936519682
-32: MbD: Convergence = 1.8734211110691405e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.064034251781485974
-32: MbD: Convergence = 0.0065989362163854058
-32: MbD: Convergence = 0.00010868888530977205
-32: MbD: Convergence = 1.0567259122230995e-08
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.036101751937402081
-32: MbD: Convergence = 9.294784353414133e-18
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.057451983770695846
-32: MbD: Convergence = 0.0071973820060880307
-32: MbD: Convergence = 8.4747983078486814e-05
-32: MbD: Convergence = 5.4306288348740181e-09
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.034935347787436212
-32: MbD: Convergence = 1.5874760361763589e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.050505045456025049
-32: MbD: Convergence = 0.0067807794961822323
-32: MbD: Convergence = 4.5210470872806223e-05
-32: MbD: Convergence = 8.124370683745928e-10
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.027774144885793765
-32: MbD: Convergence = 1.0284483082946009e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.04514369783746669
-32: MbD: Convergence = 0.0060145371761966757
-32: MbD: Convergence = 1.7929669090965732e-05
-32: MbD: Convergence = 2.1495229998926738e-10
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.020732211961913133
-32: MbD: Convergence = 1.0558930479874751e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.041747344340423639
-32: MbD: Convergence = 0.0053663207638212015
 33: Running main() from ./googletest/src/gtest_main.cc
 33: Note: Google Test filter = OndselSolver.GESpMatParPvPrecise
 33: [==========] Running 1 test from 1 test suite.
@@ -8560,7 +10159,7 @@
 33: [----------] Global test environment tear-down
 33: [==========] 1 test from 1 test suite ran. (0 ms total)
 33: [  PASSED  ] 1 test.
-15/35 Test #33: OndselSolver.GESpMatParPvPrecise .................   Passed    0.09 sec
+14/35 Test #33: OndselSolver.GESpMatParPvPrecise .................   Passed    0.03 sec
 34: Running main() from ./googletest/src/gtest_main.cc
 34: Note: Google Test filter = OndselSolver.MomentOfInertiaSolver
 34: [==========] Running 1 test from 1 test suite.
@@ -8595,7 +10194,7 @@
 34: [----------] Global test environment tear-down
 34: [==========] 1 test from 1 test suite ran. (0 ms total)
 34: [  PASSED  ] 1 test.
-16/35 Test #34: OndselSolver.MomentOfInertiaSolver ...............   Passed    0.09 sec
+15/35 Test #34: OndselSolver.MomentOfInertiaSolver ...............   Passed    0.02 sec
 35: Running main() from ./googletest/src/gtest_main.cc
 35: Note: Google Test filter = OndselSolver.sharedptrTest
 35: [==========] Running 1 test from 1 test suite.
@@ -8608,19 +10207,13 @@
 35: [----------] Global test environment tear-down
 35: [==========] 1 test from 1 test suite ran. (0 ms total)
 35: [  PASSED  ] 1 test.
-17/35 Test #35: OndselSolver.sharedptrTest .......................   Passed    0.08 sec
-3: MbD: Convergence = 13.81324328146933
-4: MbD: Convergence = 1.8809386470097345e-06
-4: MbD: Convergence = 7.295813859946174e-06
-4: MbD: Convergence = 1.3534476450077177e-06
-4: MbD: Assembling system with limits. 
-4: MbD: No limits reached. 
-4: Time = 0
-5: MbD: Convergence = 1324789294375.0046
-11: MbD: Convergence = 0.0076748035452955977
-11: MbD: Convergence = 0.0001115267157849322
-11: MbD: Convergence = 2.7199172577859872e-08
-11: MbD: Solving for kinematic velocity.
+16/35 Test #35: OndselSolver.sharedptrTest .......................   Passed    0.02 sec
+3: MbD: Convergence = 8.9335768721947495e-07
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
+4: MbD: Convergence = 27859608372.112427
+5: MbD: Convergence = 445398669.65587616
 11: MbD: Solving for kinematic acceleration.
 11: MbD: Convergence = 1.5697828119689281
 11: MbD: Convergence = 2.0203233865085845e-16
@@ -8652,84 +10245,97 @@
 11: MbD: Convergence = 2.7199172604637859e-08
 11: MbD: Solving for kinematic velocity.
 11: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1867074536326614
-13: MbD: Convergence = 9.6417302670235364e-16
-13: Time = 0.9
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878981
-13: MbD: Convergence = 0.00015291749096386204
-13: MbD: Convergence = 3.8180977957664713e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1772502125633002
-13: MbD: Convergence = 1.7257215275977632e-15
-13: Time = 0.91
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877523
-13: MbD: Convergence = 0.00015291749096386383
-13: MbD: Convergence = 3.8180977924542324e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1691901981928399
-13: MbD: Convergence = 3.3358962513243337e-15
-13: Time = 0.92
+11: MbD: Convergence = 1.5697828119689268
+11: MbD: Convergence = 1.7310494798155668e-16
+11: Time = 0.48
+11: 49 bryzs 1.63363 != -1.50796 tol = 1e-06
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+12: Time = 0.97
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 1.0865514979073127e-09
+12: MbD: Solving for velocity initial conditions.
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+12: Time = 0.98
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 3.0918699352880484e-10
+12: MbD: Solving for velocity initial conditions.
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+12: Time = 0.99
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 3.0918718700938483e-10
+12: MbD: Solving for velocity initial conditions.
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+12: Time = 1
+12: MbD: Solving for quasi kinematic position.
+12: MbD: Convergence = 3.0918699352880484e-10
+12: MbD: Solving for velocity initial conditions.
+12: MbD: Solving for quasi kinematic acceleration.
+12: MbD: Convergence = 0
+13: MbD: Convergence = 1.3470805527755445e-15
+13: Time = 0.4
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877818
-13: MbD: Convergence = 0.00015291749096384721
-13: MbD: Convergence = 3.8180977939930411e-08
+13: MbD: Convergence = 0.0097079439189878287
+13: MbD: Convergence = 0.0001529174909638651
+13: MbD: Convergence = 3.8180977922984776e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1626892034514498
-13: MbD: Convergence = 1.4344071188736286e-15
-13: Time = 0.93
+13: MbD: Convergence = 2.1772502125633033
+13: MbD: Convergence = 1.1536889936968805e-15
+13: Time = 0.41
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189878963
-13: MbD: Convergence = 0.00015291749096388082
-13: MbD: Convergence = 3.8180977958099228e-08
+13: MbD: Convergence = 0.0097079439189878408
+13: MbD: Convergence = 0.00015291749096386426
+13: MbD: Convergence = 3.8180977938191406e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1578824736459938
-13: MbD: Convergence = 1.8012326168948547e-15
-13: Time = 0.94
+13: MbD: Convergence = 2.1691901981928403
+13: MbD: Convergence = 2.0634998224450848e-15
+13: Time = 0.42
 13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877749
-13: MbD: Convergence = 0.00015291749096384735
-13: MbD: Convergence = 3.8180977943335986e-08
+13: MbD: Convergence = 0.0097079439189877662
+13: MbD: Convergence = 0.00015291749096386475
+13: MbD: Convergence = 3.8180977942189918e-08
 13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1548742322446421
-13: MbD: Convergence = 1.2578564884420385e-15
-13: Time = 0.95
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879258
-13: MbD: Convergence = 0.0001529174909638483
-13: MbD: Convergence = 3.8180977940444295e-08
-13: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3842784667611365
-14: MbD: Convergence = 6.0260684895358926e-15
-14: Time = 0.33
+13: MbD: Convergence = 2.1626892034514502
+14: MbD: Convergence = 5.4182768331892905
+14: MbD: Convergence = 5.9888200237219035e-15
+14: Time = 0.27
 14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508195
-14: MbD: Convergence = 0.00034464872108613603
-14: MbD: Convergence = 2.9208034097287559e-07
+14: MbD: Convergence = 0.013177068994508136
+14: MbD: Convergence = 0.00034464872108613581
+14: MbD: Convergence = 2.920803409539658e-07
 14: MbD: Solving for kinematic velocity.
 14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3793405914794512
-14: MbD: Convergence = 5.6818794597283534e-15
-14: Time = 0.34
+14: MbD: Convergence = 5.412093276873823
+14: MbD: Convergence = 5.895795537992174e-15
+14: Time = 0.28
 14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508349
-14: MbD: Convergence = 0.00034464872108615734
-14: MbD: Convergence = 2.9208034094632508e-07
+14: MbD: Convergence = 0.013177068994508351
+14: MbD: Convergence = 0.00034464872108613636
+14: MbD: Convergence = 2.9208034097100206e-07
 14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 1.9
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
 16: MbD: Solving for quasi kinematic acceleration.
 16: MbD: Convergence = 3.3990045920330978
 16: MbD: Convergence = 1.3831147369825216e-14
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.55
+16: Time = 1.95
 16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
@@ -8737,38 +10343,65 @@
 16: MbD: Convergence = 3.3990045920330978
 16: MbD: Convergence = 1.3831147369825216e-14
 16: MbD: Convergence = 8.639786775957609e-15
-17: MbD: Convergence = 861.46570615656435
-17: MbD: Convergence = 0.96724023971757389
-17: MbD: Convergence = 8.0653832589080775e-07
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+17: MbD: Convergence = 0.71562900272286767
+17: MbD: Convergence = 6.7341511031048189e-07
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 9.2415713461564586
-17: MbD: Convergence = 1.2158884524723333e-15
-17: MbD: Convergence = 9.2014751055633314e-16
-17: MbD: Convergence = 7.3313026823203846e-16
-17: MbD: Convergence = 6.9174623205813173e-16
-17: Time = 0.13
+17: MbD: Convergence = 6.5840779506261482
+17: MbD: Convergence = 3.2003462030814963e-16
+17: MbD: Convergence = 3.3648021978749577e-16
+17: MbD: Convergence = 8.1099742862510186e-16
+17: MbD: Convergence = 2.5581602588298144e-16
+17: Time = 0.18
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 11593.389033893871
-17: MbD: Convergence = 865.11012970080822
-17: MbD: Convergence = 0.98172349650750423
-17: MbD: Convergence = 9.3482793636693842e-07
+17: MbD: Convergence = 17457.729691201148
+17: MbD: Convergence = 654.73261855392252
+17: MbD: Convergence = 0.63807132117689092
+17: MbD: Convergence = 5.1432866991859317e-07
+17: MbD: Solving for velocity initial conditions.
+18: MbD: Convergence = 3.9411541693779713e-09
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 141.37740578975868
+18: MbD: Convergence = 3.0027936242462725e-13
+18: Time = 0.96
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.055616121327274927
+18: MbD: Convergence = 0.0060562747967846673
+18: MbD: Convergence = 0.00011008407786416943
+18: MbD: Convergence = 1.0103067159264043e-08
+18: MbD: Solving for kinematic velocity.
+18: MbD: Solving for kinematic acceleration.
+18: MbD: Convergence = 128.8129584202355
+18: MbD: Convergence = 1.9402380087434663e-13
+18: Time = 1
+18: MbD: Solving for kinematic position.
+18: MbD: Convergence = 0.06307910858480055
+23: MbD: Convergence = 0.039580619555285204
+23: MbD: Convergence = 0.0048768912522244206
+23: MbD: Convergence = 7.844635378450899e-06
+23: MbD: Convergence = 2.0758876514754579e-10
 23: MbD: Solving for kinematic velocity.
 23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 78.341428492871287
-23: MbD: Convergence = 9.6447295261631446e-14
-23: Time = 0.84
+23: MbD: Convergence = 65.858763713164876
+23: MbD: Convergence = 4.0602153128518185e-14
+23: Time = 0.8
 23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.04155602639955152
-23: MbD: Convergence = 0.0052626815946355482
-23: MbD: Convergence = 2.1956559774444155e-05
-23: MbD: Convergence = 2.2335479341596507e-10
+23: MbD: Convergence = 0.040119753394837004
+23: MbD: Convergence = 0.0049864525797369622
+23: MbD: Convergence = 1.1137806474626967e-05
+23: MbD: Convergence = 2.0845104925439776e-10
 23: MbD: Solving for kinematic velocity.
 23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 98.859148026050647
-23: MbD: Convergence = 1.009664428578729e-13
-23: Time = 0.88
+23: MbD: Convergence = 78.341428492871287
 24: MbD: Convergence = 9.9747251848546854e-09
+24: MbD: Convergence = 2.8172397293650265e-08
+25: MbD: Convergence = 62.44509888658952
 25: MbD: Convergence = 5.5914671251029241e-15
 25: Time = 0.29
 25: 30 vxs 0.452322 != 0.452319 tol = 1e-06
@@ -8831,8 +10464,33 @@
 25: 32 alpxs 3.55271e-15 != -0.00156098 tol = 1e-06
 25: MbD: Solving for kinematic position.
 25: MbD: Convergence = 0.031707308160089251
-25: MbD: Convergence = 0.0016705269888035114
-25: MbD: Convergence = 4.5380918103091512e-07
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915872
+26: MbD: Convergence = 6.4393857988323879e-15
+26: Time = 0.51
+26: 52 vxs -1.1853e-07 != -3.61506e-05 tol = 1e-06
+26: 52 vys -1.4975e-08 != 1.66326e-05 tol = 1e-06
+26: 52 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 52 axs 1.88195e-07 != 0.00494018 tol = 1e-06
+26: 52 ays -1.48949e-06 != -0.00255365 tol = 1e-06
+26: 52 alpzs -9.76996e-15 != -0.00252741 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431206
+26: MbD: Convergence = 0.00053807828411888109
+26: MbD: Convergence = 5.54013531185225e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915863
+26: MbD: Convergence = 6.0298407826935001e-15
+26: Time = 0.52
+26: 53 vxs -1.15718e-07 != 8.55983e-05 tol = 1e-06
+26: 53 vys -2.97126e-08 != -4.0363e-05 tol = 1e-06
+26: 53 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 53 axs 3.73394e-07 != 0.0213287 tol = 1e-06
+26: 53 ays -1.45416e-06 != -0.00951862 tol = 1e-06
+26: 53 alpzs 1.77636e-15 != -0.0118645 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431199
 26: MbD: Convergence = 0.00053807828411888043
 26: MbD: Convergence = 5.5401353115730076e-07
 26: MbD: Solving for kinematic velocity.
@@ -8852,6 +10510,72 @@
 26: MbD: Convergence = 5.5401353118433795e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.9833321092099574
+27: MbD: Convergence = 1.6349533695896997e-15
+27: Time = 0.19
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012425918858419453
+27: MbD: Convergence = 0.00032665363728011252
+27: MbD: Convergence = 5.6485768763884533e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.5615270245626967
+29: MbD: Solving for acceleration initial conditions.
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.069578856219114707
+31: MbD: Convergence = 0.0054215109825668968
+31: MbD: Convergence = 3.2505983295342307e-05
+31: MbD: Convergence = 2.9809645596823172e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.016980711026994777
+32: MbD: Convergence = 3.4185521665312218e-18
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.065690503862654542
+32: MbD: Convergence = 0.0041456880753366603
+32: MbD: Convergence = 6.0113060848735086e-05
+32: MbD: Convergence = 1.6751975340709555e-09
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 2147190.449934552
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955856
+11: MbD: Convergence = 0.00011152671578491887
+11: MbD: Convergence = 2.7199172583624348e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 1.1126352314322219e-15
+13: Time = 0.43
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878321
+13: MbD: Convergence = 0.00015291749096388047
+13: MbD: Convergence = 3.818097792480325e-08
+13: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 5.4061156942784709
+14: MbD: Convergence = 5.5874638086816939e-15
+14: Time = 0.29
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 6.0314694006450917
+18: MbD: Convergence = 0.0051124148722313575
+18: MbD: Convergence = 0.00010556830456570025
+18: MbD: Convergence = 9.0621324990914112e-09
+18: MbD: Solving for kinematic velocity.
+23: MbD: Convergence = 9.6447295261631446e-14
+23: Time = 0.84
+23: MbD: Solving for kinematic position.
+23: MbD: Convergence = 0.04155602639955152
+24: MbD: Assembling system. 
+25: MbD: Convergence = 0.0016705269888035114
+25: MbD: Convergence = 4.5380918103091512e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915836
 26: MbD: Convergence = 4.8711956701476455e-15
 26: Time = 0.54
@@ -8863,25 +10587,122 @@
 26: 55 alpzs -3.55271e-15 != -0.00430749 tol = 1e-06
 26: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.01689635618543121
+27: MbD: Convergence = 2.326522560192464e-15
+27: Time = 0.2
+27: MbD: Solving for kinematic position.
+11: MbD: Convergence = 1.5697828119689279
+13: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic position.
+16: MbD: Convergence = 8.639786775957609e-15
 26: MbD: Convergence = 0.00053807828411887968
+4: MbD: Convergence = 36727192970.521431
+32: MbD: Convergence = 0.007425126222086036
 26: MbD: Convergence = 5.5401353115552602e-07
+17: MbD: Convergence = 1.0439734706851096e-15
+23: MbD: Convergence = 0.0052626815946355482
+27: MbD: Convergence = 0.012634032974971612
+11: MbD: Convergence = 1.9844571937959396e-16
 26: MbD: Solving for kinematic velocity.
+16: MbD: Convergence = 1.6035391149961525e-15
+11: Time = 0.49
+11: 50 bryzs 1.60221 != -1.53938 tol = 1e-06
+11: MbD: Solving for kinematic position.
+32: MbD: Convergence = 2.6225050477075257e-18
+32: MbD: Solving for kinematic position.
+17: MbD: Convergence = 3.8782378016208766e-16
+17: MbD: Convergence = 3.5859861388728803e-16
+18: MbD: Solving for kinematic acceleration.
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.05
+16: MbD: Solving for quasi kinematic position.
+11: MbD: Convergence = 0.0076748035452955483
+23: MbD: Convergence = 2.1956559774444155e-05
+23: MbD: Convergence = 2.2335479341596507e-10
+27: MbD: Convergence = 0.0003219655878540434
+27: MbD: Convergence = 4.8735358834465322e-08
+25: MbD: Convergence = 63.19365228826674
+25: MbD: Convergence = 8.2869835711113557e-15
+25: Time = 0.32
+25: 33 vxs 0.300995 != 0.301004 tol = 1e-06
+25: 33 vys 0.836045 != 0.835981 tol = 1e-06
+25: 33 axs -5.25302 != -5.25323 tol = 1e-06
+25: 33 ays 1.8912 != 1.8936 tol = 1e-06
+25: 33 alpzs -3.55271e-15 != -1.49246e-05 tol = 1e-06
+25: 33 ys 0.140793 != 0.140804 tol = 1e-06
+25: 33 zs -0.0133089 != -0.013266 tol = 1e-06
+25: 33 vys -0.167244 != -0.166134 tol = 1e-06
+25: 33 vzs -1.76926 != -1.76542 tol = 1e-06
+25: 33 omexs -12.5664 != -12.5664 tol = 1e-06
 26: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915881
+31: MbD: Convergence = 18.968060856398107
+13: MbD: Convergence = 2.1578824736459952
+13: MbD: Convergence = 2.1453489953728269e-15
+13: Time = 0.44
+14: MbD: Convergence = 0.013177068994508278
+23: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic velocity.
+25: 33 ays -22.2332 != -22.2598 tol = 1e-06
+25: 33 azs 2.10165 != 1.95226 tol = 1e-06
+25: 33 alpxs -3.55271e-15 != 0.00185951 tol = 1e-06
+25: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.067400350700106346
+17: MbD: Convergence = 3.829568266784055e-16
+17: Time = 0.19
+17: MbD: Solving for quasi kinematic position.
+14: MbD: Convergence = 0.00034464872108614259
+13: MbD: Solving for kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
 26: MbD: Convergence = 4.2856432161304347e-15
 26: Time = 0.55
 26: 56 vxs -9.66543e-08 != 0.000168108 tol = 1e-06
+11: MbD: Convergence = 0.0001115267157848976
+29: MbD: Convergence = 16.089863748148186
 26: 56 vys -7.02249e-08 != -1.47191e-05 tol = 1e-06
 26: 56 omezs 12.5664 != 12.5663 tol = 1e-06
 26: 56 axs 8.82483e-07 != 0.0305488 tol = 1e-06
 26: 56 ays -1.21459e-06 != -0.00206013 tol = 1e-06
 26: 56 alpzs -2.13163e-14 != -0.0161238 tol = 1e-06
+32: MbD: Convergence = 0.0050205329135194808
+18: MbD: Convergence = 80.015196764337091
 26: MbD: Solving for kinematic position.
+16: MbD: Solving for velocity initial conditions.
+5: MbD: Convergence = 286538517.09908801
+31: MbD: Convergence = 1.0375994257532302e-14
+25: MbD: Convergence = 0.031707308160089341
+11: MbD: Convergence = 2.7199172603000852e-08
+13: MbD: Convergence = 0.0097079439189878408
 26: MbD: Convergence = 0.016896356185431189
 26: MbD: Convergence = 0.00053807828411885029
+14: MbD: Convergence = 2.9208034096466165e-07
+11: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 0.00015291749096384705
 26: MbD: Convergence = 5.5401353118611259e-07
 26: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic position.
+27: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 0.001670526988803568
+25: MbD: Convergence = 4.5380918100745961e-07
+32: MbD: Convergence = 9.4363790272016247e-05
+32: MbD: Convergence = 6.9619561012974194e-09
+18: MbD: Convergence = 1.5280465408422308e-13
+23: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 18313.432272872127
+16: MbD: Solving for quasi kinematic acceleration.
+13: MbD: Convergence = 3.818097795771852e-08
+25: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
 26: MbD: Solving for kinematic acceleration.
+32: MbD: Solving for kinematic velocity.
+31: MbD: Convergence = 0.065028304448092364
+13: MbD: Solving for kinematic velocity.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+27: MbD: Convergence = 5.253945080131901
+27: MbD: Convergence = 2.0758186279886403e-15
+17: MbD: Convergence = 590.0756817512115
+25: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915863
 26: MbD: Convergence = 3.6690863767147372e-15
 26: Time = 0.56
@@ -8892,137 +10713,22 @@
 26: 57 ays -1.0944e-06 != 5.98446e-05 tol = 1e-06
 26: 57 alpzs 2.13163e-14 != -0.000569567 tol = 1e-06
 26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431189
-26: MbD: Convergence = 0.00053807828411884845
-26: MbD: Convergence = 5.5401353119143682e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915836
-26: MbD: Convergence = 2.7783846119115918e-15
-26: Time = 0.57
-4: MbD: Assembling system. 
-11: MbD: Convergence = 1.5697828119689268
-11: MbD: Convergence = 1.7310494798155668e-16
-11: Time = 0.48
-11: 49 bryzs 1.63363 != -1.50796 tol = 1e-06
-13: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.6
-16: MbD: Solving for quasi kinematic position.
-23: MbD: Solving for kinematic position.
-11: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.044318935772930258
-13: MbD: Convergence = 2.153733969827238
-13: MbD: Convergence = 1.0996239226032455e-15
-13: Time = 0.96
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877662
-13: MbD: Convergence = 0.00015291749096383103
-13: MbD: Convergence = 3.8180977958447551e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.65
-16: MbD: Solving for quasi kinematic position.
-11: MbD: Convergence = 0.0076748035452955856
-11: MbD: Convergence = 0.00011152671578491887
-11: MbD: Convergence = 2.7199172583624348e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689279
-11: MbD: Convergence = 1.9844571937959396e-16
-23: MbD: Convergence = 0.0056967211118401371
-23: MbD: Convergence = 4.4744517209743354e-05
-23: MbD: Convergence = 5.1205716018137698e-10
-23: MbD: Solving for kinematic velocity.
-23: MbD: Solving for kinematic acceleration.
-5: MbD: Singular Matrix Error. 
-25: MbD: Solving for kinematic velocity.
-17: MbD: Solving for velocity initial conditions.
-31: MbD: Convergence = 4.6933174053258757e-05
-32: MbD: Convergence = 8.1757743591122873e-06
-27: MbD: Convergence = 6.5283557137827142
-13: MbD: Convergence = 2.1544937313901125
-25: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 2.1093764620530767e-10
-31: MbD: Convergence = 8.3474105497715368e-10
 14: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-32: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 3.6882091630597921e-15
-27: Time = 0.18
-13: MbD: Convergence = 1.6832428428179451e-15
-25: MbD: Convergence = 63.19365228826674
-13: Time = 0.97
+23: MbD: Convergence = 98.859148026050647
+23: MbD: Convergence = 1.009664428578729e-13
+23: Time = 0.88
+23: MbD: Solving for kinematic position.
+27: Time = 0.21
 27: MbD: Solving for kinematic position.
-25: MbD: Convergence = 8.2869835711113557e-15
-25: Time = 0.32
-32: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.00032075549848137129
-25: 33 vxs 0.300995 != 0.301004 tol = 1e-06
-25: 33 vys 0.836045 != 0.835981 tol = 1e-06
-25: 33 axs -5.25302 != -5.25323 tol = 1e-06
-25: 33 ays 1.8912 != 1.8936 tol = 1e-06
-25: 33 alpzs -3.55271e-15 != -1.49246e-05 tol = 1e-06
-17: MbD: Convergence = 8.7836830463165541
-31: MbD: Solving for kinematic acceleration.
-25: 33 ys 0.140793 != 0.140804 tol = 1e-06
-25: 33 zs -0.0133089 != -0.013266 tol = 1e-06
-25: 33 vys -0.167244 != -0.166134 tol = 1e-06
-25: 33 vzs -1.76926 != -1.76542 tol = 1e-06
-25: 33 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 33 ays -22.2332 != -22.2598 tol = 1e-06
-25: 33 azs 2.10165 != 1.95226 tol = 1e-06
-25: 33 alpxs -3.55271e-15 != 0.00185951 tol = 1e-06
-25: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.01219497077903613
-13: MbD: Solving for kinematic position.
-14: MbD: Convergence = 5.3746124750053657
-17: MbD: Convergence = 1.1318167639814411e-15
-25: MbD: Convergence = 0.031707308160089341
-27: MbD: Convergence = 0.00033336596478623345
-25: MbD: Convergence = 0.001670526988803568
-14: MbD: Convergence = 7.0670356362172902e-15
-17: MbD: Convergence = 5.5692219040940055e-16
-14: Time = 0.35
-25: MbD: Convergence = 4.5380918100745961e-07
-27: MbD: Convergence = 6.6807880003737149e-08
-14: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.016064959716635505
-31: MbD: Convergence = 24.575029640412648
-17: MbD: Convergence = 5.0854387911630733e-16
-25: MbD: Solving for kinematic velocity.
-13: MbD: Convergence = 0.0097079439189878998
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4.4963168289957616e-16
-3: MbD: Convergence = 0.0001976626218775461
-32: MbD: Convergence = 8.3191440259473215e-18
-17: Time = 0.14
-14: MbD: Convergence = 0.013177068994508278
-25: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 5.8757208325005366e-15
-32: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic position.
-31: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.00015291749096389836
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.0003446487210861376
-32: MbD: Convergence = 0.039867803902045695
+27: MbD: Convergence = 0.012819966513293046
+27: MbD: Convergence = 0.00031887711429180401
+27: MbD: Convergence = 4.2961536850315712e-08
+17: MbD: Convergence = 0.57119900880415675
+17: MbD: Convergence = 3.6814251693406345e-07
+17: MbD: Solving for velocity initial conditions.
 25: MbD: Convergence = 63.360524351239469
-31: MbD: Convergence = 0.04637629980342569
-14: MbD: Convergence = 2.920803409699087e-07
 25: MbD: Convergence = 1.0210874255989804e-14
 25: Time = 0.33
-17: MbD: Convergence = 12903.961004956233
 25: 34 ys -0.0394553 != -0.0394563 tol = 1e-06
 25: 34 vxs 0.247905 != 0.247903 tol = 1e-06
 25: 34 vys 0.853294 != 0.853312 tol = 1e-06
@@ -9032,54 +10738,213 @@
 25: 34 ys 0.138015 != 0.138032 tol = 1e-06
 25: 34 zs -0.03085 != -0.0307875 tol = 1e-06
 25: 34 vys -0.387672 != -0.387909 tol = 1e-06
-32: MbD: Convergence = 0.0049556661410985314
 25: 34 vzs -1.73435 != -1.73545 tol = 1e-06
 25: 34 omexs -12.5664 != -12.5663 tol = 1e-06
 25: 34 ays -21.7944 != -22.0706 tol = 1e-06
 25: 34 azs 4.87163 != 3.94319 tol = 1e-06
-31: MbD: Convergence = 0.0062365788315286016
 25: 34 alpxs 2.84217e-14 != 0.01227 tol = 1e-06
-29: MbD: Convergence = 1.1185349472803213e-06
 25: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic velocity.
-13: MbD: Convergence = 3.8180977941607186e-08
-27: MbD: Convergence = 5.9833321092099574
-32: MbD: Convergence = 7.5761963963009309e-06
 25: MbD: Convergence = 0.031707308160089383
-31: MbD: Convergence = 1.8520320267762203e-05
-17: MbD: Convergence = 851.70719829003406
-4: MbD: Checking for redundant constraints.
 25: MbD: Convergence = 0.0016705269888035389
-32: MbD: Convergence = 2.1482933623891711e-10
-27: MbD: Convergence = 1.6349533695896997e-15
 25: MbD: Convergence = 4.538091810314613e-07
-31: MbD: Convergence = 2.1737861730167786e-10
+26: MbD: Convergence = 0.016896356185431189
+26: MbD: Convergence = 0.00053807828411884845
+26: MbD: Convergence = 5.5401353119143682e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915836
+26: MbD: Convergence = 2.7783846119115918e-15
+26: Time = 0.57
+26: 58 vxs -7.61535e-08 != 1.19169e-05 tol = 1e-06
+26: 58 vys -9.20556e-08 != 1.96925e-06 tol = 1e-06
+26: 58 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 58 axs 1.15681e-06 != 0.0134196 tol = 1e-06
+26: 58 ays -9.56963e-07 != 0.00336647 tol = 1e-06
+26: 58 alpzs 1.06581e-14 != -0.00663421 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431189
+26: MbD: Convergence = 0.00053807828411885474
+26: MbD: Convergence = 5.5401353118256447e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915863
+14: MbD: Convergence = 5.4003447693734232
+14: MbD: Convergence = 5.9078477214852069e-15
+14: Time = 0.3
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508158
+14: MbD: Convergence = 0.00034464872108613641
+14: MbD: Convergence = 2.9208034094770024e-07
+14: MbD: Solving for kinematic velocity.
 14: MbD: Solving for kinematic acceleration.
-27: Time = 0.19
-13: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 0.94763984307216742
+23: MbD: Convergence = 0.044318935772930258
+23: MbD: Convergence = 0.0056967211118401371
+23: MbD: Convergence = 4.4744517209743354e-05
+23: MbD: Convergence = 5.1205716018137698e-10
+23: MbD: Solving for kinematic velocity.
+23: MbD: Solving for kinematic acceleration.
+23: MbD: Convergence = 124.27146429018424
+23: MbD: Convergence = 7.6719055653277463e-14
+23: Time = 0.92
+23: MbD: Solving for kinematic position.
+23: MbD: Convergence = 0.048960451655446671
 12: FileName = assembly.asmt
 12: 
-31: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.012425918858419453
+12: test_run: ./OndselSolver/ASMTSpatialContainer.cpp:575: void MbD::ASMTSpatialContainer::readVelocity3D(std::vector<std::__cxx11::basic_string<char> >&): Assertion `lines[0].find("Velocity3D") != std::string::npos' failed.
 32: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.370094671387271
-17: MbD: Convergence = 9.766313543277356e-07
+32: MbD: Convergence = 0.025511762936519682
+32: MbD: Convergence = 1.8734211110691405e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.064034251781485974
+32: MbD: Convergence = 0.0065989362163854058
+32: MbD: Convergence = 0.00010868888530977205
+32: MbD: Convergence = 1.0567259122230995e-08
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.036101751937402081
+32: MbD: Convergence = 9.294784353414133e-18
+32: MbD: Solving for kinematic position.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 1.4447165945806191e-16
+11: Time = 0.5
+11: 51 bryzs 1.5708 != -1.5708 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955804
+11: MbD: Convergence = 0.00011152671578493133
+11: MbD: Convergence = 2.7199172603842621e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689268
+11: MbD: Convergence = 1.5444178867906075e-16
+11: Time = 0.51
+11: 52 bryzs 1.53938 != -1.60221 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955856
+11: MbD: Convergence = 0.00011152671578492734
+11: MbD: Convergence = 2.7199172580178307e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689279
+11: MbD: Convergence = 7.0679950952112187e-17
+11: Time = 0.52
+11: 53 bryzs 1.50796 != -1.63363 tol = 1e-06
+11: MbD: Solving for kinematic position.
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.1
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.15
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.2
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+31: MbD: Convergence = 0.0076401633172809265
+31: MbD: Convergence = 1.3555310950119321e-05
+31: MbD: Convergence = 2.0776955752353224e-10
+31: MbD: Solving for kinematic velocity.
 31: MbD: Solving for kinematic acceleration.
-12: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
-27: MbD: Convergence = 0.00032665363728011252
-25: MbD: Convergence = 63.484604908865784
+31: MbD: Convergence = 26.750883255747009
+31: MbD: Convergence = 2.0524658239243143e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.05617405800385683
+31: MbD: Convergence = 0.0094622326448794199
+31: MbD: Convergence = 8.2300415378379267e-06
+31: MbD: Convergence = 2.2029060775652943e-10
+31: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1548742322446435
+13: MbD: Convergence = 1.0282522160787258e-15
+13: Time = 0.45
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987846
+13: MbD: Convergence = 0.00015291749096386396
+13: MbD: Convergence = 3.8180977942356433e-08
+13: MbD: Solving for kinematic velocity.
 13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1537339698272402
+13: MbD: Convergence = 2.2208823118970893e-15
+13: Time = 0.46
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878269
+13: MbD: Convergence = 0.00015291749096384743
+13: MbD: Convergence = 3.818097794172309e-08
+13: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.0475615619949803
+27: MbD: Convergence = 1.7547380787935003e-15
+27: Time = 0.22
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012984565208341854
+27: MbD: Convergence = 0.00031701236466035929
+27: MbD: Convergence = 3.8686282555118034e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 4.9262682490456795
+27: MbD: Convergence = 1.1317753165147268e-15
+27: Time = 0.23
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013128744386423415
+27: MbD: Convergence = 0.0003160510153080379
+27: MbD: Convergence = 3.5532264402633897e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 4.8725231957838657
+27: MbD: Convergence = 1.0736653270890741e-15
+27: Time = 0.24
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01325340767103682
+27: MbD: Convergence = 0.00031572836771700765
+27: MbD: Convergence = 3.3208827712140903e-08
+27: MbD: Solving for kinematic velocity.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 5.5173124726034262
+17: MbD: Convergence = 6.6299498968424397e-16
+17: MbD: Convergence = 5.9467414957091932e-16
+17: MbD: Convergence = 4.6963786820910624e-16
+17: MbD: Convergence = 4.8047088411011435e-16
+17: Time = 0.2
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 19036.386303253446
+17: MbD: Convergence = 529.91770086249005
+17: MbD: Convergence = 0.51518933869942918
+17: MbD: Convergence = 2.4888896036372223e-07
 17: MbD: Solving for velocity initial conditions.
-14: MbD: Convergence = 5.979857026817324e-15
-29: MbD: Convergence = 8.3428888804065558e-12
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 5.0611920312033183
+17: MbD: Convergence = 7.237384965498181e-16
+17: MbD: Convergence = 3.623677338601287e-16
+17: MbD: Convergence = 3.6187216018914178e-16
+17: MbD: Convergence = 5.3292637572953553e-16
+17: Time = 0.21
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 19626.056667312791
+17: MbD: Convergence = 479.62311850375818
+17: MbD: Convergence = 0.46795218353220086
+17: MbD: Convergence = 1.621666384545222e-07
+17: MbD: Solving for velocity initial conditions.
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.484604908865784
 25: MbD: Convergence = 1.3108630553110082e-14
-27: MbD: Convergence = 5.6485768763884533e-08
-14: Time = 0.36
 25: Time = 0.34
 25: 35 vxs 0.193837 != 0.193854 tol = 1e-06
 25: 35 vys 0.867177 != 0.867126 tol = 1e-06
@@ -9088,22 +10953,835 @@
 25: 35 alpzs 3.55271e-15 != 1.29764e-05 tol = 1e-06
 25: 35 ys 0.13306 != 0.133062 tol = 1e-06
 25: 35 zs -0.0479046 != -0.0479024 tol = 1e-06
-14: MbD: Solving for kinematic position.
 25: 35 vys -0.601987 != -0.600023 tol = 1e-06
 25: 35 vzs -1.67208 != -1.66941 tol = 1e-06
 25: 35 omexs -12.5664 != -12.5664 tol = 1e-06
 25: 35 ays -21.012 != -20.8808 tol = 1e-06
 25: 35 azs 7.56479 != 7.72452 tol = 1e-06
 25: 35 alpxs 3.55271e-15 != -0.00164228 tol = 1e-06
-27: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.013742574704326315
-31: MbD: Convergence = 19.851854715170912
 25: MbD: Convergence = 0.031707308160089348
-17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508155
 25: MbD: Convergence = 0.0016705269888035604
-18/35 Test #12: OndselSolver.anglejoint ..........................Subprocess aborted***Exception:   0.19 sec
+25: MbD: Convergence = 4.5380918101537101e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.565931777340168
+25: MbD: Convergence = 1.1619829411730653e-14
+25: Time = 0.35
+25: 36 vxs 0.139004 != 0.139025 tol = 1e-06
+25: 36 vys 0.877637 != 0.877575 tol = 1e-06
+25: 36 axs -5.51435 != -5.51483 tol = 1e-06
+25: 36 ays 0.873388 != 0.875138 tol = 1e-06
+25: 36 alpzs 8.88178e-16 != -1.16362e-05 tol = 1e-06
+25: 36 ys 0.126007 != 0.126032 tol = 1e-06
+25: 36 zs -0.0642037 != -0.0641704 tol = 1e-06
+25: 36 vys -0.806807 != -0.804285 tol = 1e-06
+25: 36 vzs -1.58345 != -1.58023 tol = 1e-06
+25: 36 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 36 ays -19.8982 != -19.9562 tol = 1e-06
+25: 36 azs 10.1386 != 10.0395 tol = 1e-06
+25: 36 alpxs 1.42109e-14 != 0.00144732 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089376
+25: MbD: Convergence = 0.0016705269888035775
+25: MbD: Convergence = 4.5380918099001259e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.605066405912837
+25: MbD: Convergence = 1.0812060092613906e-14
+25: Time = 0.36
+25: 37 vxs 0.0836224 != 0.0836205 tol = 1e-06
+25: 37 vys 0.884633 != 0.884641 tol = 1e-06
+25: 37 axs -5.55831 != -5.56306 tol = 1e-06
+25: 37 ays 0.525415 != 0.538955 tol = 1e-06
+25: 37 alpzs -2.66454e-15 != -8.97845e-05 tol = 1e-06
+25: 37 ys 0.116966 != 0.117006 tol = 1e-06
+25: 37 zs -0.0794903 != -0.0794384 tol = 1e-06
+25: 37 vys -0.998904 != -0.999135 tol = 1e-06
+25: 37 vzs -1.46984 != -1.47027 tol = 1e-06
+25: 37 omexs -12.5664 != -12.5663 tol = 1e-06
+25: 37 ays -18.4706 != -19.0259 tol = 1e-06
+25: 37 azs 12.5526 != 11.8538 tol = 1e-06
+25: 37 alpxs -4.61853e-14 != 0.0112207 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089397
+25: MbD: Convergence = 0.0016705269888036222
+25: MbD: Convergence = 4.538091810085615e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.603028751913008
+25: MbD: Convergence = 1.1524341941506008e-14
+25: Time = 0.37
+25: 38 vxs 0.0279109 != 0.0279356 tol = 1e-06
+25: 38 vys 0.888138 != 0.888094 tol = 1e-06
+25: 38 axs -5.58034 != -5.57857 tol = 1e-06
+25: 38 ays 0.175369 != 0.172382 tol = 1e-06
+25: 38 alpzs 2.66454e-15 != 1.35083e-05 tol = 1e-06
+25: 38 ys 0.106081 != 0.106082 tol = 1e-06
+25: 38 vys -1.17525 != -1.17255 tol = 1e-06
+25: 38 vzs -1.33306 != -1.3314 tol = 1e-06
+25: 38 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 38 ays -16.7517 != -16.5621 tol = 1e-06
+25: 38 azs 14.7686 != 14.8731 tol = 1e-06
+25: 38 alpxs -7.10543e-15 != -0.00170918 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089383
+25: MbD: Convergence = 0.0016705269888035357
+25: MbD: Convergence = 4.5380918101415361e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.561233834721598
+25: MbD: Convergence = 7.5626081563839314e-15
+25: Time = 0.38
+25: 39 vxs -0.0279109 != -0.0278775 tol = 1e-06
+25: 39 vys 0.888138 != 0.88808 tol = 1e-06
+25: 39 axs -5.58034 != -5.58085 tol = 1e-06
+25: 39 ays -0.175369 != -0.174226 tol = 1e-06
+25: 39 alpzs 4.44089e-15 != -8.60034e-06 tol = 1e-06
+25: 39 ys 0.0935232 != 0.0935565 tol = 1e-06
+25: 39 zs -0.106081 != -0.106061 tol = 1e-06
+25: 39 vys -1.33306 != -1.32946 tol = 1e-06
+25: 39 vzs -1.17525 != -1.17317 tol = 1e-06
+25: 39 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 39 ays -14.7686 != -14.8294 tol = 1e-06
+25: 39 azs 16.7517 != 16.6991 tol = 1e-06
+25: 39 alpxs 7.10543e-15 != 0.00106669 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089369
+25: MbD: Convergence = 0.0016705269888035426
+26: MbD: Convergence = 2.0919508858245196e-15
+26: Time = 0.58
+26: 59 vxs -6.40154e-08 != -3.88723e-05 tol = 1e-06
+26: 59 vys -1.00874e-07 != -2.40938e-05 tol = 1e-06
+26: 59 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 59 axs 1.26763e-06 != -0.00226463 tol = 1e-06
+26: 59 ays -8.0443e-07 != -0.00158456 tol = 1e-06
+26: 59 alpzs -2.13163e-14 != 0.000835889 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431054
+26: MbD: Convergence = 0.00053807828411885116
+26: MbD: Convergence = 5.5401353115375169e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915845
+26: MbD: Convergence = 1.4169124717616579e-15
+26: Time = 0.59
+26: 60 vxs -5.08677e-08 != -3.97209e-05 tol = 1e-06
+26: 60 vys -1.08102e-07 != -2.64352e-05 tol = 1e-06
+26: 60 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 60 axs 1.35846e-06 != 0.00312592 tol = 1e-06
+26: 60 ays -6.3921e-07 != 0.00181386 tol = 1e-06
+26: 60 alpzs -7.10543e-15 != -0.00164371 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431206
+26: MbD: Convergence = 0.00053807828411885051
+26: MbD: Convergence = 5.5401353115730171e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915836
+26: MbD: Convergence = 7.3632912070728454e-16
+26: Time = 0.6
+26: 61 vxs -3.69178e-08 != 4.82413e-05 tol = 1e-06
+26: 61 vys -1.13625e-07 != 3.13214e-05 tol = 1e-06
+26: 61 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 61 axs 1.42786e-06 != 0.0159591 tol = 1e-06
+26: 61 ays -4.6391e-07 != 0.0109303 tol = 1e-06
+26: 61 alpzs 3.55271e-14 != -0.00960553 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431179
+26: MbD: Convergence = 0.00053807828411888217
+26: MbD: Convergence = 5.5401353118345132e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915836
+26: MbD: Convergence = 1.3450250458714854e-15
+26: Time = 0.61
+26: 62 vxs -2.23857e-08 != -3.21126e-05 tol = 1e-06
+26: 62 vys -1.17356e-07 != -4.09228e-05 tol = 1e-06
+26: 62 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 62 axs 1.47474e-06 != -0.000921927 tol = 1e-06
+26: 62 ays -2.81293e-07 != -0.00145459 tol = 1e-06
+26: 62 alpzs -1.42109e-14 != 0.000499341 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431224
+26: MbD: Convergence = 0.00053807828411885322
+26: MbD: Convergence = 5.5401353115596986e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915845
+26: MbD: Convergence = 6.5275149369502392e-16
+26: Time = 0.62
+26: 63 vxs -7.50059e-09 != -1.96281e-05 tol = 1e-06
+26: 63 vys -1.19236e-07 != -2.71914e-05 tol = 1e-06
+26: 63 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 63 axs 1.49837e-06 != 0.00423592 tol = 1e-06
+26: 63 ays -9.42409e-08 != 0.00536203 tol = 1e-06
+26: 63 alpzs -2.13163e-14 != -0.00312454 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431196
+26: MbD: Convergence = 0.00053807828411885051
+26: MbD: Convergence = 5.5401353118433795e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915863
+26: MbD: Convergence = 2.2160044916820839e-15
+26: Time = 0.63
+26: 64 vxs 7.50285e-09 != 7.1164e-05 tol = 1e-06
+26: 64 vys -1.19236e-07 != 9.61127e-05 tol = 1e-06
+26: 64 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 64 axs 1.49837e-06 != 0.0149859 tol = 1e-06
+26: 64 ays 9.42978e-08 != 0.0211168 tol = 1e-06
+26: 64 alpzs 2.13163e-14 != -0.0133291 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431206
+26: MbD: Convergence = 0.00053807828411888043
+26: MbD: Convergence = 5.5401353115641413e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915854
+26: MbD: Convergence = 2.098698068860925e-15
+26: Time = 0.64
+26: 65 vxs 2.2388e-08 != -1.69469e-05 tol = 1e-06
+26: 65 vys -1.17356e-07 != -5.20714e-05 tol = 1e-06
+26: 65 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 65 axs 1.47473e-06 != 0.000126701 tol = 1e-06
+26: 65 ays 2.81349e-07 != -0.000222383 tol = 1e-06
+26: 65 alpzs 2.13163e-14 != -6.64842e-05 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431324
+26: MbD: Convergence = 0.0005380782841188504
+26: MbD: Convergence = 5.5401353118611238e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915836
+26: MbD: Convergence = 2.6565977958054836e-15
+26: Time = 0.65
+26: 66 vxs 3.692e-08 != -1.89615e-06 tol = 1e-06
+26: 66 vys -1.13624e-07 != -9.24347e-06 tol = 1e-06
+26: 66 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 66 axs 1.42784e-06 != 0.00327873 tol = 1e-06
+26: 66 ays 4.63964e-07 != 0.01034 tol = 1e-06
+26: 66 alpzs 2.84217e-14 != -0.00509495 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431085
+26: MbD: Convergence = 0.00053807828411885463
+26: MbD: Convergence = 5.5401353115375296e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915845
+26: MbD: Convergence = 3.3820034678327517e-15
+26: Time = 0.66
+26: 67 vys -1.08101e-07 != -4.05129e-05 tol = 1e-06
+26: 67 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 67 axs 1.35843e-06 != 0.000160011 tol = 1e-06
+26: 67 ays 6.39262e-07 != -0.0031977 tol = 1e-06
+26: 67 alpzs -7.10543e-15 != 0.000954683 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431081
+26: MbD: Convergence = 0.00053807828411885029
+26: MbD: Convergence = 5.5401353115907455e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915863
+26: MbD: Convergence = 4.1813947141188596e-15
+26: Time = 0.67
+26: 68 vxs 6.40173e-08 != 1.9326e-06 tol = 1e-06
+26: 68 vys -1.00873e-07 != -5.2453e-05 tol = 1e-06
+26: 68 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 68 axs 1.2676e-06 != 0.000134345 tol = 1e-06
+26: 68 ays 8.04478e-07 != 0.00194685 tol = 1e-06
+26: 68 alpzs 4.9738e-14 != -0.000922331 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431317
+26: MbD: Convergence = 0.00053807828411884758
+26: MbD: Convergence = 5.540135311861146e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915872
+26: MbD: Convergence = 4.5892629407573256e-15
+26: Time = 0.68
+26: 69 vys -9.20542e-08 != 2.70326e-05 tol = 1e-06
+26: 69 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 69 axs 1.15678e-06 != -0.000776919 tol = 1e-06
+26: 69 ays 9.57007e-07 != 0.0157277 tol = 1e-06
+26: 69 alpzs -2.84217e-14 != -0.00764692 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431064
+26: MbD: Convergence = 0.00053807828411882102
+26: MbD: Convergence = 5.5401353118611216e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915854
+26: MbD: Convergence = 5.2112600706944124e-15
+26: Time = 0.69
+26: 70 vxs 8.70922e-08 != 1.68898e-05 tol = 1e-06
+26: 70 vys -8.17835e-08 != -4.53291e-05 tol = 1e-06
+26: 70 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 70 axs 1.02771e-06 != 0.000998452 tol = 1e-06
+26: 70 ays 1.09444e-06 != -0.00221866 tol = 1e-06
+26: 70 alpzs -1.77636e-14 != 0.000735213 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431317
+26: MbD: Convergence = 0.00053807828411888152
+26: MbD: Convergence = 5.5401353118433922e-07
+14: MbD: Convergence = 5.3947811653585998
+14: MbD: Convergence = 5.5896870312759755e-15
+14: Time = 0.31
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508183
+14: MbD: Convergence = 0.00034464872108611088
+14: MbD: Convergence = 2.9208034096799483e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3894255242976232
+14: MbD: Convergence = 8.6994876119321958e-15
+14: Time = 0.32
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508189
+14: MbD: Convergence = 0.00034464872108613614
+14: MbD: Convergence = 2.9208034097023672e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3842784667611365
+14: MbD: Convergence = 6.0260684895358926e-15
+14: Time = 0.33
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508195
+14: MbD: Convergence = 0.00034464872108613603
+14: MbD: Convergence = 2.9208034097287559e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3793405914794512
+14: MbD: Convergence = 5.6818794597283534e-15
+14: Time = 0.34
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508349
+14: MbD: Convergence = 0.00034464872108615734
+14: MbD: Convergence = 2.9208034094632508e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3746124750053657
+14: MbD: Convergence = 7.0670356362172902e-15
+14: Time = 0.35
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508278
+14: MbD: Convergence = 0.0003446487210861376
+14: MbD: Convergence = 2.920803409699087e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.370094671387271
+14: MbD: Convergence = 5.979857026817324e-15
+14: Time = 0.36
+14: MbD: Solving for kinematic position.
+23: MbD: Convergence = 0.0061188595972152988
+23: MbD: Convergence = 7.9866393762264179e-05
+23: MbD: Convergence = 3.9411541693779713e-09
+23: MbD: Solving for kinematic velocity.
+23: MbD: Solving for kinematic acceleration.
+23: MbD: Convergence = 141.37740578975868
+23: MbD: Convergence = 3.0027936242462725e-13
+23: Time = 0.96
+23: MbD: Solving for kinematic position.
+23: MbD: Convergence = 0.055616121327274927
+23: MbD: Convergence = 0.0060562747967846673
+23: MbD: Convergence = 0.00011008407786416943
+23: MbD: Convergence = 1.0103067159264043e-08
+23: MbD: Solving for kinematic velocity.
+23: MbD: Solving for kinematic acceleration.
+23: MbD: Convergence = 128.8129584202355
+23: MbD: Convergence = 1.9402380087434663e-13
+23: Time = 1
+23: MbD: Solving for kinematic position.
+23: MbD: Convergence = 0.06307910858480055
+23: MbD: Convergence = 0.0051124148722313575
+23: MbD: Convergence = 0.00010556830456570025
+23: MbD: Convergence = 9.0621324990914112e-09
+23: MbD: Solving for kinematic velocity.
+23: MbD: Solving for kinematic acceleration.
+23: MbD: Convergence = 80.015196764337091
+23: MbD: Convergence = 1.5280465408422308e-13
+23: [       OK ] OndselSolver.piston2 (45 ms)
+23: [----------] 1 test from OndselSolver (45 ms total)
+23: 
+23: [----------] Global test environment tear-down
+23: [==========] 1 test from 1 test suite ran. (45 ms total)
+23: [  PASSED  ] 1 test.
+32: MbD: Convergence = 0.057451983770695846
+32: MbD: Convergence = 0.0071973820060880307
+32: MbD: Convergence = 8.4747983078486814e-05
+32: MbD: Convergence = 5.4306288348740181e-09
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.034935347787436212
+32: MbD: Convergence = 1.5874760361763589e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.050505045456025049
+32: MbD: Convergence = 0.0067807794961822323
+32: MbD: Convergence = 4.5210470872806223e-05
+32: MbD: Convergence = 8.124370683745928e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.027774144885793765
+32: MbD: Convergence = 1.0284483082946009e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.04514369783746669
+32: MbD: Convergence = 0.0060145371761966757
+32: MbD: Convergence = 1.7929669090965732e-05
+32: MbD: Convergence = 2.1495229998926738e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.020732211961913133
+32: MbD: Convergence = 1.0558930479874751e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.041747344340423639
+32: MbD: Convergence = 0.0053663207638212015
+32: MbD: Convergence = 8.1757743591122873e-06
+32: MbD: Convergence = 2.1093764620530767e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.016064959716635505
+32: MbD: Convergence = 8.3191440259473215e-18
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.039867803902045695
+32: MbD: Convergence = 0.0049556661410985314
+32: MbD: Convergence = 7.5761963963009309e-06
+32: MbD: Convergence = 2.1482933623891711e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.013742574704326315
+32: MbD: Convergence = 3.1442961589409296e-18
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.03899590338032885
+32: MbD: Convergence = 0.004751370013866202
+32: MbD: Convergence = 7.5934496400306495e-06
+32: MbD: Convergence = 2.1463682226851953e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.013308302340518522
+32: MbD: Convergence = 4.0697530987654311e-18
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.038835928721709469
+32: MbD: Convergence = 0.0047099794776777849
+32: MbD: Convergence = 7.8289537633548221e-06
+32: MbD: Convergence = 2.0576440270089768e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.014642508861163604
+32: MbD: Convergence = 8.0927501355862419e-18
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.039330139795132064
+32: MbD: Convergence = 0.0048173545096466463
+32: MbD: Convergence = 1.0920030529562482e-05
+32: MbD: Convergence = 2.0674382406072081e-10
+32: MbD: Solving for kinematic velocity.
+11: MbD: Convergence = 0.0076748035452955839
+11: MbD: Convergence = 0.00011152671578490772
+11: MbD: Convergence = 2.7199172605365811e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 1.6876514306655871e-16
+11: Time = 0.53
+11: 54 bryzs 1.47655 != -1.66504 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955743
+11: MbD: Convergence = 0.00011152671578492679
+11: MbD: Convergence = 2.7199172556186162e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 3.3233752462879178e-16
+11: Time = 0.54
+11: 55 bryzs 1.44513 != -1.69646 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955943
+11: MbD: Convergence = 0.0001115267157849277
+11: MbD: Convergence = 2.7199172576404438e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.569782811968927
+11: MbD: Convergence = 1.4186765922897596e-16
+11: Time = 0.55
+11: 56 bryzs 1.41372 != -1.72788 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955821
+11: MbD: Convergence = 0.00011152671578488529
+11: MbD: Convergence = 2.719917260391037e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 1.1934998489715197e-16
+11: Time = 0.56
+11: 57 bryzs 1.3823 != -1.75929 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955648
+11: MbD: Convergence = 0.00011152671578490239
+11: MbD: Convergence = 2.7199172605963264e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689285
+11: MbD: Convergence = 3.2409990446938301e-16
+11: Time = 0.57
+11: 58 bryzs 1.35088 != -1.79071 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955873
+11: MbD: Convergence = 0.00011152671578490238
+11: MbD: Convergence = 2.7199172582959146e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.4961340615161452e-17
+11: Time = 0.58
+11: 59 bryzs 1.31947 != -1.82212 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955379
+11: MbD: Convergence = 0.00011152671578492581
+11: MbD: Convergence = 2.7199172582959149e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.9303690055415195e-16
+11: Time = 0.59
+11: 60 bryzs 1.28805 != -1.85354 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.007674803545295609
+11: MbD: Convergence = 0.00011152671578490825
+11: MbD: Convergence = 2.7199172583556595e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 3.0030790168892085e-16
+11: Time = 0.6
+11: 61 bryzs 1.25664 != -1.88496 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955891
+11: MbD: Convergence = 0.00011152671578490192
+11: MbD: Convergence = 2.7199172603842618e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 2.9224171289968725e-16
+11: Time = 0.61
+11: 62 bryzs 1.22522 != -1.91637 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955466
+11: MbD: Convergence = 0.00011152671578492534
+11: MbD: Convergence = 2.7199172583624348e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 3.2394184686640187e-16
+11: Time = 0.62
+11: 63 bryzs 1.19381 != -1.94779 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.007674803545295583
+11: MbD: Convergence = 0.0001115267157848785
+11: MbD: Convergence = 2.7199172608546774e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 2.9314378059309075e-16
+11: Time = 0.63
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.25
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.3
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.35
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.4
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.45
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.5
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.55
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.6
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.65
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.7
+16: MbD: Solving for quasi kinematic position.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 31.971413392198468
+31: MbD: Convergence = 2.6619758392039668e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.046089777734135563
+31: MbD: Convergence = 0.010429102752432395
+31: MbD: Convergence = 7.6467827888842287e-06
+31: MbD: Convergence = 2.1894393890707151e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 34.196464840413746
+31: MbD: Convergence = 1.3686489870840926e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.039856419380437602
+31: MbD: Convergence = 0.010445817799283941
+31: MbD: Convergence = 8.1750265848347928e-06
+31: MbD: Convergence = 2.2534918048061098e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 33.45672959129282
+31: MbD: Convergence = 1.2820536924274492e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.042114906399157978
+31: MbD: Convergence = 0.0095400455490806165
+31: MbD: Convergence = 1.0575119610490743e-05
+31: MbD: Convergence = 2.2937333924136215e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 29.733706878290118
+31: MbD: Convergence = 2.4194314475602086e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.051014947252028466
+31: MbD: Convergence = 0.0078324210661269641
+31: MbD: Convergence = 1.7535996759158797e-05
+31: MbD: Convergence = 2.0794609002931e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 23.085531711192324
+31: MbD: Convergence = 1.7208452313524687e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.060991594202247555
+31: MbD: Convergence = 0.0056797066219933714
+31: MbD: Convergence = 3.3469599171537297e-05
+31: MbD: Convergence = 2.3612283242499169e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 15.100022517948995
+31: MbD: Convergence = 1.1976913410807663e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.067961555068815432
+31: MbD: Convergence = 0.0042587125665636194
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1544937313901142
+13: MbD: Convergence = 2.6552363287080099e-15
+13: Time = 0.47
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878443
+13: MbD: Convergence = 0.00015291749096386489
+13: MbD: Convergence = 3.8180977925353431e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1571465857978773
+13: MbD: Convergence = 1.1057882980861466e-15
+13: Time = 0.48
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878564
+13: MbD: Convergence = 0.00015291749096384656
+13: MbD: Convergence = 3.8180977907895585e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1616463904283969
+13: MbD: Convergence = 1.2435685813826969e-15
+13: Time = 0.49
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877697
+13: MbD: Convergence = 0.00015291749096386537
+13: MbD: Convergence = 3.8180977940981354e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1679088811097698
+13: MbD: Convergence = 1.2623151780163129e-15
+13: Time = 0.5
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878321
+13: MbD: Convergence = 0.00015291749096384675
+13: MbD: Convergence = 3.818097795891504e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1758140314356278
+13: MbD: Convergence = 1.2302849000478602e-15
+13: Time = 0.51
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878425
+13: MbD: Convergence = 0.00015291749096386415
+13: MbD: Convergence = 3.8180977925969157e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.185209546033442
+13: MbD: Convergence = 9.8768931611520636e-16
+13: Time = 0.52
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878339
+13: MbD: Convergence = 0.0001529174909638473
+13: MbD: Convergence = 3.818097794135205e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1959152876944725
+13: MbD: Convergence = 1.7566230302715535e-15
+13: Time = 0.53
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878287
+13: MbD: Convergence = 0.00015291749096386415
+13: MbD: Convergence = 3.8180977957057517e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2077283942446879
+13: MbD: Convergence = 1.0118483892635194e-15
+13: Time = 0.54
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878373
+24: MbD: Checking for redundant constraints.
+24: MbD: luteJointE /backhoe/rev10 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev2 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev4 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev5 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev6 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev7 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev8 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: luteJointE /backhoe/rev9 has the following constraint(s) removed: 
+24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+24: MbD: Assembling system. 
+24: MbD: Convergence = 4.1797035512597984e-08
+24: MbD: Convergence = 9.5321599257261826e-09
+24: MbD: Convergence = 3.1636430959295476e-08
+24: MbD: Convergence = 1.0172037562469769e-08
+24: MbD: Convergence = 6.7177813120895341e-09
+24: MbD: Solving for velocity initial conditions.
+24: MbD: Solving for acceleration initial conditions.
+24: MbD: Convergence = 77915.918001118087
+24: MbD: Convergence = 2.3250071064171087e-09
+24: MbD: Convergence = 4.3026605494989219e-11
+29: MbD: Convergence = 4.2450737019160914e-15
+29: MbD: Convergence = 1.4296618728978658e-15
+29: MbD: Convergence = 1.1388621779007979e-15
+29: MbD: Convergence = 8.4938571488313062e-16
+29: Time = 0
+29: MbD: Starting kinematic analysis.
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074697813615314211
+29: MbD: Convergence = 0.00031738129166310246
+29: MbD: Convergence = 1.1223032469537231e-06
+29: MbD: Convergence = 8.3916606933699053e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.089130994205831
+29: MbD: Convergence = 8.3912902838154605e-15
+29: Time = 0.02
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.007471645086685073
+29: MbD: Convergence = 0.00032075549848137129
+29: MbD: Convergence = 1.1185349472803213e-06
+29: MbD: Convergence = 8.3428888804065558e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.087521109401287
+29: MbD: Convergence = 9.2653034672629519e-15
+29: Time = 0.04
+29: MbD: Solving for kinematic position.
+4: MbD: Convergence = 26303635358.489727
+4: MbD: Convergence = 421956895267.38446
+4: MbD: Convergence = 30357927667270.359
+4: MbD: Convergence = 28717137892640.793
+4: MbD: Convergence = 1324037800749.376
+4: MbD: Convergence = 27398768267256.547
+4: MbD: Convergence = 6206833399780935
+3: MbD: Convergence = 10422.416561970538
+3: MbD: Convergence = 13.81324328146933
+3: MbD: Convergence = 0.0001976626218775461
+3: MbD: Convergence = 2.6875648107844816e-06
+3: MbD: Convergence = 2.2313861068074495e-06
+3: MbD: Convergence = 9.9463079198448772e-07
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
+3: MbD: Convergence = 33228119.472466629
+18: FileName = assembly.asmt
+18: 
+18: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+5: MbD: Convergence = 531021526.77693832
+5: MbD: Convergence = 1501647780.0691876
+5: MbD: Convergence = 690007159.77102411
+5: MbD: Convergence = 3396494498.5540104
+5: MbD: Convergence = 1324789294375.0046
+17/35 Test #12: OndselSolver.anglejoint ..........................Subprocess aborted***Exception:   0.08 sec
 Running main() from ./googletest/src/gtest_main.cc
 Note: Google Test filter = OndselSolver.anglejoint
 [==========] Running 1 test from 1 test suite.
@@ -9746,582 +12424,581 @@
 MbD: Convergence = 0
 FileName = assembly.asmt
 
-test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+test_run: ./OndselSolver/ASMTSpatialContainer.cpp:575: void MbD::ASMTSpatialContainer::readVelocity3D(std::vector<std::__cxx11::basic_string<char> >&): Assertion `lines[0].find("Velocity3D") != std::string::npos' failed.
 
-25: MbD: Convergence = 4.5380918101537101e-07
-25: MbD: Solving for kinematic velocity.
-32: MbD: Convergence = 3.1442961589409296e-18
-32: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 9.1753634684086406e-15
-31: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.00034464872108611532
-17: MbD: Convergence = 8.2727562951870421
-29: MbD: Solving for kinematic velocity.
-11: Time = 0.49
-11: 50 bryzs 1.60221 != -1.53938 tol = 1e-06
-11: MbD: Solving for kinematic position.
-26: 58 vxs -7.61535e-08 != 1.19169e-05 tol = 1e-06
-26: 58 vys -9.20556e-08 != 1.96925e-06 tol = 1e-06
-26: 58 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 58 axs 1.15681e-06 != 0.0134196 tol = 1e-06
-26: 58 ays -9.56963e-07 != 0.00336647 tol = 1e-06
-26: 58 alpzs 1.06581e-14 != -0.00663421 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431189
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-23: MbD: Convergence = 124.27146429018424
-26: MbD: Convergence = 0.00053807828411885474
-26: MbD: Convergence = 5.5401353118256447e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915863
-26: MbD: Convergence = 2.0919508858245196e-15
-26: Time = 0.58
-26: 59 vxs -6.40154e-08 != -3.88723e-05 tol = 1e-06
-26: 59 vys -1.00874e-07 != -2.40938e-05 tol = 1e-06
-26: 59 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 59 axs 1.26763e-06 != -0.00226463 tol = 1e-06
-26: 59 ays -8.0443e-07 != -0.00158456 tol = 1e-06
-26: 59 alpzs -2.13163e-14 != 0.000835889 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431054
-26: MbD: Convergence = 0.00053807828411885116
-26: MbD: Convergence = 5.5401353115375169e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915845
-26: MbD: Convergence = 1.4169124717616579e-15
-26: Time = 0.59
-26: 60 vxs -5.08677e-08 != -3.97209e-05 tol = 1e-06
-26: 60 vys -1.08102e-07 != -2.64352e-05 tol = 1e-06
-26: 60 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 60 axs 1.35846e-06 != 0.00312592 tol = 1e-06
-26: 60 ays -6.3921e-07 != 0.00181386 tol = 1e-06
-26: 60 alpzs -7.10543e-15 != -0.00164371 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431206
-26: MbD: Convergence = 0.00053807828411885051
-26: MbD: Convergence = 5.5401353115730171e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915836
-26: MbD: Convergence = 7.3632912070728454e-16
-26: Time = 0.6
-26: 61 vxs -3.69178e-08 != 4.82413e-05 tol = 1e-06
-26: 61 vys -1.13625e-07 != 3.13214e-05 tol = 1e-06
-26: 61 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 61 axs 1.42786e-06 != 0.0159591 tol = 1e-06
-26: 61 ays -4.6391e-07 != 0.0109303 tol = 1e-06
-26: 61 alpzs 3.55271e-14 != -0.00960553 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431179
-26: MbD: Convergence = 0.00053807828411888217
-26: MbD: Convergence = 5.5401353118345132e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915836
-26: MbD: Convergence = 1.3450250458714854e-15
-26: Time = 0.61
-26: 62 vxs -2.23857e-08 != -3.21126e-05 tol = 1e-06
-26: 62 vys -1.17356e-07 != -4.09228e-05 tol = 1e-06
-26: 62 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 62 axs 1.47474e-06 != -0.000921927 tol = 1e-06
-26: 62 ays -2.81293e-07 != -0.00145459 tol = 1e-06
-26: 62 alpzs -1.42109e-14 != 0.000499341 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431224
-26: MbD: Convergence = 0.00053807828411885322
-26: MbD: Convergence = 5.5401353115596986e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 0.0076748035452955483
-11: MbD: Convergence = 0.0001115267157848976
-11: MbD: Convergence = 2.7199172603000852e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 1.4447165945806191e-16
-11: Time = 0.5
-11: 51 bryzs 1.5708 != -1.5708 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955804
-11: MbD: Convergence = 0.00011152671578493133
-11: MbD: Convergence = 2.7199172603842621e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689268
-11: MbD: Convergence = 1.5444178867906075e-16
-11: Time = 0.51
-11: 52 bryzs 1.53938 != -1.60221 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955856
-11: MbD: Convergence = 0.00011152671578492734
-11: MbD: Convergence = 2.7199172580178307e-08
-11: MbD: Solving for kinematic velocity.
-23: MbD: Convergence = 7.6719055653277463e-14
-23: Time = 0.92
-23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.048960451655446671
-23: MbD: Convergence = 0.0061188595972152988
-23: MbD: Convergence = 7.9866393762264179e-05
-23: MbD: Convergence = 3.9411541693779713e-09
-23: MbD: Solving for kinematic velocity.
-23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 141.37740578975868
-23: MbD: Convergence = 3.0027936242462725e-13
-23: Time = 0.96
-23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.055616121327274927
-23: MbD: Convergence = 0.0060562747967846673
-23: MbD: Convergence = 0.00011008407786416943
-23: MbD: Convergence = 1.0103067159264043e-08
-23: MbD: Solving for kinematic velocity.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.7
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.75
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.8
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-13: MbD: Convergence = 2.1571465857978751
-13: MbD: Convergence = 1.9680067020779417e-15
-13: Time = 0.98
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189877662
-13: MbD: Convergence = 0.00015291749096386415
-13: MbD: Convergence = 3.8180977942895457e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1616463904283965
-13: MbD: Convergence = 1.4524352215215374e-15
-13: Time = 0.99
-13: MbD: Solving for kinematic position.
-13: MbD: Convergence = 0.0097079439189879137
-13: MbD: Convergence = 0.00015291749096386415
-13: MbD: Convergence = 3.8180977907239605e-08
-13: MbD: Solving for kinematic velocity.
-13: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 2.1679088811097698
-13: MbD: Convergence = 1.5497058485421955e-15
-13: Time = 1
-13: MbD: Solving for kinematic position.
-5: MbD: Convergence = 136772567.92865786
-32: MbD: Convergence = 0.03899590338032885
-32: MbD: Convergence = 0.004751370013866202
-17: MbD: Convergence = 1.1965365558124478e-15
-17: MbD: Convergence = 1.0655038431768473e-15
-17: MbD: Convergence = 9.3595961506418231e-16
-24: MbD: Convergence = 2.8172397293650265e-08
-31: MbD: Convergence = 0.042736510765799422
-25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.920803409706741e-07
-27: MbD: Convergence = 5.5615270245626967
-32: MbD: Convergence = 7.5934496400306495e-06
-31: MbD: Convergence = 0.0055639836842248805
-17: MbD: Convergence = 7.2579374056758051e-16
-14: MbD: Solving for kinematic velocity.
-17: Time = 0.15
-27: MbD: Convergence = 2.326522560192464e-15
-32: MbD: Convergence = 2.1463682226851953e-10
-27: Time = 0.2
-13: MbD: Convergence = 0.0097079439189877593
-31: MbD: Convergence = 8.2263292589140319e-06
-25: MbD: Convergence = 63.565931777340168
-17: MbD: Solving for quasi kinematic position.
-32: MbD: Solving for kinematic velocity.
+18/35 Test #18: OndselSolver.piston ..............................Subprocess aborted***Exception:   0.07 sec
+Running main() from ./googletest/src/gtest_main.cc
+Note: Google Test filter = OndselSolver.piston
+[==========] Running 1 test from 1 test suite.
+[----------] Global test environment set-up.
+[----------] 1 test from OndselSolver
+[ RUN      ] OndselSolver.piston
+(6.28319*imeE)
+Time = 0
+0 axs 19.7392 != 0 tol = 1e-06
+0 ays 3.94784 != 0 tol = 1e-06
+MbD: Assembling system. 
+MbD: Checking for redundant constraints.
+MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: ndricalJointE /Assembly1/Joint4 has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: Assembling system. 
+MbD: Convergence = 1.9294582202835268e-08
+MbD: Convergence = 6.5530256965483025e-11
+MbD: Convergence = 1.012298057868986e-10
+MbD: Convergence = 5.5642055523079802e-11
+MbD: Convergence = 8.9775477508056309e-12
+MbD: Assembling system. 
+MbD: Checking for redundant constraints.
+MbD: luteJointE /Assembly1/Joint2 has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: ndricalJointE /Assembly1/Joint4 has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: Assembling system. 
+MbD: Convergence = 2.1508736091014029e-11
+MbD: Convergence = 8.9775045850675335e-12
+MbD: Convergence = 8.9775093146085211e-12
+MbD: Convergence = 8.977505719999966e-12
+MbD: Convergence = 8.9775070569558455e-12
+MbD: Solving for velocity initial conditions.
+MbD: Solving for acceleration initial conditions.
+MbD: Convergence = 128.81295842023582
+MbD: Convergence = 1.9767051151203499e-13
+MbD: Convergence = 1.2479208212596523e-14
+MbD: Convergence = 1.5001268928062787e-14
+MbD: Convergence = 1.56887708660595e-14
+Time = 0
+MbD: Starting kinematic analysis.
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.063079108584800814
+MbD: Convergence = 0.0051124148722313722
+MbD: Convergence = 0.00010556830456570752
+MbD: Convergence = 9.062132543622069e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 80.015196764337318
+MbD: Convergence = 1.451445483743702e-13
+Time = 0.04
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.068627776775307958
+MbD: Convergence = 0.0042471646672358788
+MbD: Convergence = 6.8693029685741984e-05
+MbD: Convergence = 2.6836736195706069e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 16.30648992868333
+MbD: Convergence = 4.279591720665427e-14
+Time = 0.08
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.069578856219114443
+MbD: Convergence = 0.00542151098256685
+MbD: Convergence = 3.2505983295338017e-05
+MbD: Convergence = 2.9809639615942913e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 40.215221449304195
+MbD: Convergence = 3.4266963587414942e-14
+Time = 0.12
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.065028304448092183
+MbD: Convergence = 0.0076401633172808138
+MbD: Convergence = 1.3555310950037771e-05
+MbD: Convergence = 2.0776958769433295e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 78.774390557019828
+MbD: Convergence = 6.2327388439010258e-14
+Time = 0.16
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.056174058003856775
+MbD: Convergence = 0.009462232644879413
+MbD: Convergence = 8.2300415378842594e-06
+MbD: Convergence = 2.2029061104977949e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 101.39546483139857
+MbD: Convergence = 1.8804918884486994e-13
+Time = 0.2
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.046089777734135549
+MbD: Convergence = 0.010429102752432343
+MbD: Convergence = 7.6467827889040866e-06
+MbD: Convergence = 2.1894380865890392e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 110.56049624044059
+MbD: Convergence = 8.7829285482230039e-14
+Time = 0.24
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.03985641938043756
+MbD: Convergence = 0.010445817799283851
+MbD: Convergence = 8.1750265849024149e-06
+MbD: Convergence = 2.2534913193855872e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 107.54154350143644
+MbD: Convergence = 5.0170605660587371e-14
+Time = 0.28
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.042114906399157721
+MbD: Convergence = 0.0095400455490805506
+MbD: Convergence = 1.0575119610545309e-05
+MbD: Convergence = 2.2937332022829147e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 91.908500286412576
+MbD: Convergence = 8.2278764410222071e-14
+Time = 0.32
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.051014947252028257
+MbD: Convergence = 0.0078324210661269659
+MbD: Convergence = 1.7535996759303687e-05
+MbD: Convergence = 2.0794608226803665e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 61.638179677180879
+MbD: Convergence = 4.0333181635861306e-14
+Time = 0.36
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.060991594202247229
+MbD: Convergence = 0.0056797066219933792
+MbD: Convergence = 3.3469599171488203e-05
+MbD: Convergence = 2.3612283853558203e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 14.725836870945221
+MbD: Convergence = 2.9124481173330785e-14
+Time = 0.4
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.06796155506881503
+MbD: Convergence = 0.0042587125665635847
+MbD: Convergence = 6.2436814831664202e-05
+MbD: Convergence = 1.7275120621330261e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 48.130510161678977
+MbD: Convergence = 2.2749691389401953e-14
+Time = 0.44
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.069786893519196078
+MbD: Convergence = 0.0051662977079234007
+MbD: Convergence = 9.799413997655133e-05
+MbD: Convergence = 7.1967645340847217e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 108.10546463912573
+MbD: Convergence = 4.4317499475176743e-14
+Time = 0.48
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.066287475779829269
+MbD: Convergence = 0.006819424769036379
+MbD: Convergence = 0.00011285191302979719
+MbD: Convergence = 1.0927822599255794e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 139.91258901336488
+MbD: Convergence = 2.1856289645725772e-13
+Time = 0.52
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.059391947098620369
+MbD: Convergence = 0.0074526305637905845
+MbD: Convergence = 8.7996908877881175e-05
+MbD: Convergence = 5.6121116626863542e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 135.18051204125388
+MbD: Convergence = 1.1190435448997344e-13
+Time = 0.56
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.052070422100473586
+MbD: Convergence = 0.0070281890429214414
+MbD: Convergence = 4.6933174053404027e-05
+MbD: Convergence = 8.3474099823268846e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 111.47452330609977
+MbD: Convergence = 2.2786322411796116e-13
+Time = 0.6
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.046376299803425759
+MbD: Convergence = 0.0062365788315285886
+MbD: Convergence = 1.8520320267834953e-05
+MbD: Convergence = 2.1737865521914063e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 87.634916182029215
+MbD: Convergence = 6.1794234640976486e-14
+Time = 0.64
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.042736510765799526
+MbD: Convergence = 0.005563983684224936
+MbD: Convergence = 8.2263292589222736e-06
+MbD: Convergence = 2.1314995399391365e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 71.10675665501293
+MbD: Convergence = 1.8235164923747705e-13
+Time = 0.68
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.040704438312626288
+MbD: Convergence = 0.0051360656437696543
+MbD: Convergence = 7.5878061471049211e-06
+MbD: Convergence = 2.1738627117276227e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 62.462710241559286
+MbD: Convergence = 3.8235944241165445e-14
+Time = 0.72
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.039755330256128908
+MbD: Convergence = 0.0049218466983109877
+MbD: Convergence = 7.6048026171754536e-06
+MbD: Convergence = 2.171873273388804e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 60.798456099268329
+MbD: Convergence = 5.2964879834965465e-14
+Time = 0.76
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.039580619555285204
+MbD: Convergence = 0.0048768912522244206
+MbD: Convergence = 7.844635378450899e-06
+MbD: Convergence = 2.0758876514754579e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 65.858763713164876
+MbD: Convergence = 4.0602153128518185e-14
+Time = 0.8
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.040119753394837004
+MbD: Convergence = 0.0049864525797369622
+MbD: Convergence = 1.1137806474626967e-05
+MbD: Convergence = 2.0845104925439776e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 78.341428492871287
+MbD: Convergence = 9.6447295261631446e-14
+Time = 0.84
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.04155602639955152
+MbD: Convergence = 0.0052626815946355482
+MbD: Convergence = 2.1956559774444155e-05
+MbD: Convergence = 2.2335479341596507e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 98.859148026050647
+MbD: Convergence = 1.009664428578729e-13
+Time = 0.88
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.044318935772930258
+MbD: Convergence = 0.0056967211118401371
+MbD: Convergence = 4.4744517209743354e-05
+MbD: Convergence = 5.1205716018137698e-10
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 124.27146429018424
+MbD: Convergence = 7.6719055653277463e-14
+Time = 0.92
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.048960451655446671
+MbD: Convergence = 0.0061188595972152988
+MbD: Convergence = 7.9866393762264179e-05
+MbD: Convergence = 3.9411541693779713e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 141.37740578975868
+MbD: Convergence = 3.0027936242462725e-13
+Time = 0.96
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.055616121327274927
+MbD: Convergence = 0.0060562747967846673
+MbD: Convergence = 0.00011008407786416943
+MbD: Convergence = 1.0103067159264043e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 128.8129584202355
+MbD: Convergence = 1.9402380087434663e-13
+Time = 1
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.06307910858480055
+MbD: Convergence = 0.0051124148722313575
+MbD: Convergence = 0.00010556830456570025
+MbD: Convergence = 9.0621324990914112e-09
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 80.015196764337091
+MbD: Convergence = 1.5280465408422308e-13
+FileName = assembly.asmt
+
+test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 4.8691684670087314
+27: MbD: Convergence = 9.0388237949154007e-16
+27: Time = 0.25
 27: MbD: Solving for kinematic position.
-25: MbD: Convergence = 1.1619829411730653e-14
-25: Time = 0.35
-31: MbD: Convergence = 2.1314991909100814e-10
-25: 36 vxs 0.139004 != 0.139025 tol = 1e-06
-25: 36 vys 0.877637 != 0.877575 tol = 1e-06
-25: 36 axs -5.51435 != -5.51483 tol = 1e-06
-25: 36 ays 0.873388 != 0.875138 tol = 1e-06
-25: 36 alpzs 8.88178e-16 != -1.16362e-05 tol = 1e-06
-25: 36 ys 0.126007 != 0.126032 tol = 1e-06
-25: 36 zs -0.0642037 != -0.0641704 tol = 1e-06
-25: 36 vys -0.806807 != -0.804285 tol = 1e-06
-25: 36 vzs -1.58345 != -1.58023 tol = 1e-06
-25: 36 omexs -12.5664 != -12.5664 tol = 1e-06
-14: MbD: Solving for kinematic acceleration.
-25: 36 ays -19.8982 != -19.9562 tol = 1e-06
-25: 36 azs 10.1386 != 10.0395 tol = 1e-06
-25: 36 alpxs 1.42109e-14 != 0.00144732 tol = 1e-06
-27: MbD: Convergence = 0.012634032974971612
-17: MbD: Convergence = 14176.163372839319
-25: MbD: Solving for kinematic position.
-31: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-13: MbD: Convergence = 0.00015291749096384778
-25: MbD: Convergence = 0.031707308160089376
-27: MbD: Convergence = 0.0003219655878540434
-4: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical002 has the following constraint(s) removed: 
-25: MbD: Convergence = 0.0016705269888035775
-17: MbD: Convergence = 821.06999870251741
-24: MbD: Assembling system. 
-27: MbD: Convergence = 4.8735358834465322e-08
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-13: MbD: Convergence = 3.8180977942055868e-08
-25: MbD: Convergence = 4.5380918099001259e-07
-31: MbD: Solving for kinematic acceleration.
-4: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical003 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute001 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute002 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute003 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute005 has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: slationalJointE /OndselAssembly/AssemblyExample#Slider has the following constraint(s) removed: 
-4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-4: MbD: Assembling system. 
-14: MbD: Convergence = 5.3657877118531898
+27: MbD: Convergence = 0.013359394228614367
+27: MbD: Convergence = 0.00031583146796524731
+27: MbD: Convergence = 3.1498624175350824e-08
 27: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic velocity.
-32: MbD: Convergence = 0.013308302340518522
-13: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.88155894354868758
-14: MbD: Convergence = 7.6217707211090042e-15
-5: MbD: Convergence = 55336914.066311851
-14: Time = 0.37
-16: MbD: Solving for velocity initial conditions.
-32: MbD: Convergence = 4.0697530987654311e-18
-25: MbD: Solving for kinematic acceleration.
 27: MbD: Solving for kinematic acceleration.
-14: MbD: Solving for kinematic position.
-13: MbD: Solving for kinematic acceleration.
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.038835928721709469
-14: MbD: Convergence = 0.013177068994508274
-31: MbD: Convergence = 16.870199656721311
-16: MbD: Solving for quasi kinematic acceleration.
-3: MbD: Convergence = 2.6875648107844816e-06
-25: MbD: Convergence = 63.605066405912837
-13: MbD: Convergence = 2.1758140314356278
-14: MbD: Convergence = 0.00034464872108614248
-25: MbD: Convergence = 1.0812060092613906e-14
-16: MbD: Convergence = 3.3990045920330978
-31: MbD: Convergence = 2.0929890349695132e-15
-32: MbD: Convergence = 0.0047099794776777849
-13: MbD: Convergence = 1.9285280222783373e-15
-25: Time = 0.36
-27: MbD: Convergence = 5.253945080131901
-25: 37 vxs 0.0836224 != 0.0836205 tol = 1e-06
-25: 37 vys 0.884633 != 0.884641 tol = 1e-06
-25: 37 axs -5.55831 != -5.56306 tol = 1e-06
-25: 37 ays 0.525415 != 0.538955 tol = 1e-06
-25: 37 alpzs -2.66454e-15 != -8.97845e-05 tol = 1e-06
-25: 37 ys 0.116966 != 0.117006 tol = 1e-06
-25: 37 zs -0.0794903 != -0.0794384 tol = 1e-06
-25: 37 vys -0.998904 != -0.999135 tol = 1e-06
-25: 37 vzs -1.46984 != -1.47027 tol = 1e-06
-25: 37 omexs -12.5664 != -12.5663 tol = 1e-06
-25: 37 ays -18.4706 != -19.0259 tol = 1e-06
-25: 37 azs 12.5526 != 11.8538 tol = 1e-06
-25: 37 alpxs -4.61853e-14 != 0.0112207 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089397
-25: MbD: Convergence = 0.0016705269888036222
-25: MbD: Convergence = 4.538091810085615e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 63.603028751913008
-25: MbD: Convergence = 1.1524341941506008e-14
-25: Time = 0.37
-25: 38 vxs 0.0279109 != 0.0279356 tol = 1e-06
-25: 38 vys 0.888138 != 0.888094 tol = 1e-06
-25: 38 axs -5.58034 != -5.57857 tol = 1e-06
-25: 38 ays 0.175369 != 0.172382 tol = 1e-06
-25: 38 alpzs 2.66454e-15 != 1.35083e-05 tol = 1e-06
-25: 38 ys 0.106081 != 0.106082 tol = 1e-06
-25: 38 vys -1.17525 != -1.17255 tol = 1e-06
-25: 38 vzs -1.33306 != -1.3314 tol = 1e-06
-25: 38 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 38 ays -16.7517 != -16.5621 tol = 1e-06
-25: 38 azs 14.7686 != 14.8731 tol = 1e-06
-25: 38 alpxs -7.10543e-15 != -0.00170918 tol = 1e-06
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.040704438312626517
-31: MbD: Convergence = 0.0051360656437696769
-31: MbD: Convergence = 7.587806147085048e-06
-31: MbD: Convergence = 2.1738629165631648e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.85
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.9
-16: MbD: Solving for quasi kinematic position.
-23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 128.8129584202355
-23: MbD: Convergence = 1.9402380087434663e-13
-23: Time = 1
-23: MbD: Solving for kinematic position.
-23: MbD: Convergence = 0.06307910858480055
-23: MbD: Convergence = 0.0051124148722313575
-23: MbD: Convergence = 0.00010556830456570025
-23: MbD: Convergence = 9.0621324990914112e-09
-32: MbD: Convergence = 7.8289537633548221e-06
-32: MbD: Convergence = 2.0576440270089768e-10
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.014642508861163604
-32: MbD: Convergence = 8.0927501355862419e-18
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.039330139795132064
-14: MbD: Convergence = 2.9208034096893266e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3616921045059422
-14: MbD: Convergence = 6.5596330728800971e-15
-14: Time = 0.38
-14: MbD: Solving for kinematic position.
-27: MbD: Convergence = 2.0758186279886403e-15
-27: Time = 0.21
+27: MbD: Convergence = 4.9008630302463629
+27: MbD: Convergence = 1.8301256290387584e-15
+27: Time = 0.26
 27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.012819966513293046
-27: MbD: Convergence = 0.00031887711429180401
-27: MbD: Convergence = 4.2961536850315712e-08
+27: MbD: Convergence = 0.013447445461189958
+27: MbD: Convergence = 0.00031619333973026452
+27: MbD: Convergence = 3.0244634379513383e-08
 27: MbD: Solving for kinematic velocity.
 27: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 2.8275330695806131e-12
-23: MbD: Solving for kinematic velocity.
-23: MbD: Solving for kinematic acceleration.
-23: MbD: Convergence = 80.015196764337091
-23: MbD: Convergence = 1.5280465408422308e-13
-23: [       OK ] OndselSolver.piston2 (144 ms)
-23: [----------] 1 test from OndselSolver (144 ms total)
-23: 
-23: [----------] Global test environment tear-down
-23: [==========] 1 test from 1 test suite ran. (145 ms total)
-23: [  PASSED  ] 1 test.
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 1.95
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689279
-11: MbD: Convergence = 7.0679950952112187e-17
-11: Time = 0.52
-11: 53 bryzs 1.50796 != -1.63363 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955839
-11: MbD: Convergence = 0.00011152671578490772
-11: MbD: Convergence = 2.7199172605365811e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 1.6876514306655871e-16
-11: Time = 0.53
-11: 54 bryzs 1.47655 != -1.66504 tol = 1e-06
-11: MbD: Solving for kinematic position.
-5: MbD: Convergence = 26384227.201036204
-4: MbD: Convergence = 0.0029234085530269989
-16: MbD: Convergence = 1.6035391149961525e-15
-19/35 Test #23: OndselSolver.piston2 .............................   Passed    0.16 sec
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.05
-29: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 0.0076748035452955743
-11: MbD: Convergence = 0.00011152671578492679
-11: MbD: Convergence = 2.7199172556186162e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689281
-11: MbD: Convergence = 3.3233752462879178e-16
-11: Time = 0.54
-11: 55 bryzs 1.44513 != -1.69646 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955943
-11: MbD: Convergence = 0.0001115267157849277
-11: MbD: Convergence = 2.7199172576404438e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.569782811968927
-11: MbD: Convergence = 1.4186765922897596e-16
-11: Time = 0.55
-11: 56 bryzs 1.41372 != -1.72788 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955821
-11: MbD: Convergence = 0.00011152671578488529
-26: MbD: Convergence = 7.4869948035915845
-26: MbD: Convergence = 6.5275149369502392e-16
-26: Time = 0.62
-26: 63 vxs -7.50059e-09 != -1.96281e-05 tol = 1e-06
-26: 63 vys -1.19236e-07 != -2.71914e-05 tol = 1e-06
-26: 63 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 63 axs 1.49837e-06 != 0.00423592 tol = 1e-06
-26: 63 ays -9.42409e-08 != 0.00536203 tol = 1e-06
-26: 63 alpzs -2.13163e-14 != -0.00312454 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431196
-26: MbD: Convergence = 0.00053807828411885051
-26: MbD: Convergence = 5.5401353118433795e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915863
-26: MbD: Convergence = 2.2160044916820839e-15
-26: Time = 0.63
-26: 64 vxs 7.50285e-09 != 7.1164e-05 tol = 1e-06
-26: 64 vys -1.19236e-07 != 9.61127e-05 tol = 1e-06
-26: 64 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 64 axs 1.49837e-06 != 0.0149859 tol = 1e-06
-26: 64 ays 9.42978e-08 != 0.0211168 tol = 1e-06
-26: 64 alpzs 2.13163e-14 != -0.0133291 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431206
-26: MbD: Convergence = 0.00053807828411888043
-26: MbD: Convergence = 5.5401353115641413e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915854
-26: MbD: Convergence = 2.098698068860925e-15
-26: Time = 0.64
-26: 65 vxs 2.2388e-08 != -1.69469e-05 tol = 1e-06
-26: 65 vys -1.17356e-07 != -5.20714e-05 tol = 1e-06
-26: 65 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 65 axs 1.47473e-06 != 0.000126701 tol = 1e-06
-26: 65 ays 2.81349e-07 != -0.000222383 tol = 1e-06
-26: 65 alpzs 2.13163e-14 != -6.64842e-05 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431324
-26: MbD: Convergence = 0.0005380782841188504
-26: MbD: Convergence = 5.5401353118611238e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915836
-26: MbD: Convergence = 2.6565977958054836e-15
-26: Time = 0.65
-26: 66 vxs 3.692e-08 != -1.89615e-06 tol = 1e-06
-26: 66 vys -1.13624e-07 != -9.24347e-06 tol = 1e-06
-26: 66 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 66 axs 1.42784e-06 != 0.00327873 tol = 1e-06
-26: 66 ays 4.63964e-07 != 0.01034 tol = 1e-06
-26: 66 alpzs 2.84217e-14 != -0.00509495 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431085
-26: MbD: Convergence = 0.00053807828411885463
-26: MbD: Convergence = 5.5401353115375296e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915845
-26: MbD: Convergence = 3.3820034678327517e-15
-26: Time = 0.66
-26: 67 vys -1.08101e-07 != -4.05129e-05 tol = 1e-06
-26: 67 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 67 axs 1.35843e-06 != 0.000160011 tol = 1e-06
-26: 67 ays 6.39262e-07 != -0.0031977 tol = 1e-06
-26: 67 alpzs -7.10543e-15 != 0.000954683 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431081
-26: MbD: Convergence = 0.00053807828411885029
-26: MbD: Convergence = 5.5401353115907455e-07
-26: MbD: Solving for kinematic velocity.
-32: MbD: Convergence = 0.0048173545096466463
-32: MbD: Convergence = 1.0920030529562482e-05
-32: MbD: Convergence = 2.0674382406072081e-10
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.018077835323361831
-32: MbD: Convergence = 1.58186896388899e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.040653609579253049
-32: MbD: Convergence = 0.0050858601301052801
-32: MbD: Convergence = 2.121898021327735e-05
-32: MbD: Convergence = 2.2076766788367788e-10
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.024014457389818385
-32: MbD: Convergence = 1.8511579354730503e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.043220053357905054
-32: MbD: Convergence = 0.0055080432317812355
-32: MbD: Convergence = 4.309427845685823e-05
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089383
-25: MbD: Convergence = 0.0016705269888035357
-25: MbD: Convergence = 4.5380918101415361e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 63.561233834721598
-25: MbD: Convergence = 7.5626081563839314e-15
-25: Time = 0.38
-25: 39 vxs -0.0279109 != -0.0278775 tol = 1e-06
-25: 39 vys 0.888138 != 0.88808 tol = 1e-06
-25: 39 axs -5.58034 != -5.58085 tol = 1e-06
-25: 39 ays -0.175369 != -0.174226 tol = 1e-06
-25: 39 alpzs 4.44089e-15 != -8.60034e-06 tol = 1e-06
-25: 39 ys 0.0935232 != 0.0935565 tol = 1e-06
-25: 39 zs -0.106081 != -0.106061 tol = 1e-06
-25: 39 vys -1.33306 != -1.32946 tol = 1e-06
-25: 39 vzs -1.17525 != -1.17317 tol = 1e-06
-25: 39 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 39 ays -14.7686 != -14.8294 tol = 1e-06
-25: 39 azs 16.7517 != 16.6991 tol = 1e-06
-25: 39 alpxs 7.10543e-15 != 0.00106669 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089369
-25: MbD: Convergence = 0.0016705269888035426
+27: MbD: Convergence = 4.9548780164134678
+27: MbD: Convergence = 1.1743369509656178e-15
+27: Time = 0.27
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013518184859748088
+27: MbD: Convergence = 0.00031668678568781662
+27: MbD: Convergence = 2.933854449285189e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.0213171629973399
+27: MbD: Convergence = 2.3790114872454903e-15
+27: Time = 0.28
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01357210676446924
+27: MbD: Convergence = 0.00031721864510457699
+27: MbD: Convergence = 2.8711772866331332e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.0929732563694978
+27: MbD: Convergence = 3.1693874617532044e-15
+27: Time = 0.29
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013609571252246816
+27: MbD: Convergence = 0.00031772496976205763
+27: MbD: Convergence = 2.8330180599128808e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.1650268938673065
+27: MbD: Convergence = 8.4600719715070238e-16
+27: Time = 0.3
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013630803457888759
+27: MbD: Convergence = 0.00031816729317462949
+27: MbD: Convergence = 2.8193127692276961e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.2347255941437876
+27: MbD: Convergence = 2.297407434622551e-15
+27: Time = 0.31
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013635896461637764
+27: MbD: Convergence = 0.00031852998370128721
+27: MbD: Convergence = 2.8337149995868248e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.3011120998698917
+27: MbD: Convergence = 1.316022675270073e-15
+27: Time = 0.32
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013624817535891382
+27: MbD: Convergence = 0.00031881854789500054
+27: MbD: Convergence = 2.8843824185856099e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.36482172367608
+27: MbD: Convergence = 1.4569709559687525e-15
+27: Time = 0.33
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013597418103999398
+27: MbD: Convergence = 0.00031905864810490573
+27: MbD: Convergence = 2.9849762117471204e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.4279379264537448
+27: MbD: Convergence = 2.347155395512854e-15
+27: Time = 0.34
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013553448264871907
+27: MbD: Convergence = 0.00031929548831034082
+27: MbD: Convergence = 3.1553892014041852e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.4938751021603078
+27: MbD: Convergence = 3.0575993765959622e-15
+27: Time = 0.35
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01349257719519496
+27: MbD: Convergence = 0.00031959308588635414
+27: MbD: Convergence = 3.4214651490765394e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.5672417708646886
+27: MbD: Convergence = 1.7596985322477945e-15
+27: Time = 0.36
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013414421143990839
+27: MbD: Convergence = 0.00032003278199605248
+27: MbD: Convergence = 3.8131264185625746e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.6536246738359814
+27: MbD: Convergence = 2.3995075848238898e-15
+27: Time = 0.37
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013318581033298728
+27: MbD: Convergence = 0.00032071017247172374
+27: MbD: Convergence = 4.3611177725562513e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.7592287620855069
+27: MbD: Convergence = 1.4636424078412514e-15
+27: Time = 0.38
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013204691778913676
+27: MbD: Convergence = 0.00032172952515003352
+27: MbD: Convergence = 5.0933722596251137e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.8903187936980164
+27: MbD: Convergence = 1.6410793080930703e-15
+27: Time = 0.39
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013072485196753867
+27: MbD: Convergence = 0.0003231947961604677
+27: MbD: Convergence = 6.031784072427364e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 6.0524451449916468
+27: MbD: Convergence = 9.6410726565175619e-16
+27: Time = 0.4
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.680450766888276
+17: MbD: Convergence = 1.1173442815809687e-15
+17: MbD: Convergence = 4.3574112813611939e-16
+17: MbD: Convergence = 5.8578271275330287e-16
+17: MbD: Convergence = 3.7273784080528052e-16
+17: Time = 0.22
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20085.736130346806
+17: MbD: Convergence = 443.57613263736351
+17: MbD: Convergence = 0.42683369921246639
+17: MbD: Convergence = 1.0626193080137071e-07
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.3878883166715488
+17: MbD: Convergence = 1.2114306287976154e-15
+17: MbD: Convergence = 5.1515949685611345e-16
+17: MbD: Convergence = 1.9094404605908369e-16
+17: Time = 0.23
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20421.65780534819
+17: MbD: Convergence = 424.09556318394829
+17: MbD: Convergence = 0.38972101830190642
+17: MbD: Convergence = 7.4000019768074207e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.1891516585574697
+17: MbD: Convergence = 5.7034653779097758e-16
+17: MbD: Convergence = 7.8247594546674502e-16
+17: MbD: Convergence = 5.7011979635312514e-16
+17: MbD: Convergence = 5.5764264282891343e-16
+17: Time = 0.24
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20642.165632768902
+17: MbD: Convergence = 420.59148333314766
+17: MbD: Convergence = 0.35540808557199022
+17: MbD: Convergence = 5.5738242047387904e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.0809756920313429
+17: MbD: Convergence = 7.5992421746084298e-16
+17: MbD: Convergence = 2.8123698201750813e-16
+17: MbD: Convergence = 2.3910300107295287e-16
+17: MbD: Convergence = 2.7456076699349359e-16
+17: Time = 0.25
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20756.974807226503
+17: MbD: Convergence = 429.87212801168124
+17: MbD: Convergence = 0.32347009160508827
+17: MbD: Convergence = 4.3912237940295294e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.051591100644254
+17: MbD: Convergence = 8.5354838009892851e-16
+17: MbD: Convergence = 3.2676605665124079e-16
+17: MbD: Convergence = 1.8945624148680743e-16
+17: Time = 0.26
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20776.543120169052
+17: MbD: Convergence = 447.56090207759615
+17: MbD: Convergence = 0.29395787035618792
+17: MbD: Convergence = 3.5625075635853502e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.083505253566913
+17: MbD: Convergence = 6.8417941769260514e-16
+17: MbD: Convergence = 5.0464960512089579e-16
+17: MbD: Convergence = 3.9555489110333443e-16
+17: MbD: Convergence = 5.0031896860056914e-16
+17: Time = 0.27
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20711.561497811868
+17: MbD: Convergence = 469.53303732334064
+17: MbD: Convergence = 0.26710862773935534
+17: MbD: Convergence = 3.062776930705488e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.1573424788419731
+17: MbD: Convergence = 7.9783508688016414e-16
+17: MbD: Convergence = 6.0143520207046301e-16
+17: MbD: Convergence = 4.3209547760903141e-16
+17: MbD: Convergence = 4.1432330821589432e-16
+17: Time = 0.28
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20572.56121130774
+17: MbD: Convergence = 492.6265843197047
+17: MbD: Convergence = 0.24314728146368597
+17: MbD: Convergence = 2.8674497484636084e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.2550604742418567
+17: MbD: Convergence = 9.3356453702916768e-16
+17: MbD: Convergence = 5.7508163652693462e-16
+17: MbD: Convergence = 3.8465803346916022e-16
+17: MbD: Convergence = 4.1323023490937804e-16
+17: Time = 0.29
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20369.627633050201
+17: MbD: Convergence = 514.71976107942521
+17: MbD: Convergence = 0.22218256238531015
+17: MbD: Convergence = 2.8577197053779526e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.3617303730527182
+17: MbD: Convergence = 7.7937441334185094e-16
+17: MbD: Convergence = 6.5124215281278948e-16
+17: MbD: Convergence = 6.4645498959345222e-16
+17: MbD: Convergence = 8.5038823904183763e-16
+17: Time = 0.3
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 20112.206038691293
+17: MbD: Convergence = 534.53348726123124
+17: MbD: Convergence = 0.2041753564572403
+17: MbD: Convergence = 2.8949143160145832e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.4660312576935954
+17: MbD: Convergence = 6.7485457277831158e-16
+17: MbD: Convergence = 5.7037754652259016e-16
+17: MbD: Convergence = 4.632086078550261e-16
+17: MbD: Convergence = 5.1206544299278444e-16
+17: Time = 0.31
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 19808.983239152916
+17: MbD: Convergence = 551.39046221398542
+17: MbD: Convergence = 0.18895250460242724
+17: MbD: Convergence = 2.9119248666671784e-08
 25: MbD: Convergence = 4.5380918100427133e-07
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
@@ -10347,232 +13024,6 @@
 25: MbD: Convergence = 4.5380918100845906e-07
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 15.440988437937126
-31: MbD: Convergence = 6.1587368830209154e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.039755330256128894
-31: MbD: Convergence = 0.0049218466983109149
-31: MbD: Convergence = 7.6048026172350932e-06
-31: MbD: Convergence = 2.1718735091238054e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 15.178162435694372
-31: MbD: Convergence = 4.2796699447226337e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.039580619555285336
-31: MbD: Convergence = 0.0048768912522243702
-31: MbD: Convergence = 7.8446353784741771e-06
-31: MbD: Convergence = 2.0758878209030983e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.0475615619949803
-27: MbD: Convergence = 1.7547380787935003e-15
-27: Time = 0.22
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.012984565208341854
-27: MbD: Convergence = 0.00031701236466035929
-27: MbD: Convergence = 3.8686282555118034e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 4.9262682490456795
-27: MbD: Convergence = 1.1317753165147268e-15
-27: Time = 0.23
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013128744386423415
-27: MbD: Convergence = 0.0003160510153080379
-27: MbD: Convergence = 3.5532264402633897e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 4.8725231957838657
-17: MbD: Convergence = 9.3289094706402826e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 7.7240737555549748
-17: MbD: Convergence = 1.7857844689505136e-15
-17: MbD: Convergence = 6.0422425380168124e-16
-17: MbD: Convergence = 5.4494721918537699e-16
-17: MbD: Convergence = 4.15635651737209e-16
-17: Time = 0.16
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 15374.838857910214
-17: MbD: Convergence = 775.33769973746087
-17: MbD: Convergence = 0.79976231342018245
-17: MbD: Convergence = 8.2244372883775791e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 7.1549037774247388
-17: MbD: Convergence = 1.1072570281309291e-15
-17: MbD: Convergence = 4.4091950615226409e-16
-17: MbD: Convergence = 2.7861821477561459e-16
-17: MbD: Convergence = 7.0970080821338371e-16
-17: Time = 0.17
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 16474.553225095035
-17: MbD: Convergence = 718.28596054173306
-17: MbD: Convergence = 0.71562900272286767
-17: MbD: Convergence = 6.7341511031048189e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 6.5840779506261482
-17: MbD: Convergence = 3.2003462030814963e-16
-17: MbD: Convergence = 3.3648021978749577e-16
-14: MbD: Convergence = 0.013177068994508236
-14: MbD: Convergence = 0.00034464872108613668
-14: MbD: Convergence = 2.9208034094921712e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3578083340300608
-14: MbD: Convergence = 6.2957866714464588e-15
-14: Time = 0.39
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508228
-14: MbD: Convergence = 0.00034464872108613679
-14: MbD: Convergence = 2.92080340970484e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-5: MbD: Convergence = 905371.11452980083
-5: MbD: Convergence = 5805.1168246422631
-4: MbD: Convergence = 0.0006710357191432835
-4: MbD: Convergence = 0.00060002454691017069
-24: MbD: Checking for redundant constraints.
-3: MbD: Convergence = 2.2313861068074495e-06
-11: MbD: Convergence = 2.719917260391037e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 8.1099742862510186e-16
-17: MbD: Convergence = 2.5581602588298144e-16
-17: Time = 0.18
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 17457.729691201148
-17: MbD: Convergence = 654.73261855392252
-11: MbD: Convergence = 1.5697828119689277
-11: MbD: Convergence = 1.1934998489715197e-16
-11: Time = 0.56
-11: 57 bryzs 1.3823 != -1.75929 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955648
-11: MbD: Convergence = 0.00011152671578490239
-24: MbD: luteJointE /backhoe/rev10 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev2 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev4 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev5 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev6 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev7 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev8 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: luteJointE /backhoe/rev9 has the following constraint(s) removed: 
-24: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-24: MbD: Assembling system. 
-16: MbD: Solving for quasi kinematic position.
-32: MbD: Convergence = 5.0160488918900811e-10
-31: MbD: Convergence = 15.990128515327374
-31: MbD: Convergence = 4.018346609656605e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.040119753394837053
-31: MbD: Convergence = 0.0049864525797370385
-31: MbD: Convergence = 1.1137806474701823e-05
-31: MbD: Convergence = 2.0845107118902994e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 18.139444498955818
-31: MbD: Convergence = 3.9416791483851425e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.041556026399551749
-31: MbD: Convergence = 0.0052626815946355586
-31: MbD: Convergence = 2.1956559774399069e-05
-31: MbD: Convergence = 2.2335485038011165e-10
-31: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.3541368614106704
-14: MbD: Convergence = 5.7841781364165555e-15
-14: Time = 0.4
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508228
-14: MbD: Convergence = 0.00034464872108612161
-14: MbD: Convergence = 2.9208034097335343e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3506781236648022
-14: MbD: Convergence = 6.0769685817770978e-15
-14: Time = 0.41
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508372
-14: MbD: Convergence = 0.00034464872108616232
-14: MbD: Convergence = 2.9208034094745312e-07
-14: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.1
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.15
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.2
-16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 1.0736653270890741e-15
-27: Time = 0.24
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.01325340767103682
-27: MbD: Convergence = 0.00031572836771700765
-27: MbD: Convergence = 3.3208827712140903e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 4.8691684670087314
-27: MbD: Convergence = 9.0388237949154007e-16
-27: Time = 0.25
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013359394228614367
-27: MbD: Convergence = 0.00031583146796524731
-27: MbD: Convergence = 3.1498624175350824e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 4.9008630302463629
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.031636217839557744
-32: MbD: Convergence = 1.9730816542644155e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.047571043727575001
-32: MbD: Convergence = 0.0059214254223944789
-32: MbD: Convergence = 7.6901900274486512e-05
-32: MbD: Convergence = 3.8161104487959953e-09
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.036748156842128732
-32: MbD: Convergence = 2.1363133432449682e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.053863336530399042
-32: MbD: Convergence = 0.0058707855347241954
-32: MbD: Convergence = 0.00010601705886146648
-32: MbD: Convergence = 9.770310452911189e-09
-32: MbD: Solving for kinematic velocity.
 25: MbD: Convergence = 63.365653787636028
 25: MbD: Convergence = 1.3214267286710634e-14
 25: Time = 0.4
@@ -10641,134 +13092,6 @@
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 62.826029510910857
-5: MbD: Convergence = 23.964043969589927
-3: MbD: Convergence = 9.9463079198448772e-07
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Convergence = 16.087521109401287
-4: MbD: Convergence = 0.00046538685509081584
-17: MbD: Convergence = 0.63807132117689092
-11: MbD: Convergence = 2.7199172605963264e-08
-11: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 5.1432866991859317e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 6.0314694006450917
-17: MbD: Convergence = 1.0439734706851096e-15
-17: MbD: Convergence = 3.8782378016208766e-16
-17: MbD: Convergence = 3.5859861388728803e-16
-17: MbD: Convergence = 3.829568266784055e-16
-17: Time = 0.19
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 18313.432272872127
-17: MbD: Convergence = 590.0756817512115
-17: MbD: Convergence = 0.57119900880415675
-17: MbD: Convergence = 3.6814251693406345e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915863
-26: MbD: Convergence = 4.1813947141188596e-15
-26: Time = 0.67
-26: 68 vxs 6.40173e-08 != 1.9326e-06 tol = 1e-06
-26: 68 vys -1.00873e-07 != -5.2453e-05 tol = 1e-06
-26: 68 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 68 axs 1.2676e-06 != 0.000134345 tol = 1e-06
-26: 68 ays 8.04478e-07 != 0.00194685 tol = 1e-06
-26: 68 alpzs 4.9738e-14 != -0.000922331 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431317
-26: MbD: Convergence = 0.00053807828411884758
-26: MbD: Convergence = 5.540135311861146e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915872
-26: MbD: Convergence = 4.5892629407573256e-15
-26: Time = 0.68
-26: 69 vys -9.20542e-08 != 2.70326e-05 tol = 1e-06
-26: 69 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 69 axs 1.15678e-06 != -0.000776919 tol = 1e-06
-26: 69 ays 9.57007e-07 != 0.0157277 tol = 1e-06
-26: 69 alpzs -2.84217e-14 != -0.00764692 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431064
-26: MbD: Convergence = 0.00053807828411882102
-26: MbD: Convergence = 5.5401353118611216e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915854
-26: MbD: Convergence = 5.2112600706944124e-15
-26: Time = 0.69
-26: 70 vxs 8.70922e-08 != 1.68898e-05 tol = 1e-06
-26: 70 vys -8.17835e-08 != -4.53291e-05 tol = 1e-06
-26: 70 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 70 axs 1.02771e-06 != 0.000998452 tol = 1e-06
-26: 70 ays 1.09444e-06 != -0.00221866 tol = 1e-06
-26: 70 alpzs -1.77636e-14 != 0.000735213 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431317
-26: MbD: Convergence = 0.00053807828411888152
-26: MbD: Convergence = 5.5401353118433922e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915863
-26: MbD: Convergence = 5.9548748407589863e-15
-26: Time = 0.7
-26: 71 vxs 9.66557e-08 != 1.65736e-05 tol = 1e-06
-26: 71 vys -7.02231e-08 != -4.02384e-05 tol = 1e-06
-26: 71 omezs 12.5664 != 12.5664 tol = 1e-06
-26: 71 axs 8.82437e-07 != -0.0015724 tol = 1e-06
-26: 71 ays 1.21462e-06 != 0.00444137 tol = 1e-06
-26: 71 alpzs -3.19744e-14 != -0.00213702 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431071
-26: MbD: Convergence = 0.00053807828411885192
-26: MbD: Convergence = 5.5401353118433943e-07
-26: MbD: Solving for kinematic velocity.
-26: MbD: Solving for kinematic acceleration.
-26: MbD: Convergence = 7.4869948035915854
-26: MbD: Convergence = 6.3678253346513062e-15
-26: Time = 0.71
-26: 72 vxs 1.04695e-07 != -2.91394e-05 tol = 1e-06
-26: 72 vys -5.75552e-08 != 7.26421e-05 tol = 1e-06
-26: 72 omezs 12.5664 != 12.5663 tol = 1e-06
-26: 72 axs 7.23247e-07 != -0.00848907 tol = 1e-06
-26: 72 ays 1.31564e-06 != 0.019891 tol = 1e-06
-26: 72 alpzs 7.10543e-15 != -0.010882 tol = 1e-06
-26: MbD: Solving for kinematic position.
-26: MbD: Convergence = 0.016896356185431331
-26: MbD: Convergence = 0.00053807828411888315
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689285
-11: MbD: Convergence = 3.2409990446938301e-16
-11: Time = 0.57
-11: 58 bryzs 1.35088 != -1.79071 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955873
-11: MbD: Convergence = 0.00011152671578490238
-11: MbD: Convergence = 2.7199172582959146e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689277
-11: MbD: Convergence = 2.4961340615161452e-17
-11: Time = 0.58
-11: 59 bryzs 1.31947 != -1.82212 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955379
-11: MbD: Convergence = 0.00011152671578492581
-11: MbD: Convergence = 2.7199172582959149e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-5: MbD: Convergence = 0.092637987135415364
-4: MbD: Convergence = 0.00077960067664105588
-4: Time = 0
-3: MbD: Convergence = 33228119.472466629
-31: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 1.8301256290387584e-15
-27: Time = 0.26
-29: MbD: Convergence = 9.2653034672629519e-15
-32: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 4.0308342540154394e-15
 25: Time = 0.43
 25: 44 vxs -0.300995 != -0.301133 tol = 1e-06
@@ -10833,130 +13156,374 @@
 25: MbD: Convergence = 0.031707308160089369
 25: MbD: Convergence = 0.0016705269888035771
 25: MbD: Convergence = 4.5380918098542405e-07
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013447445461189958
-27: MbD: Convergence = 0.00031619333973026452
-27: MbD: Convergence = 3.0244634379513383e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 4.9548780164134678
-27: MbD: Convergence = 1.1743369509656178e-15
-27: Time = 0.27
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013518184859748088
-27: MbD: Convergence = 0.00031668678568781662
-27: MbD: Convergence = 2.933854449285189e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.0213171629973399
-27: MbD: Convergence = 2.3790114872454903e-15
-27: Time = 0.28
-27: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3474325335853985
-14: MbD: Convergence = 6.0571731328170357e-15
-14: Time = 0.42
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508141
-14: MbD: Convergence = 0.00034464872108614183
-14: MbD: Convergence = 2.9208034094741865e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.344400479498522
-14: MbD: Convergence = 5.5833142874662723e-15
-14: Time = 0.43
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508281
-5: MbD: Convergence = 0.00034208842190781201
-5: MbD: Convergence = 8.2248827833675188e-06
-4: [       OK ] OndselSolver.runPreDragBackhoe2 (242 ms)
-4: [----------] 1 test from OndselSolver (242 ms total)
-4: 
-4: [----------] Global test environment tear-down
-4: [==========] 1 test from 1 test suite ran. (242 ms total)
-4: [  PASSED  ] 1 test.
-29: Time = 0.04
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074777581903297183
-29: MbD: Convergence = 0.00032847894981179074
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.25
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.3
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-32: MbD: Convergence = 0.032345416696912925
-32: MbD: Convergence = 1.3314363201011205e-17
-32: MbD: Solving for kinematic position.
-32: MbD: Convergence = 0.060966984162876964
-32: MbD: Convergence = 0.0049726544770564421
-32: MbD: Convergence = 0.0001016702034015647
-32: MbD: Convergence = 8.7639985642989322e-09
-32: MbD: Solving for kinematic velocity.
-32: MbD: Solving for kinematic acceleration.
-32: MbD: Convergence = 0.016469372147365748
-32: MbD: Convergence = 8.9101688836724311e-18
-32: [       OK ] OndselSolver.runPiston (121 ms)
-32: [----------] 1 test from OndselSolver (121 ms total)
-32: 
-32: [----------] Global test environment tear-down
-32: [==========] 1 test from 1 test suite ran. (121 ms total)
-32: [  PASSED  ] 1 test.
-31: MbD: Convergence = 22.022786999488503
-31: MbD: Convergence = 1.4177193074803588e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.044318935772930397
-31: MbD: Convergence = 0.0056967211118401952
-31: MbD: Convergence = 4.4744517209754785e-05
-31: MbD: Convergence = 5.1205716978753245e-10
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 27.272968503688023
-31: MbD: Convergence = 9.1811270515190439e-15
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.048960451655447053
-31: MbD: Convergence = 0.0061188595972154584
-31: MbD: Convergence = 7.9866393762298752e-05
-31: MbD: Convergence = 3.9411542232901361e-09
-24: MbD: Convergence = 4.1797035512597984e-08
-3: MbD: Convergence = 2161914.5618116292
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 62.054194694417248
+25: MbD: Convergence = 2.08307351893532e-14
+25: Time = 0.46
+25: 47 vxs -0.452322 != -0.45247 tol = 1e-06
+25: 47 vys 0.764835 != 0.764947 tol = 1e-06
+25: 47 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 47 axs -4.8056 != -4.83108 tol = 1e-06
+25: 47 ays -2.84202 != -2.82312 tol = 1e-06
+25: 47 alpzs 1.77636e-15 != -0.000217052 tol = 1e-06
+25: 47 ys -0.0394551 != -0.0394317 tol = 1e-06
+25: 47 zs -0.135805 != -0.135812 tol = 1e-06
+25: 47 vys -1.70658 != -1.71767 tol = 1e-06
+25: 47 vzs 0.495808 != 0.498852 tol = 1e-06
+25: 47 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 47 ays 6.23051 != 4.34644 tol = 1e-06
+25: 47 azs 21.4455 != 22.0077 tol = 1e-06
+25: 47 alpxs 2.66454e-14 != 0.0270737 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089369
+25: MbD: Convergence = 0.0016705269888035636
+25: MbD: Convergence = 4.5380918100683276e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 61.759013936066289
+25: MbD: Convergence = 1.1020001440874586e-14
+25: Time = 0.47
+25: 48 vxs -0.499454 != -0.499394 tol = 1e-06
+25: 48 vys 0.734924 != 0.734894 tol = 1e-06
+25: 48 axs -4.61767 != -4.61741 tol = 1e-06
+25: 48 ays -3.13816 != -3.13816 tol = 1e-06
+25: 48 ys -0.056165 != -0.0561402 tol = 1e-06
+25: 48 zs -0.12979 != -0.129807 tol = 1e-06
+25: 48 vys -1.63098 != -1.62757 tol = 1e-06
+25: 48 vzs 0.70579 != 0.703312 tol = 1e-06
+25: 48 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 48 ays 8.86922 != 8.87141 tol = 1e-06
+25: 48 azs 20.4955 != 20.4762 tol = 1e-06
+25: 48 alpxs -1.42109e-14 != 0.000100025 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089376
+25: MbD: Convergence = 0.0016705269888035116
+25: MbD: Convergence = 4.5380918101062079e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 61.450180838000087
+25: MbD: Convergence = 1.276654891642789e-14
+25: Time = 0.48
+25: 49 vxs -0.544615 != -0.544592 tol = 1e-06
+25: 49 vys 0.702113 != 0.702102 tol = 1e-06
+25: 49 axs -4.41151 != -4.42037 tol = 1e-06
+25: 49 ays -3.42192 != -3.41741 tol = 1e-06
+25: 49 alpzs -2.22045e-16 != -6.05499e-05 tol = 1e-06
+25: 49 ys -0.071989 != -0.0719373 tol = 1e-06
+25: 49 zs -0.121727 != -0.121764 tol = 1e-06
+25: 49 vys -1.52966 != -1.52842 tol = 1e-06
+25: 49 vzs 0.904641 != 0.903618 tol = 1e-06
+25: 49 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 49 ays 11.3681 != 10.8667 tol = 1e-06
+25: 49 azs 19.2223 != 19.5862 tol = 1e-06
+25: 49 alpxs 1.42109e-14 != 0.00756918 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089383
+25: MbD: Convergence = 0.0016705269888035834
+25: MbD: Convergence = 4.5380918100722371e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 61.131074814884904
+25: MbD: Convergence = 1.6294137765326577e-14
+25: Time = 0.49
+25: 50 vxs -0.587626 != -0.587773 tol = 1e-06
+25: 50 vys 0.666531 != 0.666604 tol = 1e-06
+25: 50 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 50 axs -4.18794 != -4.21489 tol = 1e-06
+25: 50 ays -3.69216 != -3.67925 tol = 1e-06
+25: 50 alpzs -7.77156e-16 != -0.000202837 tol = 1e-06
+25: 50 ys -0.0866778 != -0.0866525 tol = 1e-06
+25: 50 zs -0.111744 != -0.111763 tol = 1e-06
+25: 50 vys -1.40422 != -1.41231 tol = 1e-06
+25: 50 vzs 1.08923 != 1.09539 tol = 1e-06
+25: 50 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 50 ays 13.6876 != 12.2392 tol = 1e-06
+25: 50 azs 17.646 != 18.8012 tol = 1e-06
+25: 50 alpxs -2.66454e-15 != 0.0253059 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008914
+25: MbD: Convergence = 0.0016705269888036053
+25: MbD: Convergence = 4.5380918098179457e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 60.805226223610184
+25: MbD: Convergence = 1.1329565938186579e-14
+25: Time = 0.5
+25: 51 vxs -0.628318 != -0.628254 tol = 1e-06
+25: 51 vys 0.628318 != 0.6283 tol = 1e-06
+25: 51 axs -3.94784 != -3.94718 tol = 1e-06
+25: 51 ays -3.94784 != -3.94791 tol = 1e-06
+25: 51 alpzs 4.41762e-29 != 1.24378e-06 tol = 1e-06
+25: 51 ys -0.0999996 != -0.0999848 tol = 1e-06
+25: 51 zs -0.0999996 != -0.100023 tol = 1e-06
+25: 51 vys -1.25663 != -1.2544 tol = 1e-06
+25: 51 vzs 1.25663 != 1.25307 tol = 1e-06
+25: 51 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 51 ays 15.7913 != 15.8005 tol = 1e-06
+25: 51 azs 15.7913 != 15.7501 tol = 1e-06
+25: 51 alpxs -7.75482e-26 != -0.000168313 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089376
+25: MbD: Convergence = 0.0016705269888035539
+25: MbD: Convergence = 4.5380918100672756e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 60.476329173984482
+25: MbD: Convergence = 2.2031576616628474e-14
+25: Time = 0.51
+25: 52 vxs -0.666531 != -0.6665 tol = 1e-06
+25: 52 vys 0.587626 != 0.587618 tol = 1e-06
+25: 52 axs -3.69216 != -3.70077 tol = 1e-06
+25: 52 ays -4.18794 != -4.18546 tol = 1e-06
+25: 52 alpzs -2.22045e-16 != -5.42604e-05 tol = 1e-06
+25: 52 ys -0.111744 != -0.111711 tol = 1e-06
+25: 52 zs -0.0866778 != -0.0867306 tol = 1e-06
+25: 52 vys -1.08923 != -1.08824 tol = 1e-06
+25: 52 vzs 1.40422 != 1.40246 tol = 1e-06
+25: 52 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 52 ays 17.646 != 17.3483 tol = 1e-06
+25: 52 azs 13.6876 != 14.1602 tol = 1e-06
+25: 52 alpxs -4.88498e-15 != 0.00678297 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089376
+25: MbD: Convergence = 0.0016705269888035224
+25: MbD: Convergence = 4.5380918099010004e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 60.148251172001352
+25: MbD: Convergence = 8.6270722681677415e-15
+25: Time = 0.52
+25: 53 vxs -0.702113 != -0.702252 tol = 1e-06
+25: 53 vys 0.544615 != 0.544653 tol = 1e-06
+25: 53 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 53 axs -3.42192 != -3.44912 tol = 1e-06
+25: 53 ays -4.41151 != -4.40441 tol = 1e-06
+25: 53 alpzs -1.33227e-15 != -0.000189271 tol = 1e-06
+25: 53 ys -0.121727 != -0.121707 tol = 1e-06
+25: 53 zs -0.071989 != -0.0720217 tol = 1e-06
+25: 53 vys -0.904641 != -0.909202 tol = 1e-06
+25: 53 vzs 1.52966 != 1.53733 tol = 1e-06
+25: 53 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 53 ays 19.2223 != 18.3648 tol = 1e-06
+25: 53 azs 11.3681 != 12.8857 tol = 1e-06
+25: 53 alpxs 2.13163e-14 != 0.0236181 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089369
+25: MbD: Convergence = 0.0016705269888035435
+25: MbD: Convergence = 4.538091810112089e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 59.825036800124664
+25: MbD: Convergence = 5.2191987393806167e-15
+25: Time = 0.53
+25: 54 vxs -0.734924 != -0.734858 tol = 1e-06
+25: 54 vys 0.499454 != 0.499448 tol = 1e-06
+25: 54 axs -3.13816 != -3.1371 tol = 1e-06
+25: 54 ays -4.61767 != -4.61765 tol = 1e-06
+25: 54 alpzs 1.33227e-15 != 3.18396e-06 tol = 1e-06
+25: 54 ys -0.12979 != -0.129785 tol = 1e-06
+25: 54 zs -0.056165 != -0.0561892 tol = 1e-06
+25: 54 vys -0.70579 != -0.705061 tol = 1e-06
+25: 54 vzs 1.63098 != 1.62689 tol = 1e-06
+25: 54 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 54 ays 20.4955 != 20.4933 tol = 1e-06
+25: 54 azs 8.86922 != 8.80315 tol = 1e-06
+25: 54 alpxs 1.86517e-14 != -0.000411879 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089348
+25: MbD: Convergence = 0.001670526988803591
+25: MbD: Convergence = 4.5380918100812136e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 59.510902647793152
+25: MbD: Convergence = 1.1172752782091415e-14
+25: Time = 0.54
+25: 55 vxs -0.764835 != -0.764797 tol = 1e-06
+25: 55 vys 0.452322 != 0.45232 tol = 1e-06
+25: 55 axs -2.84202 != -2.85001 tol = 1e-06
+25: 55 ays -4.8056 != -4.80488 tol = 1e-06
+25: 55 alpzs 2.22045e-15 != -4.8348e-05 tol = 1e-06
+25: 55 ys -0.135805 != -0.135795 tol = 1e-06
+25: 55 zs -0.0394551 != -0.0395151 tol = 1e-06
+25: 55 vys -0.495808 != -0.495492 tol = 1e-06
+25: 55 vzs 1.70658 != 1.70422 tol = 1e-06
+25: 55 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 55 ays 21.4455 != 21.3552 tol = 1e-06
+25: 55 azs 6.23051 != 6.72276 tol = 1e-06
+25: 55 alpxs -2.30926e-14 != 0.00604367 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089397
+25: MbD: Convergence = 0.0016705269888036274
+25: MbD: Convergence = 4.5380918098327068e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 59.210220864156938
+25: MbD: Convergence = 1.6223979082233299e-14
+25: Time = 0.55
+25: 56 vxs -0.791727 != -0.791852 tol = 1e-06
+25: 56 vys 0.403405 != 0.403415 tol = 1e-06
+25: 56 axs -2.53467 != -2.56102 tol = 1e-06
+25: 56 ays -4.97457 != -4.97289 tol = 1e-06
+25: 56 alpzs 0 != -0.000176333 tol = 1e-06
+25: 56 ys -0.13968 != -0.139673 tol = 1e-06
+25: 56 zs -0.0221231 != -0.0221664 tol = 1e-06
+25: 56 vys -0.278007 != -0.279195 tol = 1e-06
+25: 56 vzs 1.75527 != 1.76292 tol = 1e-06
+25: 56 omexs -12.5664 != -12.5663 tol = 1e-06
+25: 56 ays 22.0573 != 21.8432 tol = 1e-06
+25: 56 azs 3.49354 != 5.11707 tol = 1e-06
+25: 56 alpxs -1.95399e-14 != 0.022008 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089362
+25: MbD: Convergence = 0.0016705269888035344
+25: MbD: Convergence = 4.5380918098498756e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.927489035870977
+25: MbD: Convergence = 6.5725149665314936e-15
+25: Time = 0.56
+25: 57 vxs -0.815495 != -0.81543 tol = 1e-06
+25: 57 vys 0.352896 != 0.352903 tol = 1e-06
+25: 57 axs -2.21731 != -2.21591 tol = 1e-06
+25: 57 ays -5.12391 != -5.12365 tol = 1e-06
+25: 57 alpzs -1.33227e-15 != 4.93634e-06 tol = 1e-06
+25: 57 ys -0.141351 != -0.141355 tol = 1e-06
+25: 57 zs -0.00444213 != -0.00446352 tol = 1e-06
+25: 57 vys -0.0558215 != -0.0566694 tol = 1e-06
+25: 57 vzs 1.77627 != 1.77225 tol = 1e-06
+25: 57 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 57 ays 22.3213 != 22.29 tol = 1e-06
+25: 57 azs 0.701474 != 0.618497 tol = 1e-06
+25: 57 alpxs 7.10543e-15 != -0.000631922 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008941
+25: MbD: Convergence = 0.0016705269888035827
+25: MbD: Convergence = 4.5380918100752065e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.667284613469697
+25: MbD: Convergence = 6.1766515941806847e-15
+25: Time = 0.57
+25: 58 vxs -0.836045 != -0.836001 tol = 1e-06
+25: 58 vys 0.300995 != 0.301 tol = 1e-06
+25: 58 axs -1.8912 != -1.8983 tol = 1e-06
+25: 58 ays -5.25302 != -5.25373 tol = 1e-06
+25: 58 alpzs -2.66454e-15 != -4.27982e-05 tol = 1e-06
+25: 58 ys -0.140793 != -0.140805 tol = 1e-06
+25: 58 zs 0.0133089 != 0.0132508 tol = 1e-06
+25: 58 vys 0.167244 != 0.16658 tol = 1e-06
+25: 58 vzs 1.76926 != 1.76663 tol = 1e-06
+25: 58 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 58 ays 22.2332 != 22.3209 tol = 1e-06
+25: 58 azs -2.10165 != -1.66524 tol = 1e-06
+25: 58 alpxs 8.88178e-15 != 0.00534948 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089362
+25: MbD: Convergence = 0.0016705269888035389
+25: MbD: Convergence = 4.5380918100820527e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.434202829985409
+25: MbD: Convergence = 1.2977353490697568e-14
+25: Time = 0.58
+25: 59 vxs -0.853294 != -0.853401 tol = 1e-06
+25: 59 vys 0.247905 != 0.247893 tol = 1e-06
+25: 59 axs -1.55763 != -1.58218 tol = 1e-06
+25: 59 ays -5.36141 != -5.36456 tol = 1e-06
+25: 59 alpzs -2.66454e-15 != -0.000164003 tol = 1e-06
+25: 59 ys -0.138015 != -0.138026 tol = 1e-06
+25: 59 zs 0.03085 != 0.0308025 tol = 1e-06
+25: 59 vys 0.387672 != 0.389176 tol = 1e-06
+25: 59 vzs 1.73435 != 1.74082 tol = 1e-06
+25: 59 omexs -12.5664 != -12.5663 tol = 1e-06
+25: 59 ays 21.7944 != 22.1773 tol = 1e-06
+25: 59 azs -4.87163 != -3.38434 tol = 1e-06
+25: 59 alpxs 2.4869e-14 != 0.0204731 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089126
+25: MbD: Convergence = 0.0016705269888035313
+25: MbD: Convergence = 4.5380918098610417e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.232777970709975
+25: MbD: Convergence = 9.4980193907846395e-15
+25: Time = 0.59
+25: 60 vxs -0.867177 != -0.867115 tol = 1e-06
+25: 60 vys 0.193837 != 0.193856 tol = 1e-06
+25: 60 axs -1.21791 != -1.21626 tol = 1e-06
+25: 60 ays -5.44863 != -5.44802 tol = 1e-06
+25: 60 alpzs 0 != 6.51068e-06 tol = 1e-06
+25: 60 ys -0.13306 != -0.133071 tol = 1e-06
+25: 60 zs 0.0479046 != 0.0478888 tol = 1e-06
+25: 60 vys 0.601987 != 0.599734 tol = 1e-06
+25: 60 vzs 1.67208 != 1.66873 tol = 1e-06
+25: 60 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 60 ays 21.012 != 20.9404 tol = 1e-06
+25: 60 azs -7.56479 != -7.6478 tol = 1e-06
+25: 60 alpxs 1.77636e-14 != -0.000829653 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008939
+25: MbD: Convergence = 0.0016705269888035385
+25: MbD: Convergence = 4.5380918101181162e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 58.067388938798196
+25: MbD: Convergence = 2.5338329030550254e-14
+25: Time = 0.6
+25: 61 vxs -0.877637 != -0.877591 tol = 1e-06
+25: 61 vys 0.139004 != 0.139019 tol = 1e-06
+25: 61 axs -0.873388 != -0.879409 tol = 1e-06
+25: 61 ays -5.51435 != -5.51615 tol = 1e-06
+25: 61 alpzs -3.55271e-15 != -3.75965e-05 tol = 1e-06
+25: 61 ys -0.126007 != -0.126039 tol = 1e-06
+25: 61 zs 0.0642037 != 0.064156 tol = 1e-06
+25: 61 vys 0.806807 != 0.805041 tol = 1e-06
+25: 61 vzs 1.58345 != 1.58102 tol = 1e-06
+25: 61 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 61 ays 19.8982 != 20.1125 tol = 1e-06
+25: 61 azs -10.1386 != -9.80979 tol = 1e-06
+25: 61 alpxs 0 != 0.00469865 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089383
+25: MbD: Convergence = 0.001670526988803555
+25: MbD: Convergence = 4.5380918100771393e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915863
+26: MbD: Convergence = 5.9548748407589863e-15
+26: Time = 0.7
+26: 71 vxs 9.66557e-08 != 1.65736e-05 tol = 1e-06
+26: 71 vys -7.02231e-08 != -4.02384e-05 tol = 1e-06
+26: 71 omezs 12.5664 != 12.5664 tol = 1e-06
+26: 71 axs 8.82437e-07 != -0.0015724 tol = 1e-06
+26: 71 ays 1.21462e-06 != 0.00444137 tol = 1e-06
+26: 71 alpzs -3.19744e-14 != -0.00213702 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431071
+26: MbD: Convergence = 0.00053807828411885192
+26: MbD: Convergence = 5.5401353118433943e-07
+26: MbD: Solving for kinematic velocity.
+26: MbD: Solving for kinematic acceleration.
+26: MbD: Convergence = 7.4869948035915854
+26: MbD: Convergence = 6.3678253346513062e-15
+26: Time = 0.71
+26: 72 vxs 1.04695e-07 != -2.91394e-05 tol = 1e-06
+26: 72 vys -5.75552e-08 != 7.26421e-05 tol = 1e-06
+26: 72 omezs 12.5664 != 12.5663 tol = 1e-06
+26: 72 axs 7.23247e-07 != -0.00848907 tol = 1e-06
+26: 72 ays 1.31564e-06 != 0.019891 tol = 1e-06
+26: 72 alpzs 7.10543e-15 != -0.010882 tol = 1e-06
+26: MbD: Solving for kinematic position.
+26: MbD: Convergence = 0.016896356185431331
+26: MbD: Convergence = 0.00053807828411888315
 26: MbD: Convergence = 5.5401353118611534e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915863
 26: MbD: Convergence = 1.7583322006368869e-16
-17: MbD: Convergence = 5.5173124726034262
-17: MbD: Convergence = 6.6299498968424397e-16
-17: MbD: Convergence = 5.9467414957091932e-16
-17: MbD: Convergence = 4.6963786820910624e-16
-11: MbD: Convergence = 1.5697828119689277
-11: MbD: Convergence = 2.9303690055415195e-16
-11: Time = 0.59
-11: 60 bryzs 1.28805 != -1.85354 tol = 1e-06
-11: MbD: Solving for kinematic position.
-20/35 Test  #4: OndselSolver.runPreDragBackhoe2 ..................   Passed    0.26 sec
-21/35 Test #32: OndselSolver.runPiston ...........................   Passed    0.14 sec
 26: Time = 0.72
 26: 73 vxs 1.11083e-07 != 3.47689e-05 tol = 1e-06
 26: 73 vys -4.39796e-08 != -4.06776e-05 tol = 1e-06
@@ -10970,15 +13537,7 @@
 26: MbD: Convergence = 5.5401353118611354e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.8047088411011435e-16
-17: Time = 0.2
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 19036.386303253446
-11: MbD: Convergence = 0.007674803545295609
-11: MbD: Convergence = 0.00011152671578490825
-11: MbD: Convergence = 2.7199172583556595e-08
 26: MbD: Convergence = 7.4869948035915872
-11: MbD: Solving for kinematic velocity.
 26: MbD: Convergence = 1.3439833807258461e-15
 26: Time = 0.73
 26: 74 vxs 1.15719e-07 != 1.77801e-05 tol = 1e-06
@@ -10987,44 +13546,28 @@
 26: 74 axs 3.73338e-07 != -0.00534689 tol = 1e-06
 26: 74 ays 1.45417e-06 != 0.00623413 tol = 1e-06
 26: 74 alpzs 8.88178e-15 != -0.00378786 tol = 1e-06
-17: MbD: Convergence = 529.91770086249005
 26: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.016896356185431317
-11: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 0.00053807828411888076
-17: MbD: Convergence = 0.51518933869942918
 26: MbD: Convergence = 5.5401353118699943e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 3.0030790168892085e-16
 26: MbD: Convergence = 7.486994803591589
-11: Time = 0.6
 26: MbD: Convergence = 1.349014807139116e-15
 26: Time = 0.74
-11: 61 bryzs 1.25664 != -1.88496 tol = 1e-06
 26: 75 vxs 1.1853e-07 != -9.88294e-05 tol = 1e-06
 26: 75 vys -1.49727e-08 != 0.000109088 tol = 1e-06
 26: 75 omezs 12.5664 != 12.5663 tol = 1e-06
 26: 75 axs 1.88138e-07 != -0.0196118 tol = 1e-06
 26: 75 ays 1.4895e-06 != 0.0207979 tol = 1e-06
 26: 75 alpzs -1.06581e-14 != -0.0149114 tol = 1e-06
-11: MbD: Solving for kinematic position.
 26: MbD: Solving for kinematic position.
-17: MbD: Convergence = 2.4888896036372223e-07
 26: MbD: Convergence = 0.016896356185431081
 26: MbD: Convergence = 0.00053807828411885159
-11: MbD: Convergence = 0.0076748035452955891
 26: MbD: Convergence = 5.5401353115703342e-07
-16: MbD: Convergence = 6.6358517584916043e-16
 26: MbD: Solving for kinematic velocity.
-11: MbD: Convergence = 0.00011152671578490192
 26: MbD: Solving for kinematic acceleration.
-16: Time = 2.35
-3: MbD: Convergence = 40184.194696284503
-16: MbD: Solving for quasi kinematic position.
 26: MbD: Convergence = 7.4869948035915854
-11: MbD: Convergence = 2.7199172603842618e-08
 26: MbD: Convergence = 4.1962486042515756e-17
 26: Time = 0.75
 26: 76 vxs 1.19472e-07 != 4.75733e-05 tol = 1e-06
@@ -11034,22 +13577,14 @@
 26: 76 ays 1.50133e-06 != 0.000432135 tol = 1e-06
 26: 76 alpzs -1.29247e-26 != -0.000344159 tol = 1e-06
 26: MbD: Solving for kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-11: MbD: Solving for kinematic velocity.
 26: MbD: Convergence = 0.016896356185431314
-16: MbD: Solving for velocity initial conditions.
 26: MbD: Convergence = 0.00053807828411888
 26: MbD: Convergence = 5.5401353115863103e-07
 26: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
 26: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
 26: MbD: Convergence = 7.4869948035915872
 26: MbD: Convergence = 6.5777872382079759e-15
-11: MbD: Convergence = 1.5697828119689281
 26: Time = 0.76
-16: MbD: Convergence = 1.3831147369825216e-14
 26: 77 vxs 1.1853e-07 != -1.68146e-06 tol = 1e-06
 26: 77 vys 1.4975e-08 != 2.02356e-06 tol = 1e-06
 26: 77 omezs 12.5664 != 12.5664 tol = 1e-06
@@ -11057,150 +13592,8 @@
 26: 77 ays 1.48949e-06 != 0.00604304 tol = 1e-06
 26: 77 alpzs -4.44089e-15 != -0.00596103 tol = 1e-06
 26: MbD: Solving for kinematic position.
-11: MbD: Convergence = 2.9224171289968725e-16
-16: MbD: Convergence = 8.639786775957609e-15
 26: MbD: Convergence = 0.016896356185431081
-11: Time = 0.61
-11: 62 bryzs 1.22522 != -1.91637 tol = 1e-06
 26: MbD: Convergence = 0.00053807828411885214
-11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.6035391149961525e-15
-25: MbD: Solving for kinematic velocity.
-5: MbD: Convergence = 5.2587531493330954e-07
-31: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 6.6358517584916043e-16
-27: MbD: Convergence = 0.01357210676446924
-16: Time = 2.4
-14: MbD: Convergence = 0.00034464872108614297
-14: MbD: Convergence = 2.920803409490007e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3415823250338867
-14: MbD: Convergence = 5.9946976539197258e-15
-14: Time = 0.44
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508321
-14: MbD: Convergence = 0.00034464872108614226
-14: MbD: Convergence = 2.92080340967598e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3389784089092176
-14: MbD: Convergence = 6.1536243342458387e-15
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.45
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.5
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-27: MbD: Convergence = 0.00031721864510457699
-27: MbD: Convergence = 2.8711772866331332e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.0929732563694978
-27: MbD: Convergence = 3.1693874617532044e-15
-27: Time = 0.29
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013609571252246816
-27: MbD: Convergence = 0.00031772496976205763
-27: MbD: Convergence = 2.8330180599128808e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.1650268938673065
-27: MbD: Convergence = 8.4600719715070238e-16
-27: Time = 0.3
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013630803457888759
-27: MbD: Convergence = 0.00031816729317462949
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 62.054194694417248
-25: MbD: Convergence = 2.08307351893532e-14
-25: Time = 0.46
-25: 47 vxs -0.452322 != -0.45247 tol = 1e-06
-25: 47 vys 0.764835 != 0.764947 tol = 1e-06
-25: 47 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 47 axs -4.8056 != -4.83108 tol = 1e-06
-25: 47 ays -2.84202 != -2.82312 tol = 1e-06
-25: 47 alpzs 1.77636e-15 != -0.000217052 tol = 1e-06
-25: 47 ys -0.0394551 != -0.0394317 tol = 1e-06
-25: 47 zs -0.135805 != -0.135812 tol = 1e-06
-25: 47 vys -1.70658 != -1.71767 tol = 1e-06
-25: 47 vzs 0.495808 != 0.498852 tol = 1e-06
-25: 47 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 47 ays 6.23051 != 4.34644 tol = 1e-06
-25: 47 azs 21.4455 != 22.0077 tol = 1e-06
-25: 47 alpxs 2.66454e-14 != 0.0270737 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089369
-25: MbD: Convergence = 0.0016705269888035636
-25: MbD: Convergence = 4.5380918100683276e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 61.759013936066289
-25: MbD: Convergence = 1.1020001440874586e-14
-25: Time = 0.47
-25: 48 vxs -0.499454 != -0.499394 tol = 1e-06
-25: 48 vys 0.734924 != 0.734894 tol = 1e-06
-25: 48 axs -4.61767 != -4.61741 tol = 1e-06
-25: 48 ays -3.13816 != -3.13816 tol = 1e-06
-25: 48 ys -0.056165 != -0.0561402 tol = 1e-06
-25: 48 zs -0.12979 != -0.129807 tol = 1e-06
-25: 48 vys -1.63098 != -1.62757 tol = 1e-06
-25: 48 vzs 0.70579 != 0.703312 tol = 1e-06
-25: 48 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 48 ays 8.86922 != 8.87141 tol = 1e-06
-25: 48 azs 20.4955 != 20.4762 tol = 1e-06
-25: 48 alpxs -1.42109e-14 != 0.000100025 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089376
-25: MbD: Convergence = 0.0016705269888035116
-25: MbD: Convergence = 4.5380918101062079e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 61.450180838000087
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 31.14982822272183
-31: MbD: Convergence = 1.7675421802732255e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.055616121327275607
-31: MbD: Convergence = 0.0060562747967847037
-31: MbD: Convergence = 0.00011008407786419704
-31: MbD: Convergence = 1.0103067198028044e-08
-31: MbD: Solving for kinematic velocity.
-31: MbD: Solving for kinematic acceleration.
-31: MbD: Convergence = 28.922423760281397
-31: MbD: Convergence = 2.0802863806076692e-14
-31: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.063079108584801133
-29: MbD: Convergence = 1.124153559106839e-06
-29: MbD: Convergence = 8.4344407547519246e-12
-5: MbD: Assembling system with limits. 
-5: MbD: No limits reached. 
-5: Time = 0
-13: FileName = assembly.asmt
-13: 
-13: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
 26: MbD: Convergence = 5.5401353118433805e-07
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
@@ -11243,967 +13636,7 @@
 26: 80 axs -7.23297e-07 != -0.017598 tol = 1e-06
 26: 80 ays 1.31561e-06 != 0.00261262 tol = 1e-06
 26: 80 alpzs -1.06581e-14 != -0.00875198 tol = 1e-06
-3: MbD: Convergence = 259.80021675187731
 26: MbD: Solving for kinematic position.
-17: MbD: Solving for velocity initial conditions.
-11: MbD: Convergence = 0.0076748035452955466
-22/35 Test #13: OndselSolver.constvel ............................Subprocess aborted***Exception:   0.23 sec
-Running main() from ./googletest/src/gtest_main.cc
-Note: Google Test filter = OndselSolver.constvel
-[==========] Running 1 test from 1 test suite.
-[----------] Global test environment set-up.
-[----------] 1 test from OndselSolver
-[ RUN      ] OndselSolver.constvel
-(6.28319*imeE)
-Time = 0
-0 axs 21.2196 != 0 tol = 1e-06
-0 ays 13.8174 != 0 tol = 1e-06
-0 axs 35.0373 != 0 tol = 1e-06
-0 ays 17.2718 != 0 tol = 1e-06
-0 azs -58.3955 != 0 tol = 1e-06
-MbD: Assembling system. 
-MbD: Checking for redundant constraints.
-MbD: ndricalJointE /Assembly1/Cylindrical has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: Assembling system. 
-MbD: Convergence = 9.3730796460795384e-12
-MbD: Convergence = 7.4634374635827482e-14
-MbD: Convergence = 7.257527303405595e-14
-MbD: Convergence = 6.2441402102101305e-14
-MbD: Convergence = 6.2441400723363599e-14
-MbD: Assembling system. 
-MbD: Checking for redundant constraints.
-MbD: ndricalJointE /Assembly1/Cylindrical has the following constraint(s) removed: 
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-MbD: Assembling system. 
-MbD: Convergence = 9.3007563290979678e-14
-MbD: Convergence = 6.244140072336365e-14
-MbD: Convergence = 6.2441402102102554e-14
-MbD: Convergence = 6.2441400723363599e-14
-MbD: Convergence = 6.2441402102102567e-14
-MbD: Solving for velocity initial conditions.
-MbD: Solving for acceleration initial conditions.
-MbD: Convergence = 2.1679088811097538
-MbD: Convergence = 2.4992687979632742e-15
-MbD: Convergence = 1.1612560025767315e-15
-MbD: Convergence = 7.7924779543274749e-16
-MbD: Convergence = 5.5214368437232878e-16
-Time = 0
-MbD: Starting kinematic analysis.
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189884775
-MbD: Convergence = 0.00015291749096390283
-MbD: Convergence = 3.8180977924808418e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1758140314356273
-MbD: Convergence = 2.265766302446139e-15
-Time = 0.01
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878044
-MbD: Convergence = 0.00015291749096386296
-MbD: Convergence = 3.8180977940974836e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1852095460334415
-MbD: Convergence = 1.3093103951153036e-15
-Time = 0.02
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878131
-MbD: Convergence = 0.00015291749096384743
-MbD: Convergence = 3.8180977942469253e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1959152876944739
-MbD: Convergence = 2.97385608495437e-15
-Time = 0.03
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878391
-MbD: Convergence = 0.00015291749096386323
-MbD: Convergence = 3.8180977926193151e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.207728394244687
-MbD: Convergence = 2.5736108331424691e-15
-Time = 0.04
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878183
-MbD: Convergence = 0.00015291749096388153
-MbD: Convergence = 3.8180977943158652e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2204288201691078
-MbD: Convergence = 2.4867282768314175e-15
-Time = 0.05
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878512
-MbD: Convergence = 0.00015291749096388299
-MbD: Convergence = 3.8180977905852767e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2337850395697272
-MbD: Convergence = 2.0546124731975558e-15
-Time = 0.06
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.00015291749096389934
-MbD: Convergence = 3.8180977958283875e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2475596676863785
-MbD: Convergence = 2.6844598932234524e-15
-Time = 0.07
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878235
-MbD: Convergence = 0.00015291749096388088
-MbD: Convergence = 3.8180977942880514e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.261514792957354
-MbD: Convergence = 1.1427535869334628e-15
-Time = 0.08
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878183
-MbD: Convergence = 0.00015291749096389776
-MbD: Convergence = 3.8180977924748557e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2754168548941101
-MbD: Convergence = 7.6344277439614949e-16
-Time = 0.09
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878096
-MbD: Convergence = 0.00015291749096386277
-MbD: Convergence = 3.8180977944779172e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2890409496834589
-MbD: Convergence = 3.0317525172806292e-15
-Time = 0.1
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.00970794391898782
-MbD: Convergence = 0.00015291749096388153
-MbD: Convergence = 3.8180977925633812e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3021744911366651
-MbD: Convergence = 2.0934794210327865e-15
-Time = 0.11
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878252
-MbD: Convergence = 0.0001529174909638474
-MbD: Convergence = 3.8180977939886379e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3146201963109139
-MbD: Convergence = 2.4168140642113753e-15
-Time = 0.12
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878131
-MbD: Convergence = 0.00015291749096386359
-MbD: Convergence = 3.8180977958485555e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3261984009686096
-MbD: Convergence = 2.0751862053711985e-15
-Time = 0.13
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878339
-MbD: Convergence = 0.00015291749096382873
-MbD: Convergence = 3.8180977977426409e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3367487391634678
-MbD: Convergence = 1.6423755513712906e-15
-Time = 0.14
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878425
-MbD: Convergence = 0.00015291749096386456
-MbD: Convergence = 3.8180977924638363e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3461312435483759
-MbD: Convergence = 1.519969930143883e-15
-Time = 0.15
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878373
-MbD: Convergence = 0.00015291749096386565
-MbD: Convergence = 3.8180977906033191e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3542269388603079
-MbD: Convergence = 1.1393188236546436e-15
-Time = 0.16
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878425
-MbD: Convergence = 0.00015291749096386421
-MbD: Convergence = 3.8180977958637359e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3609380110655116
-MbD: Convergence = 1.2891635997866949e-15
-Time = 0.17
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878131
-MbD: Convergence = 0.00015291749096384838
-MbD: Convergence = 3.8180977940837927e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3661876395318417
-MbD: Convergence = 1.3210212798955091e-15
-Time = 0.18
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987846
-MbD: Convergence = 0.00015291749096386464
-MbD: Convergence = 3.8180977923490236e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3699195799927524
-MbD: Convergence = 9.1636696626813679e-16
-Time = 0.19
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878304
-MbD: Convergence = 0.00015291749096386372
-MbD: Convergence = 3.8180977925431073e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3720975825630046
-MbD: Convergence = 1.9914246400701359e-15
-Time = 0.2
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878478
-MbD: Convergence = 0.00015291749096386359
-MbD: Convergence = 3.8180977941292023e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3727047221630029
-MbD: Convergence = 2.1030143215859057e-15
-Time = 0.21
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878356
-MbD: Convergence = 0.00015291749096386443
-MbD: Convergence = 3.8180977941290614e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3717427088472069
-MbD: Convergence = 3.1452826667103877e-15
-Time = 0.22
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878339
-MbD: Convergence = 0.00015291749096386388
-MbD: Convergence = 3.8180977941950432e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3692312331234446
-MbD: Convergence = 1.1953186879359832e-15
-Time = 0.23
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878391
-MbD: Convergence = 0.0001529174909638641
-MbD: Convergence = 3.8180977941674723e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3652073868074042
-MbD: Convergence = 3.0015848480157877e-15
-Time = 0.24
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878044
-MbD: Convergence = 0.00015291749096384708
-MbD: Convergence = 3.8180977958604999e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3597251837237665
-MbD: Convergence = 2.1788792592361138e-15
-Time = 0.25
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878044
-MbD: Convergence = 0.00015291749096388115
-MbD: Convergence = 3.8180977924738154e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.35285518714121
-MbD: Convergence = 2.1344543590658272e-15
-Time = 0.26
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878356
-MbD: Convergence = 0.00015291749096386443
-MbD: Convergence = 3.8180977941250022e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3446842327756765
-MbD: Convergence = 2.1245842919938009e-15
-Time = 0.27
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878425
-MbD: Convergence = 0.00015291749096386424
-MbD: Convergence = 3.8180977924840354e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3353152181543013
-MbD: Convergence = 1.0403240932723971e-15
-Time = 0.28
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.00015291749096386424
-MbD: Convergence = 3.8180977941470694e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3248669118163763
-MbD: Convergence = 1.5248112802791927e-15
-Time = 0.29
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878356
-MbD: Convergence = 0.00015291749096386405
-MbD: Convergence = 3.818097792488342e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3134737200344224
-MbD: Convergence = 1.5570762305003667e-15
-Time = 0.3
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878391
-MbD: Convergence = 0.00015291749096386448
-MbD: Convergence = 3.8180977957202968e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3012853353445921
-MbD: Convergence = 9.8746365835602966e-16
-Time = 0.31
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878148
-MbD: Convergence = 0.00015291749096384833
-MbD: Convergence = 3.8180977939490166e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2884661811428035
-MbD: Convergence = 9.1467959631438799e-16
-Time = 0.32
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878235
-MbD: Convergence = 0.00015291749096386348
-MbD: Convergence = 3.8180977958972433e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.275194560966999
-MbD: Convergence = 1.4581568178664407e-15
-Time = 0.33
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878304
-MbD: Convergence = 0.00015291749096386356
-MbD: Convergence = 3.8180977927755351e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2616614209410359
-MbD: Convergence = 1.4074783080276571e-15
-Time = 0.34
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878564
-MbD: Convergence = 0.00015291749096388131
-MbD: Convergence = 3.8180977925613106e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2480686403005197
-MbD: Convergence = 1.3236149456065006e-15
-Time = 0.35
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.00015291749096386508
-MbD: Convergence = 3.8180977957623388e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2346267789677934
-MbD: Convergence = 2.6049861989651179e-15
-Time = 0.36
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878321
-MbD: Convergence = 0.00015291749096386299
-MbD: Convergence = 3.8180977943914933e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2215522335645219
-MbD: Convergence = 2.2982660472306364e-15
-Time = 0.37
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878547
-MbD: Convergence = 0.000152917490963847
-MbD: Convergence = 3.8180977959975717e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2090637843632819
-MbD: Convergence = 1.4557212792082896e-15
-Time = 0.38
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878165
-MbD: Convergence = 0.00015291749096388091
-MbD: Convergence = 3.8180977941038065e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1973785550756122
-MbD: Convergence = 2.5125028212214501e-15
-Time = 0.39
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878321
-MbD: Convergence = 0.00015291749096388042
-MbD: Convergence = 3.8180977942013914e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1867074536326641
-MbD: Convergence = 1.3470805527755445e-15
-Time = 0.4
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878287
-MbD: Convergence = 0.0001529174909638651
-MbD: Convergence = 3.8180977922984776e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1772502125633033
-MbD: Convergence = 1.1536889936968805e-15
-Time = 0.41
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.00015291749096386426
-MbD: Convergence = 3.8180977938191406e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1691901981928403
-MbD: Convergence = 2.0634998224450848e-15
-Time = 0.42
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877662
-MbD: Convergence = 0.00015291749096386475
-MbD: Convergence = 3.8180977942189918e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1626892034514502
-MbD: Convergence = 1.1126352314322219e-15
-Time = 0.43
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878321
-MbD: Convergence = 0.00015291749096388047
-MbD: Convergence = 3.818097792480325e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1578824736459952
-MbD: Convergence = 2.1453489953728269e-15
-Time = 0.44
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.00015291749096384705
-MbD: Convergence = 3.818097795771852e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1548742322446435
-MbD: Convergence = 1.0282522160787258e-15
-Time = 0.45
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987846
-MbD: Convergence = 0.00015291749096386396
-MbD: Convergence = 3.8180977942356433e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1537339698272402
-MbD: Convergence = 2.2208823118970893e-15
-Time = 0.46
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878269
-MbD: Convergence = 0.00015291749096384743
-MbD: Convergence = 3.818097794172309e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1544937313901142
-MbD: Convergence = 2.6552363287080099e-15
-Time = 0.47
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878443
-MbD: Convergence = 0.00015291749096386489
-MbD: Convergence = 3.8180977925353431e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1571465857978773
-MbD: Convergence = 1.1057882980861466e-15
-Time = 0.48
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878564
-MbD: Convergence = 0.00015291749096384656
-MbD: Convergence = 3.8180977907895585e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1616463904283969
-MbD: Convergence = 1.2435685813826969e-15
-Time = 0.49
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877697
-MbD: Convergence = 0.00015291749096386537
-MbD: Convergence = 3.8180977940981354e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1679088811097698
-MbD: Convergence = 1.2623151780163129e-15
-Time = 0.5
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878321
-MbD: Convergence = 0.00015291749096384675
-MbD: Convergence = 3.818097795891504e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1758140314356278
-MbD: Convergence = 1.2302849000478602e-15
-Time = 0.51
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878425
-MbD: Convergence = 0.00015291749096386415
-MbD: Convergence = 3.8180977925969157e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.185209546033442
-MbD: Convergence = 9.8768931611520636e-16
-Time = 0.52
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878339
-MbD: Convergence = 0.0001529174909638473
-MbD: Convergence = 3.818097794135205e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1959152876944725
-MbD: Convergence = 1.7566230302715535e-15
-Time = 0.53
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878287
-MbD: Convergence = 0.00015291749096386415
-MbD: Convergence = 3.8180977957057517e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2077283942446879
-MbD: Convergence = 1.0118483892635194e-15
-Time = 0.54
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878373
-MbD: Convergence = 0.00015291749096386399
-MbD: Convergence = 3.8180977942368893e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2204288201691078
-MbD: Convergence = 1.2752440104287456e-15
-Time = 0.55
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987853
-MbD: Convergence = 0.0001529174909638647
-MbD: Convergence = 3.818097794015637e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2337850395697236
-MbD: Convergence = 2.1918531806552091e-15
-Time = 0.56
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878321
-MbD: Convergence = 0.00015291749096386432
-MbD: Convergence = 3.8180977959731672e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2475596676863803
-MbD: Convergence = 1.549925573839508e-15
-Time = 0.57
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987872
-MbD: Convergence = 0.00015291749096384865
-MbD: Convergence = 3.8180977939387681e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2615147929573522
-MbD: Convergence = 1.7393133585394807e-15
-Time = 0.58
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987768
-MbD: Convergence = 0.00015291749096384833
-MbD: Convergence = 3.8180977940068616e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2754168548941101
-MbD: Convergence = 1.7849848533575628e-15
-Time = 0.59
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878339
-MbD: Convergence = 0.00015291749096388044
-MbD: Convergence = 3.8180977926433629e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2890409496834629
-MbD: Convergence = 3.0540362670147864e-15
-Time = 0.6
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.00970794391898782
-MbD: Convergence = 0.00015291749096382913
-MbD: Convergence = 3.8180977974170481e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3021744911366677
-MbD: Convergence = 9.876743457852242e-16
-Time = 0.61
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878287
-MbD: Convergence = 0.00015291749096384719
-MbD: Convergence = 3.8180977958462956e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3146201963109143
-MbD: Convergence = 1.4234923938600756e-15
-Time = 0.62
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878634
-MbD: Convergence = 0.00015291749096386494
-MbD: Convergence = 3.8180977942067627e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3261984009686114
-MbD: Convergence = 2.6372295897460729e-15
-Time = 0.63
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878408
-MbD: Convergence = 0.0001529174909638651
-MbD: Convergence = 3.8180977941723507e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3367487391634665
-MbD: Convergence = 5.522415920413674e-16
-Time = 0.64
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879119
-MbD: Convergence = 0.00015291749096386426
-MbD: Convergence = 3.8180977959094843e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3461312435483781
-MbD: Convergence = 1.742997725849797e-15
-Time = 0.65
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987768
-MbD: Convergence = 0.00015291749096386334
-MbD: Convergence = 3.8180977925158434e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.354226938860311
-MbD: Convergence = 9.467644623258073e-16
-Time = 0.66
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877593
-MbD: Convergence = 0.0001529174909638638
-MbD: Convergence = 3.8180977923917452e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3609380110655116
-MbD: Convergence = 1.1738836889601099e-15
-Time = 0.67
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878911
-MbD: Convergence = 0.00015291749096386323
-MbD: Convergence = 3.8180977942823684e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3661876395318466
-MbD: Convergence = 1.6119243443393276e-15
-Time = 0.68
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877714
-MbD: Convergence = 0.00015291749096386426
-MbD: Convergence = 3.8180977924331095e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3699195799927542
-MbD: Convergence = 1.2296612648899637e-15
-Time = 0.69
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878981
-MbD: Convergence = 0.00015291749096386388
-MbD: Convergence = 3.8180977924744487e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3720975825630024
-MbD: Convergence = 2.3347488139449476e-15
-Time = 0.7
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987768
-MbD: Convergence = 0.00015291749096386375
-MbD: Convergence = 3.8180977941590503e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3727047221630029
-MbD: Convergence = 8.3171350426732021e-16
-Time = 0.71
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879085
-MbD: Convergence = 0.00015291749096384727
-MbD: Convergence = 3.8180977924447813e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3717427088472065
-MbD: Convergence = 2.4130559905584391e-15
-Time = 0.72
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877749
-MbD: Convergence = 0.00015291749096384708
-MbD: Convergence = 3.8180977941989416e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3692312331234473
-MbD: Convergence = 1.4196716528996722e-15
-Time = 0.73
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879102
-MbD: Convergence = 0.00015291749096386432
-MbD: Convergence = 3.81809779244747e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3652073868074033
-MbD: Convergence = 2.0773256704611111e-15
-Time = 0.74
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987768
-MbD: Convergence = 0.00015291749096384697
-MbD: Convergence = 3.8180977941606061e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3597251837237652
-MbD: Convergence = 2.1813458378272071e-15
-Time = 0.75
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879102
-MbD: Convergence = 0.00015291749096386434
-MbD: Convergence = 3.8180977941582271e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3528551871412038
-MbD: Convergence = 1.5096813519121399e-15
-Time = 0.76
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877645
-MbD: Convergence = 0.00015291749096388115
-MbD: Convergence = 3.8180977924065233e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3446842327756778
-MbD: Convergence = 1.1810562034894907e-15
-Time = 0.77
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879102
-MbD: Convergence = 0.00015291749096388156
-MbD: Convergence = 3.8180977958249246e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3353152181543022
-MbD: Convergence = 1.7451998987182009e-15
-Time = 0.78
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877593
-MbD: Convergence = 0.00015291749096384667
-MbD: Convergence = 3.8180977958248187e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3248669118163807
-MbD: Convergence = 1.3707233976754309e-15
-Time = 0.79
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987761
-MbD: Convergence = 0.0001529174909638473
-MbD: Convergence = 3.8180977957781624e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3134737200344202
-MbD: Convergence = 1.569921453783669e-15
-Time = 0.8
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878981
-MbD: Convergence = 0.00015291749096388066
-MbD: Convergence = 3.8180977924680112e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.3012853353445926
-MbD: Convergence = 1.3775112190774224e-15
-Time = 0.81
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877766
-MbD: Convergence = 0.00015291749096386453
-MbD: Convergence = 3.8180977923501949e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2884661811428035
-MbD: Convergence = 1.039698292104931e-15
-Time = 0.82
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878946
-MbD: Convergence = 0.00015291749096384713
-MbD: Convergence = 3.818097794136367e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2751945609669995
-MbD: Convergence = 1.0814138600898097e-15
-Time = 0.83
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877662
-MbD: Convergence = 0.00015291749096386364
-MbD: Convergence = 3.8180977941761895e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2616614209410337
-MbD: Convergence = 2.0105736495252051e-15
-Time = 0.84
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879067
-MbD: Convergence = 0.00015291749096386464
-MbD: Convergence = 3.818097792412387e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2480686403005188
-MbD: Convergence = 1.9058839700932246e-15
-Time = 0.85
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877628
-MbD: Convergence = 0.00015291749096384643
-MbD: Convergence = 3.8180977941358648e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2346267789677956
-MbD: Convergence = 2.2524385784914012e-15
-Time = 0.86
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879206
-MbD: Convergence = 0.0001529174909638647
-MbD: Convergence = 3.8180977957523272e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2215522335645219
-MbD: Convergence = 2.2942746743680649e-15
-Time = 0.87
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987768
-MbD: Convergence = 0.0001529174909638821
-MbD: Convergence = 3.8180977923004317e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.2090637843632801
-MbD: Convergence = 1.4824326504251718e-15
-Time = 0.88
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879241
-MbD: Convergence = 0.00015291749096384697
-MbD: Convergence = 3.8180977959486747e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1973785550756135
-MbD: Convergence = 2.1197319091244199e-15
-Time = 0.89
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.009707943918987735
-MbD: Convergence = 0.00015291749096384627
-MbD: Convergence = 3.8180977940226211e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1867074536326614
-MbD: Convergence = 9.6417302670235364e-16
-Time = 0.9
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878981
-MbD: Convergence = 0.00015291749096386204
-MbD: Convergence = 3.8180977957664713e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1772502125633002
-MbD: Convergence = 1.7257215275977632e-15
-Time = 0.91
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877523
-MbD: Convergence = 0.00015291749096386383
-MbD: Convergence = 3.8180977924542324e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1691901981928399
-MbD: Convergence = 3.3358962513243337e-15
-Time = 0.92
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877818
-MbD: Convergence = 0.00015291749096384721
-MbD: Convergence = 3.8180977939930411e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1626892034514498
-MbD: Convergence = 1.4344071188736286e-15
-Time = 0.93
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878963
-MbD: Convergence = 0.00015291749096388082
-MbD: Convergence = 3.8180977958099228e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1578824736459938
-MbD: Convergence = 1.8012326168948547e-15
-Time = 0.94
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877749
-MbD: Convergence = 0.00015291749096384735
-MbD: Convergence = 3.8180977943335986e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1548742322446421
-MbD: Convergence = 1.2578564884420385e-15
-Time = 0.95
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879258
-MbD: Convergence = 0.0001529174909638483
-MbD: Convergence = 3.8180977940444295e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.153733969827238
-MbD: Convergence = 1.0996239226032455e-15
-Time = 0.96
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877662
-MbD: Convergence = 0.00015291749096383103
-MbD: Convergence = 3.8180977958447551e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1544937313901125
-MbD: Convergence = 1.6832428428179451e-15
-Time = 0.97
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189878998
-MbD: Convergence = 0.00015291749096389836
-MbD: Convergence = 3.8180977941607186e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1571465857978751
-MbD: Convergence = 1.9680067020779417e-15
-Time = 0.98
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877662
-MbD: Convergence = 0.00015291749096386415
-MbD: Convergence = 3.8180977942895457e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1616463904283965
-MbD: Convergence = 1.4524352215215374e-15
-Time = 0.99
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189879137
-MbD: Convergence = 0.00015291749096386415
-MbD: Convergence = 3.8180977907239605e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1679088811097698
-MbD: Convergence = 1.5497058485421955e-15
-Time = 1
-MbD: Solving for kinematic position.
-MbD: Convergence = 0.0097079439189877593
-MbD: Convergence = 0.00015291749096384778
-MbD: Convergence = 3.8180977942055868e-08
-MbD: Solving for kinematic velocity.
-MbD: Solving for kinematic acceleration.
-MbD: Convergence = 2.1758140314356278
-MbD: Convergence = 1.9285280222783373e-15
-FileName = assembly.asmt
-
-test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
-
 26: MbD: Convergence = 0.016896356185431081
 26: MbD: Convergence = 0.00053807828411887783
 26: MbD: Convergence = 5.5401353115730013e-07
@@ -12221,177 +13654,10 @@
 26: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.016896356185431307
 26: MbD: Convergence = 0.00053807828411887968
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.0611920312033183
-17: MbD: Convergence = 7.237384965498181e-16
-17: MbD: Convergence = 3.623677338601287e-16
-17: MbD: Convergence = 3.6187216018914178e-16
-17: MbD: Convergence = 5.3292637572953553e-16
-11: MbD: Convergence = 0.00011152671578492534
-11: MbD: Convergence = 2.7199172583624348e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 5.5401353115730023e-07
 26: MbD: Solving for kinematic velocity.
-17: Time = 0.21
-11: MbD: Convergence = 1.5697828119689277
-17: MbD: Solving for quasi kinematic position.
-11: MbD: Convergence = 3.2394184686640187e-16
 26: MbD: Solving for kinematic acceleration.
-11: Time = 0.62
-11: 63 bryzs 1.19381 != -1.94779 tol = 1e-06
 26: MbD: Convergence = 7.4869948035915845
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.007674803545295583
-11: MbD: Convergence = 0.0001115267157848785
-11: MbD: Convergence = 2.7199172608546774e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689281
-11: MbD: Convergence = 2.9314378059309075e-16
-11: Time = 0.63
-11: 64 bryzs 1.16239 != -1.9792 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.007674803545295609
-11: MbD: Convergence = 0.00011152671578490782
-11: MbD: Convergence = 2.7199172583556595e-08
-17: MbD: Convergence = 19626.056667312791
-17: MbD: Convergence = 479.62311850375818
-17: MbD: Convergence = 0.46795218353220086
-17: MbD: Convergence = 1.621666384545222e-07
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.680450766888276
-17: MbD: Convergence = 1.1173442815809687e-15
-17: MbD: Convergence = 4.3574112813611939e-16
-24: MbD: Convergence = 9.5321599257261826e-09
-5: MbD: Convergence = 157073510.40706587
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5.8578271275330287e-16
-25: MbD: Convergence = 1.276654891642789e-14
-14: Time = 0.45
-25: Time = 0.48
-25: 49 vxs -0.544615 != -0.544592 tol = 1e-06
-17: MbD: Convergence = 3.7273784080528052e-16
-17: Time = 0.22
-25: 49 vys 0.702113 != 0.702102 tol = 1e-06
-14: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.0051124148722312681
-27: MbD: Convergence = 2.8193127692276961e-08
-25: 49 axs -4.41151 != -4.42037 tol = 1e-06
-25: 49 ays -3.42192 != -3.41741 tol = 1e-06
-25: 49 alpzs -2.22045e-16 != -6.05499e-05 tol = 1e-06
-25: 49 ys -0.071989 != -0.0719373 tol = 1e-06
-25: 49 zs -0.121727 != -0.121764 tol = 1e-06
-25: 49 vys -1.52966 != -1.52842 tol = 1e-06
-25: 49 vzs 0.904641 != 0.903618 tol = 1e-06
-25: 49 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 49 ays 11.3681 != 10.8667 tol = 1e-06
-25: 49 azs 19.2223 != 19.5862 tol = 1e-06
-25: 49 alpxs 1.42109e-14 != 0.00756918 tol = 1e-06
-17: MbD: Solving for quasi kinematic position.
-25: MbD: Solving for kinematic position.
-31: MbD: Convergence = 0.0001055683045656826
-17: MbD: Convergence = 20085.736130346806
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.013177068994508184
-25: MbD: Convergence = 0.031707308160089383
-31: MbD: Convergence = 9.0621324726740401e-09
-25: MbD: Convergence = 0.0016705269888035834
-14: MbD: Convergence = 0.0003446487210861421
-25: MbD: Convergence = 4.5380918100722371e-07
-27: MbD: Solving for kinematic acceleration.
-31: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 443.57613263736351
-29: MbD: Solving for kinematic acceleration.
-31: MbD: Solving for kinematic acceleration.
-25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.9208034095142756e-07
-27: MbD: Convergence = 5.2347255941437876
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.42683369921246639
-25: MbD: Convergence = 61.131074814884904
-27: MbD: Convergence = 2.297407434622551e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-27: Time = 0.31
-31: MbD: Convergence = 19.760844981034953
-25: MbD: Convergence = 1.6294137765326577e-14
-25: Time = 0.49
-16: Time = 2.55
-14: MbD: Solving for kinematic acceleration.
-25: 50 vxs -0.587626 != -0.587773 tol = 1e-06
-25: 50 vys 0.666531 != 0.666604 tol = 1e-06
-25: 50 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 50 axs -4.18794 != -4.21489 tol = 1e-06
-25: 50 ays -3.69216 != -3.67925 tol = 1e-06
-25: 50 alpzs -7.77156e-16 != -0.000202837 tol = 1e-06
-25: 50 ys -0.0866778 != -0.0866525 tol = 1e-06
-25: 50 zs -0.111744 != -0.111763 tol = 1e-06
-25: 50 vys -1.40422 != -1.41231 tol = 1e-06
-25: 50 vzs 1.08923 != 1.09539 tol = 1e-06
-25: 50 omexs -12.5664 != -12.5662 tol = 1e-06
-27: MbD: Solving for kinematic position.
-25: 50 ays 13.6876 != 12.2392 tol = 1e-06
-25: 50 azs 17.646 != 18.8012 tol = 1e-06
-31: MbD: Convergence = 4.583044738952442e-15
-25: 50 alpxs -2.66454e-15 != 0.0253059 tol = 1e-06
-25: MbD: Solving for kinematic position.
-16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 0.013635896461637764
-25: MbD: Convergence = 0.03170730816008914
-31: [       OK ] OndselSolver.runOndselPiston (154 ms)
-31: [----------] 1 test from OndselSolver (154 ms total)
-31: 
-31: [----------] Global test environment tear-down
-31: [==========] 1 test from 1 test suite ran. (154 ms total)
-31: [  PASSED  ] 1 test.
-27: MbD: Convergence = 0.00031852998370128721
-25: MbD: Convergence = 0.0016705269888036053
-5: MbD: Convergence = 67058734.338905193
-14: MbD: Convergence = 5.3365890447285853
-25: MbD: Convergence = 4.5380918098179457e-07
-27: MbD: Convergence = 2.8337149995868248e-08
-25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.745780730054627e-15
-27: MbD: Solving for kinematic velocity.
-14: Time = 0.46
-14: MbD: Solving for kinematic position.
-25: MbD: Solving for kinematic acceleration.
-23/35 Test #31: OndselSolver.runOndselPiston .....................   Passed    0.16 sec
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508377
-14: MbD: Convergence = 0.00034464872108613099
-25: MbD: Convergence = 60.805226223610184
-25: MbD: Convergence = 1.1329565938186579e-14
-25: Time = 0.5
-25: 51 vxs -0.628318 != -0.628254 tol = 1e-06
-25: 51 vys 0.628318 != 0.6283 tol = 1e-06
-25: 51 axs -3.94784 != -3.94718 tol = 1e-06
-25: 51 ays -3.94784 != -3.94791 tol = 1e-06
-25: 51 alpzs 4.41762e-29 != 1.24378e-06 tol = 1e-06
-25: 51 ys -0.0999996 != -0.0999848 tol = 1e-06
-25: 51 zs -0.0999996 != -0.100023 tol = 1e-06
-25: 51 vys -1.25663 != -1.2544 tol = 1e-06
-25: 51 vzs 1.25663 != 1.25307 tol = 1e-06
-27: MbD: Convergence = 5.3011120998698917
-25: 51 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 51 ays 15.7913 != 15.8005 tol = 1e-06
-25: 51 azs 15.7913 != 15.7501 tol = 1e-06
-25: 51 alpxs -7.75482e-26 != -0.000168313 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 1.0626193080137071e-07
-14: MbD: Convergence = 2.9208034094872271e-07
-16: MbD: Convergence = 2.8275330695806131e-12
-27: MbD: Convergence = 1.316022675270073e-15
-25: MbD: Convergence = 0.031707308160089376
-27: Time = 0.32
-14: MbD: Solving for kinematic velocity.
-25: MbD: Convergence = 0.0016705269888035539
-27: MbD: Solving for kinematic position.
-25: MbD: Convergence = 4.5380918100672756e-07
-29: MbD: Convergence = 16.086719053721986
-16: MbD: Solving for velocity initial conditions.
 26: MbD: Convergence = 3.7296162601281867e-15
 26: Time = 0.81
 26: 82 vxs 8.70907e-08 != 3.74336e-05 tol = 1e-06
@@ -12464,160 +13730,6 @@
 26: MbD: Convergence = 0.00053807828411885159
 26: MbD: Convergence = 5.5401353116085004e-07
 26: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 7.0430244286333832e-17
-11: Time = 0.64
-11: 65 bryzs 1.13097 != -2.01062 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452956342
-11: MbD: Convergence = 0.00011152671578492672
-11: MbD: Convergence = 2.7199172578987945e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689274
-11: MbD: Convergence = 2.878003416594902e-16
-11: Time = 0.65
-11: 66 bryzs 1.09956 != -2.04204 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955188
-11: MbD: Convergence = 0.00011152671578492625
-11: MbD: Convergence = 2.7199172577927621e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.6
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.65
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.7
-16: MbD: Solving for quasi kinematic position.
-3: MbD: Convergence = 0.089896285767864348
-5: MbD: Convergence = 49580544.864058994
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 0.013624817535891382
-25: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.00031881854789500054
-17: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 2.8843824185856099e-08
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4.3878883166715488
-17: MbD: Convergence = 1.2114306287976154e-15
-17: MbD: Convergence = 5.1515949685611345e-16
-17: MbD: Convergence = 1.9094404605908369e-16
-17: Time = 0.23
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 20421.65780534819
-17: MbD: Convergence = 424.09556318394829
-17: MbD: Convergence = 0.38972101830190642
-17: MbD: Convergence = 7.4000019768074207e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.1891516585574697
-17: MbD: Convergence = 5.7034653779097758e-16
-17: MbD: Convergence = 7.8247594546674502e-16
-17: MbD: Convergence = 5.7011979635312514e-16
-17: MbD: Convergence = 5.5764264282891343e-16
-17: Time = 0.24
-25: MbD: Convergence = 60.476329173984482
-25: MbD: Convergence = 2.2031576616628474e-14
-25: Time = 0.51
-25: 52 vxs -0.666531 != -0.6665 tol = 1e-06
-25: 52 vys 0.587626 != 0.587618 tol = 1e-06
-25: 52 axs -3.69216 != -3.70077 tol = 1e-06
-25: 52 ays -4.18794 != -4.18546 tol = 1e-06
-25: 52 alpzs -2.22045e-16 != -5.42604e-05 tol = 1e-06
-25: 52 ys -0.111744 != -0.111711 tol = 1e-06
-25: 52 zs -0.0866778 != -0.0867306 tol = 1e-06
-25: 52 vys -1.08923 != -1.08824 tol = 1e-06
-25: 52 vzs 1.40422 != 1.40246 tol = 1e-06
-25: 52 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 52 ays 17.646 != 17.3483 tol = 1e-06
-25: 52 azs 13.6876 != 14.1602 tol = 1e-06
-25: 52 alpxs -4.88498e-15 != 0.00678297 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089376
-25: MbD: Convergence = 0.0016705269888035224
-25: MbD: Convergence = 4.5380918099010004e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 60.148251172001352
-25: MbD: Convergence = 8.6270722681677415e-15
-25: Time = 0.52
-25: 53 vxs -0.702113 != -0.702252 tol = 1e-06
-25: 53 vys 0.544615 != 0.544653 tol = 1e-06
-25: 53 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 53 axs -3.42192 != -3.44912 tol = 1e-06
-25: 53 ays -4.41151 != -4.40441 tol = 1e-06
-25: 53 alpzs -1.33227e-15 != -0.000189271 tol = 1e-06
-25: 53 ys -0.121727 != -0.121707 tol = 1e-06
-25: 53 zs -0.071989 != -0.0720217 tol = 1e-06
-25: 53 vys -0.904641 != -0.909202 tol = 1e-06
-25: 53 vzs 1.52966 != 1.53733 tol = 1e-06
-25: 53 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 53 ays 19.2223 != 18.3648 tol = 1e-06
-25: 53 azs 11.3681 != 12.8857 tol = 1e-06
-25: 53 alpxs 2.13163e-14 != 0.0236181 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089369
-25: MbD: Convergence = 0.0016705269888035435
-25: MbD: Convergence = 4.538091810112089e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 59.825036800124664
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.36482172367608
-27: MbD: Convergence = 1.4569709559687525e-15
-27: Time = 0.33
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013597418103999398
-27: MbD: Convergence = 0.00031905864810490573
-27: MbD: Convergence = 2.9849762117471204e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.4279379264537448
-27: MbD: Convergence = 2.347155395512854e-15
-27: Time = 0.34
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013553448264871907
-14: MbD: Convergence = 5.3344145207950824
-14: MbD: Convergence = 5.8676424468038389e-15
-14: Time = 0.47
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508248
-14: MbD: Convergence = 0.00034464872108613711
-14: MbD: Convergence = 2.9208034094985165e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3324550999380786
-14: MbD: Convergence = 7.9056731815329863e-15
-14: Time = 0.48
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508302
 26: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915854
 26: MbD: Convergence = 1.0093779184007571e-15
@@ -12674,134 +13786,41 @@
 26: 90 ays -2.81349e-07 != -0.00358087 tol = 1e-06
 26: 90 alpzs 1.42109e-14 != -0.00177703 tol = 1e-06
 26: MbD: Solving for kinematic position.
-24: MbD: Convergence = 3.1636430959295476e-08
-5: MbD: Convergence = 5677885.8853258425
-29: MbD: Convergence = 1.8006562144467816e-14
-29: Time = 0.06
-29: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.016896356185431078
 26: MbD: Convergence = 0.00053807828411884953
-11: MbD: Convergence = 1.5697828119689279
-11: MbD: Convergence = 2.7957207710258957e-16
 26: MbD: Convergence = 5.5401353115375095e-07
-16: MbD: Convergence = 2.8275330695806131e-12
 26: MbD: Solving for kinematic velocity.
-11: Time = 0.66
-11: 67 bryzs 1.06814 != -2.07345 tol = 1e-06
 26: MbD: Solving for kinematic acceleration.
-11: MbD: Solving for kinematic position.
-16: MbD: Solving for velocity initial conditions.
-11: MbD: Convergence = 0.007674803545295537
-29: MbD: Convergence = 0.0074897507118110145
 26: MbD: Convergence = 7.4869948035915845
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Convergence = 0.00011152671578490918
 26: MbD: Convergence = 2.6565977958054939e-15
 26: Time = 0.9
-11: MbD: Convergence = 2.719917260132686e-08
 26: 91 vxs -3.692e-08 != -2.27143e-05 tol = 1e-06
 26: 91 vys 1.13624e-07 != -5.89056e-05 tol = 1e-06
-16: MbD: Convergence = 3.3990045920330978
 26: 91 omezs 12.5664 != 12.5663 tol = 1e-06
 26: 91 axs -1.42784e-06 != -0.00674292 tol = 1e-06
 26: 91 ays -4.63964e-07 != -0.0187998 tol = 1e-06
 26: 91 alpzs 3.55271e-14 != -0.00995479 tol = 1e-06
-11: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
 26: MbD: Convergence = 0.016896356185431317
-16: MbD: Convergence = 1.6035391149961525e-15
 26: MbD: Convergence = 0.00053807828411890971
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.75
 26: MbD: Convergence = 5.5401353115907498e-07
-16: MbD: Solving for quasi kinematic position.
 26: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 0.00034042886396862552
-11: MbD: Convergence = 1.5697828119689277
-16: MbD: Convergence = 2.8275330695806131e-12
 26: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for velocity initial conditions.
-11: MbD: Convergence = 1.1773406692539996e-17
-11: Time = 0.67
-11: 68 bryzs 1.03673 != -2.10487 tol = 1e-06
-11: MbD: Solving for kinematic position.
-3: MbD: Convergence = 3.8743242686065923e-05
-16: MbD: Solving for quasi kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915908
-11: MbD: Convergence = 0.0076748035452956515
 26: MbD: Convergence = 3.3819102580470105e-15
-16: MbD: Convergence = 3.3990045920330978
 26: Time = 0.91
-11: MbD: Convergence = 0.00011152671578490784
 26: 92 vxs -5.08698e-08 != 2.08704e-06 tol = 1e-06
 26: 92 vys 1.08101e-07 != 5.24491e-05 tol = 1e-06
 26: 92 omezs 12.5664 != 12.5664 tol = 1e-06
 26: 92 axs -1.35843e-06 != -0.000111643 tol = 1e-06
 26: 92 ays -6.39262e-07 != 0.00158361 tol = 1e-06
-16: MbD: Convergence = 1.3831147369825216e-14
 26: 92 alpzs 0 != 0.000452293 tol = 1e-06
-11: MbD: Convergence = 2.7199172606358385e-08
 26: MbD: Solving for kinematic position.
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.142628936701258e-06
-16: MbD: Convergence = 1.6035391149961525e-15
 26: MbD: Convergence = 0.016896356185431085
-16: MbD: Convergence = 6.6358517584916043e-16
 26: MbD: Convergence = 0.00053807828411885008
-16: Time = 2.8
-16: MbD: Solving for quasi kinematic position.
-11: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 5.540135311896607e-07
 26: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-11: MbD: Convergence = 1.5697828119689272
 26: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 2.8431780151290945e-16
-11: Time = 0.68
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 20642.165632768902
-17: MbD: Convergence = 420.59148333314766
-17: MbD: Convergence = 0.35540808557199022
-17: MbD: Convergence = 5.5738242047387904e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.0809756920313429
-17: MbD: Convergence = 7.5992421746084298e-16
-17: MbD: Convergence = 2.8123698201750813e-16
-17: MbD: Convergence = 2.3910300107295287e-16
-17: MbD: Convergence = 2.7456076699349359e-16
-17: Time = 0.25
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 20756.974807226503
-17: MbD: Convergence = 429.87212801168124
-17: MbD: Convergence = 0.32347009160508827
-17: MbD: Convergence = 4.3912237940295294e-08
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 0.00031929548831034082
-27: MbD: Convergence = 3.1553892014041852e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.4938751021603078
-27: MbD: Convergence = 3.0575993765959622e-15
-27: Time = 0.35
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.01349257719519496
-27: MbD: Convergence = 0.00031959308588635414
-27: MbD: Convergence = 3.4214651490765394e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.5672417708646886
-27: MbD: Convergence = 1.7596985322477945e-15
-27: Time = 0.36
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013414421143990839
-27: MbD: Convergence = 0.00032003278199605248
-27: MbD: Convergence = 3.8131264185625746e-08
 26: MbD: Convergence = 7.4869948035915854
 26: MbD: Convergence = 3.9597935071386175e-15
 26: Time = 0.92
@@ -12875,597 +13894,415 @@
 26: MbD: Convergence = 0.00053807828411885203
 26: MbD: Convergence = 5.5401353115730076e-07
 26: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 8.7374681543327406e-12
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.00034464872108616173
-14: MbD: Convergence = 2.9208034095476587e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3307110193552854
-14: MbD: Convergence = 6.1692917093640931e-15
-14: Time = 0.49
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508443
-14: MbD: Convergence = 0.00034464872108613706
-14: MbD: Convergence = 2.9208034095136149e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3291824904698144
-14: MbD: Convergence = 5.5905385521040882e-15
-24: MbD: Convergence = 1.0172037562469769e-08
-24: MbD: Convergence = 6.7177813120895341e-09
-5: MbD: Convergence = 86491.909194552369
 26: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 5.2191987393806167e-15
-25: Time = 0.53
-25: 54 vxs -0.734924 != -0.734858 tol = 1e-06
-25: 54 vys 0.499454 != 0.499448 tol = 1e-06
-25: 54 axs -3.13816 != -3.1371 tol = 1e-06
-25: 54 ays -4.61767 != -4.61765 tol = 1e-06
-25: 54 alpzs 1.33227e-15 != 3.18396e-06 tol = 1e-06
-25: 54 ys -0.12979 != -0.129785 tol = 1e-06
-25: 54 zs -0.056165 != -0.0561892 tol = 1e-06
-25: 54 vys -0.70579 != -0.705061 tol = 1e-06
-25: 54 vzs 1.63098 != 1.62689 tol = 1e-06
-25: 54 omexs -12.5664 != -12.5664 tol = 1e-06
-11: 69 bryzs 1.00531 != -2.13628 tol = 1e-06
-11: MbD: Solving for kinematic position.
-25: 54 ays 20.4955 != 20.4933 tol = 1e-06
-25: 54 azs 8.86922 != 8.80315 tol = 1e-06
-25: 54 alpxs 1.86517e-14 != -0.000411879 tol = 1e-06
-16: MbD: Solving for quasi kinematic acceleration.
 26: MbD: Convergence = 7.4869948035915881
-25: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955153
 26: MbD: Convergence = 1.3541340622120319e-15
-16: MbD: Convergence = 3.3990045920330978
 26: Time = 0.97
-25: MbD: Convergence = 0.031707308160089348
 26: 98 vxs -1.11083e-07 != -3.19272e-05 tol = 1e-06
 26: 98 vys 4.39796e-08 != 4.09185e-05 tol = 1e-06
-16: MbD: Convergence = 1.3831147369825216e-14
 26: 98 omezs 12.5664 != 12.5664 tol = 1e-06
-11: MbD: Convergence = 0.00011152671578490147
 26: 98 axs -5.5265e-07 != 0.00118665 tol = 1e-06
-25: MbD: Convergence = 0.001670526988803591
 26: 98 ays -1.39591e-06 != -0.00185899 tol = 1e-06
 26: 98 alpzs -1.77636e-15 != -0.00103037 tol = 1e-06
 26: MbD: Solving for kinematic position.
-16: MbD: Convergence = 8.639786775957609e-15
-25: MbD: Convergence = 4.5380918100812136e-07
-11: MbD: Convergence = 2.7199172608941882e-08
-16: MbD: Convergence = 1.6035391149961525e-15
 26: MbD: Convergence = 0.016896356185431335
-25: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 6.6358517584916043e-16
-11: MbD: Solving for kinematic velocity.
-16: Time = 2.85
-16: MbD: Solving for quasi kinematic position.
 26: MbD: Convergence = 0.00053807828411885246
-25: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 2.8275330695806131e-12
-11: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 5.5401353118433932e-07
-16: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 16.089260906642334
 26: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 59.510902647793152
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-25: MbD: Convergence = 1.1172752782091415e-14
-25: Time = 0.54
-11: MbD: Convergence = 1.0477527350483355e-16
-11: Time = 0.69
-25: 55 vxs -0.764835 != -0.764797 tol = 1e-06
-25: 55 vys 0.452322 != 0.45232 tol = 1e-06
-25: 55 axs -2.84202 != -2.85001 tol = 1e-06
-25: 55 ays -4.8056 != -4.80488 tol = 1e-06
-25: 55 alpzs 2.22045e-15 != -4.8348e-05 tol = 1e-06
-25: 55 ys -0.135805 != -0.135795 tol = 1e-06
-25: 55 zs -0.0394551 != -0.0395151 tol = 1e-06
-25: 55 vys -0.495808 != -0.495492 tol = 1e-06
-25: 55 vzs 1.70658 != 1.70422 tol = 1e-06
-25: 55 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 55 ays 21.4455 != 21.3552 tol = 1e-06
-25: 55 azs 6.23051 != 6.72276 tol = 1e-06
-11: 70 bryzs 0.973894 != -2.1677 tol = 1e-06
-25: 55 alpxs -2.30926e-14 != 0.00604367 tol = 1e-06
-16: MbD: Convergence = 3.3990045920330978
-11: MbD: Solving for kinematic position.
-25: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.3831147369825216e-14
-25: MbD: Convergence = 0.031707308160089397
 26: MbD: Convergence = 7.4869948035915854
-11: MbD: Convergence = 0.0076748035452956515
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-25: MbD: Convergence = 0.0016705269888036274
 26: MbD: Convergence = 1.6799824203239921e-16
-11: MbD: Convergence = 0.00011152671578488574
 26: Time = 0.98
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.9
-25: MbD: Convergence = 4.5380918098327068e-07
 26: 99 vxs -1.15719e-07 != 1.88707e-05 tol = 1e-06
 26: 99 vys 2.97104e-08 != -2.53586e-05 tol = 1e-06
-16: MbD: Solving for quasi kinematic position.
 26: 99 omezs 12.5664 != 12.5663 tol = 1e-06
 26: 99 axs -3.73338e-07 != 0.0101965 tol = 1e-06
-11: MbD: Convergence = 2.7199172604835185e-08
 26: 99 ays -1.45417e-06 != -0.012729 tol = 1e-06
 26: 99 alpzs 8.88178e-15 != -0.00794884 tol = 1e-06
-25: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-11: MbD: Solving for kinematic velocity.
-16: MbD: Solving for velocity initial conditions.
-25: MbD: Solving for kinematic acceleration.
 26: MbD: Convergence = 0.016896356185431085
 26: MbD: Convergence = 0.00053807828411885149
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
 26: MbD: Convergence = 5.5401353121581157e-07
-3: MbD: Convergence = 3.9347667222890968e-06
-25: MbD: Convergence = 59.210220864156938
 26: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 3.3990045920330978
-11: MbD: Convergence = 1.5697828119689272
-25: MbD: Convergence = 1.6223979082233299e-14
-25: Time = 0.55
-16: MbD: Convergence = 1.3831147369825216e-14
-25: 56 vxs -0.791727 != -0.791852 tol = 1e-06
-25: 56 vys 0.403405 != 0.403415 tol = 1e-06
-25: 56 axs -2.53467 != -2.56102 tol = 1e-06
-29: MbD: Convergence = 2.4824373450272768e-14
-25: 56 ays -4.97457 != -4.97289 tol = 1e-06
-25: 56 alpzs 0 != -0.000176333 tol = 1e-06
-11: MbD: Convergence = 7.9147455434230375e-17
-25: 56 ys -0.13968 != -0.139673 tol = 1e-06
-25: 56 zs -0.0221231 != -0.0221664 tol = 1e-06
-25: 56 vys -0.278007 != -0.279195 tol = 1e-06
-25: 56 vzs 1.75527 != 1.76292 tol = 1e-06
-25: 56 omexs -12.5664 != -12.5663 tol = 1e-06
-25: 56 ays 22.0573 != 21.8432 tol = 1e-06
-11: Time = 0.7
-25: 56 azs 3.49354 != 5.11707 tol = 1e-06
-25: 56 alpxs -1.95399e-14 != 0.022008 tol = 1e-06
-11: 71 bryzs 0.942478 != -2.19911 tol = 1e-06
-16: MbD: Convergence = 8.639786775957609e-15
-25: MbD: Solving for kinematic position.
-11: MbD: Solving for kinematic position.
 26: MbD: Solving for kinematic acceleration.
-29: Time = 0.08
-16: MbD: Convergence = 1.6035391149961525e-15
-25: MbD: Convergence = 0.031707308160089362
-11: MbD: Convergence = 0.0076748035452955336
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 2.95
 26: MbD: Convergence = 7.4869948035915854
-25: MbD: Convergence = 0.0016705269888035344
-16: MbD: Solving for quasi kinematic position.
 26: MbD: Convergence = 4.1962486042515756e-17
 26: Time = 0.99
-14: Time = 0.5
 26: 100 vxs -1.1853e-07 != -4.08005e-05 tol = 1e-06
 26: 100 vys 1.49727e-08 != 2.72326e-05 tol = 1e-06
 26: 100 omezs 12.5664 != 12.5664 tol = 1e-06
 26: 100 axs -1.88138e-07 != -0.00202281 tol = 1e-06
 26: 100 ays -1.4895e-06 != 0.00115423 tol = 1e-06
 26: 100 alpzs -1.77636e-14 != 0.000702194 tol = 1e-06
-27: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.016896356185431324
-14: MbD: Solving for kinematic position.
 26: MbD: Convergence = 0.00053807828411885268
-17: MbD: Solving for quasi kinematic acceleration.
 26: MbD: Convergence = 5.5401353115704199e-07
 26: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508153
-17: MbD: Convergence = 4.051591100644254
 26: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.00034464872108612134
-24: MbD: Solving for velocity initial conditions.
 26: MbD: Convergence = 7.4869948035915854
-17: MbD: Convergence = 8.5354838009892851e-16
-27: MbD: Convergence = 5.6536246738359814
 26: MbD: Convergence = 4.1962486042515756e-17
-14: MbD: Convergence = 2.9208034095363805e-07
-17: MbD: Convergence = 3.2676605665124079e-16
 26: Time = 1
-27: MbD: Convergence = 2.3995075848238898e-15
 26: 101 vxs -1.19472e-07 != -3.58314e-05 tol = 1e-06
 26: 101 vys -1.13387e-12 != 2.21588e-05 tol = 1e-06
 26: 101 omezs 12.5664 != 12.5664 tol = 1e-06
-27: Time = 0.37
 26: 101 axs 2.84985e-11 != 0.00415235 tol = 1e-06
-17: MbD: Convergence = 1.8945624148680743e-16
 26: 101 ays -1.50133e-06 != -0.00285433 tol = 1e-06
 26: 101 alpzs 5.16988e-26 != -0.00228655 tol = 1e-06
-17: Time = 0.26
-14: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic position.
 26: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic position.
 26: MbD: Convergence = 0.016896356185431078
-29: MbD: Convergence = 0.0075104385728312732
-27: MbD: Convergence = 0.013318581033298728
 26: MbD: Convergence = 0.00053807828411885051
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 20776.543120169052
-27: MbD: Convergence = 0.00032071017247172374
 26: MbD: Convergence = 5.5401353118788807e-07
 26: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 4.3611177725562513e-08
-17: MbD: Convergence = 447.56090207759615
-27: MbD: Solving for kinematic velocity.
 26: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.327869698802532
-17: MbD: Convergence = 0.29395787035618792
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.6159253776881553e-15
-14: Time = 0.51
 26: MbD: Convergence = 7.4869948035915881
-14: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.00035591199627256785
-17: MbD: Convergence = 3.5625075635853502e-08
 26: MbD: Convergence = 6.5790401708981533e-15
-27: MbD: Convergence = 5.7592287620855069
-17: MbD: Solving for velocity initial conditions.
-14: MbD: Convergence = 0.013177068994508224
-26: [       OK ] OndselSolver.engine1 (186 ms)
-27: MbD: Convergence = 1.4636424078412514e-15
-26: [----------] 1 test from OndselSolver (186 ms total)
+26: [       OK ] OndselSolver.engine1 (60 ms)
+26: [----------] 1 test from OndselSolver (60 ms total)
 26: 
-27: Time = 0.38
 26: [----------] Global test environment tear-down
-26: [==========] 1 test from 1 test suite ran. (186 ms total)
+26: [==========] 1 test from 1 test suite ran. (60 ms total)
 26: [  PASSED  ] 1 test.
-27: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508155
+14: MbD: Convergence = 0.00034464872108611532
+14: MbD: Convergence = 2.920803409706741e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3657877118531898
+14: MbD: Convergence = 7.6217707211090042e-15
+14: Time = 0.37
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508274
+14: MbD: Convergence = 0.00034464872108614248
+14: MbD: Convergence = 2.9208034096893266e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3616921045059422
+14: MbD: Convergence = 6.5596330728800971e-15
+14: Time = 0.38
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508236
+14: MbD: Convergence = 0.00034464872108613668
+14: MbD: Convergence = 2.9208034094921712e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3578083340300608
+14: MbD: Convergence = 6.2957866714464588e-15
+14: Time = 0.39
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508228
+14: MbD: Convergence = 0.00034464872108613679
+14: MbD: Convergence = 2.92080340970484e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3541368614106704
+14: MbD: Convergence = 5.7841781364165555e-15
+14: Time = 0.4
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508228
+14: MbD: Convergence = 0.00034464872108612161
+14: MbD: Convergence = 2.9208034097335343e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3506781236648022
+14: MbD: Convergence = 6.0769685817770978e-15
+14: Time = 0.41
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508372
+14: MbD: Convergence = 0.00034464872108616232
+14: MbD: Convergence = 2.9208034094745312e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3474325335853985
+14: MbD: Convergence = 6.0571731328170357e-15
+14: Time = 0.42
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508141
+14: MbD: Convergence = 0.00034464872108614183
+14: MbD: Convergence = 2.9208034094741865e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.344400479498522
+14: MbD: Convergence = 5.5833142874662723e-15
+14: Time = 0.43
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508281
+14: MbD: Convergence = 0.00034464872108614297
+14: MbD: Convergence = 2.920803409490007e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3415823250338867
+14: MbD: Convergence = 5.9946976539197258e-15
+14: Time = 0.44
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508321
+14: MbD: Convergence = 0.00034464872108614226
+14: MbD: Convergence = 2.92080340967598e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3389784089092176
+14: MbD: Convergence = 6.1536243342458387e-15
+14: Time = 0.45
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508184
+14: MbD: Convergence = 0.0003446487210861421
+14: MbD: Convergence = 2.9208034095142756e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3365890447285853
+14: MbD: Convergence = 5.745780730054627e-15
+14: Time = 0.46
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508377
+14: MbD: Convergence = 0.00034464872108613099
+14: MbD: Convergence = 2.9208034094872271e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3344145207950824
+14: MbD: Convergence = 5.8676424468038389e-15
+14: Time = 0.47
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508248
+14: MbD: Convergence = 0.00034464872108613711
+14: MbD: Convergence = 2.9208034094985165e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3324550999380786
+14: MbD: Convergence = 7.9056731815329863e-15
+14: Time = 0.48
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508302
+14: MbD: Convergence = 0.00034464872108616173
+14: MbD: Convergence = 2.9208034095476587e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3307110193552854
+14: MbD: Convergence = 6.1692917093640931e-15
+14: Time = 0.49
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508443
+14: MbD: Convergence = 0.00034464872108613706
+14: MbD: Convergence = 2.9208034095136149e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3291824904698144
+14: MbD: Convergence = 5.5905385521040882e-15
+14: Time = 0.5
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508153
+14: MbD: Convergence = 0.00034464872108612134
+14: MbD: Convergence = 2.9208034095363805e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.327869698802532
+14: MbD: Convergence = 5.6159253776881553e-15
+14: Time = 0.51
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508224
 14: MbD: Convergence = 0.00034464872108614221
-17: MbD: Solving for quasi kinematic acceleration.
-5: MbD: Convergence = 882.50878573539831
-27: MbD: Convergence = 0.013204691778913676
 14: MbD: Convergence = 2.9208034095159913e-07
-27: MbD: Convergence = 0.00032172952515003352
-17: MbD: Convergence = 4.083505253566913
-27: MbD: Convergence = 5.0933722596251137e-08
 14: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.1772692354435946e-06
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 6.8417941769260514e-16
-24/35 Test #26: OndselSolver.engine1 .............................   Passed    0.20 sec
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3267728038597877
+14: MbD: Convergence = 7.2242031529459146e-15
+14: Time = 0.52
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508268
+14: MbD: Convergence = 0.00034464872108613674
+14: MbD: Convergence = 2.9208034095164932e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3258919390367145
+14: MbD: Convergence = 5.8131847981435352e-15
+14: Time = 0.53
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508346
+14: MbD: Convergence = 0.0003446487210861427
+14: MbD: Convergence = 2.9208034096288013e-07
+14: MbD: Solving for kinematic velocity.
+19/35 Test #23: OndselSolver.piston2 .............................   Passed    0.09 sec
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.018077835323361831
+32: MbD: Convergence = 1.58186896388899e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.040653609579253049
+32: MbD: Convergence = 0.0050858601301052801
+32: MbD: Convergence = 2.121898021327735e-05
+32: MbD: Convergence = 2.2076766788367788e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.024014457389818385
+32: MbD: Convergence = 1.8511579354730503e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.043220053357905054
+32: MbD: Convergence = 0.0055080432317812355
+32: MbD: Convergence = 4.309427845685823e-05
+32: MbD: Convergence = 5.0160488918900811e-10
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.031636217839557744
+32: MbD: Convergence = 1.9730816542644155e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.047571043727575001
+32: MbD: Convergence = 0.0059214254223944789
+32: MbD: Convergence = 7.6901900274486512e-05
+32: MbD: Convergence = 3.8161104487959953e-09
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.036748156842128732
+32: MbD: Convergence = 2.1363133432449682e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.053863336530399042
+32: MbD: Convergence = 0.0058707855347241954
+32: MbD: Convergence = 0.00010601705886146648
+32: MbD: Convergence = 9.770310452911189e-09
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.032345416696912925
+32: MbD: Convergence = 1.3314363201011205e-17
+32: MbD: Solving for kinematic position.
+32: MbD: Convergence = 0.060966984162876964
+32: MbD: Convergence = 0.0049726544770564421
+32: MbD: Convergence = 0.0001016702034015647
+32: MbD: Convergence = 8.7639985642989322e-09
+32: MbD: Solving for kinematic velocity.
+32: MbD: Solving for kinematic acceleration.
+32: MbD: Convergence = 0.016469372147365748
+32: MbD: Convergence = 8.9101688836724311e-18
+32: [       OK ] OndselSolver.runPiston (44 ms)
+32: [----------] 1 test from OndselSolver (44 ms total)
+32: 
+32: [----------] Global test environment tear-down
+32: [==========] 1 test from 1 test suite ran. (44 ms total)
+32: [  PASSED  ] 1 test.
+20/35 Test #32: OndselSolver.runPiston ...........................   Passed    0.08 sec
+11: 64 bryzs 1.16239 != -1.9792 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.007674803545295609
+11: MbD: Convergence = 0.00011152671578490782
+11: MbD: Convergence = 2.7199172583556595e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 7.0430244286333832e-17
+11: Time = 0.64
+11: 65 bryzs 1.13097 != -2.01062 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956342
+11: MbD: Convergence = 0.00011152671578492672
+11: MbD: Convergence = 2.7199172578987945e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689274
+11: MbD: Convergence = 2.878003416594902e-16
+11: Time = 0.65
+11: 66 bryzs 1.09956 != -2.04204 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955188
+11: MbD: Convergence = 0.00011152671578492625
+11: MbD: Convergence = 2.7199172577927621e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689279
+11: MbD: Convergence = 2.7957207710258957e-16
+11: Time = 0.66
+11: 67 bryzs 1.06814 != -2.07345 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.007674803545295537
+11: MbD: Convergence = 0.00011152671578490918
+11: MbD: Convergence = 2.719917260132686e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 1.1773406692539996e-17
+11: Time = 0.67
+11: 68 bryzs 1.03673 != -2.10487 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956515
+11: MbD: Convergence = 0.00011152671578490784
+11: MbD: Convergence = 2.7199172606358385e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 2.8431780151290945e-16
+11: Time = 0.68
+11: 69 bryzs 1.00531 != -2.13628 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955153
+11: MbD: Convergence = 0.00011152671578490147
+11: MbD: Convergence = 2.7199172608941882e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 1.0477527350483355e-16
+11: Time = 0.69
+11: 70 bryzs 0.973894 != -2.1677 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956515
+11: MbD: Convergence = 0.00011152671578488574
+11: MbD: Convergence = 2.7199172604835185e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 7.9147455434230375e-17
+11: Time = 0.7
+11: 71 bryzs 0.942478 != -2.19911 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955336
 11: MbD: Convergence = 0.00011152671578490939
 11: MbD: Convergence = 2.7199172576404425e-08
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
 11: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
 11: MbD: Convergence = 1.5697828119689281
-16: Time = 3
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 4.1613180163795708e-17
 11: Time = 0.71
 11: 72 bryzs 0.911062 != -2.23053 tol = 1e-06
 11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Convergence = 0.0076748035452956342
-29: MbD: Convergence = 9.2963017573527734e-12
-16: MbD: Solving for quasi kinematic acceleration.
 11: MbD: Convergence = 0.00011152671578489139
 11: MbD: Convergence = 2.7199172580973079e-08
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.05
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Convergence = 1.5697828119689272
-29: MbD: Solving for kinematic velocity.
 11: MbD: Convergence = 7.2647004772313583e-17
 11: Time = 0.72
 11: 73 bryzs 0.879646 != -2.26195 tol = 1e-06
-16: MbD: Solving for quasi kinematic acceleration.
 11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 3.3990045920330978
 11: MbD: Convergence = 0.0076748035452955422
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Convergence = 0.00011152671578490734
-3: MbD: Convergence = 5.5784922607358136e-07
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
 11: MbD: Convergence = 2.7199172607153616e-08
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.1
 11: MbD: Solving for kinematic velocity.
-16: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 5.0464960512089579e-16
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 3.9555489110333443e-16
-25: MbD: Convergence = 4.5380918098498756e-07
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 5.0031896860056914e-16
-17: Time = 0.27
-25: MbD: Solving for kinematic velocity.
-17: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 5.8903187936980164
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 20711.561497811868
-14: MbD: Convergence = 5.3267728038597877
-27: MbD: Convergence = 1.6410793080930703e-15
-27: Time = 0.39
-14: MbD: Convergence = 7.2242031529459146e-15
-17: MbD: Convergence = 469.53303732334064
-27: MbD: Solving for kinematic position.
-14: Time = 0.52
-25: MbD: Convergence = 58.927489035870977
-14: MbD: Solving for kinematic position.
-25: MbD: Convergence = 6.5725149665314936e-15
-25: Time = 0.56
-27: MbD: Convergence = 0.013072485196753867
-25: 57 vxs -0.815495 != -0.81543 tol = 1e-06
-25: 57 vys 0.352896 != 0.352903 tol = 1e-06
-25: 57 axs -2.21731 != -2.21591 tol = 1e-06
-25: 57 ays -5.12391 != -5.12365 tol = 1e-06
-25: 57 alpzs -1.33227e-15 != 4.93634e-06 tol = 1e-06
-17: MbD: Convergence = 0.26710862773935534
-25: 57 ys -0.141351 != -0.141355 tol = 1e-06
-25: 57 zs -0.00444213 != -0.00446352 tol = 1e-06
-25: 57 vys -0.0558215 != -0.0566694 tol = 1e-06
-25: 57 vzs 1.77627 != 1.77225 tol = 1e-06
-25: 57 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 57 ays 22.3213 != 22.29 tol = 1e-06
-25: 57 azs 0.701474 != 0.618497 tol = 1e-06
-25: 57 alpxs 7.10543e-15 != -0.000631922 tol = 1e-06
-25: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0003231947961604677
-14: MbD: Convergence = 0.013177068994508268
-25: MbD: Convergence = 0.03170730816008941
-27: MbD: Convergence = 6.031784072427364e-08
-17: MbD: Convergence = 3.062776930705488e-08
-25: MbD: Convergence = 0.0016705269888035827
-27: MbD: Solving for kinematic velocity.
-17: MbD: Solving for velocity initial conditions.
-14: MbD: Convergence = 0.00034464872108613674
-25: MbD: Convergence = 4.5380918100752065e-07
-25: MbD: Solving for kinematic velocity.
-24: MbD: Solving for acceleration initial conditions.
-14: MbD: Convergence = 2.9208034095164932e-07
-27: MbD: Solving for kinematic acceleration.
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 6.0524451449916468
-25: MbD: Convergence = 58.667284613469697
-17: MbD: Convergence = 4.1573424788419731
-14: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 6.1766515941806847e-15
-17: MbD: Convergence = 7.9783508688016414e-16
-27: MbD: Convergence = 9.6410726565175619e-16
-25: Time = 0.57
-25: 58 vxs -0.836045 != -0.836001 tol = 1e-06
-25: 58 vys 0.300995 != 0.301 tol = 1e-06
-27: Time = 0.4
-25: 58 axs -1.8912 != -1.8983 tol = 1e-06
-25: 58 ays -5.25302 != -5.25373 tol = 1e-06
-25: 58 alpzs -2.66454e-15 != -4.27982e-05 tol = 1e-06
-25: 58 ys -0.140793 != -0.140805 tol = 1e-06
-25: 58 zs 0.0133089 != 0.0132508 tol = 1e-06
-25: 58 vys 0.167244 != 0.16658 tol = 1e-06
-25: 58 vzs 1.76926 != 1.76663 tol = 1e-06
-25: 58 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 58 ays 22.2332 != 22.3209 tol = 1e-06
-25: 58 azs -2.10165 != -1.66524 tol = 1e-06
-25: 58 alpxs 8.88178e-15 != 0.00534948 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 6.0143520207046301e-16
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 4.3209547760903141e-16
-25: MbD: Convergence = 0.031707308160089362
-27: MbD: Convergence = 0.012921867559829246
-25: MbD: Convergence = 0.0016705269888035389
-14: MbD: Convergence = 5.3258919390367145
-17: MbD: Convergence = 4.1432330821589432e-16
-17: Time = 0.28
-27: MbD: Convergence = 0.0003251967113697432
-3: MbD: Assembling system with limits. 
-25: MbD: Convergence = 4.5380918100820527e-07
-17: MbD: Solving for quasi kinematic position.
-14: MbD: Convergence = 5.8131847981435352e-15
-27: MbD: Convergence = 7.1891246662800195e-08
-25: MbD: Solving for kinematic velocity.
-14: Time = 0.53
-14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 20572.56121130774
-25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508346
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 492.6265843197047
-3: MbD: No limits reached. 
-3: Time = 0
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
 11: MbD: Convergence = 1.5697828119689268
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Convergence = 1.3924371580268391e-16
-16: MbD: Convergence = 8.639786775957609e-15
 11: Time = 0.73
 11: 74 bryzs 0.84823 != -2.29336 tol = 1e-06
 11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.15
 11: MbD: Convergence = 0.0076748035452956498
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 0.00011152671578492699
-16: MbD: Convergence = 2.8275330695806131e-12
 11: MbD: Convergence = 2.7199172560157353e-08
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Solving for kinematic velocity.
-16: MbD: Solving for quasi kinematic acceleration.
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Convergence = 1.5697828119689277
-16: MbD: Convergence = 8.639786775957609e-15
 11: MbD: Convergence = 7.1734439512998666e-17
 11: Time = 0.74
-16: MbD: Convergence = 1.6035391149961525e-15
 11: 75 bryzs 0.816814 != -2.32478 tol = 1e-06
 11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.2
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 0.0076748035452955336
-16: MbD: Convergence = 2.8275330695806131e-12
 11: MbD: Convergence = 0.00011152671578491488
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Convergence = 2.7199172577647015e-08
-16: MbD: Solving for quasi kinematic acceleration.
 11: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 16.098132352816613
-16: MbD: Convergence = 3.3990045920330978
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Convergence = 0.0003446487210861427
-17: MbD: Convergence = 0.24314728146368597
-5: MbD: Convergence = 7.4556791954330395
-27: MbD: Convergence = 6.24950194325673
-17: MbD: Convergence = 2.8674497484636084e-08
-14: MbD: Convergence = 2.9208034096288013e-07
-17: MbD: Solving for velocity initial conditions.
-24: MbD: Convergence = 77915.918001118087
-27: MbD: Convergence = 1.4818491559131897e-15
-14: MbD: Solving for kinematic velocity.
-27: Time = 0.41
-27: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 0.01275301128240818
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.00032779617449702619
-17: MbD: Convergence = 4.2550604742418567
-27: MbD: Convergence = 8.5652591416636877e-08
-17: MbD: Convergence = 9.3356453702916768e-16
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.3252272115362587
-17: MbD: Convergence = 5.7508163652693462e-16
-14: MbD: Convergence = 5.7311551050600938e-15
-17: MbD: Convergence = 3.8465803346916022e-16
-14: Time = 0.54
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.1323023490937804e-16
-14: MbD: Solving for kinematic position.
-17: Time = 0.29
-17: MbD: Solving for quasi kinematic position.
-24: MbD: Convergence = 2.3250071064171087e-09
-14: MbD: Convergence = 0.013177068994508255
-17: MbD: Convergence = 20369.627633050201
-27: MbD: Convergence = 6.4827456082957715
-14: MbD: Convergence = 0.00034464872108612177
-29: MbD: Convergence = 2.7813492157108373e-14
-3: MbD: Convergence = 2721921.4038351928
-27: MbD: Convergence = 2.8781759142905136e-15
-27: Time = 0.42
-17: MbD: Convergence = 514.71976107942521
-14: MbD: Convergence = 2.9208034099134817e-07
-29: Time = 0.1
-27: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.22218256238531015
-27: MbD: Convergence = 0.012566457624900548
-27: MbD: Convergence = 0.00033100552834036044
-17: MbD: Convergence = 2.8577197053779526e-08
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 1.0142274081771277e-07
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 4.3026605494989219e-11
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 5.3247787023039903
-16: MbD: Convergence = 6.6358517584916043e-16
 11: MbD: Convergence = 1.569782811968927
-16: Time = 3.25
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 1.0929128383705714e-15
-25: MbD: Convergence = 58.434202829985409
 11: Time = 0.75
 11: 76 bryzs 0.785398 != -2.35619 tol = 1e-06
-16: MbD: Convergence = 2.8275330695806131e-12
 11: MbD: Solving for kinematic position.
-25: MbD: Convergence = 1.2977353490697568e-14
-16: MbD: Solving for velocity initial conditions.
-25: Time = 0.58
-25: 59 vxs -0.853294 != -0.853401 tol = 1e-06
-25: 59 vys 0.247905 != 0.247893 tol = 1e-06
-25: 59 axs -1.55763 != -1.58218 tol = 1e-06
-25: 59 ays -5.36141 != -5.36456 tol = 1e-06
-25: 59 alpzs -2.66454e-15 != -0.000164003 tol = 1e-06
-25: 59 ys -0.138015 != -0.138026 tol = 1e-06
-25: 59 zs 0.03085 != 0.0308025 tol = 1e-06
-25: 59 vys 0.387672 != 0.389176 tol = 1e-06
-25: 59 vzs 1.73435 != 1.74082 tol = 1e-06
-25: 59 omexs -12.5664 != -12.5663 tol = 1e-06
-25: 59 ays 21.7944 != 22.1773 tol = 1e-06
-25: 59 azs -4.87163 != -3.38434 tol = 1e-06
-25: 59 alpxs 2.4869e-14 != 0.0204731 tol = 1e-06
-25: MbD: Solving for kinematic position.
 11: MbD: Convergence = 0.0076748035452956481
-16: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Convergence = 0.031707308160089126
 11: MbD: Convergence = 0.0001115267157849015
-25: MbD: Convergence = 0.0016705269888035313
 11: MbD: Convergence = 2.7199172587792865e-08
-16: MbD: Convergence = 3.3990045920330978
-25: MbD: Convergence = 4.5380918098610417e-07
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
 11: MbD: Solving for kinematic acceleration.
-25: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.3
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.35
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Convergence = 1.5697828119689268
 11: MbD: Convergence = 7.0371869335698364e-17
 11: Time = 0.76
@@ -13482,140 +14319,17 @@
 11: 78 bryzs 0.722566 != -2.41903 tol = 1e-06
 11: MbD: Solving for kinematic position.
 11: MbD: Convergence = 0.0076748035452956541
-25: MbD: Convergence = 58.232777970709975
-25: MbD: Convergence = 9.4980193907846395e-15
-25: Time = 0.59
-25: 60 vxs -0.867177 != -0.867115 tol = 1e-06
-25: 60 vys 0.193837 != 0.193856 tol = 1e-06
-25: 60 axs -1.21791 != -1.21626 tol = 1e-06
-25: 60 ays -5.44863 != -5.44802 tol = 1e-06
-25: 60 alpzs 0 != 6.51068e-06 tol = 1e-06
-25: 60 ys -0.13306 != -0.133071 tol = 1e-06
-25: 60 zs 0.0479046 != 0.0478888 tol = 1e-06
-25: 60 vys 0.601987 != 0.599734 tol = 1e-06
-25: 60 vzs 1.67208 != 1.66873 tol = 1e-06
-25: 60 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 60 ays 21.012 != 20.9404 tol = 1e-06
-25: 60 azs -7.56479 != -7.6478 tol = 1e-06
-25: 60 alpxs 1.77636e-14 != -0.000829653 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.03170730816008939
-25: MbD: Convergence = 0.0016705269888035385
-25: MbD: Convergence = 4.5380918101181162e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 58.067388938798196
-25: MbD: Convergence = 2.5338329030550254e-14
-25: Time = 0.6
-25: 61 vxs -0.877637 != -0.877591 tol = 1e-06
-25: 61 vys 0.139004 != 0.139019 tol = 1e-06
-25: 61 axs -0.873388 != -0.879409 tol = 1e-06
-25: 61 ays -5.51435 != -5.51615 tol = 1e-06
-25: 61 alpzs -3.55271e-15 != -3.75965e-05 tol = 1e-06
-25: 61 ys -0.126007 != -0.126039 tol = 1e-06
-25: 61 zs 0.0642037 != 0.064156 tol = 1e-06
-25: 61 vys 0.806807 != 0.805041 tol = 1e-06
-25: 61 vzs 1.58345 != 1.58102 tol = 1e-06
-25: 61 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 61 ays 19.8982 != 20.1125 tol = 1e-06
-25: 61 azs -10.1386 != -9.80979 tol = 1e-06
-25: 61 alpxs 0 != 0.00469865 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089383
-29: MbD: Convergence = 0.0075436104873196309
-29: MbD: Convergence = 0.00037339139405448001
-17: MbD: Convergence = 4.3617303730527182
-14: MbD: Convergence = 5.7389550756692449e-15
-17: MbD: Convergence = 7.7937441334185094e-16
-14: Time = 0.55
-29: MbD: Convergence = 1.2279339223315799e-06
-17: MbD: Convergence = 6.5124215281278948e-16
-27: MbD: Convergence = 6.7499655269510024
-14: MbD: Solving for kinematic position.
-17: MbD: Convergence = 6.4645498959345222e-16
-27: MbD: Convergence = 1.084934957831159e-14
-17: MbD: Convergence = 8.5038823904183763e-16
-17: Time = 0.3
-27: Time = 0.43
-17: MbD: Solving for quasi kinematic position.
-27: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508148
-27: MbD: Convergence = 0.012363223671262842
-17: MbD: Convergence = 20112.206038691293
-5: MbD: Convergence = 0.064001049708607483
-27: MbD: Convergence = 0.00033477073240429771
-24: MbD: Convergence = 2.0900347132462923e-11
-17: MbD: Convergence = 534.53348726123124
-27: MbD: Convergence = 1.187912281267287e-07
-29: MbD: Convergence = 1.0080195946571028e-11
-14: MbD: Convergence = 0.00034464872108612877
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.2041753564572403
-27: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 14872.215872756988
-17: MbD: Convergence = 2.8949143160145832e-08
-14: MbD: Convergence = 2.920803409535868e-07
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 7.0450138948295402
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 3.4534800110378876e-15
-27: Time = 0.44
-27: MbD: Solving for kinematic position.
-24: MbD: Convergence = 4.2818166493172133e-11
-17: MbD: Convergence = 4.4660312576935954
-24: Time = 0
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.01214490237752929
-17: MbD: Convergence = 6.7485457277831158e-16
-27: MbD: Convergence = 0.00033895884151522246
-17: MbD: Convergence = 5.7037754652259016e-16
-24: MbD: Starting kinematic analysis.
-17: MbD: Convergence = 4.632086078550261e-16
-27: MbD: Convergence = 1.3707359954802296e-07
-24: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5.1206544299278444e-16
-17: Time = 0.31
-17: MbD: Solving for quasi kinematic position.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3245464659788748
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
 11: MbD: Convergence = 0.00011152671578491101
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.4
-14: MbD: Convergence = 6.0954937977101641e-15
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 2.7199172601857007e-08
-14: Time = 0.56
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 11: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic position.
 11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508309
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
 11: MbD: Convergence = 1.5697828119689268
-16: MbD: Convergence = 8.639786775957609e-15
 11: MbD: Convergence = 2.7568685132300949e-16
 11: Time = 0.78
-16: MbD: Convergence = 1.6035391149961525e-15
 11: 79 bryzs 0.69115 != -2.45044 tol = 1e-06
 11: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.00034464872108611771
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.45
-16: MbD: Solving for quasi kinematic position.
 11: MbD: Convergence = 0.0076748035452955292
-16: MbD: Convergence = 2.8275330695806131e-12
 11: MbD: Convergence = 0.00011152671578490307
-16: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.9208034094766016e-07
 11: MbD: Convergence = 2.7199172577464748e-08
 11: MbD: Solving for kinematic velocity.
 11: MbD: Solving for kinematic acceleration.
@@ -13628,159 +14342,6 @@
 11: MbD: Convergence = 0.00011152671578490332
 11: MbD: Convergence = 2.7199172577464744e-08
 11: MbD: Solving for kinematic velocity.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.5
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3245305308599749
-14: MbD: Convergence = 5.7394713882152605e-15
-14: Time = 0.57
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508368
-3: MbD: Convergence = 22.069018935865831
-17: MbD: Convergence = 19808.983239152916
-14: MbD: Convergence = 0.00034464872108613663
-25: MbD: Convergence = 0.001670526988803555
-25: MbD: Convergence = 4.5380918100771393e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 57.942151267442306
-25: MbD: Convergence = 1.1194051369329947e-14
-25: Time = 0.61
-25: 62 vxs -0.884633 != -0.884719 tol = 1e-06
-25: 62 vys 0.0836224 != 0.0835952 tol = 1e-06
-25: 62 axs -0.525415 != -0.547407 tol = 1e-06
-25: 62 ays -5.55831 != -5.56558 tol = 1e-06
-25: 62 alpzs 6.21725e-15 != -0.000152263 tol = 1e-06
-25: 62 ys -0.116966 != -0.116997 tol = 1e-06
-25: 62 zs 0.0794903 != 0.0794468 tol = 1e-06
-25: 62 vys 0.998904 != 1.00212 tol = 1e-06
-25: 62 vzs 1.46984 != 1.47444 tol = 1e-06
-25: 62 omexs -12.5664 != -12.5663 tol = 1e-06
-25: 62 ays 18.4706 != 19.3234 tol = 1e-06
-25: 62 azs -12.5526 != -11.3952 tol = 1e-06
-25: 62 alpxs -2.13163e-14 != 0.019011 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089383
-25: MbD: Convergence = 0.0016705269888036194
-25: MbD: Convergence = 4.5380918100585803e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 57.86079897629601
-25: MbD: Convergence = 1.055137848751251e-14
-25: Time = 0.62
-25: 63 vxs -0.888138 != -0.888082 tol = 1e-06
-25: 63 vys 0.0279109 != 0.0279406 tol = 1e-06
-25: 63 axs -0.175369 != -0.17359 tol = 1e-06
-25: 63 ays -5.58034 != -5.57927 tol = 1e-06
-25: 63 alpzs -4.44089e-15 != 7.91644e-06 tol = 1e-06
-25: 63 ys -0.106081 != -0.106095 tol = 1e-06
-25: 63 zs 0.0935232 != 0.0935141 tol = 1e-06
-25: 63 vys 1.17525 != 1.17197 tol = 1e-06
-25: 63 vzs 1.33306 != 1.33084 tol = 1e-06
-25: 63 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 63 ays 16.7517 != 16.6382 tol = 1e-06
-25: 63 azs -14.7686 != -14.83 tol = 1e-06
-25: 63 alpxs -3.55271e-15 != -0.00100625 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089369
-25: MbD: Convergence = 0.0016705269888035673
-25: MbD: Convergence = 4.5380918098088237e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.9208034097259417e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3247308988892383
-14: MbD: Convergence = 6.7482561875019461e-15
-14: Time = 0.58
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508115
-14: MbD: Convergence = 0.00034464872108612134
-14: MbD: Convergence = 2.9208034099499268e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3251475456503172
-14: MbD: Convergence = 5.6428143439259382e-15
-14: Time = 0.59
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508422
-17: MbD: Convergence = 551.39046221398542
-17: MbD: Convergence = 0.18895250460242724
-17: MbD: Convergence = 2.9119248666671784e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.5599863376041343
-17: MbD: Convergence = 6.7305783269560381e-16
-17: MbD: Convergence = 5.2384901168475732e-16
-17: MbD: Convergence = 3.214555823933188e-16
-17: MbD: Convergence = 3.5433756948231649e-16
-17: Time = 0.32
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 19467.829018237731
-17: MbD: Convergence = 565.01526323457324
-17: MbD: Convergence = 0.17624335423088733
-17: MbD: Convergence = 2.8735115597866267e-08
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 7.3578571553666139
-27: MbD: Convergence = 1.8389468980976345e-15
-27: Time = 0.45
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.011913739968119189
-27: MbD: Convergence = 0.00034335559144686614
-27: MbD: Convergence = 1.5530172831241687e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.6752220896920411
-27: MbD: Convergence = 3.4161174870015255e-15
-27: Time = 0.46
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.011672671707852855
-27: MbD: Convergence = 0.0003476768233436026
-27: MbD: Convergence = 1.7226947918796705e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.9818016599815813
-27: MbD: Convergence = 3.6287817011075176e-15
-27: Time = 0.47
-24: MbD: Convergence = 0.010231129330390427
-24: MbD: Convergence = 3.8432717555481702e-05
-24: MbD: Convergence = 6.2312067767156148e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 16.116297534392245
-29: MbD: Convergence = 1.1657668423698597e-14
-29: Time = 0.12
-29: MbD: Solving for kinematic position.
-5: MbD: Convergence = 0.00054329843907813616
-3: MbD: Convergence = 0.00061625707646678944
-27: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Convergence = 0.00034464872108613587
-14: MbD: Convergence = 2.9208034095241483e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3257804203834169
-14: MbD: Convergence = 5.7809123214499594e-15
-14: Time = 0.6
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508373
-14: MbD: Convergence = 0.00034464872108613728
-14: MbD: Convergence = 2.9208034096535627e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3266294460162236
 11: MbD: Solving for kinematic acceleration.
 11: MbD: Convergence = 1.5697828119689277
 11: MbD: Convergence = 2.7760759705890816e-16
@@ -13803,6 +14364,320 @@
 11: MbD: Solving for kinematic velocity.
 11: MbD: Solving for kinematic acceleration.
 11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.7762150122734637e-16
+11: Time = 0.82
+11: 83 bryzs 0.565487 != -2.57611 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956428
+11: MbD: Convergence = 0.00011152671578490332
+11: MbD: Convergence = 2.7199172602850037e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 2.9219619679608718e-16
+11: Time = 0.83
+11: 84 bryzs 0.534071 != -2.60752 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955353
+11: MbD: Convergence = 0.00011152671578493213
+11: MbD: Convergence = 2.7199172579585381e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 1.0411478811620039e-16
+11: Time = 0.84
+11: 85 bryzs 0.502655 != -2.63894 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956298
+11: MbD: Convergence = 0.00011152671578490773
+11: MbD: Convergence = 2.7199172577464738e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.9226394860658802e-16
+11: Time = 0.85
+11: 86 bryzs 0.471239 != -2.67035 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955466
+11: MbD: Convergence = 0.00011152671578490246
+11: MbD: Convergence = 2.7199172584019449e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 1.417435956651015e-16
+11: Time = 0.86
+11: 87 bryzs 0.439823 != -2.70177 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956402
+11: MbD: Convergence = 0.0001115267157849038
+11: MbD: Convergence = 2.7199172577927608e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 2.840341636459203e-16
+11: Time = 0.87
+11: 88 bryzs 0.408407 != -2.73319 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955353
+11: MbD: Convergence = 0.00011152671578492627
+11: MbD: Convergence = 2.719917256227798e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689274
+11: MbD: Convergence = 1.4163535648907065e-16
+11: Time = 0.88
+11: 89 bryzs 0.376991 != -2.7646 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956463
+11: MbD: Convergence = 0.00011152671578490333
+11: MbD: Convergence = 2.7199172576404411e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 2.861708739903218e-16
+11: Time = 0.89
+11: 90 bryzs 0.345575 != -2.79602 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955318
+11: MbD: Convergence = 0.00011152671578489307
+11: MbD: Convergence = 2.7199172601654205e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.569782811968927
+11: MbD: Convergence = 1.2347936125416001e-16
+11: Time = 0.9
+11: 91 bryzs 0.314159 != -2.82743 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956567
+11: MbD: Convergence = 0.0001115267157848799
+11: MbD: Convergence = 2.719917260132683e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 7.007655827565705e-17
+11: Time = 0.91
+11: 92 bryzs 0.282743 != -2.85885 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955206
+11: MbD: Convergence = 0.0001115267157849258
+11: MbD: Convergence = 2.7199172582959123e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689274
+11: MbD: Convergence = 2.7763947560696181e-16
+11: Time = 0.92
+11: 93 bryzs 0.251327 != -2.89027 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955353
+11: MbD: Convergence = 0.0001115267157849155
+11: MbD: Convergence = 2.7199172578525051e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689281
+11: MbD: Convergence = 2.8433137933411262e-16
+11: Time = 0.93
+11: 94 bryzs 0.219911 != -2.92168 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956481
+11: MbD: Convergence = 0.00011152671578488574
+11: MbD: Convergence = 2.7199172607881545e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689272
+11: MbD: Convergence = 3.2275930896347081e-16
+11: Time = 0.94
+11: 95 bryzs 0.188496 != -2.9531 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955197
+11: MbD: Convergence = 0.00011152671578493164
+11: MbD: Convergence = 2.7199172557246452e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 7.6597621321572042e-17
+11: Time = 0.95
+11: 96 bryzs 0.15708 != -2.98451 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452956758
+11: MbD: Convergence = 0.0001115267157848811
+11: MbD: Convergence = 2.7199172605230746e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689285
+11: MbD: Convergence = 2.7801374035883702e-16
+11: Time = 0.96
+11: 97 bryzs 0.125664 != -3.01593 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955318
+11: MbD: Convergence = 0.00011152671578487854
+11: MbD: Convergence = 2.7199172586997607e-08
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.75
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.8
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.85
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.9
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 2.95
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.05
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.1
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.15
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.2
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.25
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.3
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.35
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.4
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.45
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.5
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
 16: MbD: Convergence = 6.6358517584916043e-16
 16: Time = 3.55
 16: MbD: Solving for quasi kinematic position.
@@ -13831,6 +14706,654 @@
 16: MbD: Solving for quasi kinematic acceleration.
 16: MbD: Convergence = 3.3990045920330978
 16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.7
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.75
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.8
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.85
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.9
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 3.95
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.05
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+31: MbD: Convergence = 6.2436814831706567e-05
+31: MbD: Convergence = 1.7275119369543058e-09
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 15.088641132243323
+31: MbD: Convergence = 5.3975866032267046e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.0697868935191963
+31: MbD: Convergence = 0.0051662977079235811
+31: MbD: Convergence = 9.7994139976793405e-05
+31: MbD: Convergence = 7.1967644014480434e-09
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 24.899051591837964
+31: MbD: Convergence = 1.3718179581672947e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.066287475779829311
+31: MbD: Convergence = 0.0068194247690365672
+31: MbD: Convergence = 0.00011285191302994408
+31: MbD: Convergence = 1.0927822630051473e-08
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 31.03998757493272
+31: MbD: Convergence = 4.0926946448534399e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.059391947098620182
+31: MbD: Convergence = 0.0074526305637906704
+31: MbD: Convergence = 8.7996908877886908e-05
+31: MbD: Convergence = 5.6121117863747084e-09
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 29.673719106789637
+31: MbD: Convergence = 7.3593232669828248e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.052070422100473412
+31: MbD: Convergence = 0.0070281890429213841
+31: MbD: Convergence = 4.6933174053258757e-05
+31: MbD: Convergence = 8.3474105497715368e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 24.575029640412648
+31: MbD: Convergence = 5.8757208325005366e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.04637629980342569
+31: MbD: Convergence = 0.0062365788315286016
+31: MbD: Convergence = 1.8520320267762203e-05
+31: MbD: Convergence = 2.1737861730167786e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 19.851854715170912
+31: MbD: Convergence = 9.1753634684086406e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.042736510765799422
+31: MbD: Convergence = 0.0055639836842248805
+31: MbD: Convergence = 8.2263292589140319e-06
+31: MbD: Convergence = 2.1314991909100814e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 16.870199656721311
+31: MbD: Convergence = 2.0929890349695132e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.040704438312626517
+31: MbD: Convergence = 0.0051360656437696769
+31: MbD: Convergence = 7.587806147085048e-06
+31: MbD: Convergence = 2.1738629165631648e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 15.440988437937126
+31: MbD: Convergence = 6.1587368830209154e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.039755330256128894
+31: MbD: Convergence = 0.0049218466983109149
+31: MbD: Convergence = 7.6048026172350932e-06
+31: MbD: Convergence = 2.1718735091238054e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 15.178162435694372
+31: MbD: Convergence = 4.2796699447226337e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.039580619555285336
+31: MbD: Convergence = 0.0048768912522243702
+31: MbD: Convergence = 7.8446353784741771e-06
+31: MbD: Convergence = 2.0758878209030983e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 15.990128515327374
+31: MbD: Convergence = 4.018346609656605e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.040119753394837053
+31: MbD: Convergence = 0.0049864525797370385
+31: MbD: Convergence = 1.1137806474701823e-05
+31: MbD: Convergence = 2.0845107118902994e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 18.139444498955818
+31: MbD: Convergence = 3.9416791483851425e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.041556026399551749
+31: MbD: Convergence = 0.0052626815946355586
+31: MbD: Convergence = 2.1956559774399069e-05
+31: MbD: Convergence = 2.2335485038011165e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 22.022786999488503
+31: MbD: Convergence = 1.4177193074803588e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.044318935772930397
+31: MbD: Convergence = 0.0056967211118401952
+31: MbD: Convergence = 4.4744517209754785e-05
+31: MbD: Convergence = 5.1205716978753245e-10
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 27.272968503688023
+31: MbD: Convergence = 9.1811270515190439e-15
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.048960451655447053
+31: MbD: Convergence = 0.0061188595972154584
+31: MbD: Convergence = 7.9866393762298752e-05
+31: MbD: Convergence = 3.9411542232901361e-09
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 31.14982822272183
+31: MbD: Convergence = 1.7675421802732255e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.055616121327275607
+31: MbD: Convergence = 0.0060562747967847037
+31: MbD: Convergence = 0.00011008407786419704
+31: MbD: Convergence = 1.0103067198028044e-08
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 28.922423760281397
+31: MbD: Convergence = 2.0802863806076692e-14
+31: MbD: Solving for kinematic position.
+31: MbD: Convergence = 0.063079108584801133
+31: MbD: Convergence = 0.0051124148722312681
+31: MbD: Convergence = 0.0001055683045656826
+31: MbD: Convergence = 9.0621324726740401e-09
+31: MbD: Solving for kinematic velocity.
+31: MbD: Solving for kinematic acceleration.
+31: MbD: Convergence = 19.760844981034953
+31: MbD: Convergence = 4.583044738952442e-15
+31: [       OK ] OndselSolver.runOndselPiston (81 ms)
+31: [----------] 1 test from OndselSolver (81 ms total)
+31: 
+31: [----------] Global test environment tear-down
+31: [==========] 1 test from 1 test suite ran. (81 ms total)
+31: [  PASSED  ] 1 test.
+13: MbD: Convergence = 0.00015291749096386399
+13: MbD: Convergence = 3.8180977942368893e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2204288201691078
+13: MbD: Convergence = 1.2752440104287456e-15
+13: Time = 0.55
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987853
+13: MbD: Convergence = 0.0001529174909638647
+13: MbD: Convergence = 3.818097794015637e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2337850395697236
+13: MbD: Convergence = 2.1918531806552091e-15
+13: Time = 0.56
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878321
+13: MbD: Convergence = 0.00015291749096386432
+13: MbD: Convergence = 3.8180977959731672e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2475596676863803
+13: MbD: Convergence = 1.549925573839508e-15
+13: Time = 0.57
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987872
+13: MbD: Convergence = 0.00015291749096384865
+13: MbD: Convergence = 3.8180977939387681e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2615147929573522
+13: MbD: Convergence = 1.7393133585394807e-15
+13: Time = 0.58
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987768
+13: MbD: Convergence = 0.00015291749096384833
+13: MbD: Convergence = 3.8180977940068616e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2754168548941101
+13: MbD: Convergence = 1.7849848533575628e-15
+13: Time = 0.59
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878339
+13: MbD: Convergence = 0.00015291749096388044
+13: MbD: Convergence = 3.8180977926433629e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2890409496834629
+13: MbD: Convergence = 3.0540362670147864e-15
+13: Time = 0.6
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.00970794391898782
+13: MbD: Convergence = 0.00015291749096382913
+13: MbD: Convergence = 3.8180977974170481e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3021744911366677
+13: MbD: Convergence = 9.876743457852242e-16
+13: Time = 0.61
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878287
+13: MbD: Convergence = 0.00015291749096384719
+13: MbD: Convergence = 3.8180977958462956e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3146201963109143
+13: MbD: Convergence = 1.4234923938600756e-15
+13: Time = 0.62
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878634
+13: MbD: Convergence = 0.00015291749096386494
+13: MbD: Convergence = 3.8180977942067627e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3261984009686114
+13: MbD: Convergence = 2.6372295897460729e-15
+13: Time = 0.63
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878408
+13: MbD: Convergence = 0.0001529174909638651
+13: MbD: Convergence = 3.8180977941723507e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3367487391634665
+13: MbD: Convergence = 5.522415920413674e-16
+13: Time = 0.64
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879119
+13: MbD: Convergence = 0.00015291749096386426
+13: MbD: Convergence = 3.8180977959094843e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3461312435483781
+13: MbD: Convergence = 1.742997725849797e-15
+13: Time = 0.65
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987768
+13: MbD: Convergence = 0.00015291749096386334
+13: MbD: Convergence = 3.8180977925158434e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.354226938860311
+13: MbD: Convergence = 9.467644623258073e-16
+13: Time = 0.66
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877593
+13: MbD: Convergence = 0.0001529174909638638
+13: MbD: Convergence = 3.8180977923917452e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3609380110655116
+13: MbD: Convergence = 1.1738836889601099e-15
+13: Time = 0.67
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878911
+13: MbD: Convergence = 0.00015291749096386323
+13: MbD: Convergence = 3.8180977942823684e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3661876395318466
+13: MbD: Convergence = 1.6119243443393276e-15
+13: Time = 0.68
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877714
+13: MbD: Convergence = 0.00015291749096386426
+13: MbD: Convergence = 3.8180977924331095e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3699195799927542
+13: MbD: Convergence = 1.2296612648899637e-15
+13: Time = 0.69
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878981
+13: MbD: Convergence = 0.00015291749096386388
+13: MbD: Convergence = 3.8180977924744487e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3720975825630024
+13: MbD: Convergence = 2.3347488139449476e-15
+13: Time = 0.7
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987768
+13: MbD: Convergence = 0.00015291749096386375
+13: MbD: Convergence = 3.8180977941590503e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3727047221630029
+13: MbD: Convergence = 8.3171350426732021e-16
+13: Time = 0.71
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879085
+13: MbD: Convergence = 0.00015291749096384727
+13: MbD: Convergence = 3.8180977924447813e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3717427088472065
+13: MbD: Convergence = 2.4130559905584391e-15
+13: Time = 0.72
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877749
+13: MbD: Convergence = 0.00015291749096384708
+13: MbD: Convergence = 3.8180977941989416e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3692312331234473
+13: MbD: Convergence = 1.4196716528996722e-15
+13: Time = 0.73
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879102
+13: MbD: Convergence = 0.00015291749096386432
+13: MbD: Convergence = 3.81809779244747e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3652073868074033
+13: MbD: Convergence = 2.0773256704611111e-15
+13: Time = 0.74
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987768
+13: MbD: Convergence = 0.00015291749096384697
+13: MbD: Convergence = 3.8180977941606061e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3597251837237652
+13: MbD: Convergence = 2.1813458378272071e-15
+13: Time = 0.75
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879102
+13: MbD: Convergence = 0.00015291749096386434
+13: MbD: Convergence = 3.8180977941582271e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3528551871412038
+13: MbD: Convergence = 1.5096813519121399e-15
+13: Time = 0.76
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877645
+13: MbD: Convergence = 0.00015291749096388115
+13: MbD: Convergence = 3.8180977924065233e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3446842327756778
+13: MbD: Convergence = 1.1810562034894907e-15
+13: Time = 0.77
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879102
+13: MbD: Convergence = 0.00015291749096388156
+24: MbD: Convergence = 2.0900347132462923e-11
+24: MbD: Convergence = 4.2818166493172133e-11
+24: Time = 0
+24: MbD: Starting kinematic analysis.
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.010231129330390427
+24: MbD: Convergence = 3.8432717555481702e-05
+24: MbD: Convergence = 6.2312067767156148e-10
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 77273.980583427998
+24: MbD: Convergence = 6.4935630667150401e-08
+24: Time = 0.02
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.030523350602806532
+24: MbD: Convergence = 0.000340700483892075
+24: MbD: Convergence = 4.3590499729111646e-08
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 75297.670249668285
+24: MbD: Convergence = 5.6211591954245655e-07
+24: Time = 0.04
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.050289476232114709
+24: MbD: Convergence = 0.00091900310064248528
+24: MbD: Convergence = 2.6595067913061401e-07
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 71893.222447750653
+24: MbD: Convergence = 2.9937705943954292e-07
+24: Time = 0.06
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.069178772551127393
+24: MbD: Convergence = 0.0017292898234692955
+24: MbD: Convergence = 8.0164202154244005e-07
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 67044.854493470761
+24: MbD: Convergence = 9.8070024052521176e-08
+24: Time = 0.08
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.086851788119490805
+24: MbD: Convergence = 0.0027178515732106169
+24: MbD: Convergence = 1.7667980471063774e-06
+24: MbD: Convergence = 5.3425919771236647e-12
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 60917.777766035637
+24: MbD: Convergence = 1.667897826434452e-08
+24: Time = 0.1
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.10298153790418038
+24: MbD: Convergence = 0.0038242874663573503
+24: MbD: Convergence = 3.2349655452241065e-06
+24: MbD: Convergence = 1.3895766520555588e-11
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 53937.322049647002
+24: MbD: Convergence = 4.5157405113557668e-09
+24: Time = 0.12
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.11725814418706824
+24: MbD: Convergence = 0.0049833097821764278
+24: MbD: Convergence = 5.1699822146583391e-06
+24: MbD: Convergence = 3.2534123409533326e-11
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 46895.353358167536
+29: MbD: Convergence = 0.0074777581903297183
+29: MbD: Convergence = 0.00032847894981179074
+29: MbD: Convergence = 1.124153559106839e-06
+29: MbD: Convergence = 8.4344407547519246e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.086719053721986
+29: MbD: Convergence = 1.8006562144467816e-14
+29: Time = 0.06
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074897507118110145
+29: MbD: Convergence = 0.00034042886396862552
+29: MbD: Convergence = 1.142628936701258e-06
+29: MbD: Convergence = 8.7374681543327406e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.089260906642334
+29: MbD: Convergence = 2.4824373450272768e-14
+29: Time = 0.08
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075104385728312732
+29: MbD: Convergence = 0.00035591199627256785
+29: MbD: Convergence = 1.1772692354435946e-06
+29: MbD: Convergence = 9.2963017573527734e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.098132352816613
+29: MbD: Convergence = 2.7813492157108373e-14
+29: Time = 0.1
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075436104873196309
+29: MbD: Convergence = 0.00037339139405448001
+29: MbD: Convergence = 1.2279339223315799e-06
+29: MbD: Convergence = 1.0080195946571028e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.116297534392245
+29: MbD: Convergence = 1.1657668423698597e-14
+29: Time = 0.12
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075931679587694775
+29: MbD: Convergence = 0.00039057921170487607
+29: MbD: Convergence = 1.2884825586891747e-06
+29: MbD: Convergence = 1.1003888819696948e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.146385321704305
+29: MbD: Convergence = 1.3815007212569315e-14
+29: Time = 0.14
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0076614558424186081
+29: MbD: Convergence = 0.00040493029019596184
+29: MbD: Convergence = 1.3482689018788602e-06
+29: MbD: Convergence = 1.1982379661141728e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.190862794702589
+29: MbD: Convergence = 4.8929692107216469e-14
+29: Time = 0.16
+5: MbD: Singular Matrix Error. 
+5: MbD: Convergence = 136772567.92865786
+5: MbD: Convergence = 55336914.066311851
+5: MbD: Convergence = 26384227.201036204
+5: MbD: Convergence = 905371.11452980083
+5: MbD: Convergence = 5805.1168246422631
+5: MbD: Convergence = 23.964043969589927
+5: MbD: Convergence = 0.092637987135415364
+5: MbD: Convergence = 0.00034208842190781201
+5: MbD: Convergence = 8.2248827833675188e-06
+5: MbD: Convergence = 5.2587531493330954e-07
+5: MbD: Assembling system with limits. 
+5: MbD: No limits reached. 
+5: Time = 0
+5: MbD: Convergence = 157073510.40706587
+5: MbD: Convergence = 67058734.338905193
+5: MbD: Convergence = 49580544.864058994
+5: MbD: Convergence = 5677885.8853258425
+5: MbD: Convergence = 86491.909194552369
+5: MbD: Convergence = 882.50878573539831
+5: MbD: Convergence = 7.4556791954330395
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012921867559829246
+27: MbD: Convergence = 0.0003251967113697432
+27: MbD: Convergence = 7.1891246662800195e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 6.24950194325673
+27: MbD: Convergence = 1.4818491559131897e-15
+27: Time = 0.41
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01275301128240818
+27: MbD: Convergence = 0.00032779617449702619
+27: MbD: Convergence = 8.5652591416636877e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 6.4827456082957715
+27: MbD: Convergence = 2.8781759142905136e-15
+27: Time = 0.42
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012566457624900548
+27: MbD: Convergence = 0.00033100552834036044
+27: MbD: Convergence = 1.0142274081771277e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 6.7499655269510024
+27: MbD: Convergence = 1.084934957831159e-14
+27: Time = 0.43
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012363223671262842
+27: MbD: Convergence = 0.00033477073240429771
+27: MbD: Convergence = 1.187912281267287e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.0450138948295402
+27: MbD: Convergence = 3.4534800110378876e-15
+27: Time = 0.44
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.01214490237752929
+27: MbD: Convergence = 0.00033895884151522246
+27: MbD: Convergence = 1.3707359954802296e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.3578571553666139
+27: MbD: Convergence = 1.8389468980976345e-15
+27: Time = 0.45
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011913739968119189
+27: MbD: Convergence = 0.00034335559144686614
+27: MbD: Convergence = 1.5530172831241687e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.6752220896920411
+27: MbD: Convergence = 3.4161174870015255e-15
+27: Time = 0.46
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011672671707852855
+27: MbD: Convergence = 0.0003476768233436026
+27: MbD: Convergence = 1.7226947918796705e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.9818016599815813
+27: MbD: Convergence = 3.6287817011075176e-15
+27: Time = 0.47
+27: MbD: Solving for kinematic position.
 27: MbD: Convergence = 0.011425296914020283
 27: MbD: Convergence = 0.00035159476906139865
 27: MbD: Convergence = 1.8664716262433848e-07
@@ -13852,16 +15375,292 @@
 27: MbD: Convergence = 0.010928664901522554
 27: MbD: Convergence = 0.00035692748141622204
 27: MbD: Convergence = 2.0279267108189314e-07
-29: MbD: Convergence = 0.0075931679587694775
-29: MbD: Convergence = 0.00039057921170487607
-29: MbD: Convergence = 1.2884825586891747e-06
-14: MbD: Convergence = 6.9884160232934249e-15
-14: Time = 0.61
-14: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic acceleration.
-3: MbD: Convergence = 1.479186442801277e-06
 27: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.1003888819696948e-11
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.6883063930857922
+27: MbD: Convergence = 2.0338044274402722e-15
+27: Time = 0.5
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010688639785792552
+27: MbD: Convergence = 0.00035783306975409389
+27: MbD: Convergence = 2.0298927105168531e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.8165037031988192
+27: MbD: Convergence = 2.1424147734918304e-15
+27: Time = 0.51
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010460236363590952
+27: MbD: Convergence = 0.00035738653203988801
+27: MbD: Convergence = 1.9775809026466082e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.8837485366070101
+27: MbD: Convergence = 1.7830835074513651e-15
+27: Time = 0.52
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010247546849592186
+27: MbD: Convergence = 0.00035560040950813158
+27: MbD: Convergence = 1.8767918765830947e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.8928569889477043
+27: MbD: Convergence = 3.2273728397209118e-15
+27: Time = 0.53
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010053976534224759
+27: MbD: Convergence = 0.00035259815881743601
+27: MbD: Convergence = 1.737923052750732e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.8506198987883593
+27: MbD: Convergence = 2.7219102882616342e-15
+27: Time = 0.54
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0098820772338431874
+27: MbD: Convergence = 0.0003485899139027387
+27: MbD: Convergence = 1.5740685968941485e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.7665509917619566
+27: MbD: Convergence = 2.070405143755576e-15
+27: Time = 0.55
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0097334805498280781
+27: MbD: Convergence = 0.00034383891335700012
+27: MbD: Convergence = 1.3988820300076345e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.6514868421040916
+27: MbD: Convergence = 3.9488004861476732e-15
+27: Time = 0.56
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.009608930528353727
+27: MbD: Convergence = 0.00033862625279675615
+27: MbD: Convergence = 1.2247287690369515e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.5163055400118299
+27: MbD: Convergence = 3.1512313837406233e-15
+27: Time = 0.57
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0095083971178652766
+27: MbD: Convergence = 0.00033322043675907824
+27: MbD: Convergence = 1.0614545310363634e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.37094406869371
+27: MbD: Convergence = 3.2653348504415579e-15
+27: Time = 0.58
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0094312408652275411
+27: MbD: Convergence = 0.00032785565040824923
+27: MbD: Convergence = 9.1584120412751883e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.22378630400428
+27: MbD: Convergence = 1.433519245609042e-15
+27: Time = 0.59
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093763971337039401
+27: MbD: Convergence = 0.00032271985410818653
+27: MbD: Convergence = 7.9162920257042967e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 8.0814014830890457
+27: MbD: Convergence = 3.5354278606994679e-15
+27: Time = 0.6
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093425531390044798
+27: MbD: Convergence = 0.00031795158929269062
+27: MbD: Convergence = 6.8990885920742845e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.9485564972109195
+27: MbD: Convergence = 4.3029672677069568e-15
+27: Time = 0.61
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093282999339838746
+27: MbD: Convergence = 0.00031364316027495412
+27: MbD: Convergence = 6.0970992879795409e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.8284057655774069
+27: MbD: Convergence = 4.4262197342793649e-15
+27: Time = 0.62
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093322507753453021
+27: MbD: Convergence = 0.00030984757357658979
+27: MbD: Convergence = 5.4868576941351327e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.7227698067856796
+27: MbD: Convergence = 1.5461003865409021e-15
+27: Time = 0.63
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093531248257211382
+27: MbD: Convergence = 0.00030658697537426483
+27: MbD: Convergence = 5.0382487986998108e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.6324348825989317
+27: MbD: Convergence = 1.9915155436244854e-15
+27: Time = 0.64
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0093897999890511438
+27: MbD: Convergence = 0.00030386098034185564
+27: MbD: Convergence = 4.7210530910892317e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.5574304773177055
+27: MbD: Convergence = 3.4041272260011884e-15
+27: Time = 0.65
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0094413409847183462
+27: MbD: Convergence = 0.00030165396010654492
+27: MbD: Convergence = 4.5099078743353214e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4972624120725344
+27: MbD: Convergence = 3.4743387003464979e-15
+27: Time = 0.66
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0095070091934724103
+27: MbD: Convergence = 0.00029994090432524962
+27: MbD: Convergence = 4.3870834551770976e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4510945124951382
+27: MbD: Convergence = 4.040073055913667e-15
+27: Time = 0.67
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0095862601105431624
+27: MbD: Convergence = 0.00029869183283364712
+27: MbD: Convergence = 4.343244222445036e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4178809665971244
+27: MbD: Convergence = 2.2493962142463078e-15
+27: Time = 0.68
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0096787330369213533
+27: MbD: Convergence = 0.00029787493869392695
+27: MbD: Convergence = 4.3768690429128484e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.3964560760420044
+27: MbD: Convergence = 5.802442151364634e-15
+27: Time = 0.69
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0097842363367974736
+27: MbD: Convergence = 0.00029745872190639226
+27: MbD: Convergence = 4.4930201411025445e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.3855895573210848
+27: MbD: Convergence = 2.8643237141325659e-15
+27: Time = 0.7
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.0099027304053894132
+27: MbD: Convergence = 0.00029741337731912783
+27: MbD: Convergence = 4.7019239340843298e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.3840152252437665
+27: MbD: Convergence = 2.4529233624376348e-15
+27: Time = 0.71
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010034309508661488
+27: MbD: Convergence = 0.00029771166361233466
+27: MbD: Convergence = 5.0176494304859682e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.3904397557013572
+27: MbD: Convergence = 2.4597323836168336e-15
+27: Time = 0.72
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010179182875189348
+27: MbD: Convergence = 0.00029832942638036874
+27: MbD: Convergence = 5.4571082987075445e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.403536889452714
+27: MbD: Convergence = 2.4085753049853199e-15
+27: Time = 0.73
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010337654801036883
+27: MbD: Convergence = 0.00029924588936478002
+27: MbD: Convergence = 6.0395590835168122e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4219312469207264
+27: MbD: Convergence = 1.9134656112351518e-15
+27: Time = 0.74
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010510103016863594
+27: MbD: Convergence = 0.00030044376777059711
+27: MbD: Convergence = 6.7866806572443758e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4441750439466663
+27: MbD: Convergence = 4.3370183453040001e-15
+27: Time = 0.75
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010696954108145803
+27: MbD: Convergence = 0.00030190919505621364
+27: MbD: Convergence = 7.7231099476520236e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4687204954064299
+27: MbD: Convergence = 1.5469171313610095e-15
+27: Time = 0.76
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.010898654325856377
+27: MbD: Convergence = 0.00030363138558778594
+27: MbD: Convergence = 8.8772127599097781e-08
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.4938905705230878
+27: MbD: Convergence = 4.3337415112390171e-15
+27: Time = 0.77
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011115633636857669
+27: MbD: Convergence = 0.0003056018754542195
+27: MbD: Convergence = 1.0281822217225834e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.5178509673433283
+27: MbD: Convergence = 5.1903670042346098e-15
+27: Time = 0.78
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011348260312590891
+27: MbD: Convergence = 0.00030781309008452539
+27: MbD: Convergence = 1.1974698958585326e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.5385865615875716
+27: MbD: Convergence = 2.5156180868695424e-15
+27: Time = 0.79
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011596782729332282
+27: MbD: Convergence = 0.00031025588388786617
+27: MbD: Convergence = 1.3998471072360624e-07
+27: MbD: Solving for kinematic velocity.
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.5599863376041343
+17: MbD: Convergence = 6.7305783269560381e-16
+17: MbD: Convergence = 5.2384901168475732e-16
+17: MbD: Convergence = 3.214555823933188e-16
+17: MbD: Convergence = 3.5433756948231649e-16
+17: Time = 0.32
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 19467.829018237731
+17: MbD: Convergence = 565.01526323457324
+17: MbD: Convergence = 0.17624335423088733
+17: MbD: Convergence = 2.8735115597866267e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
 17: MbD: Convergence = 4.6383964818583472
 17: MbD: Convergence = 5.3655091584543283e-16
 17: MbD: Convergence = 5.6491648768800287e-16
@@ -13882,63 +15681,303 @@
 17: MbD: Convergence = 5.9037157152945583e-16
 17: Time = 0.34
 17: MbD: Solving for quasi kinematic position.
-14: MbD: Convergence = 0.013177068994508259
-14: MbD: Convergence = 0.00034464872108614221
-14: MbD: Convergence = 2.9208034096904822e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3276945192107918
-14: MbD: Convergence = 6.4607291401129899e-15
-14: Time = 0.62
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508217
-14: MbD: Convergence = 0.00034464872108613077
-14: MbD: Convergence = 2.9208034096644381e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 8.6883063930857922
-27: MbD: Convergence = 2.0338044274402722e-15
-27: Time = 0.5
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010688639785792552
-27: MbD: Convergence = 0.00035783306975409389
-27: MbD: Convergence = 2.0298927105168531e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 8.8165037031988192
-27: MbD: Convergence = 2.1424147734918304e-15
-27: Time = 0.51
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010460236363590952
-27: MbD: Convergence = 0.00035738653203988801
-27: MbD: Convergence = 1.9775809026466082e-07
-27: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 77273.980583427998
-5: MbD: Convergence = 9.300679301698072e-06
-3: MbD: Convergence = 1.562157259288854e-06
-11: MbD: Convergence = 2.7762150122734637e-16
-14: MbD: Convergence = 5.3289755104264014
-27: MbD: Solving for kinematic acceleration.
-11: Time = 0.82
-11: 83 bryzs 0.565487 != -2.57611 tol = 1e-06
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 1.6035391149961525e-15
+17: MbD: Convergence = 18699.072480352246
+17: MbD: Convergence = 582.64793972280768
+17: MbD: Convergence = 0.15704748234008012
+17: MbD: Convergence = 2.731704936016475e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7381093595610162
+17: MbD: Convergence = 7.0258304723438552e-16
+17: MbD: Convergence = 7.5360004125499127e-16
+17: MbD: Convergence = 8.510853951772484e-16
+17: MbD: Convergence = 8.8732483110365034e-16
+17: Time = 0.35
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 18283.156314134536
+17: MbD: Convergence = 587.01852448491263
+17: MbD: Convergence = 0.14988795437138594
+17: MbD: Convergence = 2.6391534187183494e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7578417210910997
+17: MbD: Convergence = 6.8150261184633965e-16
+17: MbD: Convergence = 7.0448766714251827e-16
+17: MbD: Convergence = 3.3521852715708061e-16
+17: MbD: Convergence = 3.6372561923158158e-16
+17: Time = 0.36
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 17852.777422839274
+17: MbD: Convergence = 588.77091383272023
+17: MbD: Convergence = 0.14394232950991867
+17: MbD: Convergence = 2.5581831022888497e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7581277492500202
+17: MbD: Convergence = 5.4802225344314294e-16
+17: MbD: Convergence = 6.4989964973792516e-16
+17: MbD: Convergence = 3.9786292037418472e-16
+17: MbD: Convergence = 6.2360513694568497e-16
+17: Time = 0.37
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 17412.026783141297
+17: MbD: Convergence = 588.19149855659441
+17: MbD: Convergence = 0.13894654573079632
+17: MbD: Convergence = 2.482827120826982e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7402925261429871
+17: MbD: Convergence = 4.9084373448668508e-16
+17: MbD: Convergence = 6.737744489856072e-16
+17: MbD: Convergence = 8.05998878253146e-16
+17: MbD: Convergence = 5.1762828468091464e-16
+17: Time = 0.38
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 16964.408733369932
+17: MbD: Convergence = 585.56466172840658
+17: MbD: Convergence = 0.13467592073807921
+17: MbD: Convergence = 2.4135945191712634e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7061043308593256
+17: MbD: Convergence = 7.5953790364306142e-16
+17: MbD: Convergence = 9.1247168856532441e-16
+17: MbD: Convergence = 5.4298798328197833e-16
+17: MbD: Convergence = 6.8220312897841177e-16
+17: Time = 0.39
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 16512.906134836536
+17: MbD: Convergence = 581.16188132434013
+17: MbD: Convergence = 0.13094334402145028
+17: MbD: Convergence = 2.3456849016325698e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.657637727466958
+17: MbD: Convergence = 1.0314201342199762e-15
+17: MbD: Convergence = 6.847948133251171e-16
+17: MbD: Convergence = 7.398418578581018e-16
+17: MbD: Convergence = 6.4147895286578998e-16
+17: Time = 0.4
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 16060.042902741052
+17: MbD: Convergence = 575.23559572998715
+17: MbD: Convergence = 0.12759569385883246
+17: MbD: Convergence = 2.2791142996051144e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.5971723028329139
+17: MbD: Convergence = 8.7883404640423482e-16
+17: MbD: Convergence = 1.2347040152155543e-15
+17: MbD: Convergence = 1.2204228660296509e-15
+17: MbD: Convergence = 1.1897524883431819e-15
+17: Time = 0.41
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 15607.942508307857
+17: MbD: Convergence = 568.01622264186221
+17: MbD: Convergence = 0.1245096845833456
+17: MbD: Convergence = 2.2118947186740977e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.5271171077759371
+17: MbD: Convergence = 7.1799199690212014e-16
+17: MbD: Convergence = 6.9431207099983027e-16
+17: MbD: Convergence = 6.3357410972770603e-16
+17: MbD: Convergence = 7.7467593738759781e-16
+17: Time = 0.42
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 15158.381667782523
+17: MbD: Convergence = 559.71123026002169
+17: MbD: Convergence = 0.12158776004665933
+17: MbD: Convergence = 2.1443166105400077e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.4499529822706885
+17: MbD: Convergence = 1.1310091250888894e-15
+17: MbD: Convergence = 6.5958840109233188e-16
+17: MbD: Convergence = 6.5772255123120332e-16
+17: MbD: Convergence = 4.7950462649792395e-16
+17: Time = 0.43
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 14712.838876928765
+17: MbD: Convergence = 550.50550775606723
+17: MbD: Convergence = 0.11875428406482717
+17: MbD: Convergence = 2.0737325003983153e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.3681865370742567
+17: MbD: Convergence = 5.5869284535096796e-16
+17: MbD: Convergence = 5.8004998689580436e-16
+17: MbD: Convergence = 3.6741765082639692e-16
+17: MbD: Convergence = 7.2671590924408947e-16
+17: Time = 0.44
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 14272.537758104581
+17: MbD: Convergence = 540.56252194865021
+17: MbD: Convergence = 0.11595209800819861
+17: MbD: Convergence = 2.0044725441822457e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.284310756714091
+17: MbD: Convergence = 4.7684517258347473e-16
+17: MbD: Convergence = 4.7733314255858932e-16
+17: MbD: Convergence = 3.2683948038393505e-16
+17: MbD: Convergence = 3.5253899776050025e-16
+17: Time = 0.45
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 13838.485392349066
+17: MbD: Convergence = 530.02591336549142
+17: MbD: Convergence = 0.113139443985924
+17: MbD: Convergence = 1.9322298577755027e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.2007681493442455
+17: MbD: Convergence = 1.6302308553674417e-15
+17: MbD: Convergence = 5.066898114944741e-16
+17: MbD: Convergence = 4.3843012040234079e-16
+17: MbD: Convergence = 4.0708036000900907e-16
+17: Time = 0.46
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 13411.505937176289
+17: MbD: Convergence = 519.02130033625645
+17: MbD: Convergence = 0.11028723382360144
+17: MbD: Convergence = 1.8644701498566511e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.1199132710560686
+17: MbD: Convergence = 5.4062087131933016e-16
+17: MbD: Convergence = 6.0879305215857747e-16
+17: MbD: Convergence = 3.4223464926158955e-16
+17: MbD: Convergence = 4.0597049270970342e-16
+17: Time = 0.47
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 12992.269902896873
+17: MbD: Convergence = 507.65813992811235
+17: MbD: Convergence = 0.10737664557434853
+17: MbD: Convergence = 1.7943172819951526e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.043972459781112
+17: MbD: Convergence = 4.9389751161902189e-16
+17: MbD: Convergence = 8.5297331153115686e-16
+17: MbD: Convergence = 7.5113107036165648e-16
+17: MbD: Convergence = 5.6980264908216164e-16
+17: Time = 0.48
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 12581.319492551362
+17: MbD: Convergence = 496.03154998716229
+17: MbD: Convergence = 0.10439703141367584
+17: MbD: Convergence = 1.724110678694748e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.9749998541697837
+17: MbD: Convergence = 5.4624760923121628e-16
+17: MbD: Convergence = 4.7001187107904455e-16
+17: MbD: Convergence = 2.5040635995163851e-16
+17: MbD: Convergence = 3.2699809215506853e-16
+17: Time = 0.49
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 12179.090415443457
+17: MbD: Convergence = 484.22403463604633
+17: MbD: Convergence = 0.1013441228867781
+17: MbD: Convergence = 1.6550072367166703e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.914830291047211
+17: MbD: Convergence = 2.6509375369864911e-15
+17: MbD: Convergence = 5.8366768525205555e-16
+17: MbD: Convergence = 2.9115809936600721e-16
+17: MbD: Convergence = 3.3367690472015075e-16
+17: Time = 0.5
+17: 51 bryzs -3.14159 != 3.14159 tol = 1e-06
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 11785.930571109109
+17: MbD: Convergence = 472.30708144259165
+17: MbD: Convergence = 0.098218517215023685
+17: MbD: Convergence = 1.5867446110235011e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.8650313799225566
+17: MbD: Convergence = 4.5048783541640826e-16
+17: MbD: Convergence = 5.7226697606630968e-16
+17: MbD: Convergence = 3.1817755233534025e-16
+17: MbD: Convergence = 3.3121729903890461e-16
+17: Time = 0.51
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 11402.115976182618
+17: MbD: Convergence = 460.34261573779708
+17: MbD: Convergence = 0.095024426053322938
+17: MbD: Convergence = 1.5203718904509223e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.8268586805474043
+17: MbD: Convergence = 6.5116114050090814e-16
+17: MbD: Convergence = 6.8449360319280402e-16
+17: MbD: Convergence = 5.0682874097560955e-16
+17: MbD: Convergence = 4.875424700935646e-16
+17: Time = 0.52
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 11027.864275910426
+17: MbD: Convergence = 448.38430880402007
+17: MbD: Convergence = 0.091768665189803561
+17: MbD: Convergence = 1.4514621767447328e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.8012190473282361
+17: MbD: Convergence = 6.9741263651683481e-16
+17: MbD: Convergence = 4.9800091015398076e-16
+17: MbD: Convergence = 5.5936607155853777e-16
+17: MbD: Convergence = 3.9680581317090687e-16
+17: Time = 0.53
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 10663.346148433451
+17: MbD: Convergence = 436.47874368986237
+25: MbD: Convergence = 57.942151267442306
+25: MbD: Convergence = 1.1194051369329947e-14
+25: Time = 0.61
+25: 62 vxs -0.884633 != -0.884719 tol = 1e-06
+25: 62 vys 0.0836224 != 0.0835952 tol = 1e-06
+25: 62 axs -0.525415 != -0.547407 tol = 1e-06
+25: 62 ays -5.55831 != -5.56558 tol = 1e-06
+25: 62 alpzs 6.21725e-15 != -0.000152263 tol = 1e-06
+25: 62 ys -0.116966 != -0.116997 tol = 1e-06
+25: 62 zs 0.0794903 != 0.0794468 tol = 1e-06
+25: 62 vys 0.998904 != 1.00212 tol = 1e-06
+25: 62 vzs 1.46984 != 1.47444 tol = 1e-06
+25: 62 omexs -12.5664 != -12.5663 tol = 1e-06
+25: 62 ays 18.4706 != 19.3234 tol = 1e-06
+25: 62 azs -12.5526 != -11.3952 tol = 1e-06
+25: 62 alpxs -2.13163e-14 != 0.019011 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089383
+25: MbD: Convergence = 0.0016705269888036194
+25: MbD: Convergence = 4.5380918100585803e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 57.86079897629601
+25: MbD: Convergence = 1.055137848751251e-14
+25: Time = 0.62
+25: 63 vxs -0.888138 != -0.888082 tol = 1e-06
+25: 63 vys 0.0279109 != 0.0279406 tol = 1e-06
+25: 63 axs -0.175369 != -0.17359 tol = 1e-06
+25: 63 ays -5.58034 != -5.57927 tol = 1e-06
+25: 63 alpzs -4.44089e-15 != 7.91644e-06 tol = 1e-06
+25: 63 ys -0.106081 != -0.106095 tol = 1e-06
+25: 63 zs 0.0935232 != 0.0935141 tol = 1e-06
+25: 63 vys 1.17525 != 1.17197 tol = 1e-06
+25: 63 vzs 1.33306 != 1.33084 tol = 1e-06
+25: 63 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 63 ays 16.7517 != 16.6382 tol = 1e-06
+25: 63 azs -14.7686 != -14.83 tol = 1e-06
+25: 63 alpxs -3.55271e-15 != -0.00100625 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089369
+25: MbD: Convergence = 0.0016705269888035673
+25: MbD: Convergence = 4.5380918098088237e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 57.826560850927201
-14: MbD: Convergence = 7.5684005226782352e-15
 25: MbD: Convergence = 9.1883470523870766e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-11: MbD: Convergence = 0.0076748035452956428
-16: Time = 3.7
-27: MbD: Convergence = 8.8837485366070101
 25: Time = 0.63
-16: MbD: Solving for quasi kinematic position.
-14: Time = 0.63
-11: MbD: Convergence = 0.00011152671578490332
 25: 64 vxs -0.888138 != -0.888092 tol = 1e-06
 25: 64 vys -0.0279109 != -0.0278856 tol = 1e-06
 25: 64 axs 0.175369 != 0.170507 tol = 1e-06
@@ -13952,54 +15991,18 @@
 25: 64 ays 14.7686 != 15.0483 tol = 1e-06
 25: 64 azs -16.7517 != -16.554 tol = 1e-06
 25: 64 alpxs -1.42109e-14 != 0.00408946 tol = 1e-06
-16: MbD: Convergence = 2.8275330695806131e-12
 25: MbD: Solving for kinematic position.
-11: MbD: Convergence = 2.7199172602850037e-08
-27: MbD: Convergence = 1.7830835074513651e-15
-16: MbD: Solving for velocity initial conditions.
-27: Time = 0.52
-11: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic position.
 25: MbD: Convergence = 0.031707308160089376
-27: MbD: Solving for kinematic position.
-16: MbD: Solving for quasi kinematic acceleration.
 25: MbD: Convergence = 0.0016705269888035832
-11: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508094
 25: MbD: Convergence = 4.5380918100648838e-07
-16: MbD: Convergence = 3.3990045920330978
 25: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 0.010247546849592186
-14: MbD: Convergence = 0.00034464872108613603
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Convergence = 1.5697828119689281
-27: MbD: Convergence = 0.00035560040950813158
 25: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 1.6035391149961525e-15
-11: MbD: Convergence = 2.9219619679608718e-16
-14: MbD: Convergence = 2.9208034096918036e-07
-11: Time = 0.83
-16: MbD: Convergence = 6.6358517584916043e-16
-11: 84 bryzs 0.534071 != -2.60752 tol = 1e-06
-16: Time = 3.75
-11: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 16.146385321704305
-16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 1.8767918765830947e-07
 25: MbD: Convergence = 57.842036713068026
-11: MbD: Convergence = 0.0076748035452955353
-16: MbD: Convergence = 2.8275330695806131e-12
 25: MbD: Convergence = 1.779321778524532e-14
-16: MbD: Solving for velocity initial conditions.
 25: Time = 0.64
-11: MbD: Convergence = 0.00011152671578493213
-14: MbD: Solving for kinematic acceleration.
 25: 65 vxs -0.884633 != -0.884699 tol = 1e-06
 25: 65 vys -0.0836224 != -0.0836581 tol = 1e-06
 25: 65 axs 0.525415 != 0.506542 tol = 1e-06
-27: MbD: Solving for kinematic velocity.
 25: 65 ays -5.55831 != -5.56889 tol = 1e-06
 25: 65 alpzs 7.10543e-15 != -0.000141093 tol = 1e-06
 25: 65 ys -0.0794903 != -0.0795375 tol = 1e-06
@@ -14011,99 +16014,13 @@
 25: 65 azs -18.4706 != -17.7653 tol = 1e-06
 25: 65 alpxs 7.10543e-15 != 0.0176194 tol = 1e-06
 25: MbD: Solving for kinematic position.
-11: MbD: Convergence = 2.7199172579585381e-08
-16: MbD: Solving for quasi kinematic acceleration.
 25: MbD: Convergence = 0.031707308160089584
-11: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
 25: MbD: Convergence = 0.00167052698880363
-16: MbD: Convergence = 1.3831147369825216e-14
-11: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 4.5380918101221062e-07
-16: MbD: Convergence = 8.639786775957609e-15
 25: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 8.8928569889477043
-16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Convergence = 5.3304722639981801
-16: MbD: Convergence = 6.6358517584916043e-16
 25: MbD: Solving for kinematic acceleration.
-16: Time = 3.8
-11: MbD: Convergence = 1.5697828119689272
-16: MbD: Solving for quasi kinematic position.
-11: MbD: Convergence = 1.0411478811620039e-16
-27: MbD: Convergence = 3.2273728397209118e-15
-11: Time = 0.84
-27: Time = 0.53
-11: 85 bryzs 0.502655 != -2.63894 tol = 1e-06
-11: MbD: Solving for kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-27: MbD: Solving for kinematic position.
-16: MbD: Solving for velocity initial conditions.
-14: MbD: Convergence = 5.909337952765069e-15
 25: MbD: Convergence = 57.909079915580698
-14: Time = 0.64
-11: MbD: Convergence = 0.0076748035452956298
 25: MbD: Convergence = 7.7232445874215233e-15
-27: MbD: Convergence = 0.010053976534224759
-14: MbD: Solving for kinematic position.
-29: MbD: Convergence = 1.3815007212569315e-14
-27: MbD: Convergence = 0.00035259815881743601
-17: MbD: Convergence = 18699.072480352246
-29: Time = 0.14
-14: MbD: Convergence = 0.013177068994508195
-27: MbD: Convergence = 1.737923052750732e-07
-14: MbD: Convergence = 0.00034464872108614194
-17: MbD: Convergence = 582.64793972280768
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 2.9208034095205235e-07
-17: MbD: Convergence = 0.15704748234008012
-29: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 2.731704936016475e-08
-27: MbD: Convergence = 8.8506198987883593
-17: MbD: Solving for velocity initial conditions.
-14: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 6.4935630667150401e-08
-27: MbD: Convergence = 2.7219102882616342e-15
-27: Time = 0.54
-24: Time = 0.02
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Solving for kinematic position.
-14: MbD: Convergence = 5.3321845982315192
-27: MbD: Convergence = 0.0098820772338431874
-17: MbD: Convergence = 4.7381093595610162
-27: MbD: Convergence = 0.0003485899139027387
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0076614558424186081
-14: MbD: Convergence = 6.1240824874622568e-15
-17: MbD: Convergence = 7.0258304723438552e-16
-14: Time = 0.65
-27: MbD: Convergence = 1.5740685968941485e-07
-17: MbD: Convergence = 7.5360004125499127e-16
-14: MbD: Solving for kinematic position.
-5: MbD: Convergence = 1.4396253730083284e-06
-17: MbD: Convergence = 8.510853951772484e-16
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.013177068994508103
-17: MbD: Convergence = 8.8732483110365034e-16
-17: Time = 0.35
-17: MbD: Solving for quasi kinematic position.
-3: MbD: Convergence = 5.1088547452832614e-08
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.00034464872108612123
-17: MbD: Convergence = 18283.156314134536
-29: MbD: Convergence = 0.00040493029019596184
-14: MbD: Convergence = 2.9208034097408839e-07
-24: MbD: Convergence = 0.030523350602806532
-27: MbD: Convergence = 8.7665509917619566
-17: MbD: Convergence = 587.01852448491263
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.14988795437138594
-27: MbD: Convergence = 2.070405143755576e-15
-27: Time = 0.55
-16: MbD: Solving for quasi kinematic acceleration.
 25: Time = 0.65
 25: 66 vxs -0.877637 != -0.877589 tol = 1e-06
 25: 66 vys -0.139004 != -0.138965 tol = 1e-06
@@ -14115,85 +16032,10 @@
 25: 66 vys 1.58345 != 1.57967 tol = 1e-06
 25: 66 vzs 0.806807 != 0.805995 tol = 1e-06
 25: 66 omexs -12.5664 != -12.5664 tol = 1e-06
-11: MbD: Convergence = 0.00011152671578490773
 25: 66 ays 10.1386 != 9.99308 tol = 1e-06
 25: 66 azs -19.8982 != -19.9167 tol = 1e-06
 25: 66 alpxs -1.77636e-14 != -0.00116286 tol = 1e-06
-27: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
 25: MbD: Solving for kinematic position.
-3: MbD: Assembling system with limits. 
-16: MbD: Convergence = 1.3831147369825216e-14
-11: MbD: Convergence = 2.7199172577464738e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689277
-11: MbD: Convergence = 2.9226394860658802e-16
-11: Time = 0.85
-11: 86 bryzs 0.471239 != -2.67035 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955466
-11: MbD: Convergence = 0.00011152671578490246
-11: MbD: Convergence = 2.7199172584019449e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 1.417435956651015e-16
-11: Time = 0.86
-11: 87 bryzs 0.439823 != -2.70177 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452956402
-11: MbD: Convergence = 0.0001115267157849038
-11: MbD: Convergence = 2.7199172577927608e-08
-11: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 0.0097334805498280781
-27: MbD: Convergence = 0.00034383891335700012
-27: MbD: Convergence = 1.3988820300076345e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 8.6514868421040916
-27: MbD: Convergence = 3.9488004861476732e-15
-27: Time = 0.56
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.009608930528353727
-27: MbD: Convergence = 0.00033862625279675615
-27: MbD: Convergence = 1.2247287690369515e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 8.5163055400118299
-27: MbD: Convergence = 3.1512313837406233e-15
-27: Time = 0.57
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0095083971178652766
-27: MbD: Convergence = 0.00033322043675907824
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.85
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.9
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 3.95
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 25: MbD: Convergence = 0.031707308160089154
 25: MbD: Convergence = 0.0016705269888035647
 25: MbD: Convergence = 4.5380918098362855e-07
@@ -14242,98 +16084,14 @@
 25: MbD: Convergence = 0.0016705269888036473
 25: MbD: Convergence = 4.5380918098442164e-07
 25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.3341123055120363
-14: MbD: Convergence = 1.1688535432081183e-14
-14: Time = 0.66
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.01317706899450824
-14: MbD: Convergence = 0.00034464872108613706
-14: MbD: Convergence = 2.9208034097048431e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3362551524309998
-14: MbD: Convergence = 6.0447854217730787e-15
-14: Time = 0.67
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508455
-14: MbD: Convergence = 0.00034464872108613565
-14: MbD: Convergence = 2.9208034094908546e-07
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Convergence = 1.3482689018788602e-06
-29: MbD: Convergence = 1.1982379661141728e-11
-29: MbD: Solving for kinematic velocity.
-27: MbD: Convergence = 1.0614545310363634e-07
-17: MbD: Convergence = 2.6391534187183494e-08
-14: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.7578417210910997
-27: MbD: Convergence = 8.37094406869371
-17: MbD: Convergence = 6.8150261184633965e-16
-17: MbD: Convergence = 7.0448766714251827e-16
-14: MbD: Convergence = 5.3386128799260035
-17: MbD: Convergence = 3.3521852715708061e-16
-14: MbD: Convergence = 5.7566469874322159e-15
-27: MbD: Convergence = 3.2653348504415579e-15
-27: Time = 0.58
-17: MbD: Convergence = 3.6372561923158158e-16
-17: Time = 0.36
-14: Time = 0.68
-17: MbD: Solving for quasi kinematic position.
-27: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 17852.777422839274
-27: MbD: Convergence = 0.0094312408652275411
-14: MbD: Convergence = 0.013177068994507997
-27: MbD: Convergence = 0.00032785565040824923
-17: MbD: Convergence = 588.77091383272023
-3: MbD: Convergence = 36367524.191196904
-27: MbD: Convergence = 9.1584120412751883e-08
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.00034464872108611576
-17: MbD: Convergence = 0.14394232950991867
-14: MbD: Convergence = 2.9208034097234106e-07
-5: MbD: Convergence = 6.4034592333946473e-07
-17: MbD: Convergence = 2.5581831022888497e-08
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for velocity initial conditions.
-14: MbD: Solving for kinematic velocity.
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 8.22378630400428
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.7581277492500202
-27: MbD: Convergence = 1.433519245609042e-15
-27: Time = 0.59
-16: MbD: Solving for quasi kinematic acceleration.
 25: MbD: Solving for kinematic acceleration.
-11: MbD: Solving for kinematic acceleration.
-27: MbD: Solving for kinematic position.
-16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 5.3411852034367024
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 1.5017345654171104e-14
-16: MbD: Convergence = 8.639786775957609e-15
-27: MbD: Convergence = 0.0093763971337039401
 25: MbD: Convergence = 58.424886339740404
-11: MbD: Convergence = 1.5697828119689277
-16: MbD: Convergence = 1.6035391149961525e-15
-14: Time = 0.69
 25: MbD: Convergence = 1.4903787468381973e-14
-27: MbD: Convergence = 0.00032271985410818653
-11: MbD: Convergence = 2.840341636459203e-16
 25: Time = 0.68
-11: Time = 0.87
-16: MbD: Convergence = 6.6358517584916043e-16
 25: 69 vxs -0.836045 != -0.836006 tol = 1e-06
 25: 69 vys -0.300995 != -0.300949 tol = 1e-06
 25: 69 axs 1.8912 != 1.89281 tol = 1e-06
 25: 69 ays -5.25302 != -5.25096 tol = 1e-06
-16: Time = 4
 25: 69 alpzs -1.06581e-14 != 1.02587e-05 tol = 1e-06
 25: 69 ys -0.0133089 != -0.0133199 tol = 1e-06
 25: 69 zs 0.140793 != 0.140795 tol = 1e-06
@@ -14342,232 +16100,13 @@
 25: 69 omexs -12.5664 != -12.5664 tol = 1e-06
 25: 69 ays 2.10165 != 1.9437 tol = 1e-06
 25: 69 azs -22.2332 != -22.1934 tol = 1e-06
-14: MbD: Solving for kinematic position.
-11: 88 bryzs 0.408407 != -2.73319 tol = 1e-06
 25: 69 alpxs 8.88178e-15 != -0.00130059 tol = 1e-06
-24: MbD: Convergence = 0.000340700483892075
-11: MbD: Solving for kinematic position.
 25: MbD: Solving for kinematic position.
-16: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 16.190862794702589
 25: MbD: Convergence = 0.031707308160089154
-16: MbD: Convergence = 2.8275330695806131e-12
-11: MbD: Convergence = 0.0076748035452955353
-14: MbD: Convergence = 0.013177068994508311
-27: MbD: Convergence = 7.9162920257042967e-08
-16: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic velocity.
-11: MbD: Convergence = 0.00011152671578492627
-14: MbD: Convergence = 0.00034464872108613137
-11: MbD: Convergence = 2.719917256227798e-08
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 2.9208034096783967e-07
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 8.639786775957609e-15
-24: MbD: Convergence = 4.3590499729111646e-08
-16: MbD: Convergence = 1.6035391149961525e-15
-27: MbD: Convergence = 8.0814014830890457
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.05
-11: MbD: Convergence = 1.5697828119689274
-16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 3.5354278606994679e-15
-14: MbD: Solving for kinematic velocity.
-11: MbD: Convergence = 1.4163535648907065e-16
-11: Time = 0.88
-16: MbD: Convergence = 2.8275330695806131e-12
-27: Time = 0.6
-11: 89 bryzs 0.376991 != -2.7646 tol = 1e-06
-11: MbD: Solving for kinematic position.
-16: MbD: Solving for velocity initial conditions.
-24: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452956463
-14: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Convergence = 0.00011152671578490333
-27: MbD: Convergence = 0.0093425531390044798
-16: MbD: Convergence = 3.3990045920330978
-29: MbD: Convergence = 4.8929692107216469e-14
-11: MbD: Convergence = 2.7199172576404411e-08
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 5.343971813075413
-11: MbD: Solving for kinematic velocity.
-29: Time = 0.16
-27: MbD: Convergence = 0.00031795158929269062
-16: MbD: Convergence = 8.639786775957609e-15
-14: MbD: Convergence = 7.1704036256822212e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-3: MbD: Convergence = 2307601.8101706528
-11: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 6.8990885920742845e-08
-14: Time = 0.7
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.1
-14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5.4802225344314294e-16
-29: MbD: Solving for kinematic position.
-11: MbD: Convergence = 1.5697828119689281
-17: MbD: Convergence = 6.4989964973792516e-16
-27: MbD: Solving for kinematic acceleration.
-24: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508111
-17: MbD: Convergence = 3.9786292037418472e-16
-17: MbD: Convergence = 6.2360513694568497e-16
-17: Time = 0.37
-14: MbD: Convergence = 0.00034464872108611581
-17: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 7.9485564972109195
-17: MbD: Convergence = 17412.026783141297
-14: MbD: Convergence = 2.9208034096994947e-07
-5: MbD: Assembling system with limits. 
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 588.19149855659441
-27: MbD: Convergence = 4.3029672677069568e-15
-27: Time = 0.61
-29: MbD: Convergence = 0.0077470919209501349
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 0.13894654573079632
-17: MbD: Convergence = 2.482827120826982e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.7402925261429871
-17: MbD: Convergence = 4.9084373448668508e-16
-17: MbD: Convergence = 6.737744489856072e-16
-17: MbD: Convergence = 8.05998878253146e-16
-17: MbD: Convergence = 5.1762828468091464e-16
-17: Time = 0.38
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 16964.408733369932
-17: MbD: Convergence = 585.56466172840658
-17: MbD: Convergence = 0.13467592073807921
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.346972373812287
-14: MbD: Convergence = 5.6067347624452e-15
-14: Time = 0.71
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508405
-14: MbD: Convergence = 0.00034464872108615235
-14: MbD: Convergence = 2.9208034094526873e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3501865256748777
-14: MbD: Convergence = 6.0719308890754431e-15
-27: MbD: Convergence = 0.0093282999339838746
-27: MbD: Convergence = 0.00031364316027495412
-27: MbD: Convergence = 6.0970992879795409e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.8284057655774069
-27: MbD: Convergence = 4.4262197342793649e-15
-27: Time = 0.62
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0093322507753453021
-27: MbD: Convergence = 0.00030984757357658979
-27: MbD: Convergence = 5.4868576941351327e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-5: MbD: No limits reached. 
-5: Time = 0
-29: MbD: Convergence = 0.00041441067826356704
-29: MbD: Convergence = 1.3974923122933635e-06
-3: MbD: Convergence = 43060.349810326967
-14: Time = 0.72
-14: MbD: Solving for kinematic position.
-11: MbD: Convergence = 2.861708739903218e-16
-29: MbD: Convergence = 1.2917893675204388e-11
-16: MbD: Solving for quasi kinematic position.
-11: Time = 0.89
-27: MbD: Convergence = 7.7227698067856796
 25: MbD: Convergence = 0.0016705269888035717
-11: 90 bryzs 0.345575 != -2.79602 tol = 1e-06
-11: MbD: Solving for kinematic position.
 25: MbD: Convergence = 4.5380918100516844e-07
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
 25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.013177068994508106
-11: MbD: Convergence = 0.0076748035452955318
-27: MbD: Convergence = 1.5461003865409021e-15
-14: MbD: Convergence = 0.00034464872108613592
 25: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 0.00011152671578489307
-16: MbD: Solving for quasi kinematic acceleration.
-27: Time = 0.63
-29: MbD: Solving for kinematic velocity.
-11: MbD: Convergence = 2.7199172601654205e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.569782811968927
-11: MbD: Convergence = 1.2347936125416001e-16
-11: Time = 0.9
-11: 91 bryzs 0.314159 != -2.82743 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452956567
-11: MbD: Convergence = 0.0001115267157848799
-11: MbD: Convergence = 2.719917260132683e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689272
-11: MbD: Convergence = 7.007655827565705e-17
-11: Time = 0.91
-11: 92 bryzs 0.282743 != -2.85885 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955206
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0093531248257211382
-27: MbD: Convergence = 0.00030658697537426483
-27: MbD: Convergence = 5.0382487986998108e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.6324348825989317
-27: MbD: Convergence = 1.9915155436244854e-15
-27: Time = 0.64
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0093897999890511438
-27: MbD: Convergence = 0.00030386098034185564
-27: MbD: Convergence = 4.7210530910892317e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.15
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.2
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 2.9208034098317308e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3536138839617671
-14: MbD: Convergence = 6.0652701710401967e-15
-14: Time = 0.73
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508573
-14: MbD: Convergence = 0.00034464872108618276
-14: MbD: Convergence = 2.9208034095237459e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 58.698566973287328
 25: MbD: Convergence = 8.4056744491143726e-15
 25: Time = 0.69
@@ -14612,16 +16151,8 @@
 25: MbD: Convergence = 4.5380918101267665e-07
 25: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic acceleration.
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 328.0455113194368
-27: MbD: Convergence = 7.5574304773177055
-17: MbD: Convergence = 2.4135945191712634e-08
 25: MbD: Convergence = 59.382117486098082
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 3.4041272260011884e-15
-14: MbD: Convergence = 5.3572540394699777
 25: MbD: Convergence = 3.4253260418174502e-15
-27: Time = 0.65
 25: Time = 0.71
 25: 72 vxs -0.764835 != -0.764807 tol = 1e-06
 25: 72 vys -0.452322 != -0.452271 tol = 1e-06
@@ -14630,7 +16161,6 @@
 25: 72 alpzs -1.77636e-15 != 1.12127e-05 tol = 1e-06
 25: 72 ys 0.0394551 != 0.0394479 tol = 1e-06
 25: 72 zs 0.135805 != 0.13581 tol = 1e-06
-27: MbD: Solving for kinematic position.
 25: 72 vys 1.70658 != 1.70349 tol = 1e-06
 25: 72 vzs -0.495808 != -0.493891 tol = 1e-06
 25: 72 omexs -12.5664 != -12.5664 tol = 1e-06
@@ -14638,32 +16168,13 @@
 25: 72 azs -21.4455 != -21.3421 tol = 1e-06
 25: 72 alpxs 1.06581e-14 != -0.00142051 tol = 1e-06
 25: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 0.0094413409847183462
 25: MbD: Convergence = 0.031707308160089584
-14: MbD: Convergence = 5.6065665021647437e-15
 25: MbD: Convergence = 0.0016705269888035639
-14: Time = 0.74
-27: MbD: Convergence = 0.00030165396010654492
-17: MbD: Convergence = 4.7061043308593256
 25: MbD: Convergence = 4.5380918100917893e-07
-14: MbD: Solving for kinematic position.
 25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 7.5953790364306142e-16
-27: MbD: Convergence = 4.5099078743353214e-08
-17: MbD: Convergence = 9.1247168856532441e-16
 25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508373
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5.4298798328197833e-16
-17: MbD: Convergence = 6.8220312897841177e-16
-17: Time = 0.39
 25: MbD: Convergence = 59.783025201953173
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic position.
 25: MbD: Convergence = 4.2941332207012457e-15
-29: MbD: Convergence = 16.252821924136828
-5: MbD: Assembling system. 
 25: Time = 0.72
 25: 73 vxs -0.734924 != -0.734895 tol = 1e-06
 25: 73 vys -0.499454 != -0.4994 tol = 1e-06
@@ -14678,136 +16189,13 @@
 25: 73 ays -8.86922 != -8.68785 tol = 1e-06
 25: 73 azs -20.4955 != -20.5964 tol = 1e-06
 25: 73 alpxs -4.44089e-15 != 0.00249512 tol = 1e-06
-14: MbD: Convergence = 0.00034464872108615717
 25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 16512.906134836536
-27: MbD: Convergence = 7.4972624120725344
 25: MbD: Convergence = 0.031707308160089147
-14: MbD: Convergence = 2.920803409489754e-07
-17: MbD: Convergence = 581.16188132434013
 25: MbD: Convergence = 0.0016705269888035422
-27: MbD: Convergence = 3.4743387003464979e-15
 25: MbD: Convergence = 4.5380918101090386e-07
-27: Time = 0.66
-14: MbD: Solving for kinematic velocity.
 25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.13094334402145028
-27: MbD: Solving for kinematic position.
 25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 2.3456849016325698e-08
-24: MbD: Convergence = 75297.670249668285
-3: MbD: Convergence = 0.13007918246792841
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 0.0095070091934724103
-16: MbD: Convergence = 8.639786775957609e-15
 25: MbD: Convergence = 60.215887912645847
-27: MbD: Convergence = 0.00029994090432524962
-16: MbD: Convergence = 1.6035391149961525e-15
-27: MbD: Convergence = 4.3870834551770976e-08
-14: MbD: Convergence = 5.36110655873585
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.25
-16: MbD: Solving for quasi kinematic position.
-14: MbD: Convergence = 1.1381163439005961e-14
-27: MbD: Solving for kinematic velocity.
-14: Time = 0.75
-16: MbD: Convergence = 2.8275330695806131e-12
-29: MbD: Convergence = 1.9043760405361608e-14
-16: MbD: Solving for velocity initial conditions.
-14: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0001115267157849258
-27: MbD: Solving for kinematic acceleration.
-29: Time = 0.18
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Convergence = 2.7199172582959123e-08
-14: MbD: Convergence = 0.013177068994508432
-16: MbD: Convergence = 3.3990045920330978
-11: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 0.00034464872108613543
-29: MbD: Solving for kinematic position.
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689274
-11: MbD: Convergence = 2.7763947560696181e-16
-11: Time = 0.92
-11: 93 bryzs 0.251327 != -2.89027 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452955353
-11: MbD: Convergence = 0.0001115267157849155
-11: MbD: Convergence = 2.7199172578525051e-08
-11: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.5697828119689281
-11: MbD: Convergence = 2.8433137933411262e-16
-11: Time = 0.93
-11: 94 bryzs 0.219911 != -2.92168 tol = 1e-06
-11: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.0076748035452956481
-11: MbD: Convergence = 0.00011152671578488574
-11: MbD: Convergence = 2.7199172607881545e-08
-11: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.3
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.35
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.4
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 7.4510945124951382
-27: MbD: Convergence = 4.040073055913667e-15
-27: Time = 0.67
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0095862601105431624
-27: MbD: Convergence = 0.00029869183283364712
-27: MbD: Convergence = 4.343244222445036e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.4178809665971244
-27: MbD: Convergence = 2.2493962142463078e-15
-27: Time = 0.68
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0096787330369213533
-27: MbD: Convergence = 0.00029787493869392695
-27: MbD: Convergence = 4.3768690429128484e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.9208034097255282e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3651709842890929
-14: MbD: Convergence = 5.6123931627559328e-15
-14: Time = 0.76
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508255
-14: MbD: Convergence = 0.00034464872108611538
-14: MbD: Convergence = 2.9208034097463218e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0078431868564357871
-29: MbD: Convergence = 0.00041833251683848666
-29: MbD: Convergence = 1.4323749505540805e-06
-3: MbD: Convergence = 6.3156533545562945e-05
 25: MbD: Convergence = 7.4291484120515573e-15
 25: Time = 0.73
 25: 74 vxs -0.702113 != -0.70213 tol = 1e-06
@@ -14871,176 +16259,11 @@
 25: MbD: Convergence = 0.031707308160089605
 25: MbD: Convergence = 0.0016705269888035662
 25: MbD: Convergence = 4.5380918101263816e-07
-14: MbD: Convergence = 5.3694468349196498
-14: MbD: Convergence = 5.7901964695353443e-15
-14: Time = 0.77
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508464
-14: MbD: Convergence = 0.00034464872108613782
-14: MbD: Convergence = 2.9208034099355866e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.3739336059569638
-14: MbD: Convergence = 5.8589291966981368e-15
-14: Time = 0.78
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508307
-14: MbD: Convergence = 0.00034464872108613701
-14: MbD: Convergence = 2.9208034097345126e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.657637727466958
-17: MbD: Convergence = 1.0314201342199762e-15
-17: MbD: Convergence = 6.847948133251171e-16
-17: MbD: Convergence = 7.398418578581018e-16
-17: MbD: Convergence = 6.4147895286578998e-16
-17: Time = 0.4
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 16060.042902741052
-17: MbD: Convergence = 575.23559572998715
-17: MbD: Convergence = 0.12759569385883246
-17: MbD: Convergence = 2.2791142996051144e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.5971723028329139
-17: MbD: Convergence = 8.7883404640423482e-16
-17: MbD: Convergence = 1.2347040152155543e-15
-17: MbD: Convergence = 1.2204228660296509e-15
-27: MbD: Convergence = 7.3964560760420044
-27: MbD: Convergence = 5.802442151364634e-15
-27: Time = 0.69
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0097842363367974736
-27: MbD: Convergence = 0.00029745872190639226
-27: MbD: Convergence = 4.4930201411025445e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.3855895573210848
-27: MbD: Convergence = 2.8643237141325659e-15
-27: Time = 0.7
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.0099027304053894132
-27: MbD: Convergence = 0.00029741337731912783
-27: MbD: Convergence = 4.7019239340843298e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.3840152252437665
-27: MbD: Convergence = 2.4529233624376348e-15
-27: Time = 0.71
-27: MbD: Solving for kinematic position.
-29: MbD: Convergence = 1.3639597064763994e-11
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 1.0869190097679075e-06
-5: MbD: Checking for redundant constraints.
-27: MbD: Convergence = 0.010034309508661488
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-27: MbD: Convergence = 0.00029771166361233466
-14: MbD: Convergence = 5.3786307695613935
-11: MbD: Convergence = 1.5697828119689272
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Convergence = 3.2275930896347081e-16
-11: Time = 0.94
-14: MbD: Convergence = 5.7342101867320866e-15
-24: MbD: Convergence = 5.6211591954245655e-07
-11: 95 bryzs 0.188496 != -2.9531 tol = 1e-06
-14: Time = 0.79
-16: MbD: Convergence = 1.6035391149961525e-15
-11: MbD: Solving for kinematic position.
-14: MbD: Solving for kinematic position.
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.45
-27: MbD: Convergence = 5.0176494304859682e-08
-16: MbD: Solving for quasi kinematic position.
-24: Time = 0.04
-11: MbD: Convergence = 0.0076748035452955197
-16: MbD: Convergence = 2.8275330695806131e-12
-14: MbD: Convergence = 0.013177068994508403
-11: MbD: Convergence = 0.00011152671578493164
-16: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.00034464872108613749
-11: MbD: Convergence = 2.7199172557246452e-08
-16: MbD: Solving for quasi kinematic acceleration.
-11: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 2.9208034094278544e-07
-11: MbD: Solving for kinematic acceleration.
-16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Solving for kinematic velocity.
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-3: MbD: Convergence = 2.0439202997471623e-06
-11: MbD: Convergence = 1.5697828119689277
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.5
-27: MbD: Convergence = 7.3904397557013572
-16: MbD: Solving for quasi kinematic position.
-11: MbD: Convergence = 7.6597621321572042e-17
-11: Time = 0.95
-11: 96 bryzs 0.15708 != -2.98451 tol = 1e-06
-27: MbD: Convergence = 2.4597323836168336e-15
-14: MbD: Solving for kinematic acceleration.
-27: Time = 0.72
-11: MbD: Solving for kinematic position.
-17: MbD: Convergence = 1.1897524883431819e-15
-17: Time = 0.41
-27: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 16.33672186870443
-11: MbD: Convergence = 0.0076748035452956758
-27: MbD: Convergence = 0.010179182875189348
-24: MbD: Convergence = 0.050289476232114709
-11: MbD: Convergence = 0.0001115267157848811
-27: MbD: Convergence = 0.00029832942638036874
-17: MbD: Convergence = 15607.942508307857
-27: MbD: Convergence = 5.4571082987075445e-08
-14: MbD: Convergence = 5.3835377750272668
-11: MbD: Convergence = 2.7199172605230746e-08
-17: MbD: Convergence = 568.01622264186221
-27: MbD: Solving for kinematic velocity.
-11: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.6221262083890044e-15
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 0.1245096845833456
-14: Time = 0.8
-11: MbD: Solving for kinematic acceleration.
-14: MbD: Solving for kinematic position.
-17: MbD: Convergence = 2.2118947186740977e-08
-11: MbD: Convergence = 1.5697828119689285
-17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 7.403536889452714
 25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.013177068994508292
-11: MbD: Convergence = 2.7801374035883702e-16
-11: Time = 0.96
-11: 97 bryzs 0.125664 != -3.01593 tol = 1e-06
-11: MbD: Solving for kinematic position.
-27: MbD: Convergence = 2.4085753049853199e-15
 25: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 0.00034464872108613793
-11: MbD: Convergence = 0.0076748035452955318
-27: Time = 0.73
-27: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.00011152671578487854
-17: MbD: Convergence = 4.5271171077759371
-14: MbD: Convergence = 2.9208034094449951e-07
 25: MbD: Convergence = 61.637585715199378
-29: MbD: Convergence = 1.9166408574011625e-13
-11: MbD: Convergence = 2.7199172586997607e-08
 25: MbD: Convergence = 2.6856151817151238e-14
-17: MbD: Convergence = 7.1799199690212014e-16
 25: Time = 0.76
-11: MbD: Solving for kinematic velocity.
-29: Time = 0.2
-14: MbD: Solving for kinematic velocity.
 25: 77 vxs -0.587626 != -0.587633 tol = 1e-06
 25: 77 vys -0.666531 != -0.666553 tol = 1e-06
 25: 77 axs 4.18794 != 4.18326 tol = 1e-06
@@ -15054,39 +16277,15 @@
 25: 77 ays -17.646 != -17.0871 tol = 1e-06
 25: 77 azs -13.6876 != -14.5174 tol = 1e-06
 25: 77 alpxs -1.33227e-15 != 0.0127123 tol = 1e-06
-17: MbD: Convergence = 6.9431207099983027e-16
 25: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010337654801036883
-17: MbD: Convergence = 6.3357410972770603e-16
-11: MbD: Solving for kinematic acceleration.
 25: MbD: Convergence = 0.031707308160089147
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 7.7467593738759781e-16
-27: MbD: Convergence = 0.00029924588936478002
 25: MbD: Convergence = 0.0016705269888035513
-17: Time = 0.42
-29: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic position.
 25: MbD: Convergence = 4.5380918098549832e-07
-11: MbD: Convergence = 1.5697828119689277
-27: MbD: Convergence = 6.0395590835168122e-08
 25: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 15158.381667782523
-14: MbD: Convergence = 5.3886540490972692
-3: MbD: Convergence = 2.8788918672611965e-06
 25: MbD: Solving for kinematic acceleration.
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 559.71123026002169
-14: MbD: Convergence = 5.5932515601132091e-15
-14: Time = 0.81
-17: MbD: Convergence = 0.12158776004665933
-14: MbD: Solving for kinematic position.
 25: MbD: Convergence = 62.127118101922903
-27: MbD: Convergence = 7.4219312469207264
 25: MbD: Convergence = 1.1990963941413208e-14
 25: Time = 0.77
-17: MbD: Convergence = 2.1443166105400077e-08
 25: 78 vxs -0.544615 != -0.544608 tol = 1e-06
 25: 78 vys -0.702113 != -0.70206 tol = 1e-06
 25: 78 axs 4.41151 != 4.41182 tol = 1e-06
@@ -15099,108 +16298,13 @@
 25: 78 ays -19.2223 != -19.2611 tol = 1e-06
 25: 78 azs -11.3681 != -11.1694 tol = 1e-06
 25: 78 alpxs 6.21725e-15 != -0.00161108 tol = 1e-06
-14: MbD: Convergence = 0.013177068994508276
 25: MbD: Solving for kinematic position.
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 0.007937154776555249
-3: MbD: Assembling system with limits. 
-27: MbD: Convergence = 1.9134656112351518e-15
 25: MbD: Convergence = 0.031707308160089591
-27: Time = 0.74
 25: MbD: Convergence = 0.0016705269888035775
-14: MbD: Convergence = 0.00034464872108613668
-27: MbD: Solving for kinematic position.
 25: MbD: Convergence = 4.5380918100845699e-07
-17: MbD: Solving for quasi kinematic acceleration.
 25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 2.9208034097858984e-07
-27: MbD: Convergence = 0.010510103016863594
-3: MbD: No limits reached. 
-14: MbD: Solving for kinematic velocity.
-3: Time = 0
 25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.4499529822706885
-17: MbD: Convergence = 1.1310091250888894e-15
-27: MbD: Convergence = 0.00030044376777059711
-14: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.00041792545334505614
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.55
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.6
-16: MbD: Solving for quasi kinematic position.
-16: MbD: Convergence = 2.8275330695806131e-12
-16: MbD: Solving for velocity initial conditions.
-16: MbD: Solving for quasi kinematic acceleration.
-16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
-16: MbD: Convergence = 8.639786775957609e-15
-16: MbD: Convergence = 1.6035391149961525e-15
-16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.65
-16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 6.7866806572443758e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.4441750439466663
-27: MbD: Convergence = 4.3370183453040001e-15
-27: Time = 0.75
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010696954108145803
-27: MbD: Convergence = 0.00030190919505621364
-27: MbD: Convergence = 7.7231099476520236e-08
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.4687204954064299
-27: MbD: Convergence = 1.5469171313610095e-15
-27: Time = 0.76
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.010898654325856377
-27: MbD: Convergence = 0.00030363138558778594
-27: MbD: Convergence = 8.8772127599097781e-08
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 5.3939789962877285
-14: MbD: Convergence = 6.2062910778410998e-15
-14: Time = 0.82
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508562
-14: MbD: Convergence = 0.00034464872108613581
-14: MbD: Convergence = 2.9208034099817239e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.399511999224373
-14: MbD: Convergence = 6.3821561096785655e-15
-14: Time = 0.83
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994507969
-14: MbD: Convergence = 0.00034464872108612042
-14: MbD: Convergence = 2.920803409501326e-07
-14: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.4561740816991268e-06
-29: MbD: Convergence = 1.3977508058010596e-11
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 0.00091900310064248528
-24: MbD: Convergence = 2.6595067913061401e-07
-24: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 9.8811233013359527e-17
 25: MbD: Convergence = 62.611023185865186
-17: MbD: Convergence = 6.5958840109233188e-16
 25: MbD: Convergence = 7.8049977877874566e-15
 25: Time = 0.78
 25: 79 vxs -0.499454 != -0.499447 tol = 1e-06
@@ -15264,6 +16368,583 @@
 25: MbD: Convergence = 0.031707308160089619
 25: MbD: Convergence = 0.0016705269888036233
 25: MbD: Convergence = 4.5380918098676019e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.947876372054601
+25: MbD: Convergence = 9.1278386156580408e-15
+25: Time = 0.81
+25: 82 vxs -0.352896 != -0.352902 tol = 1e-06
+25: 82 vys -0.815495 != -0.815429 tol = 1e-06
+25: 82 axs 5.12391 != 5.12391 tol = 1e-06
+25: 82 ays -2.21731 != -2.21879 tol = 1e-06
+25: 82 alpzs -7.10543e-15 != -9.80232e-06 tol = 1e-06
+25: 82 ys 0.141351 != 0.141357 tol = 1e-06
+25: 82 zs 0.00444213 != 0.00448165 tol = 1e-06
+25: 82 vys 0.0558215 != 0.0565028 tol = 1e-06
+25: 82 vzs -1.77627 != -1.77219 tol = 1e-06
+25: 82 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 82 ays -22.3213 != -22.3214 tol = 1e-06
+25: 82 azs -0.701474 != -0.795584 tol = 1e-06
+25: 82 alpxs 0 != 0.00121741 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089168
+25: MbD: Convergence = 0.0016705269888035563
+25: MbD: Convergence = 4.5380918100484212e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.329387015003817
+25: MbD: Convergence = 8.7264458525723874e-15
+25: Time = 0.82
+25: 83 ys 0.0479048 != 0.0479058 tol = 1e-06
+25: 83 vys -0.836045 != -0.836047 tol = 1e-06
+25: 83 axs 5.25302 != 5.25421 tol = 1e-06
+25: 83 ays -1.8912 != -1.90479 tol = 1e-06
+25: 83 alpzs 5.32907e-15 != -8.50051e-05 tol = 1e-06
+25: 83 ys 0.140793 != 0.140803 tol = 1e-06
+25: 83 zs -0.0133089 != -0.0132442 tol = 1e-06
+25: 83 vys -0.167244 != -0.167182 tol = 1e-06
+25: 83 vzs -1.76926 != -1.76939 tol = 1e-06
+25: 83 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 83 ays -22.2332 != -22.3784 tol = 1e-06
+25: 83 azs 2.10165 != 1.26524 tol = 1e-06
+25: 83 alpxs -3.90799e-14 != 0.0106241 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089633
+25: MbD: Convergence = 0.0016705269888035682
+25: MbD: Convergence = 4.5380918101069824e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.667010764541374
+25: MbD: Convergence = 7.7307389390430629e-15
+25: Time = 0.83
+25: 84 vxs -0.247905 != -0.247882 tol = 1e-06
+25: 84 vys -0.853294 != -0.853535 tol = 1e-06
+25: 84 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 84 axs 5.36141 != 5.36534 tol = 1e-06
+25: 84 ays -1.55763 != -1.59385 tol = 1e-06
+25: 84 alpzs 3.55271e-15 != -0.000254035 tol = 1e-06
+25: 84 ys 0.138015 != 0.138016 tol = 1e-06
+25: 84 zs -0.03085 != -0.0308474 tol = 1e-06
+25: 84 vys -0.387672 != -0.390504 tol = 1e-06
+25: 84 vzs -1.73435 != -1.7491 tol = 1e-06
+25: 84 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 84 ays -21.7944 != -22.2687 tol = 1e-06
+25: 84 azs 4.87163 != 2.66632 tol = 1e-06
+25: 84 alpxs -2.13163e-14 != 0.0316699 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089119
+25: MbD: Convergence = 0.0016705269888035771
+25: MbD: Convergence = 4.538091809832684e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.954547606830928
+25: MbD: Convergence = 1.3505306603645012e-14
+25: Time = 0.84
+25: 85 vxs -0.193837 != -0.193855 tol = 1e-06
+25: 85 vys -0.867177 != -0.867112 tol = 1e-06
+25: 85 axs 5.44863 != 5.44877 tol = 1e-06
+25: 85 ays -1.21791 != -1.21884 tol = 1e-06
+25: 85 alpzs -1.77636e-15 != -6.91108e-06 tol = 1e-06
+25: 85 ys 0.13306 != 0.133079 tol = 1e-06
+25: 85 zs -0.0479046 != -0.0478726 tol = 1e-06
+25: 85 vys -0.601987 != -0.599803 tol = 1e-06
+25: 85 vzs -1.67208 != -1.66851 tol = 1e-06
+25: 85 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 85 ays -21.012 != -21.0301 tol = 1e-06
+25: 85 azs 7.56479 != 7.5064 tol = 1e-06
+25: 85 alpxs -2.4869e-14 != 0.000854851 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089598
+25: MbD: Convergence = 0.0016705269888035925
+25: MbD: Convergence = 4.5380918098483176e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.186546440230927
+25: MbD: Convergence = 1.2321624519865768e-14
+25: Time = 0.85
+25: 86 ys 0.0221232 != 0.0221242 tol = 1e-06
+25: 86 vxs -0.139004 != -0.139007 tol = 1e-06
+25: 86 vys -0.877637 != -0.87763 tol = 1e-06
+25: 86 axs 5.51435 != 5.51779 tol = 1e-06
+25: 86 ays -0.873388 != -0.885403 tol = 1e-06
+25: 86 alpzs 8.88178e-16 != -7.73165e-05 tol = 1e-06
+25: 86 ys 0.126007 != 0.12604 tol = 1e-06
+25: 86 zs -0.0642037 != -0.0641476 tol = 1e-06
+25: 86 vys -0.806807 != -0.806501 tol = 1e-06
+25: 86 vzs -1.58345 != -1.58311 tol = 1e-06
+25: 86 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 86 ays -19.8982 != -20.3074 tol = 1e-06
+25: 86 azs 10.1386 != 9.47706 tol = 1e-06
+25: 86 alpxs 3.19744e-14 != 0.00966397 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008914
+25: MbD: Convergence = 0.0016705269888035554
+25: MbD: Convergence = 4.5380918100581314e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.358396197531675
+25: MbD: Convergence = 6.6472010219761473e-15
+25: Time = 0.86
+25: 87 vxs -0.0836224 != -0.0835606 tol = 1e-06
+25: 87 vys -0.884633 != -0.884841 tol = 1e-06
+25: 87 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 87 axs 5.55831 != 5.56848 tol = 1e-06
+25: 87 ays -0.525415 != -0.558307 tol = 1e-06
+25: 87 alpzs -7.10543e-15 != -0.000238172 tol = 1e-06
+25: 87 ys 0.116966 != 0.116973 tol = 1e-06
+25: 87 zs -0.0794903 != -0.07948 tol = 1e-06
+25: 87 vys -0.998904 != -1.00623 tol = 1e-06
+25: 87 vzs -1.46984 != -1.48119 tol = 1e-06
+25: 87 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 87 ays -18.4706 != -19.6662 tol = 1e-06
+25: 87 azs 12.5526 != 10.7869 tol = 1e-06
+25: 87 alpxs -1.06581e-14 != 0.029699 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089633
+25: MbD: Convergence = 0.0016705269888036126
+25: MbD: Convergence = 4.5380918098027732e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.466405375059367
+25: MbD: Convergence = 1.2747603468462939e-14
+25: Time = 0.87
+25: 88 vxs -0.0279109 != -0.0279412 tol = 1e-06
+25: 88 vys -0.888138 != -0.888078 tol = 1e-06
+25: 88 axs 5.58034 != 5.58042 tol = 1e-06
+25: 88 ays -0.175369 != -0.175805 tol = 1e-06
+25: 88 alpzs -6.21725e-15 != -4.25414e-06 tol = 1e-06
+25: 88 ys 0.106081 != 0.106109 tol = 1e-06
+25: 88 zs -0.0935232 != -0.0935024 tol = 1e-06
+25: 88 vys -1.17525 != -1.17186 tol = 1e-06
+25: 88 vzs -1.33306 != -1.33055 tol = 1e-06
+25: 88 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 88 ays -16.7517 != -16.7652 tol = 1e-06
+25: 88 azs 14.7686 != 14.7402 tol = 1e-06
+25: 88 alpxs -3.55271e-15 != 0.000521589 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089126
+25: MbD: Convergence = 0.0016705269888035469
+25: MbD: Convergence = 4.5380918101005042e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.507869924990445
+25: MbD: Convergence = 1.3992780577511993e-14
+25: Time = 0.88
+25: 89 vxs 0.0279109 != 0.0279033 tol = 1e-06
+25: 89 vys -0.888138 != -0.888125 tol = 1e-06
+25: 89 axs 5.58034 != 5.58549 tol = 1e-06
+25: 89 ays 0.175369 != 0.165201 tol = 1e-06
+25: 89 alpzs -7.99361e-15 != -7.00576e-05 tol = 1e-06
+25: 89 ys 0.0935232 != 0.0935751 tol = 1e-06
+25: 89 zs -0.106081 != -0.106042 tol = 1e-06
+25: 89 vys -1.33306 != -1.33223 tol = 1e-06
+25: 89 vzs -1.17525 != -1.17475 tol = 1e-06
+25: 89 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 89 ays -14.7686 != -15.3401 tol = 1e-06
+25: 89 azs 16.7517 != 16.3305 tol = 1e-06
+25: 89 alpxs -4.61853e-14 != 0.00875726 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089605
+25: MbD: Convergence = 0.0016705269888035823
+25: MbD: Convergence = 4.5380918100516622e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.481129427346701
+25: MbD: Convergence = 1.2359034319315288e-14
+25: Time = 0.89
+25: 90 vxs 0.0836224 != 0.0837121 tol = 1e-06
+25: 90 vys -0.884633 != -0.884805 tol = 1e-06
+25: 90 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 90 axs 5.55831 != 5.57365 tol = 1e-06
+25: 90 ays 0.525415 != 0.496767 tol = 1e-06
+25: 90 alpzs 0 != -0.000223009 tol = 1e-06
+25: 90 ys 0.0794903 != 0.0795075 tol = 1e-06
+25: 90 zs -0.116966 != -0.116954 tol = 1e-06
+25: 90 vys -1.46984 != -1.4797 tol = 1e-06
+25: 90 vzs -0.998904 != -1.00586 tol = 1e-06
+25: 90 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 90 ays -12.5526 != -14.223 tol = 1e-06
+25: 90 azs 18.4706 != 17.3467 tol = 1e-06
+25: 90 alpxs 0 != 0.0278143 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008914
+25: MbD: Convergence = 0.001670526988803532
+25: MbD: Convergence = 4.5380918100966915e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.385611349836537
+25: MbD: Convergence = 9.5756059745182317e-15
+25: Time = 0.9
+25: 91 vxs 0.139004 != 0.138963 tol = 1e-06
+25: 91 vys -0.877637 != -0.877583 tol = 1e-06
+25: 91 axs 5.51435 != 5.51423 tol = 1e-06
+25: 91 ays 0.873388 != 0.873351 tol = 1e-06
+25: 91 alpzs -5.32907e-15 != -1.82044e-06 tol = 1e-06
+25: 91 ys 0.0642037 != 0.064234 tol = 1e-06
+25: 91 zs -0.126007 != -0.125999 tol = 1e-06
+25: 91 vys -1.58345 != -1.57936 tol = 1e-06
+25: 91 vzs -0.806807 != -0.805744 tol = 1e-06
+25: 91 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 91 ays -10.1386 != -10.1333 tol = 1e-06
+25: 91 azs 19.8982 != 19.8846 tol = 1e-06
+25: 91 alpxs 3.55271e-15 != 0.000216249 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089619
+25: MbD: Convergence = 0.0016705269888036083
+25: MbD: Convergence = 4.5380918097967587e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 65.2218630386363
+25: MbD: Convergence = 1.6779880195969604e-14
+25: Time = 0.91
+25: 92 vxs 0.193837 != 0.193822 tol = 1e-06
+25: 92 vys -0.867177 != -0.867159 tol = 1e-06
+25: 92 axs 5.44863 != 5.45498 tol = 1e-06
+25: 92 ays 1.21791 != 1.20973 tol = 1e-06
+25: 92 alpzs 0 != -6.32126e-05 tol = 1e-06
+25: 92 ys 0.0479046 != 0.0479665 tol = 1e-06
+25: 92 zs -0.13306 != -0.133044 tol = 1e-06
+25: 92 vys -1.67208 != -1.67067 tol = 1e-06
+25: 92 vzs -0.601987 != -0.601717 tol = 1e-06
+25: 92 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 92 ays -7.56479 != -8.18914 tol = 1e-06
+25: 92 azs 21.012 != 20.8502 tol = 1e-06
+25: 92 alpxs -3.19744e-14 != 0.00790196 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.03170730816008914
+25: MbD: Convergence = 0.0016705269888035634
+25: MbD: Convergence = 4.5380918103709412e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.991570871386443
+25: MbD: Convergence = 8.4469697281076877e-15
+25: Time = 0.92
+25: 93 vxs 0.247905 != 0.248012 tol = 1e-06
+25: 93 vys -0.853294 != -0.853429 tol = 1e-06
+25: 93 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 93 axs 5.36141 != 5.38074 tol = 1e-06
+25: 93 ays 1.55763 != 1.53388 tol = 1e-06
+25: 93 alpzs 3.55271e-15 != -0.000208525 tol = 1e-06
+25: 93 ys 0.03085 != 0.030878 tol = 1e-06
+25: 93 zs -0.138015 != -0.138008 tol = 1e-06
+25: 93 vys -1.73435 != -1.74476 tol = 1e-06
+25: 93 vzs -0.387672 != -0.390122 tol = 1e-06
+25: 93 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 93 ays -4.87163 != -6.72858 tol = 1e-06
+25: 93 azs 21.7944 != 21.4007 tol = 1e-06
+25: 93 alpxs 1.42109e-14 != 0.0260133 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089175
+25: MbD: Convergence = 0.0016705269888035528
+25: MbD: Convergence = 4.5380918101414741e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.697565754632947
+25: MbD: Convergence = 5.1007907390871251e-15
+25: Time = 0.93
+25: 94 vxs 0.300995 != 0.300944 tol = 1e-06
+25: 94 vys -0.836045 != -0.836 tol = 1e-06
+25: 94 axs 5.25302 != 5.25258 tol = 1e-06
+25: 94 ays 1.8912 != 1.89144 tol = 1e-06
+25: 94 ys 0.0133089 != 0.0133373 tol = 1e-06
+25: 94 zs -0.140793 != -0.140797 tol = 1e-06
+25: 94 vys -1.76926 != -1.76508 tol = 1e-06
+25: 94 vzs -0.167244 != -0.167786 tol = 1e-06
+25: 94 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 94 ays -2.10165 != -2.07449 tol = 1e-06
+25: 94 azs 22.2332 != 22.2153 tol = 1e-06
+25: 94 alpxs 2.84217e-14 != -6.25032e-05 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089639
+25: MbD: Convergence = 0.0016705269888036198
+25: MbD: Convergence = 4.5380918098589955e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 64.343813872570323
+25: MbD: Convergence = 1.8563079188942552e-14
+25: Time = 0.94
+25: 95 vxs 0.352896 != 0.352873 tol = 1e-06
+25: 95 vys -0.815495 != -0.815476 tol = 1e-06
+25: 95 axs 5.12391 != 5.13093 tol = 1e-06
+25: 95 ays 2.21731 != 2.21114 tol = 1e-06
+25: 95 alpzs -1.33227e-15 != -5.67658e-05 tol = 1e-06
+25: 95 ys -0.00444213 != -0.00437962 tol = 1e-06
+25: 95 zs -0.141351 != -0.141359 tol = 1e-06
+25: 95 vys -1.77627 != -1.77444 tol = 1e-06
+25: 95 vzs 0.0558215 != 0.0554851 tol = 1e-06
+25: 95 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 95 ays 0.701474 != 0.123297 tol = 1e-06
+25: 95 azs 22.3213 != 22.3954 tol = 1e-06
+25: 95 alpxs 7.10543e-15 != 0.00709618 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089126
+25: MbD: Convergence = 0.0016705269888035493
+25: MbD: Convergence = 4.5380918100698104e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.935391306968263
+25: MbD: Convergence = 1.7915082851167395e-14
+25: Time = 0.95
+25: 96 vxs 0.403405 != 0.403521 tol = 1e-06
+25: 96 vys -0.791727 != -0.791826 tol = 1e-06
+25: 96 omezs 6.28319 != 6.28318 tol = 1e-06
+25: 96 axs 4.97457 != 4.99669 tol = 1e-06
+25: 96 ays 2.53467 != 2.51618 tol = 1e-06
+25: 96 alpzs -4.44089e-16 != -0.000194698 tol = 1e-06
+25: 96 ys -0.0221231 != -0.0220878 tol = 1e-06
+25: 96 zs -0.13968 != -0.139685 tol = 1e-06
+25: 96 vys -1.75527 != -1.76458 tol = 1e-06
+25: 96 vzs 0.278007 != 0.279433 tol = 1e-06
+25: 96 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 96 ays 3.49354 != 1.73346 tol = 1e-06
+25: 96 azs 22.0573 != 22.3673 tol = 1e-06
+25: 96 alpxs 1.77636e-15 != 0.0242934 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089598
+25: MbD: Convergence = 0.0016705269888035558
+25: MbD: Convergence = 4.538091809819303e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 63.478440871178904
+25: MbD: Convergence = 1.2659923320462747e-14
+25: Time = 0.96
+25: 97 vxs 0.452322 != 0.452264 tol = 1e-06
+25: 97 vys -0.764835 != -0.764801 tol = 1e-06
+25: 97 axs 4.8056 != 4.80477 tol = 1e-06
+25: 97 ays 2.84202 != 2.84238 tol = 1e-06
+25: 97 alpzs 0 != 2.42001e-06 tol = 1e-06
+25: 97 ys -0.0394551 != -0.0394326 tol = 1e-06
+25: 97 zs -0.135805 != -0.135818 tol = 1e-06
+25: 97 vys -1.70658 != -1.70294 tol = 1e-06
+25: 97 vzs 0.495808 != 0.493758 tol = 1e-06
+25: 97 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 97 ays 6.23051 != 6.27145 tol = 1e-06
+25: 97 azs 21.4455 != 21.4065 tol = 1e-06
+25: 97 alpxs 2.30926e-14 != -0.000315967 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089147
+25: MbD: Convergence = 0.0016705269888035576
+25: MbD: Convergence = 4.5380918100948794e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 62.980109265815706
+25: MbD: Convergence = 1.6113465069418707e-14
+25: Time = 0.97
+25: 98 vxs 0.499454 != 0.499423 tol = 1e-06
+25: 98 vys -0.734924 != -0.734907 tol = 1e-06
+25: 98 axs 4.61767 != 4.62491 tol = 1e-06
+25: 98 ays 3.13816 != 3.13392 tol = 1e-06
+25: 98 alpzs 0 != -5.07022e-05 tol = 1e-06
+25: 98 ys -0.056165 != -0.0561111 tol = 1e-06
+25: 98 zs -0.12979 != -0.12982 tol = 1e-06
+25: 98 vys -1.63098 != -1.62908 tol = 1e-06
+25: 98 vzs 0.70579 != 0.704602 tol = 1e-06
+25: 98 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 98 ays 8.86922 != 8.41172 tol = 1e-06
+25: 98 azs 20.4955 != 20.7504 tol = 1e-06
+25: 98 alpxs -2.66454e-15 != 0.00633807 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089605
+25: MbD: Convergence = 0.0016705269888035933
+25: MbD: Convergence = 4.5380918098464346e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 62.448462514952247
+25: MbD: Convergence = 1.0383203593751434e-14
+25: Time = 0.98
+25: 99 vxs 0.544615 != 0.54473 tol = 1e-06
+25: 99 vys -0.702113 != -0.702178 tol = 1e-06
+25: 99 axs 4.41151 != 4.43522 tol = 1e-06
+25: 99 ays 3.42192 != 3.40882 tol = 1e-06
+25: 99 alpzs -2.22045e-15 != -0.000181507 tol = 1e-06
+25: 99 ys -0.071989 != -0.0719531 tol = 1e-06
+25: 99 zs -0.121727 != -0.121748 tol = 1e-06
+25: 99 vys -1.52966 != -1.53673 tol = 1e-06
+25: 99 vzs 0.904641 != 0.908828 tol = 1e-06
+25: 99 omexs -12.5664 != -12.5662 tol = 1e-06
+25: 99 ays 11.3681 != 9.94245 tol = 1e-06
+25: 99 azs 19.2223 != 20.1111 tol = 1e-06
+25: 99 alpxs 7.10543e-15 != 0.0226521 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089154
+25: MbD: Convergence = 0.0016705269888035328
+25: MbD: Convergence = 4.5380918100871799e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 61.892377639617351
+25: MbD: Convergence = 7.7876713362417518e-15
+25: Time = 0.99
+25: 100 vxs 0.587626 != 0.587564 tol = 1e-06
+25: 100 vys -0.666531 != -0.666509 tol = 1e-06
+25: 100 axs 4.18794 != 4.1867 tol = 1e-06
+25: 100 ays 3.69216 != 3.69248 tol = 1e-06
+25: 100 alpzs -6.66134e-16 != 4.2474e-06 tol = 1e-06
+25: 100 ys -0.0866778 != -0.0866634 tol = 1e-06
+25: 100 zs -0.111744 != -0.111762 tol = 1e-06
+25: 100 vys -1.40422 != -1.40164 tol = 1e-06
+25: 100 vzs 1.08923 != 1.086 tol = 1e-06
+25: 100 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 100 ays 13.6876 != 13.726 tol = 1e-06
+25: 100 azs 17.646 != 17.5761 tol = 1e-06
+25: 100 alpxs -4.44089e-16 != -0.000545405 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089584
+25: MbD: Convergence = 0.0016705269888036272
+25: MbD: Convergence = 4.5380918098179446e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 61.321408745041289
+25: MbD: Convergence = 3.8822127409707627e-15
+25: Time = 1
+25: 101 vxs 0.628318 != 0.628279 tol = 1e-06
+25: 101 vys -0.628318 != -0.628306 tol = 1e-06
+25: 101 axs 3.94784 != 3.9549 tol = 1e-06
+25: 101 ays 3.94784 != 3.94534 tol = 1e-06
+25: 101 alpzs -3.78653e-29 != -4.5007e-05 tol = 1e-06
+25: 101 ys -0.0999996 != -0.099962 tol = 1e-06
+25: 101 zs -0.0999996 != -0.100046 tol = 1e-06
+25: 101 vys -1.25663 != -1.2551 tol = 1e-06
+25: 101 vzs 1.25663 != 1.25455 tol = 1e-06
+25: 101 omexs -12.5664 != -12.5664 tol = 1e-06
+25: 101 ays 15.7913 != 15.4966 tol = 1e-06
+25: 101 azs 15.7913 != 16.1539 tol = 1e-06
+25: 101 alpxs 1.22785e-25 != 0.00562579 tol = 1e-06
+25: MbD: Solving for kinematic position.
+25: MbD: Convergence = 0.031707308160089147
+25: MbD: Convergence = 0.0016705269888035274
+25: MbD: Convergence = 4.5380918098898238e-07
+25: MbD: Solving for kinematic velocity.
+25: MbD: Solving for kinematic acceleration.
+25: MbD: Convergence = 60.745626225254775
+25: MbD: Convergence = 6.5035468640311419e-15
+25: [       OK ] OndselSolver.circular (101 ms)
+25: [----------] 1 test from OndselSolver (101 ms total)
+25: 
+25: [----------] Global test environment tear-down
+25: [==========] 1 test from 1 test suite ran. (101 ms total)
+25: [  PASSED  ] 1 test.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3252272115362587
+14: MbD: Convergence = 5.7311551050600938e-15
+14: Time = 0.54
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508255
+14: MbD: Convergence = 0.00034464872108612177
+14: MbD: Convergence = 2.9208034099134817e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3247787023039903
+14: MbD: Convergence = 5.7389550756692449e-15
+14: Time = 0.55
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508148
+14: MbD: Convergence = 0.00034464872108612877
+14: MbD: Convergence = 2.920803409535868e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3245464659788748
+14: MbD: Convergence = 6.0954937977101641e-15
+14: Time = 0.56
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508309
+14: MbD: Convergence = 0.00034464872108611771
+14: MbD: Convergence = 2.9208034094766016e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3245305308599749
+14: MbD: Convergence = 5.7394713882152605e-15
+14: Time = 0.57
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508368
+14: MbD: Convergence = 0.00034464872108613663
+14: MbD: Convergence = 2.9208034097259417e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3247308988892383
+14: MbD: Convergence = 6.7482561875019461e-15
+14: Time = 0.58
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508115
+14: MbD: Convergence = 0.00034464872108612134
+14: MbD: Convergence = 2.9208034099499268e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3251475456503172
+14: MbD: Convergence = 5.6428143439259382e-15
+14: Time = 0.59
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508422
+14: MbD: Convergence = 0.00034464872108613587
+14: MbD: Convergence = 2.9208034095241483e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3257804203834169
+14: MbD: Convergence = 5.7809123214499594e-15
+14: Time = 0.6
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508373
+14: MbD: Convergence = 0.00034464872108613728
+14: MbD: Convergence = 2.9208034096535627e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3266294460162236
+14: MbD: Convergence = 6.9884160232934249e-15
+14: Time = 0.61
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508259
+14: MbD: Convergence = 0.00034464872108614221
+14: MbD: Convergence = 2.9208034096904822e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3276945192107918
+14: MbD: Convergence = 6.4607291401129899e-15
+14: Time = 0.62
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508217
+14: MbD: Convergence = 0.00034464872108613077
+14: MbD: Convergence = 2.9208034096644381e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3289755104264014
+14: MbD: Convergence = 7.5684005226782352e-15
+14: Time = 0.63
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508094
+14: MbD: Convergence = 0.00034464872108613603
+14: MbD: Convergence = 2.9208034096918036e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3304722639981801
+14: MbD: Convergence = 5.909337952765069e-15
+14: Time = 0.64
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508195
+14: MbD: Convergence = 0.00034464872108614194
+14: MbD: Convergence = 2.9208034095205235e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3321845982315192
+14: MbD: Convergence = 6.1240824874622568e-15
+14: Time = 0.65
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508103
+14: MbD: Convergence = 0.00034464872108612123
+14: MbD: Convergence = 2.9208034097408839e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3341123055120363
+14: MbD: Convergence = 1.1688535432081183e-14
+14: Time = 0.66
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.01317706899450824
+14: MbD: Convergence = 0.00034464872108613706
+14: MbD: Convergence = 2.9208034097048431e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689277
+11: MbD: Convergence = 9.8811233013359527e-17
 11: Time = 0.97
 11: 98 bryzs 0.0942478 != -3.04734 tol = 1e-06
 11: MbD: Solving for kinematic position.
@@ -15290,344 +16971,1350 @@
 11: MbD: Convergence = 0.0076748035452956402
 11: MbD: Convergence = 0.00011152671578487725
 11: MbD: Convergence = 2.7199172607258328e-08
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4052524189881037
-14: MbD: Convergence = 5.602482269687693e-15
-14: Time = 0.84
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508283
-14: MbD: Convergence = 0.00034464872108613533
-14: MbD: Convergence = 2.9208034094741887e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4111995954704373
-14: MbD: Convergence = 8.1450363220267535e-15
-14: Time = 0.85
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508134
-14: MbD: Convergence = 0.00034464872108613468
-14: MbD: Convergence = 2.9208034095569681e-07
-14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 6.5772255123120332e-16
-17: MbD: Convergence = 4.7950462649792395e-16
-17: Time = 0.43
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 14712.838876928765
-17: MbD: Convergence = 550.50550775606723
-17: MbD: Convergence = 0.11875428406482717
-17: MbD: Convergence = 2.0737325003983153e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.3681865370742567
-17: MbD: Convergence = 5.5869284535096796e-16
-17: MbD: Convergence = 5.8004998689580436e-16
-17: MbD: Convergence = 3.6741765082639692e-16
-17: MbD: Convergence = 7.2671590924408947e-16
-17: Time = 0.44
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 14272.537758104581
-17: MbD: Convergence = 540.56252194865021
-27: MbD: Convergence = 7.4938905705230878
-27: MbD: Convergence = 4.3337415112390171e-15
-27: Time = 0.77
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.011115633636857669
-27: MbD: Convergence = 0.0003056018754542195
-27: MbD: Convergence = 1.0281822217225834e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.5178509673433283
-27: MbD: Convergence = 5.1903670042346098e-15
-27: Time = 0.78
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.011348260312590891
-27: MbD: Convergence = 0.00030781309008452539
-27: MbD: Convergence = 1.1974698958585326e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.5385865615875716
-27: MbD: Convergence = 2.5156180868695424e-15
-27: Time = 0.79
-29: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.447451086962253
-3: MbD: Convergence = 1958585.8965323453
 11: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Solving for kinematic position.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.569782811968927
+11: MbD: Convergence = 5.6594189367643141e-17
+11: Time = 1
+11: 101 bryzs -7.60503e-15 != 3.14159 tol = 1e-06
+11: MbD: Solving for kinematic position.
+11: MbD: Convergence = 0.0076748035452955318
+11: MbD: Convergence = 0.00011152671578490365
+11: MbD: Convergence = 2.7199172603115099e-08
+11: MbD: Solving for kinematic velocity.
+11: MbD: Solving for kinematic acceleration.
+11: MbD: Convergence = 1.5697828119689274
+11: MbD: Convergence = 1.7027046856970899e-16
+11: FileName = assembly.asmt
+11: 
+11: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.1
+16: MbD: Solving for quasi kinematic position.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-11: MbD: Solving for kinematic acceleration.
 16: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 0.011596782729332282
-27: MbD: Convergence = 0.00031025588388786617
 16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 5.4173528477381012
 16: MbD: Convergence = 1.3831147369825216e-14
-27: MbD: Convergence = 1.3998471072360624e-07
 16: MbD: Convergence = 8.639786775957609e-15
-14: MbD: Convergence = 6.1854224379170418e-15
 16: MbD: Convergence = 1.6035391149961525e-15
-27: MbD: Solving for kinematic velocity.
-14: Time = 0.86
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.7
+16: Time = 4.15
 16: MbD: Solving for quasi kinematic position.
-14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic acceleration.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 2.6048961152531806e-13
-14: MbD: Convergence = 0.013177068994508455
 16: MbD: Solving for quasi kinematic acceleration.
-29: Time = 0.22
-14: MbD: Convergence = 0.00034464872108613804
-27: MbD: Convergence = 7.553885844661071
 16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 2.9208034094027256e-07
 16: MbD: Convergence = 1.3831147369825216e-14
-27: MbD: Convergence = 6.869930951446665e-15
-27: Time = 0.8
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 6825.4644323730045
 16: MbD: Convergence = 8.639786775957609e-15
 16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic position.
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.75
+16: Time = 4.2
 16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 0.011861254365475974
-14: MbD: Solving for kinematic acceleration.
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 0.00031291560092849418
 16: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 5.4237114744063195
-27: MbD: Convergence = 1.6399758458665161e-07
 16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 5.6363820929636691e-15
-29: MbD: Convergence = 0.008012947761453719
 16: MbD: Convergence = 1.3831147369825216e-14
-27: MbD: Solving for kinematic velocity.
-14: Time = 0.87
-25: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic position.
-17: MbD: Convergence = 0.11595209800819861
-27: MbD: Solving for kinematic acceleration.
-25: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508118
-24: MbD: Solving for kinematic acceleration.
-11: MbD: Convergence = 1.569782811968927
-17: MbD: Convergence = 2.0044725441822457e-08
-11: MbD: Convergence = 5.6594189367643141e-17
-17: MbD: Solving for velocity initial conditions.
-14: MbD: Convergence = 0.00034464872108612253
-11: Time = 1
-11: 101 bryzs -7.60503e-15 != 3.14159 tol = 1e-06
-11: MbD: Solving for kinematic position.
-14: MbD: Convergence = 2.9208034094896052e-07
-25: MbD: Convergence = 63.947876372054601
-25: MbD: Convergence = 9.1278386156580408e-15
-29: MbD: Convergence = 0.00041612454723351098
-11: MbD: Convergence = 0.0076748035452955318
-27: MbD: Convergence = 7.5613363808958924
-25: Time = 0.81
-5: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical001 has the following constraint(s) removed: 
-17: MbD: Solving for quasi kinematic acceleration.
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical003 has the following constraint(s) removed: 
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute has the following constraint(s) removed: 
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute001 has the following constraint(s) removed: 
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-25: 82 vxs -0.352896 != -0.352902 tol = 1e-06
-25: 82 vys -0.815495 != -0.815429 tol = 1e-06
-25: 82 axs 5.12391 != 5.12391 tol = 1e-06
-25: 82 ays -2.21731 != -2.21879 tol = 1e-06
-25: 82 alpzs -7.10543e-15 != -9.80232e-06 tol = 1e-06
-25: 82 ys 0.141351 != 0.141357 tol = 1e-06
-25: 82 zs 0.00444213 != 0.00448165 tol = 1e-06
-25: 82 vys 0.0558215 != 0.0565028 tol = 1e-06
-25: 82 vzs -1.77627 != -1.77219 tol = 1e-06
-25: 82 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 82 ays -22.3213 != -22.3214 tol = 1e-06
-25: 82 azs -0.701474 != -0.795584 tol = 1e-06
-25: 82 alpxs 0 != 0.00121741 tol = 1e-06
-5: MbD: Assembling system. 
-25: MbD: Solving for kinematic position.
-11: MbD: Convergence = 0.00011152671578490365
-27: MbD: Convergence = 1.9418819741052349e-15
-25: MbD: Convergence = 0.031707308160089168
-27: Time = 0.81
-14: MbD: Solving for kinematic velocity.
-11: MbD: Convergence = 2.7199172603115099e-08
-17: MbD: Convergence = 4.284310756714091
-25: MbD: Convergence = 0.0016705269888035563
-11: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4.7684517258347473e-16
-27: MbD: Solving for kinematic position.
-25: MbD: Convergence = 4.5380918100484212e-07
-25: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.7733314255858932e-16
-11: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 3.2683948038393505e-16
-25: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.012141437282967
-29: MbD: Convergence = 1.4754148621416406e-06
-17: MbD: Convergence = 3.5253899776050025e-16
-17: Time = 0.45
-27: MbD: Convergence = 0.00031576615750821539
-11: MbD: Convergence = 1.5697828119689274
-14: MbD: Convergence = 5.4302747540203997
 16: MbD: Convergence = 8.639786775957609e-15
-11: MbD: Convergence = 1.7027046856970899e-16
 16: MbD: Convergence = 1.6035391149961525e-15
-25: MbD: Convergence = 64.329387015003817
-14: MbD: Convergence = 5.6336135041643389e-15
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.8
-25: MbD: Convergence = 8.7264458525723874e-15
-27: MbD: Convergence = 1.9227063474894792e-07
-25: Time = 0.82
+16: Time = 4.25
 16: MbD: Solving for quasi kinematic position.
-25: 83 ys 0.0479048 != 0.0479058 tol = 1e-06
-25: 83 vys -0.836045 != -0.836047 tol = 1e-06
-25: 83 axs 5.25302 != 5.25421 tol = 1e-06
-25: 83 ays -1.8912 != -1.90479 tol = 1e-06
-25: 83 alpzs 5.32907e-15 != -8.50051e-05 tol = 1e-06
-25: 83 ys 0.140793 != 0.140803 tol = 1e-06
-25: 83 zs -0.0133089 != -0.0132442 tol = 1e-06
-25: 83 vys -0.167244 != -0.167182 tol = 1e-06
-25: 83 vzs -1.76926 != -1.76939 tol = 1e-06
-25: 83 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 83 ays -22.2332 != -22.3784 tol = 1e-06
-25: 83 azs 2.10165 != 1.26524 tol = 1e-06
-25: 83 alpxs -3.90799e-14 != 0.0106241 tol = 1e-06
-27: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic position.
-14: Time = 0.88
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 0.031707308160089633
-14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 0.0016705269888035682
-29: MbD: Convergence = 1.4034749038068463e-11
 16: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Convergence = 4.5380918101069824e-07
-14: MbD: Convergence = 0.013177068994508441
 16: MbD: Convergence = 3.3990045920330978
-24: MbD: Convergence = 71893.222447750653
-14: MbD: Convergence = 0.00034464872108615761
 16: MbD: Convergence = 1.3831147369825216e-14
-27: MbD: Convergence = 7.5583319936386495
 16: MbD: Convergence = 8.639786775957609e-15
-3: MbD: Convergence = 6.6997143368370065
 16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Convergence = 2.9208034094953952e-07
 16: MbD: Convergence = 6.6358517584916043e-16
-29: MbD: Solving for kinematic velocity.
-16: Time = 4.85
-27: MbD: Convergence = 3.4779772626954062e-15
+16: Time = 4.3
 16: MbD: Solving for quasi kinematic position.
-27: Time = 0.82
 16: MbD: Convergence = 2.8275330695806131e-12
-14: MbD: Solving for kinematic velocity.
 16: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.012436678787708081
-14: MbD: Solving for kinematic acceleration.
 16: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 0.00031876172761747374
 16: MbD: Convergence = 3.3990045920330978
 16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 5.4370419454451406
 16: MbD: Convergence = 8.639786775957609e-15
-27: MbD: Convergence = 2.2526827851216703e-07
 16: MbD: Convergence = 1.6035391149961525e-15
-27: MbD: Solving for kinematic velocity.
 16: MbD: Convergence = 6.6358517584916043e-16
-16: Time = 4.9
-14: MbD: Convergence = 6.1693923167830152e-15
+16: Time = 4.35
 16: MbD: Solving for quasi kinematic position.
-14: Time = 0.89
-27: MbD: Solving for kinematic acceleration.
 16: MbD: Convergence = 2.8275330695806131e-12
-14: MbD: Solving for kinematic position.
 16: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic acceleration.
 16: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 0.01317706899450811
-27: MbD: Convergence = 7.542086554835433
 16: MbD: Convergence = 3.3990045920330978
-14: MbD: Convergence = 0.00034464872108612953
 16: MbD: Convergence = 1.3831147369825216e-14
-27: MbD: Convergence = 3.6003160788028728e-15
 16: MbD: Convergence = 8.639786775957609e-15
-14: MbD: Convergence = 2.9208034095263135e-07
-27: Time = 0.83
 16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Solving for kinematic velocity.
 16: MbD: Convergence = 6.6358517584916043e-16
-27: MbD: Solving for kinematic position.
-16: Time = 4.95
+16: Time = 4.4
 16: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 0.012745755696795109
 16: MbD: Convergence = 2.8275330695806131e-12
 16: MbD: Solving for velocity initial conditions.
-14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.00032182595962429011
-27: MbD: Convergence = 2.6336831975136036e-07
 16: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 0.0002757228168836542
 16: MbD: Convergence = 3.3990045920330978
 16: MbD: Convergence = 1.3831147369825216e-14
-14: MbD: Convergence = 5.4440122882615105
-14: MbD: Convergence = 5.7861311961569314e-15
-14: Time = 0.9
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.01317706899450834
-14: MbD: Convergence = 0.00034464872108613099
-14: MbD: Convergence = 2.920803409490854e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4511850031703055
-14: MbD: Convergence = 5.589619808718323e-15
-14: Time = 0.91
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508356
-14: MbD: Convergence = 0.00034464872108614319
-14: MbD: Convergence = 2.9208034096796069e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4585592924020956
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 13838.485392349066
-17: MbD: Convergence = 530.02591336549142
-17: MbD: Convergence = 0.113139443985924
-17: MbD: Convergence = 1.9322298577755027e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.2007681493442455
-17: MbD: Convergence = 1.6302308553674417e-15
-17: MbD: Convergence = 5.066898114944741e-16
-17: MbD: Convergence = 4.3843012040234079e-16
-17: MbD: Convergence = 4.0708036000900907e-16
-17: Time = 0.46
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 13411.505937176289
-17: MbD: Convergence = 519.02130033625645
-17: MbD: Convergence = 0.11028723382360144
-17: MbD: Convergence = 1.8644701498566511e-08
-17: MbD: Solving for velocity initial conditions.
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.45
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.5
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.55
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.6
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+13: MbD: Convergence = 3.8180977958249246e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3353152181543022
+13: MbD: Convergence = 1.7451998987182009e-15
+13: Time = 0.78
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877593
+13: MbD: Convergence = 0.00015291749096384667
+13: MbD: Convergence = 3.8180977958248187e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3248669118163807
+13: MbD: Convergence = 1.3707233976754309e-15
+13: Time = 0.79
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.009707943918987761
+13: MbD: Convergence = 0.0001529174909638473
+13: MbD: Convergence = 3.8180977957781624e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3134737200344202
+13: MbD: Convergence = 1.569921453783669e-15
+13: Time = 0.8
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878981
+13: MbD: Convergence = 0.00015291749096388066
+13: MbD: Convergence = 3.8180977924680112e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.3012853353445926
+13: MbD: Convergence = 1.3775112190774224e-15
+13: Time = 0.81
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877766
+13: MbD: Convergence = 0.00015291749096386453
+13: MbD: Convergence = 3.8180977923501949e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2884661811428035
+13: MbD: Convergence = 1.039698292104931e-15
+13: Time = 0.82
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878946
+13: MbD: Convergence = 0.00015291749096384713
+13: MbD: Convergence = 3.818097794136367e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2751945609669995
+13: MbD: Convergence = 1.0814138600898097e-15
+13: Time = 0.83
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877662
+13: MbD: Convergence = 0.00015291749096386364
+13: MbD: Convergence = 3.8180977941761895e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2616614209410337
+13: MbD: Convergence = 2.0105736495252051e-15
+13: Time = 0.84
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879067
+13: MbD: Convergence = 0.00015291749096386464
+13: MbD: Convergence = 3.818097792412387e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 6.6014027642060693e-09
+24: Time = 0.14
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.12939788241868627
+24: MbD: Convergence = 0.0061276968009529829
+24: MbD: Convergence = 7.41168706117116e-06
+24: MbD: Convergence = 6.5242132267220544e-11
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0077470919209501349
+29: MbD: Convergence = 0.00041441067826356704
+29: MbD: Convergence = 1.3974923122933635e-06
+29: MbD: Convergence = 1.2917893675204388e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 2161914.5618116292
+3: MbD: Convergence = 40184.194696284503
+3: MbD: Convergence = 259.80021675187731
+3: MbD: Convergence = 0.089896285767864348
+3: MbD: Convergence = 3.8743242686065923e-05
+3: MbD: Convergence = 3.9347667222890968e-06
+3: MbD: Convergence = 5.5784922607358136e-07
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
+3: MbD: Convergence = 2721921.4038351928
+3: MbD: Convergence = 14872.215872756988
+3: MbD: Convergence = 22.069018935865831
+3: MbD: Convergence = 0.00061625707646678944
+3: MbD: Convergence = 1.479186442801277e-06
+3: MbD: Convergence = 1.562157259288854e-06
+3: MbD: Convergence = 5.1088547452832614e-08
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
+3: MbD: Convergence = 36367524.191196904
+4: MbD: Singular Matrix Error. 
+4: MbD: Convergence = 291538238.67026126
+4: MbD: Convergence = 216106797.60120988
+4: MbD: Convergence = 189620100.41964987
+4: MbD: Convergence = 53348146.713246964
+4: MbD: Convergence = 1632845.1943181544
+4: MbD: Convergence = 42918.116205927137
+4: MbD: Convergence = 44.956715462591909
+4: MbD: Convergence = 0.4455582710584845
+4: MbD: Convergence = 0.00069810496397948332
+4: MbD: Convergence = 1.8809386470097345e-06
+4: MbD: Convergence = 7.295813859946174e-06
+4: MbD: Convergence = 1.3534476450077177e-06
+4: MbD: Assembling system with limits. 
+4: MbD: No limits reached. 
+4: Time = 0
+4: MbD: Assembling system. 
+4: MbD: Checking for redundant constraints.
+4: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical002 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical003 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute001 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute002 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute003 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute005 has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: slationalJointE /OndselAssembly/AssemblyExample#Slider has the following constraint(s) removed: 
+4: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+4: MbD: Assembling system. 
+4: MbD: Convergence = 0.0029234085530269989
+21/35 Test #11: OndselSolver.Gears ...............................Subprocess aborted***Exception:   0.13 sec
+Running main() from ./googletest/src/gtest_main.cc
+Note: Google Test filter = OndselSolver.Gears
+[==========] Running 1 test from 1 test suite.
+[----------] Global test environment set-up.
+[----------] 1 test from OndselSolver
+[ RUN      ] OndselSolver.Gears
+(6.28319*imeE)
+Time = 0
+0 omezs 6.28319 != 6.28302 tol = 1e-06
+0 omezs -3.14159 != -3.14159 tol = 1e-06
+MbD: Assembling system. 
+MbD: Convergence = 5.5426659263550546e-13
+MbD: Convergence = 1.4676242649151501e-14
+MbD: Convergence = 9.0008889461952501e-15
+MbD: Convergence = 9.0008930218339403e-15
+MbD: Convergence = 9.0008889461952249e-15
+MbD: Solving for velocity initial conditions.
+MbD: Solving for acceleration initial conditions.
+MbD: Convergence = 1.5697828119689161
+MbD: Convergence = 2.838273051424107e-16
+MbD: Convergence = 2.7565033107012802e-16
+MbD: Convergence = 2.7561705830576715e-16
+MbD: Convergence = 2.7561705830576715e-16
+Time = 0
+1 bryzs 3.14159 != 2.22045e-16 tol = 1e-06
+MbD: Starting kinematic analysis.
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452961589
+MbD: Convergence = 0.00011152671578491188
+MbD: Convergence = 2.7199172582024525e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.4027639640086101e-16
+Time = 0.01
+2 bryzs 3.11018 != -0.0314159 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955882
+MbD: Convergence = 0.00011152671578487968
+MbD: Convergence = 2.71991726045481e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.1455178045950105e-16
+Time = 0.02
+3 bryzs 3.07876 != -0.0628319 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955552
+MbD: Convergence = 0.00011152671578493689
+MbD: Convergence = 2.7199172556823898e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.1454999949371652e-16
+Time = 0.03
+4 bryzs 3.04734 != -0.0942478 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955709
+MbD: Convergence = 0.00011152671578487899
+MbD: Convergence = 2.7199172579715622e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 3.1064251432305617e-16
+Time = 0.04
+5 bryzs 3.01593 != -0.125664 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955613
+MbD: Convergence = 0.00011152671578490178
+MbD: Convergence = 2.7199172606857473e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 2.8595634656261925e-16
+Time = 0.05
+6 bryzs 2.98451 != -0.15708 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295596
+MbD: Convergence = 0.00011152671578490905
+MbD: Convergence = 2.7199172605334279e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 1.0204451242059887e-16
+Time = 0.06
+7 bryzs 2.9531 != -0.188496 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955847
+MbD: Convergence = 0.00011152671578492492
+MbD: Convergence = 2.7199172606358342e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 1.2926123935990897e-16
+Time = 0.07
+8 bryzs 2.92168 != -0.219911 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955778
+MbD: Convergence = 0.00011152671578490828
+MbD: Convergence = 2.7199172581040792e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 6.3057553363725548e-17
+Time = 0.08
+9 bryzs 2.89027 != -0.251327 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955908
+MbD: Convergence = 0.00011152671578492591
+MbD: Convergence = 2.719917255883169e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 5.5605541576892929e-16
+Time = 0.09
+10 bryzs 2.85885 != -0.282743 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955743
+MbD: Convergence = 0.00011152671578490215
+MbD: Convergence = 2.719917260493439e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689266
+MbD: Convergence = 6.9523742826386698e-17
+Time = 0.1
+11 bryzs 2.82743 != -0.314159 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955535
+MbD: Convergence = 0.00011152671578490637
+MbD: Convergence = 2.7199172581472173e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.8545076600505356e-16
+Time = 0.11
+12 bryzs 2.79602 != -0.345575 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955535
+MbD: Convergence = 0.00011152671578490234
+MbD: Convergence = 2.7199172605994713e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 9.4190068564875419e-17
+Time = 0.12
+13 bryzs 2.7646 != -0.376991 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955804
+MbD: Convergence = 0.00011152671578490286
+MbD: Convergence = 2.7199172610199732e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689266
+MbD: Convergence = 7.9849726859758535e-17
+Time = 0.13
+14 bryzs 2.73319 != -0.408407 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955917
+MbD: Convergence = 0.0001115267157849324
+MbD: Convergence = 2.719917258193505e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 7.5472059117508339e-17
+Time = 0.14
+15 bryzs 2.70177 != -0.439823 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955986
+MbD: Convergence = 0.00011152671578490286
+MbD: Convergence = 2.7199172608115356e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 6.9560834725828003e-17
+Time = 0.15
+16 bryzs 2.67035 != -0.471239 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955709
+MbD: Convergence = 0.00011152671578490874
+MbD: Convergence = 2.7199172600001191e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 3.1044859584776266e-17
+Time = 0.16
+17 bryzs 2.63894 != -0.502655 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955951
+MbD: Convergence = 0.0001115267157849155
+MbD: Convergence = 2.7199172599803634e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 9.4561031272724483e-17
+Time = 0.17
+18 bryzs 2.60752 != -0.534071 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955414
+MbD: Convergence = 0.0001115267157849078
+MbD: Convergence = 2.7199172605365785e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 2.9380318718216131e-16
+Time = 0.18
+19 bryzs 2.57611 != -0.565487 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955986
+MbD: Convergence = 0.00011152671578490971
+MbD: Convergence = 2.7199172610397303e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 2.7567434684370022e-16
+Time = 0.19
+20 bryzs 2.54469 != -0.596903 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956108
+MbD: Convergence = 0.00011152671578490921
+MbD: Convergence = 2.7199172577662278e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7782365051289491e-16
+Time = 0.2
+21 bryzs 2.51327 != -0.628319 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955535
+MbD: Convergence = 0.00011152671578487827
+MbD: Convergence = 2.7199172579450325e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7569946144314537e-16
+Time = 0.21
+22 bryzs 2.48186 != -0.659734 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955917
+MbD: Convergence = 0.00011152671578488436
+MbD: Convergence = 2.7199172579450335e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7636103573312476e-16
+Time = 0.22
+23 bryzs 2.45044 != -0.69115 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955856
+MbD: Convergence = 0.00011152671578492594
+MbD: Convergence = 2.7199172584284518e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 2.8456885214365735e-16
+Time = 0.23
+24 bryzs 2.41903 != -0.722566 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955873
+MbD: Convergence = 0.00011152671578488482
+MbD: Convergence = 2.7199172577464496e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.1312161934504529e-17
+Time = 0.24
+25 bryzs 2.38761 != -0.753982 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955388
+MbD: Convergence = 0.00011152671578490193
+MbD: Convergence = 2.7199172580428509e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.8828777485341849e-17
+Time = 0.25
+26 bryzs 2.35619 != -0.785398 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955691
+MbD: Convergence = 0.00011152671578491031
+MbD: Convergence = 2.7199172555655747e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 1.1102703958252387e-17
+Time = 0.26
+27 bryzs 2.32478 != -0.816814 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955908
+MbD: Convergence = 0.00011152671578490882
+MbD: Convergence = 2.7199172578192452e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.8483422364358483e-17
+Time = 0.27
+28 bryzs 2.29336 != -0.84823 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955917
+MbD: Convergence = 0.00011152671578490803
+MbD: Convergence = 2.7199172608874116e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.756803187504296e-16
+Time = 0.28
+29 bryzs 2.26195 != -0.879646 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955917
+MbD: Convergence = 0.0001115267157849094
+MbD: Convergence = 2.7199172582564015e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689285
+MbD: Convergence = 2.7567898020098229e-16
+Time = 0.29
+30 bryzs 2.23053 != -0.911062 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955787
+MbD: Convergence = 0.00011152671578493072
+MbD: Convergence = 2.7199172584882212e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.1243453617734115e-17
+Time = 0.3
+31 bryzs 2.19911 != -0.942478 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956125
+MbD: Convergence = 0.00011152671578490284
+MbD: Convergence = 2.7199172582564015e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.8811815335321497e-16
+Time = 0.31
+32 bryzs 2.1677 != -0.973894 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955604
+MbD: Convergence = 0.00011152671578488667
+MbD: Convergence = 2.7199172579980498e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 7.7648572526959815e-17
+Time = 0.32
+33 bryzs 2.13628 != -1.00531 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955995
+MbD: Convergence = 0.0001115267157849073
+MbD: Convergence = 2.7199172607881555e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 9.7865381104966672e-17
+Time = 0.33
+34 bryzs 2.10487 != -1.03673 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955587
+MbD: Convergence = 0.00011152671578490147
+MbD: Convergence = 2.7199172581503695e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 2.845972940883898e-16
+Time = 0.34
+35 bryzs 2.07345 != -1.06814 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955873
+MbD: Convergence = 0.00011152671578491101
+MbD: Convergence = 2.7199172600266521e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 2.9239758004779651e-16
+Time = 0.35
+36 bryzs 2.04204 != -1.09956 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956134
+MbD: Convergence = 0.00011152671578491149
+MbD: Convergence = 2.7199172605365798e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 2.9259600182987665e-16
+Time = 0.36
+37 bryzs 2.01062 != -1.13097 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295596
+MbD: Convergence = 0.00011152671578490916
+MbD: Convergence = 2.7199172582564018e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 8.7575627658302624e-17
+Time = 0.37
+38 bryzs 1.9792 != -1.16239 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295583
+MbD: Convergence = 0.00011152671578493218
+MbD: Convergence = 2.7199172578525067e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689283
+MbD: Convergence = 7.0108342635686735e-17
+Time = 0.38
+39 bryzs 1.94779 != -1.19381 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955977
+MbD: Convergence = 0.0001115267157849038
+MbD: Convergence = 2.7199172604305478e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.8383939148521334e-17
+Time = 0.39
+40 bryzs 1.91637 != -1.22522 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955943
+MbD: Convergence = 0.00011152671578491015
+MbD: Convergence = 2.7199172603842618e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 6.9340038583128519e-17
+Time = 0.4
+41 bryzs 1.88496 != -1.25664 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955865
+MbD: Convergence = 0.00011152671578493118
+MbD: Convergence = 2.7199172583624332e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 1.553685003429166e-16
+Time = 0.41
+42 bryzs 1.85354 != -1.28805 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955908
+MbD: Convergence = 0.00011152671578492534
+MbD: Convergence = 2.7199172581040835e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 3.3015880409336191e-16
+Time = 0.42
+43 bryzs 1.82212 != -1.31947 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955232
+MbD: Convergence = 0.00011152671578493161
+MbD: Convergence = 2.7199172579980512e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 3.2011573284495123e-17
+Time = 0.43
+44 bryzs 1.79071 != -1.35088 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955787
+MbD: Convergence = 0.00011152671578493168
+MbD: Convergence = 2.7199172583161474e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 3.1075485645979138e-16
+Time = 0.44
+45 bryzs 1.75929 != -1.3823 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955977
+MbD: Convergence = 0.0001115267157849322
+MbD: Convergence = 2.7199172577859872e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.0203233865085845e-16
+Time = 0.45
+46 bryzs 1.72788 != -1.41372 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955657
+MbD: Convergence = 0.00011152671578493259
+MbD: Convergence = 2.7199172575874271e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689283
+MbD: Convergence = 1.9773732616961788e-16
+Time = 0.46
+47 bryzs 1.69646 != -1.44513 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295583
+MbD: Convergence = 0.00011152671578488484
+MbD: Convergence = 2.7199172601259101e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 1.3755528985467579e-16
+Time = 0.47
+48 bryzs 1.66504 != -1.47655 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955743
+MbD: Convergence = 0.00011152671578490929
+MbD: Convergence = 2.7199172604637859e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 1.7310494798155668e-16
+Time = 0.48
+49 bryzs 1.63363 != -1.50796 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955856
+MbD: Convergence = 0.00011152671578491887
+MbD: Convergence = 2.7199172583624348e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 1.9844571937959396e-16
+Time = 0.49
+50 bryzs 1.60221 != -1.53938 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955483
+MbD: Convergence = 0.0001115267157848976
+MbD: Convergence = 2.7199172603000852e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.4447165945806191e-16
+Time = 0.5
+51 bryzs 1.5708 != -1.5708 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955804
+MbD: Convergence = 0.00011152671578493133
+MbD: Convergence = 2.7199172603842621e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 1.5444178867906075e-16
+Time = 0.51
+52 bryzs 1.53938 != -1.60221 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955856
+MbD: Convergence = 0.00011152671578492734
+MbD: Convergence = 2.7199172580178307e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 7.0679950952112187e-17
+Time = 0.52
+53 bryzs 1.50796 != -1.63363 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955839
+MbD: Convergence = 0.00011152671578490772
+MbD: Convergence = 2.7199172605365811e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.6876514306655871e-16
+Time = 0.53
+54 bryzs 1.47655 != -1.66504 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955743
+MbD: Convergence = 0.00011152671578492679
+MbD: Convergence = 2.7199172556186162e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 3.3233752462879178e-16
+Time = 0.54
+55 bryzs 1.44513 != -1.69646 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955943
+MbD: Convergence = 0.0001115267157849277
+MbD: Convergence = 2.7199172576404438e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.569782811968927
+MbD: Convergence = 1.4186765922897596e-16
+Time = 0.55
+56 bryzs 1.41372 != -1.72788 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955821
+MbD: Convergence = 0.00011152671578488529
+MbD: Convergence = 2.719917260391037e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 1.1934998489715197e-16
+Time = 0.56
+57 bryzs 1.3823 != -1.75929 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955648
+MbD: Convergence = 0.00011152671578490239
+MbD: Convergence = 2.7199172605963264e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689285
+MbD: Convergence = 3.2409990446938301e-16
+Time = 0.57
+58 bryzs 1.35088 != -1.79071 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955873
+MbD: Convergence = 0.00011152671578490238
+MbD: Convergence = 2.7199172582959146e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.4961340615161452e-17
+Time = 0.58
+59 bryzs 1.31947 != -1.82212 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955379
+MbD: Convergence = 0.00011152671578492581
+MbD: Convergence = 2.7199172582959149e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.9303690055415195e-16
+Time = 0.59
+60 bryzs 1.28805 != -1.85354 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295609
+MbD: Convergence = 0.00011152671578490825
+MbD: Convergence = 2.7199172583556595e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 3.0030790168892085e-16
+Time = 0.6
+61 bryzs 1.25664 != -1.88496 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955891
+MbD: Convergence = 0.00011152671578490192
+MbD: Convergence = 2.7199172603842618e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.9224171289968725e-16
+Time = 0.61
+62 bryzs 1.22522 != -1.91637 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955466
+MbD: Convergence = 0.00011152671578492534
+MbD: Convergence = 2.7199172583624348e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 3.2394184686640187e-16
+Time = 0.62
+63 bryzs 1.19381 != -1.94779 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295583
+MbD: Convergence = 0.0001115267157848785
+MbD: Convergence = 2.7199172608546774e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.9314378059309075e-16
+Time = 0.63
+64 bryzs 1.16239 != -1.9792 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295609
+MbD: Convergence = 0.00011152671578490782
+MbD: Convergence = 2.7199172583556595e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 7.0430244286333832e-17
+Time = 0.64
+65 bryzs 1.13097 != -2.01062 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956342
+MbD: Convergence = 0.00011152671578492672
+MbD: Convergence = 2.7199172578987945e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 2.878003416594902e-16
+Time = 0.65
+66 bryzs 1.09956 != -2.04204 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955188
+MbD: Convergence = 0.00011152671578492625
+MbD: Convergence = 2.7199172577927621e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689279
+MbD: Convergence = 2.7957207710258957e-16
+Time = 0.66
+67 bryzs 1.06814 != -2.07345 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.007674803545295537
+MbD: Convergence = 0.00011152671578490918
+MbD: Convergence = 2.719917260132686e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 1.1773406692539996e-17
+Time = 0.67
+68 bryzs 1.03673 != -2.10487 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956515
+MbD: Convergence = 0.00011152671578490784
+MbD: Convergence = 2.7199172606358385e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 2.8431780151290945e-16
+Time = 0.68
+69 bryzs 1.00531 != -2.13628 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955153
+MbD: Convergence = 0.00011152671578490147
+MbD: Convergence = 2.7199172608941882e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.0477527350483355e-16
+Time = 0.69
+70 bryzs 0.973894 != -2.1677 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956515
+MbD: Convergence = 0.00011152671578488574
+MbD: Convergence = 2.7199172604835185e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 7.9147455434230375e-17
+Time = 0.7
+71 bryzs 0.942478 != -2.19911 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955336
+MbD: Convergence = 0.00011152671578490939
+MbD: Convergence = 2.7199172576404425e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 4.1613180163795708e-17
+Time = 0.71
+72 bryzs 0.911062 != -2.23053 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956342
+MbD: Convergence = 0.00011152671578489139
+MbD: Convergence = 2.7199172580973079e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 7.2647004772313583e-17
+Time = 0.72
+73 bryzs 0.879646 != -2.26195 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955422
+MbD: Convergence = 0.00011152671578490734
+MbD: Convergence = 2.7199172607153616e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 1.3924371580268391e-16
+Time = 0.73
+74 bryzs 0.84823 != -2.29336 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956498
+MbD: Convergence = 0.00011152671578492699
+MbD: Convergence = 2.7199172560157353e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.1734439512998666e-17
+Time = 0.74
+75 bryzs 0.816814 != -2.32478 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955336
+MbD: Convergence = 0.00011152671578491488
+MbD: Convergence = 2.7199172577647015e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.569782811968927
+MbD: Convergence = 1.0929128383705714e-15
+Time = 0.75
+76 bryzs 0.785398 != -2.35619 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956481
+MbD: Convergence = 0.0001115267157849015
+MbD: Convergence = 2.7199172587792865e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 7.0371869335698364e-17
+Time = 0.76
+77 bryzs 0.753982 != -2.38761 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955336
+MbD: Convergence = 0.00011152671578490159
+MbD: Convergence = 2.7199172583026419e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7634237803232431e-16
+Time = 0.77
+78 bryzs 0.722566 != -2.41903 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956541
+MbD: Convergence = 0.00011152671578491101
+MbD: Convergence = 2.7199172601857007e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689268
+MbD: Convergence = 2.7568685132300949e-16
+Time = 0.78
+79 bryzs 0.69115 != -2.45044 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955292
+MbD: Convergence = 0.00011152671578490307
+MbD: Convergence = 2.7199172577464748e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 2.7821190570666977e-16
+Time = 0.79
+80 bryzs 0.659734 != -2.48186 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955171
+MbD: Convergence = 0.00011152671578490332
+MbD: Convergence = 2.7199172577464744e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7760759705890816e-16
+Time = 0.8
+81 bryzs 0.628319 != -2.51327 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956463
+MbD: Convergence = 0.00011152671578490234
+MbD: Convergence = 2.7199172581108574e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.7312996699857381e-17
+Time = 0.81
+82 bryzs 0.596903 != -2.54469 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955284
+MbD: Convergence = 0.00011152671578490333
+MbD: Convergence = 2.7199172584019453e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.7762150122734637e-16
+Time = 0.82
+83 bryzs 0.565487 != -2.57611 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956428
+MbD: Convergence = 0.00011152671578490332
+MbD: Convergence = 2.7199172602850037e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.9219619679608718e-16
+Time = 0.83
+84 bryzs 0.534071 != -2.60752 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955353
+MbD: Convergence = 0.00011152671578493213
+MbD: Convergence = 2.7199172579585381e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.0411478811620039e-16
+Time = 0.84
+85 bryzs 0.502655 != -2.63894 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956298
+MbD: Convergence = 0.00011152671578490773
+MbD: Convergence = 2.7199172577464738e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.9226394860658802e-16
+Time = 0.85
+86 bryzs 0.471239 != -2.67035 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955466
+MbD: Convergence = 0.00011152671578490246
+MbD: Convergence = 2.7199172584019449e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 1.417435956651015e-16
+Time = 0.86
+87 bryzs 0.439823 != -2.70177 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956402
+MbD: Convergence = 0.0001115267157849038
+MbD: Convergence = 2.7199172577927608e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 2.840341636459203e-16
+Time = 0.87
+88 bryzs 0.408407 != -2.73319 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955353
+MbD: Convergence = 0.00011152671578492627
+MbD: Convergence = 2.719917256227798e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 1.4163535648907065e-16
+Time = 0.88
+89 bryzs 0.376991 != -2.7646 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956463
+MbD: Convergence = 0.00011152671578490333
+MbD: Convergence = 2.7199172576404411e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.861708739903218e-16
+Time = 0.89
+90 bryzs 0.345575 != -2.79602 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955318
+MbD: Convergence = 0.00011152671578489307
+MbD: Convergence = 2.7199172601654205e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.569782811968927
+MbD: Convergence = 1.2347936125416001e-16
+Time = 0.9
+91 bryzs 0.314159 != -2.82743 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956567
+MbD: Convergence = 0.0001115267157848799
+MbD: Convergence = 2.719917260132683e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 7.007655827565705e-17
+Time = 0.91
+92 bryzs 0.282743 != -2.85885 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955206
+MbD: Convergence = 0.0001115267157849258
+MbD: Convergence = 2.7199172582959123e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 2.7763947560696181e-16
+Time = 0.92
+93 bryzs 0.251327 != -2.89027 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955353
+MbD: Convergence = 0.0001115267157849155
+MbD: Convergence = 2.7199172578525051e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 2.8433137933411262e-16
+Time = 0.93
+94 bryzs 0.219911 != -2.92168 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956481
+MbD: Convergence = 0.00011152671578488574
+MbD: Convergence = 2.7199172607881545e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689272
+MbD: Convergence = 3.2275930896347081e-16
+Time = 0.94
+95 bryzs 0.188496 != -2.9531 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955197
+MbD: Convergence = 0.00011152671578493164
+MbD: Convergence = 2.7199172557246452e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 7.6597621321572042e-17
+Time = 0.95
+96 bryzs 0.15708 != -2.98451 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956758
+MbD: Convergence = 0.0001115267157848811
+MbD: Convergence = 2.7199172605230746e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689285
+MbD: Convergence = 2.7801374035883702e-16
+Time = 0.96
+97 bryzs 0.125664 != -3.01593 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955318
+MbD: Convergence = 0.00011152671578487854
+MbD: Convergence = 2.7199172586997607e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689277
+MbD: Convergence = 9.8811233013359527e-17
+Time = 0.97
+98 bryzs 0.0942478 != -3.04734 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956437
+MbD: Convergence = 0.00011152671578490852
+MbD: Convergence = 2.7199172602382151e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 4.9945215282825692e-16
+Time = 0.98
+99 bryzs 0.0628319 != -3.07876 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955526
+MbD: Convergence = 0.00011152671578490391
+MbD: Convergence = 2.7199172607948828e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689281
+MbD: Convergence = 1.9269521127261882e-16
+Time = 0.99
+100 bryzs 0.0314159 != -3.11018 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452956402
+MbD: Convergence = 0.00011152671578487725
+MbD: Convergence = 2.7199172607258328e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.569782811968927
+MbD: Convergence = 5.6594189367643141e-17
+Time = 1
+101 bryzs -7.60503e-15 != 3.14159 tol = 1e-06
+MbD: Solving for kinematic position.
+MbD: Convergence = 0.0076748035452955318
+MbD: Convergence = 0.00011152671578490365
+MbD: Convergence = 2.7199172603115099e-08
+MbD: Solving for kinematic velocity.
+MbD: Solving for kinematic acceleration.
+MbD: Convergence = 1.5697828119689274
+MbD: Convergence = 1.7027046856970899e-16
+FileName = assembly.asmt
+
+test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+
+22/35 Test #25: OndselSolver.circular ............................   Passed    0.11 sec
+23/35 Test #26: OndselSolver.engine1 .............................   Passed    0.11 sec
+24/35 Test #31: OndselSolver.runOndselPiston .....................   Passed    0.10 sec
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.553885844661071
+27: MbD: Convergence = 6.869930951446665e-15
+27: Time = 0.8
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.011861254365475974
+27: MbD: Convergence = 0.00031291560092849418
+27: MbD: Convergence = 1.6399758458665161e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.5613363808958924
+27: MbD: Convergence = 1.9418819741052349e-15
+27: Time = 0.81
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012141437282967
+27: MbD: Convergence = 0.00031576615750821539
+27: MbD: Convergence = 1.9227063474894792e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.5583319936386495
+27: MbD: Convergence = 3.4779772626954062e-15
+27: Time = 0.82
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012436678787708081
+27: MbD: Convergence = 0.00031876172761747374
+27: MbD: Convergence = 2.2526827851216703e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.542086554835433
+27: MbD: Convergence = 3.6003160788028728e-15
+27: Time = 0.83
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.012745755696795109
+27: MbD: Convergence = 0.00032182595962429011
+27: MbD: Convergence = 2.6336831975136036e-07
+27: MbD: Solving for kinematic velocity.
 27: MbD: Solving for kinematic acceleration.
 27: MbD: Convergence = 7.5096378874814897
 27: MbD: Convergence = 9.1354757912269957e-15
@@ -15639,200 +18326,219 @@
 27: MbD: Solving for kinematic velocity.
 27: MbD: Solving for kinematic acceleration.
 27: MbD: Convergence = 7.4578073924642165
+17: MbD: Convergence = 0.08845986236334917
+17: MbD: Convergence = 1.3848670391938982e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.7886474084513253
+17: MbD: Convergence = 9.3582034588091962e-16
+17: MbD: Convergence = 8.4706056510127258e-16
+17: MbD: Convergence = 5.5973820962124148e-16
+17: MbD: Convergence = 3.913490219702634e-16
+17: Time = 0.54
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 10308.694875741494
+17: MbD: Convergence = 424.6664465449773
+17: MbD: Convergence = 0.085107859797083352
+17: MbD: Convergence = 1.3185153793856609e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.7893012356491136
+17: MbD: Convergence = 8.7777385082838477e-16
+17: MbD: Convergence = 6.168799020448737e-16
+17: MbD: Convergence = 5.7506962319928384e-16
+17: MbD: Convergence = 7.0090211688422812e-16
+17: Time = 0.55
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 9964.01432191405
+17: MbD: Convergence = 412.98279351074882
+17: MbD: Convergence = 0.081723288994787119
+17: MbD: Convergence = 1.2521274133671917e-08
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.8029747990217437
+17: MbD: Convergence = 5.8757961996137051e-16
+17: MbD: Convergence = 7.8121428615869521e-16
+17: MbD: Convergence = 3.6519511568709168e-16
+14: MbD: Convergence = 5.3362551524309998
+14: MbD: Convergence = 6.0447854217730787e-15
+14: Time = 0.67
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508455
+14: MbD: Convergence = 0.00034464872108613565
+14: MbD: Convergence = 2.9208034094908546e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3386128799260035
+14: MbD: Convergence = 5.7566469874322159e-15
+14: Time = 0.68
+14: MbD: Solving for kinematic position.
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.65
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.7
+16: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+13: MbD: Convergence = 2.2480686403005188
+13: MbD: Convergence = 1.9058839700932246e-15
+13: Time = 0.85
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877628
+13: MbD: Convergence = 0.00015291749096384643
+13: MbD: Convergence = 3.8180977941358648e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2346267789677956
+13: MbD: Convergence = 2.2524385784914012e-15
+13: Time = 0.86
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879206
+13: MbD: Convergence = 0.0001529174909638647
+13: MbD: Convergence = 3.8180977957523272e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.2215522335645219
+24: MbD: Convergence = 41087.181010302585
+24: MbD: Convergence = 4.8801811584071663e-09
+24: Time = 0.16
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.1391553943804324
+29: MbD: Convergence = 16.252821924136828
+29: MbD: Convergence = 1.9043760405361608e-14
+29: Time = 0.18
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 2307601.8101706528
+5: MbD: Convergence = 0.064001049708607483
+5: MbD: Convergence = 0.00054329843907813616
+5: MbD: Convergence = 9.300679301698072e-06
 27: MbD: Convergence = 5.3182666442337922e-15
 27: Time = 0.85
 27: MbD: Solving for kinematic position.
 27: MbD: Convergence = 0.013396470020434178
+17: MbD: Convergence = 4.9120936946913493e-16
+17: Time = 0.56
+17: MbD: Solving for quasi kinematic position.
+16: MbD: Convergence = 1.6035391149961525e-15
+13: MbD: Convergence = 2.2942746743680649e-15
+13: Time = 0.87
+14: MbD: Convergence = 0.013177068994507997
+13: MbD: Solving for kinematic position.
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.75
 27: MbD: Convergence = 0.00032762812362210355
 27: MbD: Convergence = 3.5528603338894224e-07
+13: MbD: Convergence = 0.009707943918987768
+16: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 9629.3855278591382
 27: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 0.00034464872108611576
+13: MbD: Convergence = 0.0001529174909638821
+16: MbD: Convergence = 2.8275330695806131e-12
+4: MbD: Convergence = 0.0006710357191432835
+17: MbD: Convergence = 401.45880401164288
+13: MbD: Convergence = 3.8180977923004317e-08
+16: MbD: Solving for velocity initial conditions.
+24: MbD: Convergence = 0.0071921894293753364
+14: MbD: Convergence = 2.9208034097234106e-07
+13: MbD: Solving for kinematic velocity.
 27: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 0.078317297406480593
+14: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 0.0078431868564357871
+16: MbD: Solving for quasi kinematic acceleration.
+13: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 1.1912920718914782e-08
+14: MbD: Solving for kinematic acceleration.
 27: MbD: Convergence = 7.3830605149096131
+17: MbD: Solving for velocity initial conditions.
+16: MbD: Convergence = 3.3990045920330978
 27: MbD: Convergence = 3.6379545903169381e-15
+24: MbD: Convergence = 9.710102406863673e-06
+16: MbD: Convergence = 1.3831147369825216e-14
 27: Time = 0.86
+13: MbD: Convergence = 2.2090637843632801
 27: MbD: Solving for kinematic position.
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 64.667010764541374
-25: MbD: Convergence = 7.7307389390430629e-15
-25: Time = 0.83
-25: 84 vxs -0.247905 != -0.247882 tol = 1e-06
-25: 84 vys -0.853294 != -0.853535 tol = 1e-06
-25: 84 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 84 axs 5.36141 != 5.36534 tol = 1e-06
-25: 84 ays -1.55763 != -1.59385 tol = 1e-06
-25: 84 alpzs 3.55271e-15 != -0.000254035 tol = 1e-06
-25: 84 ys 0.138015 != 0.138016 tol = 1e-06
-25: 84 zs -0.03085 != -0.0308474 tol = 1e-06
-25: 84 vys -0.387672 != -0.390504 tol = 1e-06
-25: 84 vzs -1.73435 != -1.7491 tol = 1e-06
-25: 84 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 84 ays -21.7944 != -22.2687 tol = 1e-06
-25: 84 azs 4.87163 != 2.66632 tol = 1e-06
-25: 84 alpxs -2.13163e-14 != 0.0316699 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089119
-25: MbD: Convergence = 0.0016705269888035771
-25: MbD: Convergence = 4.538091809832684e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 64.954547606830928
-25: MbD: Convergence = 1.3505306603645012e-14
-25: Time = 0.84
-25: 85 vxs -0.193837 != -0.193855 tol = 1e-06
-25: 85 vys -0.867177 != -0.867112 tol = 1e-06
-25: 85 axs 5.44863 != 5.44877 tol = 1e-06
-25: 85 ays -1.21791 != -1.21884 tol = 1e-06
-25: 85 alpzs -1.77636e-15 != -6.91108e-06 tol = 1e-06
-25: 85 ys 0.13306 != 0.133079 tol = 1e-06
-25: 85 zs -0.0479046 != -0.0478726 tol = 1e-06
-25: 85 vys -0.601987 != -0.599803 tol = 1e-06
-25: 85 vzs -1.67208 != -1.66851 tol = 1e-06
-25: 85 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 85 ays -21.012 != -21.0301 tol = 1e-06
-25: 85 azs 7.56479 != 7.5064 tol = 1e-06
-25: 85 alpxs -2.4869e-14 != 0.000854851 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089598
-25: MbD: Convergence = 0.0016705269888035925
-25: MbD: Convergence = 4.5380918098483176e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 65.186546440230927
-25: MbD: Convergence = 1.2321624519865768e-14
-29: MbD: Convergence = 16.586464463229984
-29: MbD: Convergence = 1.349560843902049e-14
-29: Time = 0.24
-29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 2.9937705943954292e-07
-24: Time = 0.06
-24: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.069178772551127393
-24: MbD: Convergence = 0.0017292898234692955
-3: MbD: Convergence = 2.3711705354915635e-06
-5: MbD: Convergence = 0.0002298528922222851
-14: MbD: Convergence = 5.7766446741874187e-15
-14: Time = 0.92
-14: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.013730865026205252
-27: MbD: Convergence = 0.00032995699932722764
-14: MbD: Convergence = 0.013177068994507976
 16: MbD: Convergence = 8.639786775957609e-15
+17: MbD: Solving for quasi kinematic acceleration.
+13: MbD: Convergence = 1.4824326504251718e-15
+13: Time = 0.88
+13: MbD: Solving for kinematic position.
 16: MbD: Convergence = 1.6035391149961525e-15
-14: MbD: Convergence = 0.00034464872108609586
+27: MbD: Convergence = 0.013730865026205252
+14: MbD: Convergence = 5.3411852034367024
+29: MbD: Convergence = 0.00041833251683848666
 16: MbD: Convergence = 6.6358517584916043e-16
-29: MbD: Convergence = 0.0080554498682496312
-27: MbD: Convergence = 4.0824155418773181e-07
-16: Time = 5
+16: Time = 4.8
+13: MbD: Convergence = 0.0097079439189879241
+17: MbD: Convergence = 3.8291324654576382
+27: MbD: Convergence = 0.00032995699932722764
+14: MbD: Convergence = 1.5017345654171104e-14
 16: MbD: Solving for quasi kinematic position.
-27: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 0.00015291749096384697
+17: MbD: Convergence = 1.108110475732902e-15
+14: Time = 0.69
+24: MbD: Convergence = 1.1149118100264676e-10
+27: MbD: Convergence = 4.0824155418773181e-07
+13: MbD: Convergence = 3.8180977959486747e-08
+17: MbD: Convergence = 8.65132495951849e-16
 16: MbD: Convergence = 2.8275330695806131e-12
-14: MbD: Convergence = 2.9208034096604089e-07
+14: MbD: Solving for kinematic position.
+27: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 43060.349810326967
 16: MbD: Solving for velocity initial conditions.
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 6.579778293541145e-16
+17: MbD: Convergence = 6.5110826125180941e-16
+17: Time = 0.57
+14: MbD: Convergence = 0.013177068994508311
 27: MbD: Solving for kinematic acceleration.
-14: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
 16: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Convergence = 1.4323749505540805e-06
+17: MbD: Solving for quasi kinematic position.
+14: MbD: Convergence = 0.00034464872108613137
 16: MbD: Convergence = 3.3990045920330978
-16: MbD: Convergence = 1.3831147369825216e-14
+5: MbD: Convergence = 1.4396253730083284e-06
+13: MbD: Convergence = 2.1973785550756135
+24: MbD: Solving for kinematic velocity.
 27: MbD: Convergence = 7.2812077250937151
-29: MbD: Convergence = 0.0004161542201476208
+17: MbD: Convergence = 9304.8721027970605
+14: MbD: Convergence = 2.9208034096783967e-07
+13: MbD: Convergence = 2.1197319091244199e-15
+16: MbD: Convergence = 1.3831147369825216e-14
+13: Time = 0.89
+13: MbD: Solving for kinematic position.
 16: MbD: Convergence = 8.639786775957609e-15
-14: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic velocity.
 27: MbD: Convergence = 3.1764283588275315e-15
 16: MbD: Convergence = 1.6035391149961525e-15
+17: MbD: Convergence = 390.12183120635007
 27: Time = 0.87
+13: MbD: Convergence = 0.009707943918987735
+28: Time = 0
 16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.85
 27: MbD: Solving for kinematic position.
+16: MbD: Solving for quasi kinematic position.
+29: MbD: Convergence = 1.3639597064763994e-11
+17: MbD: Convergence = 0.074901409012048115
+13: MbD: Convergence = 0.00015291749096384627
 27: MbD: Convergence = 0.01406402865026949
-16: [       OK ] OndselSolver.cirpendu2 (347 ms)
-16: [----------] 1 test from OndselSolver (348 ms total)
-16: 
-16: [----------] Global test environment tear-down
-16: [==========] 1 test from 1 test suite ran. (348 ms total)
-16: [  PASSED  ] 1 test.
-14: MbD: Convergence = 5.4661343401332214
-14: MbD: Convergence = 5.9002908879027369e-15
-27: MbD: Convergence = 0.00033154034401895532
-14: Time = 0.93
-29: MbD: Convergence = 1.4947453347518436e-06
-27: MbD: Convergence = 4.640843236486974e-07
-14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 0.013177068994508311
-25/35 Test #16: OndselSolver.cirpendu2 ...........................   Passed    0.36 sec
-14: MbD: Convergence = 0.00034464872108613099
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.1199132710560686
-14: MbD: Convergence = 2.9208034094957986e-07
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 5.4062087131933016e-16
-14: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.4275624636998563e-11
-17: MbD: Convergence = 6.0879305215857747e-16
-17: MbD: Convergence = 3.4223464926158955e-16
 14: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 7.1469425272017748
-17: MbD: Convergence = 4.0597049270970342e-16
-17: Time = 0.47
-27: MbD: Convergence = 3.0701417053713597e-15
-29: MbD: Solving for kinematic velocity.
-17: MbD: Solving for quasi kinematic position.
-24: MbD: Convergence = 8.0164202154244005e-07
-27: Time = 0.88
-11: FileName = assembly.asmt
-11: 
-27: MbD: Solving for kinematic position.
-14: MbD: Convergence = 5.4739093129071774
-17: MbD: Convergence = 12992.269902896873
-27: MbD: Convergence = 0.014388223433127565
-14: MbD: Convergence = 5.954940706581926e-15
-27: MbD: Convergence = 0.00033208313802296632
-11: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
-14: Time = 0.94
-27: MbD: Convergence = 5.2010595982470412e-07
-17: MbD: Convergence = 507.65813992811235
-3: MbD: Convergence = 1.1371480222003164e-07
-14: MbD: Solving for kinematic position.
-24: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 6.9734310156803616
-27: MbD: Convergence = 3.6067852199141834e-15
-27: Time = 0.89
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.014693517237724295
-27: MbD: Convergence = 0.00033137873861353737
-27: MbD: Convergence = 5.7207875916764065e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 0.013177068994508089
-14: MbD: Convergence = 0.00034464872108612183
-14: MbD: Convergence = 2.9208034094383242e-07
-14: MbD: Solving for kinematic velocity.
-14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.4818833600610537
-14: MbD: Convergence = 5.712314809542268e-15
-14: Time = 0.95
-14: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508484
-17: MbD: Convergence = 0.10737664557434853
-17: MbD: Convergence = 1.7943172819951526e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.043972459781112
-17: MbD: Convergence = 4.9389751161902189e-16
-17: MbD: Convergence = 8.5297331153115686e-16
-17: MbD: Convergence = 7.5113107036165648e-16
-17: MbD: Convergence = 5.6980264908216164e-16
-17: Time = 0.48
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 12581.319492551362
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-28: Time = 0
 28: 0 bryys 1.43655 != 1.42492 tol = 1e-06
 28: 0 bryzs -3.14159 != 3.14159 tol = 1e-06
 28: 0 omezs -0.00781957 != -0.00849174 tol = 1e-06
@@ -15864,6 +18570,10 @@
 28: 0 xs 0.736869 != 0.74047 tol = 1e-06
 28: 0 ys 0.109941 != 0.117768 tol = 1e-06
 28: 0 bryys 0.430846 != 0.425989 tol = 1e-06
+16: MbD: Convergence = 2.8275330695806131e-12
+16: MbD: Solving for velocity initial conditions.
+13: MbD: Convergence = 3.8180977940226211e-08
+13: MbD: Solving for kinematic velocity.
 28: 0 bryzs 2.48591 != 2.48589 tol = 1e-06
 28: 0 vxs 0.00243741 != 0.00261671 tol = 1e-06
 28: 0 vys 0.00583367 != 0.00576653 tol = 1e-06
@@ -15873,1644 +18583,2319 @@
 28: 0 axs -0.00093257 != 0 tol = 1e-06
 28: 0 ays 5.12026e-05 != 0 tol = 1e-06
 28: 0 azs 0.00068946 != 0 tol = 1e-06
+28: 0 xs 0.787128 != 0.781486 tol = 1e-06
+28: 0 ys 2.81024 != 2.81703 tol = 1e-06
+28: 0 bryys -0.692995 != -0.697084 tol = 1e-06
+28: 0 bryzs 2.02 != 2.01998 tol = 1e-06
+28: 0 vxs -0.00488825 != -0.00469704 tol = 1e-06
+28: 0 vys 0.00548351 != 0.00560964 tol = 1e-06
+28: 0 omexs -0.0314827 != -0.0316386 tol = 1e-06
+28: 0 omeys 0.0379134 != 0.0377857 tol = 1e-06
+28: 0 omezs -0.0257596 != -0.0256717 tol = 1e-06
+28: 0 axs -0.00152729 != 0 tol = 1e-06
+28: 0 ays -0.000667772 != 0 tol = 1e-06
+28: 0 azs 0.000883771 != 0 tol = 1e-06
+28: 0 xs -1.01446 != -1.02262 tol = 1e-06
+28: 0 ys 2.71519 != 2.7159 tol = 1e-06
+28: 0 bryys -1.48499 != -1.49134 tol = 1e-06
+28: 0 bryzs 2.60459 != 2.60457 tol = 1e-06
+28: 0 vxs -0.00126895 != -0.00117231 tol = 1e-06
+28: 0 vys 6.44269e-05 != 9.33388e-05 tol = 1e-06
+28: 0 omexs -0.0386378 != -0.0386576 tol = 1e-06
+28: 0 omeys 0.00332334 != 0.0030779 tol = 1e-06
+28: 0 omezs -0.00445546 != -0.00412639 tol = 1e-06
+28: 0 axs -0.000127785 != 0 tol = 1e-06
+28: 0 ays -0.000438882 != 0 tol = 1e-06
+28: 0 azs 0.000780791 != 0 tol = 1e-06
+28: 0 ays 0.000479426 != 0 tol = 1e-06
+28: 0 azs 0.000877583 != 0 tol = 1e-06
+28: 0 xs -0.998616 != -0.987747 tol = 1e-06
+28: 0 ys -0.0849612 != -0.0834043 tol = 1e-06
+28: 0 zs 1.81906 != 1.81909 tol = 1e-06
+28: 0 bryxs -2.28976 != -2.2906 tol = 1e-06
+28: 0 bryys -0.10128 != -0.110025 tol = 1e-06
+28: 0 bryzs 3.05333 != 3.04562 tol = 1e-06
+28: 0 vxs -0.020695 != -0.0224605 tol = 1e-06
+28: 0 vys 0.148303 != 0.147955 tol = 1e-06
+28: 0 vzs 0.050761 != 0.0507443 tol = 1e-06
+28: 0 omexs -0.120937 != -0.120724 tol = 1e-06
+28: 0 omeys -0.0163332 != -0.0177363 tol = 1e-06
+28: 0 omezs -0.00781957 != -0.00849174 tol = 1e-06
+28: 0 axs -0.00044614 != 0 tol = 1e-06
+28: 0 ays 0.00563921 != 0 tol = 1e-06
+28: 0 azs -0.00487901 != 0 tol = 1e-06
+28: 0 xs 0.0997907 != 0.101962 tol = 1e-06
+28: 0 ys 0.402771 != 0.407507 tol = 1e-06
+28: 0 zs 1.64153 != 1.64151 tol = 1e-06
+28: 0 bryxs -2.53191 != -2.53688 tol = 1e-06
+28: 0 bryys -0.894398 != -0.897178 tol = 1e-06
+28: 0 bryzs 2.3012 != 2.29482 tol = 1e-06
+28: 0 vxs -0.0279845 != -0.0279405 tol = 1e-06
+28: 0 vys 0.0369251 != 0.0367411 tol = 1e-06
+28: 0 omexs -0.0129337 != -0.0127966 tol = 1e-06
+28: 0 omeys -0.0281385 != -0.0282004 tol = 1e-06
+28: 0 omezs -0.0221702 != -0.0222192 tol = 1e-06
+28: 0 axs -0.000492023 != 0 tol = 1e-06
+28: 0 ays 0.000420053 != 0 tol = 1e-06
+28: 0 azs -0.000246095 != 0 tol = 1e-06
+28: 0 xs -0.0098387 != -0.0127758 tol = 1e-06
+28: 0 ys 2.14845 != 2.15199 tol = 1e-06
+28: 0 zs 1.22938 != 1.22936 tol = 1e-06
+28: 0 bryxs 2.22048 != 2.21809 tol = 1e-06
+28: 0 bryys -0.764435 != -0.761184 tol = 1e-06
+28: 0 bryzs 0.484081 != 0.480649 tol = 1e-06
+28: 0 vxs -0.00300239 != -0.0029013 tol = 1e-06
+28: 0 vys 0.0417349 != 0.0417987 tol = 1e-06
+28: 0 vzs 0.0510506 != 0.0510529 tol = 1e-06
+28: 0 omexs 0.0327244 != 0.0328863 tol = 1e-06
+28: 0 omeys -0.0394088 != -0.0392759 tol = 1e-06
+27: MbD: Convergence = 0.00033154034401895532
+27: MbD: Convergence = 4.640843236486974e-07
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 1.127387519132437e-08
+17: MbD: Solving for velocity initial conditions.
+28: 0 omezs -0.0257596 != -0.0256717 tol = 1e-06
+28: 0 axs -0.00132172 != 0 tol = 1e-06
+28: 0 ays -0.000723097 != 0 tol = 1e-06
+28: 0 azs -0.000572837 != 0 tol = 1e-06
+28: 0 xs -1.06488 != -1.06931 tol = 1e-06
+28: 0 ys 2.12906 != 2.12944 tol = 1e-06
+28: 0 zs 1.71813 != 1.71812 tol = 1e-06
+28: 0 bryxs 2.54737 != 2.54711 tol = 1e-06
+28: 0 bryys -0.0481184 != -0.0445638 tol = 1e-06
+28: 0 bryzs 0.0710661 != 0.0657992 tol = 1e-06
+28: 0 vxs -0.000596565 != -0.000550933 tol = 1e-06
+28: 0 vys 0.0384683 != 0.0384845 tol = 1e-06
+28: 0 omexs 0.0417053 != 0.0417269 tol = 1e-06
+28: 0 omeys -0.00358718 != -0.00332227 tol = 1e-06
+28: 0 omezs -0.00445546 != -0.00412639 tol = 1e-06
+28: 0 axs -0.000119511 != 0 tol = 1e-06
+28: 0 ays -0.000488868 != 0 tol = 1e-06
+28: 0 azs -0.00072508 != 0 tol = 1e-06
+28: 0 bryys 1.13319 != 1.10184 tol = 1e-06
+28: 0 omeys -0.39126 != -0.4095 tol = 1e-06
+28: 0 omezs 0.213746 != 0.223711 tol = 1e-06
+28: 0 bryys 0.343045 != 0.344392 tol = 1e-06
+28: 0 omeys -0.0821139 != -0.081472 tol = 1e-06
+28: 0 omezs 0.044859 != 0.0445083 tol = 1e-06
+28: 0 bryys -0.760667 != -0.763382 tol = 1e-06
+28: 0 omeys 0.00144656 != 0.00163532 tol = 1e-06
+28: 0 omezs -0.000790259 != -0.000893379 tol = 1e-06
+28: 0 bryys -1.52246 != -1.52603 tol = 1e-06
+28: 0 omeys -0.000188961 != -0.000173133 tol = 1e-06
+28: 0 omezs 0.00010323 != 9.45832e-05 tol = 1e-06
+28: 0 xs -1.09972 != -1.09755 tol = 1e-06
+28: 0 ys 0.66367 != 0.663982 tol = 1e-06
+28: 0 zs 1.16383 != 1.16384 tol = 1e-06
+28: 0 bryxs -2.28976 != -2.2906 tol = 1e-06
+28: 0 bryys -0.10128 != -0.110025 tol = 1e-06
+28: 0 bryzs -2.71513 != -2.68479 tol = 1e-06
+28: 0 vxs -0.004139 != -0.00449209 tol = 1e-06
+28: 0 vys 0.0698521 != 0.0697826 tol = 1e-06
+28: 0 vzs -0.0414275 != -0.0414308 tol = 1e-06
+28: 0 omexs -0.0756209 != -0.0692064 tol = 1e-06
+28: 0 omeys -0.351867 != -0.3684 tol = 1e-06
+28: 0 omezs 0.285853 != 0.298944 tol = 1e-06
+28: 0 axs -0.00685794 != 0 tol = 1e-06
+28: 0 ays 0.000279849 != 0 tol = 1e-06
+28: 0 azs -0.00146976 != 0 tol = 1e-06
+28: 0 xs -0.680042 != -0.679608 tol = 1e-06
+28: 0 ys 0.761217 != 0.762164 tol = 1e-06
+28: 0 zs 1.12832 != 1.12832 tol = 1e-06
+28: 0 bryxs -2.53191 != -2.53688 tol = 1e-06
+28: 0 bryys -0.894398 != -0.897178 tol = 1e-06
+28: 0 bryzs -2.13805 != -2.14269 tol = 1e-06
+28: 0 vxs -0.00559689 != -0.00558811 tol = 1e-06
+28: 0 vys 0.0475765 != 0.0475397 tol = 1e-06
+28: 0 omexs 0.0976593 != 0.0976358 tol = 1e-06
+28: 0 omeys -0.0789719 != -0.0783119 tol = 1e-06
+28: 0 omezs 0.0506104 != 0.0502928 tol = 1e-06
+28: 0 axs -0.000194994 != 0 tol = 1e-06
+28: 0 ays -0.000466095 != 0 tol = 1e-06
+28: 0 azs -0.000351025 != 0 tol = 1e-06
+28: 0 xs -0.701968 != -0.702555 tol = 1e-06
+28: 0 ys 1.57372 != 1.57442 tol = 1e-06
+28: 0 zs 0.792758 != 0.792754 tol = 1e-06
+28: 0 bryxs 2.22048 != 2.21809 tol = 1e-06
+28: 0 bryys -0.764435 != -0.761184 tol = 1e-06
+28: 0 bryzs -0.300618 != -0.301461 tol = 1e-06
+28: 0 vxs -0.000600478 != -0.00058026 tol = 1e-06
+28: 0 vys 0.0738522 != 0.0738649 tol = 1e-06
+28: 0 omexs 0.0887499 != 0.0885797 tol = 1e-06
+28: 0 omeys 0.00711377 != 0.00735708 tol = 1e-06
+28: 0 omezs 0.0095835 != 0.00958023 tol = 1e-06
+28: 0 axs 7.94531e-05 != 0 tol = 1e-06
+28: 0 ays -0.000514119 != 0 tol = 1e-06
+28: 0 azs -0.000354164 != 0 tol = 1e-06
+28: 0 xs -1.11298 != -1.11386 tol = 1e-06
+28: 0 ys 1.56984 != 1.56991 tol = 1e-06
+28: 0 zs 0.890508 != 0.890506 tol = 1e-06
+28: 0 bryxs 2.54737 != 2.54711 tol = 1e-06
+28: 0 bryys -0.0481184 != -0.0445638 tol = 1e-06
+28: 0 bryzs -0.00454565 != -0.0042217 tol = 1e-06
+28: 0 vxs -0.000119313 != -0.000110187 tol = 1e-06
+28: 0 vys 0.0731988 != 0.0732021 tol = 1e-06
+28: 0 omexs 0.042113 != 0.0420766 tol = 1e-06
+28: 0 omeys 0.00115343 != 0.00107077 tol = 1e-06
+28: 0 omezs 0.00256046 != 0.00237153 tol = 1e-06
+28: 0 axs 1.45033e-05 != 0 tol = 1e-06
+28: 0 ays -0.000123833 != 0 tol = 1e-06
+28: 0 azs -0.000182757 != 0 tol = 1e-06
+28: 0 bryzs 3.14159 != -3.14159 tol = 1e-06
+28: 0 ays 0.00109698 != 0 tol = 1e-06
+28: 0 azs -0.000599282 != 0 tol = 1e-06
+28: 0 bryzs 3.14159 != -3.14159 tol = 1e-06
+28: 0 ays 0.00109698 != 0 tol = 1e-06
+28: 0 azs -0.000599282 != 0 tol = 1e-06
+28: 0 ays -0.00109698 != 0 tol = 1e-06
+28: 0 azs 0.000599282 != 0 tol = 1e-06
+28: 0 ays -0.00109698 != 0 tol = 1e-06
+28: 0 azs 0.000599282 != 0 tol = 1e-06
+28: MbD: Assembling system. 
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 7.1469425272017748
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1867074536326614
+13: MbD: Convergence = 9.6417302670235364e-16
+13: Time = 0.9
+13: MbD: Solving for kinematic position.
+16: MbD: Solving for quasi kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+16: MbD: Convergence = 1.3831147369825216e-14
+16: MbD: Convergence = 8.639786775957609e-15
+16: MbD: Convergence = 1.6035391149961525e-15
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.9
+29: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 0.0097079439189878981
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 3.8669575345328511
+14: MbD: Convergence = 5.343971813075413
+14: MbD: Convergence = 7.1704036256822212e-15
+14: Time = 0.7
+16: MbD: Solving for quasi kinematic position.
+4: MbD: Convergence = 0.00060002454691017069
+27: MbD: Convergence = 3.0701417053713597e-15
+27: Time = 0.88
+24: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 6.5078591991034873e-16
+13: MbD: Convergence = 0.00015291749096386204
+14: MbD: Solving for kinematic position.
+27: MbD: Solving for kinematic position.
+16: MbD: Convergence = 2.8275330695806131e-12
+17: MbD: Convergence = 6.0447153803041327e-16
+16: MbD: Solving for velocity initial conditions.
+13: MbD: Convergence = 3.8180977957664713e-08
+17: MbD: Convergence = 4.9894890064457642e-16
+27: MbD: Convergence = 0.014388223433127565
+13: MbD: Solving for kinematic velocity.
+27: MbD: Convergence = 0.00033208313802296632
+14: MbD: Convergence = 0.013177068994508111
+16: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 6.6516791082376899e-16
+17: Time = 0.58
+13: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for quasi kinematic position.
+27: MbD: Convergence = 5.2010595982470412e-07
+16: MbD: Convergence = 3.3990045920330978
+14: MbD: Convergence = 0.00034464872108611581
+27: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 2.1772502125633002
+16: MbD: Convergence = 1.3831147369825216e-14
+17: MbD: Convergence = 8990.5245665062757
+16: MbD: Convergence = 8.639786775957609e-15
+29: MbD: Solving for kinematic acceleration.
+27: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 1.7257215275977632e-15
+13: Time = 0.91
+14: MbD: Convergence = 2.9208034096994947e-07
+16: MbD: Convergence = 1.6035391149961525e-15
+13: MbD: Solving for kinematic position.
+5: MbD: Convergence = 6.4034592333946473e-07
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 4.95
+3: MbD: Convergence = 328.0455113194368
+16: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 378.99615970968074
+14: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 0.0097079439189877523
+27: MbD: Convergence = 6.9734310156803616
+16: MbD: Convergence = 2.8275330695806131e-12
+13: MbD: Convergence = 0.00015291749096386383
+17: MbD: Convergence = 0.071487504173968763
+16: MbD: Solving for velocity initial conditions.
+27: MbD: Convergence = 3.6067852199141834e-15
+13: MbD: Convergence = 3.8180977924542324e-08
+27: Time = 0.89
+5: MbD: Assembling system with limits. 
+13: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic position.
+17: MbD: Convergence = 1.0690323878794789e-08
+16: MbD: Solving for quasi kinematic acceleration.
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for velocity initial conditions.
+27: MbD: Convergence = 0.014693517237724295
+13: MbD: Solving for kinematic acceleration.
+16: MbD: Convergence = 3.3990045920330978
+27: MbD: Convergence = 0.00033137873861353737
+16: MbD: Convergence = 1.3831147369825216e-14
+5: MbD: No limits reached. 
+5: Time = 0
+16: MbD: Convergence = 8.639786775957609e-15
+27: MbD: Convergence = 5.7207875916764065e-07
+16: MbD: Convergence = 1.6035391149961525e-15
+17: MbD: Solving for quasi kinematic acceleration.
+13: MbD: Convergence = 2.1691901981928399
+16: MbD: Convergence = 6.6358517584916043e-16
+16: Time = 5
+27: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 5.346972373812287
+13: MbD: Convergence = 3.3358962513243337e-15
+13: Time = 0.92
+16: MbD: Solving for quasi kinematic position.
+13: MbD: Solving for kinematic position.
+17: MbD: Convergence = 3.9154111397650242
+27: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 38222.07492736329
+14: MbD: Convergence = 5.6067347624452e-15
+16: MbD: Convergence = 2.8275330695806131e-12
+14: Time = 0.71
+17: MbD: Convergence = 9.6266075009375475e-16
+16: MbD: Solving for velocity initial conditions.
+13: MbD: Convergence = 0.0097079439189877818
+17: MbD: Convergence = 6.645401773366287e-16
+14: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.00015291749096384721
 27: MbD: Convergence = 6.7527175975252032
-14: MbD: Convergence = 0.0003446487210861524
-17: MbD: Convergence = 496.03154998716229
-25: Time = 0.85
-25: 86 ys 0.0221232 != 0.0221242 tol = 1e-06
-25: 86 vxs -0.139004 != -0.139007 tol = 1e-06
-25: 86 vys -0.877637 != -0.87763 tol = 1e-06
-25: 86 axs 5.51435 != 5.51779 tol = 1e-06
-25: 86 ays -0.873388 != -0.885403 tol = 1e-06
-25: 86 alpzs 8.88178e-16 != -7.73165e-05 tol = 1e-06
-25: 86 ys 0.126007 != 0.12604 tol = 1e-06
-25: 86 zs -0.0642037 != -0.0641476 tol = 1e-06
-25: 86 vys -0.806807 != -0.806501 tol = 1e-06
-25: 86 vzs -1.58345 != -1.58311 tol = 1e-06
-25: 86 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 86 ays -19.8982 != -20.3074 tol = 1e-06
-25: 86 azs 10.1386 != 9.47706 tol = 1e-06
-25: 86 alpxs 3.19744e-14 != 0.00966397 tol = 1e-06
-25: MbD: Solving for kinematic position.
-26/35 Test #11: OndselSolver.Gears ...............................Subprocess aborted***Exception:   0.39 sec
+17: MbD: Convergence = 3.087820850986674e-16
+13: MbD: Convergence = 3.8180977939930411e-08
+16: MbD: Solving for quasi kinematic acceleration.
+14: MbD: Convergence = 0.013177068994508405
+13: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 16.33672186870443
+27: MbD: Convergence = 1.6442599257468677e-15
+27: Time = 0.9
+17: MbD: Convergence = 3.3877486937210601e-16
+17: Time = 0.59
+27: MbD: Solving for kinematic position.
+16: MbD: Convergence = 3.3990045920330978
+17: MbD: Solving for quasi kinematic position.
+13: MbD: Solving for kinematic acceleration.
+16: MbD: Convergence = 1.3831147369825216e-14
+27: MbD: Convergence = 0.014967577357563749
+16: MbD: Convergence = 8.639786775957609e-15
+14: MbD: Convergence = 0.00034464872108615235
+16: MbD: Convergence = 1.6035391149961525e-15
+28: MbD: Convergence = 167934.96823370771
+27: MbD: Convergence = 0.00032949293955757272
+17: MbD: Convergence = 8686.3837729722309
+13: MbD: Convergence = 2.1626892034514498
+16: MbD: Convergence = 6.6358517584916043e-16
+27: MbD: Convergence = 6.1397287443321313e-07
+13: MbD: Convergence = 1.4344071188736286e-15
+14: MbD: Convergence = 2.9208034094526873e-07
+13: Time = 0.93
+13: MbD: Solving for kinematic position.
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 368.10351968939989
+24: MbD: Convergence = 1.6617886932752899e-09
+4: MbD: Convergence = 0.00046538685509081584
+24: Time = 0.18
+16: [       OK ] OndselSolver.cirpendu2 (130 ms)
+16: [----------] 1 test from OndselSolver (130 ms total)
+16: 
+16: [----------] Global test environment tear-down
+14: MbD: Solving for kinematic velocity.
+16: [==========] 1 test from 1 test suite ran. (130 ms total)
+16: [  PASSED  ] 1 test.
+13: MbD: Convergence = 0.0097079439189878963
+27: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 0.068087907499276762
+13: MbD: Convergence = 0.00015291749096388082
+24: MbD: Solving for kinematic position.
+13: MbD: Convergence = 3.8180977958099228e-08
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 1.016937252897315e-08
+27: MbD: Convergence = 6.4788374788361054
+25/35 Test #16: OndselSolver.cirpendu2 ...........................   Passed    0.13 sec
+13: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for velocity initial conditions.
+27: MbD: Convergence = 4.9117974007324955e-15
+27: Time = 0.91
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.015195647206882844
+14: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 0.13007918246792841
+29: MbD: Convergence = 1.9166408574011625e-13
+29: Time = 0.2
+5: MbD: Assembling system. 
+13: MbD: Convergence = 2.1578824736459938
+17: MbD: Solving for quasi kinematic acceleration.
+27: MbD: Convergence = 0.00032705878549094206
+13: MbD: Convergence = 1.8012326168948547e-15
+13: Time = 0.94
+29: MbD: Solving for kinematic position.
+13: MbD: Solving for kinematic position.
+14: MbD: Convergence = 5.3501865256748777
+27: MbD: Convergence = 6.378957787737754e-07
+17: MbD: Convergence = 3.9732950012482107
+13: MbD: Convergence = 0.0097079439189877749
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 9.2030336519727555e-16
+14: MbD: Convergence = 6.0719308890754431e-15
+14: Time = 0.72
+13: MbD: Convergence = 0.00015291749096384735
+24: MbD: Convergence = 0.14633736101379161
+17: MbD: Convergence = 8.7291936611069309e-16
+14: MbD: Solving for kinematic position.
+13: MbD: Convergence = 3.8180977943335986e-08
+17: MbD: Convergence = 6.3785083515792438e-16
+27: MbD: Solving for kinematic acceleration.
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 5.2826577111014026e-16
+17: Time = 0.6
+13: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 0.013177068994508106
+17: MbD: Solving for quasi kinematic position.
+27: MbD: Convergence = 6.1574649899392933
+29: MbD: Convergence = 0.007937154776555249
+24: MbD: Convergence = 0.0081177424878889105
+13: MbD: Convergence = 2.1548742322446421
+27: MbD: Convergence = 1.6584679315983899e-15
+17: MbD: Convergence = 8392.4835255842372
+14: MbD: Convergence = 0.00034464872108613592
+27: Time = 0.92
+13: MbD: Convergence = 1.2578564884420385e-15
+13: Time = 0.95
+27: MbD: Solving for kinematic position.
+13: MbD: Solving for kinematic position.
+17: MbD: Convergence = 357.46352523704257
+14: MbD: Convergence = 2.9208034098317308e-07
+13: MbD: Convergence = 0.0097079439189879258
+27: MbD: Convergence = 0.01536082976721634
+27: MbD: Convergence = 0.00032565862759994775
+13: MbD: Convergence = 0.0001529174909638483
+17: MbD: Convergence = 0.064715575541787085
+14: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 3.8180977940444295e-08
+24: MbD: Convergence = 1.1774783430679048e-05
+29: MbD: Convergence = 0.00041792545334505614
+27: MbD: Convergence = 6.3447946843361139e-07
+27: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 9.6800309213493128e-09
+13: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for velocity initial conditions.
+27: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 1.6466699907949166e-10
+29: MbD: Convergence = 1.4561740816991268e-06
+27: MbD: Convergence = 5.8282729833483682
+27: MbD: Convergence = 1.5968052169456523e-15
+27: Time = 0.93
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.015444820688177839
+27: MbD: Convergence = 0.00032812670619532236
+27: MbD: Convergence = 5.9399050707434294e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 5.6039557703876808
+27: MbD: Convergence = 1.6327434213944282e-15
+27: Time = 0.94
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.015429222713642578
+27: MbD: Convergence = 0.00033835776163148923
+27: MbD: Convergence = 5.0844804725729429e-07
+27: MbD: Solving for kinematic velocity.
+13: MbD: Convergence = 2.153733969827238
+13: MbD: Convergence = 1.0996239226032455e-15
+13: Time = 0.96
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877662
+13: MbD: Convergence = 0.00015291749096383103
+13: MbD: Convergence = 3.8180977958447551e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1544937313901125
+13: MbD: Convergence = 1.6832428428179451e-15
+13: Time = 0.97
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189878998
+13: MbD: Convergence = 0.00015291749096389836
+13: MbD: Convergence = 3.8180977941607186e-08
+13: MbD: Solving for kinematic velocity.
+13: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.0393122957142946
+17: MbD: Convergence = 9.7898217853410315e-16
+17: MbD: Convergence = 6.9370369853703629e-16
+17: MbD: Convergence = 4.6021576975403661e-16
+17: MbD: Convergence = 3.7457681728303643e-16
+17: Time = 0.61
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 8108.8524764152553
+17: MbD: Convergence = 347.09404361342314
+17: MbD: Convergence = 0.06138437920591306
+17: MbD: Convergence = 9.1992232662749086e-09
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+4: MbD: Convergence = 0.00077960067664105588
+4: Time = 0
+4: [       OK ] OndselSolver.runPreDragBackhoe2 (152 ms)
+4: [----------] 1 test from OndselSolver (152 ms total)
+4: 
+4: [----------] Global test environment tear-down
+4: [==========] 1 test from 1 test suite ran. (152 ms total)
+4: [  PASSED  ] 1 test.
+28: MbD: Convergence = 12739802.335246192
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.3536138839617671
+14: MbD: Convergence = 6.0652701710401967e-15
+14: Time = 0.73
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508573
+14: MbD: Convergence = 0.00034464872108618276
+14: MbD: Convergence = 2.9208034095237459e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 6.3156533545562945e-05
+29: MbD: Convergence = 1.3977508058010596e-11
+29: MbD: Solving for kinematic velocity.
+5: MbD: Checking for redundant constraints.
+27: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1571465857978751
+13: MbD: Convergence = 1.9680067020779417e-15
+13: Time = 0.98
+14: MbD: Convergence = 5.3572540394699777
+26/35 Test  #4: OndselSolver.runPreDragBackhoe2 ..................   Passed    0.16 sec
+27: MbD: Convergence = 5.7013881598376965
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189877662
+14: MbD: Convergence = 5.6065665021647437e-15
+14: Time = 0.74
+29: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 4.1121222592930726
+27: MbD: Convergence = 8.8087648609648714e-16
+13: MbD: Convergence = 0.00015291749096386415
+17: MbD: Convergence = 1.0081078448538709e-15
+14: MbD: Solving for kinematic position.
+27: Time = 0.95
+27: MbD: Solving for kinematic position.
+13: MbD: Convergence = 3.8180977942895457e-08
+17: MbD: Convergence = 6.1567138631855492e-16
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 3.3900033653705507e-16
+14: MbD: Convergence = 0.013177068994508373
+17: MbD: Convergence = 3.432304654808101e-16
+17: Time = 0.62
+27: MbD: Convergence = 0.015297509917606048
+13: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 0.00034464872108615717
+24: MbD: Convergence = 39506.74263791195
+17: MbD: Solving for quasi kinematic position.
+27: MbD: Convergence = 0.00036014302351561686
+27: MbD: Convergence = 3.7526801751164967e-07
+27: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 2.920803409489754e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+13: MbD: Convergence = 2.1616463904283965
+13: MbD: Convergence = 1.4524352215215374e-15
+13: Time = 0.99
+13: MbD: Solving for kinematic position.
+13: MbD: Convergence = 0.0097079439189879137
+13: MbD: Convergence = 0.00015291749096386415
+17: MbD: Convergence = 7835.5153873443614
+17: MbD: Convergence = 337.01150065448468
+3: MbD: Convergence = 1.0869190097679075e-06
+17: MbD: Convergence = 0.058109477297677806
+13: MbD: Convergence = 3.8180977907239605e-08
+27: MbD: Convergence = 6.3736432870712338
+14: MbD: Convergence = 5.36110655873585
+13: MbD: Solving for kinematic velocity.
+27: MbD: Convergence = 4.1419976165045355e-15
+27: Time = 0.96
+17: MbD: Convergence = 8.7869296628331789e-09
+14: MbD: Convergence = 1.1381163439005961e-14
+13: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 1.7678387657993027e-09
+14: Time = 0.75
+27: MbD: Solving for kinematic position.
+28: MbD: Convergence = 88945553129.929825
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Solving for kinematic position.
+24: Time = 0.2
+27: MbD: Convergence = 0.015037579073331191
+13: MbD: Convergence = 2.1679088811097698
+14: MbD: Convergence = 0.013177068994508432
+29: MbD: Convergence = 16.447451086962253
+24: MbD: Solving for kinematic position.
+13: MbD: Convergence = 1.5497058485421955e-15
+17: MbD: Solving for quasi kinematic acceleration.
+13: Time = 1
+27: MbD: Convergence = 0.00039527123204219708
+14: MbD: Convergence = 0.00034464872108613543
+13: MbD: Solving for kinematic position.
+27: MbD: Convergence = 2.0737047254136176e-07
+14: MbD: Convergence = 2.9208034097255282e-07
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.1903858559683389
+13: MbD: Convergence = 0.0097079439189877593
+13: MbD: Convergence = 0.00015291749096384778
+17: MbD: Convergence = 1.0921519928429271e-15
+14: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 1.7759664009354135e-15
+13: MbD: Convergence = 3.8180977942055868e-08
+24: MbD: Convergence = 0.15081594896530864
+13: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.0309979177264872e-16
+27: MbD: Convergence = 7.7224287044561857
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 4.2860925087793949e-16
+13: MbD: Solving for kinematic acceleration.
+17: Time = 0.63
+27: MbD: Convergence = 2.3671958810409326e-15
+17: MbD: Solving for quasi kinematic position.
+27: Time = 0.97
+27: MbD: Solving for kinematic position.
+14: MbD: Convergence = 5.3651709842890929
+13: MbD: Convergence = 2.1758140314356278
+17: MbD: Convergence = 7572.4938188740034
+13: MbD: Convergence = 1.9285280222783373e-15
+27: MbD: Convergence = 0.014644632489518089
+29: MbD: Convergence = 2.6048961152531806e-13
+24: MbD: Convergence = 0.0088557092130745613
+29: Time = 0.22
+14: MbD: Convergence = 5.6123931627559328e-15
+14: Time = 0.76
+27: MbD: Convergence = 0.00044223087982898864
+17: MbD: Convergence = 327.23112634530207
+14: MbD: Solving for kinematic position.
+27: MbD: Convergence = 1.3606221593022061e-07
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 0.054907776965002417
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 2.0439202997471623e-06
+14: MbD: Convergence = 0.013177068994508255
+27: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 1.3321095053140912e-05
+14: MbD: Convergence = 0.00034464872108611538
+17: MbD: Convergence = 8.4132273320900172e-09
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 2.9208034097463218e-07
+27: MbD: Convergence = 9.6262036754404487
+14: MbD: Solving for kinematic velocity.
+5: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical001 has the following constraint(s) removed: 
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD: ndricalJointE /OndselAssembly/AssemblyExample#Cylindrical003 has the following constraint(s) removed: 
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute has the following constraint(s) removed: 
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute001 has the following constraint(s) removed: 
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+5: MbD: Assembling system. 
+27: MbD: Convergence = 1.5778189191328552e-15
+27: Time = 0.98
+17: MbD: Solving for quasi kinematic acceleration.
+27: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.008012947761453719
+14: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 2.1306234808548172e-10
+27: MbD: Convergence = 0.014123925348539739
+17: MbD: Convergence = 4.2728014835802792
+17: MbD: Convergence = 8.4779656636512638e-16
+27: MbD: Convergence = 0.00049651936216632217
+14: MbD: Convergence = 5.3694468349196498
+27: MbD: Convergence = 3.2511883732555018e-07
+17: MbD: Convergence = 6.3124715527201075e-16
+24: MbD: Solving for kinematic velocity.
+27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.4174687222801955e-16
+14: MbD: Convergence = 5.7901964695353443e-15
+29: MbD: Convergence = 0.00041612454723351098
+17: MbD: Convergence = 4.195129828094328e-16
+14: Time = 0.77
+17: Time = 0.64
+17: MbD: Solving for quasi kinematic position.
+27: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 7319.8063034579172
+14: MbD: Convergence = 0.013177068994508464
+27: MbD: Convergence = 11.845728269464107
+28: MbD: Checking for redundant constraints.
+27: MbD: Convergence = 3.8268847518471773e-15
+27: Time = 0.99
+14: MbD: Convergence = 0.00034464872108613782
+17: MbD: Convergence = 317.76714340919654
+29: MbD: Convergence = 1.4754148621416406e-06
+27: MbD: Solving for kinematic position.
+27: MbD: Convergence = 0.013492760132851814
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 2.9208034099355866e-07
+17: MbD: Convergence = 0.051798471680820385
+27: MbD: Convergence = 0.0005520485381899843
+27: MbD: Convergence = 5.4928740975832852e-07
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 8.1047627231730671e-09
+27: MbD: Solving for kinematic velocity.
+17: MbD: Solving for velocity initial conditions.
+29: MbD: Convergence = 1.4034749038068463e-11
+27: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 2.8788918672611965e-06
+17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.3581309696542014
+27: MbD: Convergence = 14.119101135282023
+14: MbD: Convergence = 5.3739336059569638
+17: MbD: Convergence = 1.1918522628703576e-15
+27: MbD: Convergence = 2.9329308993653046e-15
+27: Time = 1
+27: MbD: Solving for kinematic position.
+14: MbD: Convergence = 5.8589291966981368e-15
+3: MbD: Assembling system with limits. 
+17: MbD: Convergence = 8.0360456024842398e-16
+14: Time = 0.78
+13: FileName = assembly.asmt
+13: 
+17: MbD: Convergence = 8.2568759429817535e-16
+27: MbD: Convergence = 0.012781102073829488
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 1.1732222037617784e-15
+27: MbD: Convergence = 0.0006026508360567819
+17: Time = 0.65
+24: MbD: Convergence = 44466.109114108927
+17: MbD: Solving for quasi kinematic position.
+3: MbD: No limits reached. 
+3: Time = 0
+27: MbD: Convergence = 7.4517906079293511e-07
+14: MbD: Convergence = 0.013177068994508307
+13: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
+27: MbD: Solving for kinematic velocity.
+5: MbD: Convergence = 0.0002298528922222851
+17: MbD: Convergence = 7077.4680540454265
+14: MbD: Convergence = 0.00034464872108613701
+27: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 2.9208034097345126e-07
+27/35 Test #13: OndselSolver.constvel ............................Subprocess aborted***Exception:   0.15 sec
 Running main() from ./googletest/src/gtest_main.cc
-Note: Google Test filter = OndselSolver.Gears
+Note: Google Test filter = OndselSolver.constvel
 [==========] Running 1 test from 1 test suite.
 [----------] Global test environment set-up.
 [----------] 1 test from OndselSolver
-[ RUN      ] OndselSolver.Gears
+[ RUN      ] OndselSolver.constvel
 (6.28319*imeE)
 Time = 0
-0 omezs 6.28319 != 6.28302 tol = 1e-06
-0 omezs -3.14159 != -3.14159 tol = 1e-06
+0 axs 21.2196 != 0 tol = 1e-06
+0 ays 13.8174 != 0 tol = 1e-06
+0 axs 35.0373 != 0 tol = 1e-06
+0 ays 17.2718 != 0 tol = 1e-06
+0 azs -58.3955 != 0 tol = 1e-06
 MbD: Assembling system. 
-MbD: Convergence = 5.5426659263550546e-13
-MbD: Convergence = 1.4676242649151501e-14
-MbD: Convergence = 9.0008889461952501e-15
-MbD: Convergence = 9.0008930218339403e-15
-MbD: Convergence = 9.0008889461952249e-15
+MbD: Checking for redundant constraints.
+MbD: ndricalJointE /Assembly1/Cylindrical has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: Assembling system. 
+MbD: Convergence = 9.3730796460795384e-12
+MbD: Convergence = 7.4634374635827482e-14
+MbD: Convergence = 7.257527303405595e-14
+MbD: Convergence = 6.2441402102101305e-14
+MbD: Convergence = 6.2441400723363599e-14
+MbD: Assembling system. 
+MbD: Checking for redundant constraints.
+MbD: ndricalJointE /Assembly1/Cylindrical has the following constraint(s) removed: 
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+MbD: Assembling system. 
+MbD: Convergence = 9.3007563290979678e-14
+MbD: Convergence = 6.244140072336365e-14
+MbD: Convergence = 6.2441402102102554e-14
+MbD: Convergence = 6.2441400723363599e-14
+MbD: Convergence = 6.2441402102102567e-14
 MbD: Solving for velocity initial conditions.
 MbD: Solving for acceleration initial conditions.
-MbD: Convergence = 1.5697828119689161
-MbD: Convergence = 2.838273051424107e-16
-MbD: Convergence = 2.7565033107012802e-16
-MbD: Convergence = 2.7561705830576715e-16
-MbD: Convergence = 2.7561705830576715e-16
+MbD: Convergence = 2.1679088811097538
+MbD: Convergence = 2.4992687979632742e-15
+MbD: Convergence = 1.1612560025767315e-15
+MbD: Convergence = 7.7924779543274749e-16
+MbD: Convergence = 5.5214368437232878e-16
 Time = 0
-1 bryzs 3.14159 != 2.22045e-16 tol = 1e-06
 MbD: Starting kinematic analysis.
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452961589
-MbD: Convergence = 0.00011152671578491188
-MbD: Convergence = 2.7199172582024525e-08
+MbD: Convergence = 0.0097079439189884775
+MbD: Convergence = 0.00015291749096390283
+MbD: Convergence = 3.8180977924808418e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.4027639640086101e-16
+MbD: Convergence = 2.1758140314356273
+MbD: Convergence = 2.265766302446139e-15
 Time = 0.01
-2 bryzs 3.11018 != -0.0314159 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955882
-MbD: Convergence = 0.00011152671578487968
-MbD: Convergence = 2.71991726045481e-08
+MbD: Convergence = 0.0097079439189878044
+MbD: Convergence = 0.00015291749096386296
+MbD: Convergence = 3.8180977940974836e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.1455178045950105e-16
+MbD: Convergence = 2.1852095460334415
+MbD: Convergence = 1.3093103951153036e-15
 Time = 0.02
-3 bryzs 3.07876 != -0.0628319 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955552
-MbD: Convergence = 0.00011152671578493689
-MbD: Convergence = 2.7199172556823898e-08
+MbD: Convergence = 0.0097079439189878131
+MbD: Convergence = 0.00015291749096384743
+MbD: Convergence = 3.8180977942469253e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.1454999949371652e-16
+MbD: Convergence = 2.1959152876944739
+MbD: Convergence = 2.97385608495437e-15
 Time = 0.03
-4 bryzs 3.04734 != -0.0942478 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955709
-MbD: Convergence = 0.00011152671578487899
-MbD: Convergence = 2.7199172579715622e-08
+MbD: Convergence = 0.0097079439189878391
+MbD: Convergence = 0.00015291749096386323
+MbD: Convergence = 3.8180977926193151e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 3.1064251432305617e-16
+MbD: Convergence = 2.207728394244687
+MbD: Convergence = 2.5736108331424691e-15
 Time = 0.04
-5 bryzs 3.01593 != -0.125664 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955613
-MbD: Convergence = 0.00011152671578490178
-MbD: Convergence = 2.7199172606857473e-08
+MbD: Convergence = 0.0097079439189878183
+MbD: Convergence = 0.00015291749096388153
+MbD: Convergence = 3.8180977943158652e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 2.8595634656261925e-16
+MbD: Convergence = 2.2204288201691078
+MbD: Convergence = 2.4867282768314175e-15
 Time = 0.05
-6 bryzs 2.98451 != -0.15708 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295596
-MbD: Convergence = 0.00011152671578490905
-MbD: Convergence = 2.7199172605334279e-08
+MbD: Convergence = 0.0097079439189878512
+MbD: Convergence = 0.00015291749096388299
+MbD: Convergence = 3.8180977905852767e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 1.0204451242059887e-16
+MbD: Convergence = 2.2337850395697272
+MbD: Convergence = 2.0546124731975558e-15
 Time = 0.06
-7 bryzs 2.9531 != -0.188496 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955847
-MbD: Convergence = 0.00011152671578492492
-MbD: Convergence = 2.7199172606358342e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.00015291749096389934
+MbD: Convergence = 3.8180977958283875e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 1.2926123935990897e-16
+MbD: Convergence = 2.2475596676863785
+MbD: Convergence = 2.6844598932234524e-15
 Time = 0.07
-8 bryzs 2.92168 != -0.219911 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955778
-MbD: Convergence = 0.00011152671578490828
-MbD: Convergence = 2.7199172581040792e-08
+MbD: Convergence = 0.0097079439189878235
+MbD: Convergence = 0.00015291749096388088
+MbD: Convergence = 3.8180977942880514e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 6.3057553363725548e-17
+MbD: Convergence = 2.261514792957354
+MbD: Convergence = 1.1427535869334628e-15
 Time = 0.08
-9 bryzs 2.89027 != -0.251327 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955908
-MbD: Convergence = 0.00011152671578492591
-MbD: Convergence = 2.719917255883169e-08
+MbD: Convergence = 0.0097079439189878183
+MbD: Convergence = 0.00015291749096389776
+MbD: Convergence = 3.8180977924748557e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 5.5605541576892929e-16
+MbD: Convergence = 2.2754168548941101
+MbD: Convergence = 7.6344277439614949e-16
 Time = 0.09
-10 bryzs 2.85885 != -0.282743 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955743
-MbD: Convergence = 0.00011152671578490215
-MbD: Convergence = 2.719917260493439e-08
+MbD: Convergence = 0.0097079439189878096
+MbD: Convergence = 0.00015291749096386277
+MbD: Convergence = 3.8180977944779172e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689266
-MbD: Convergence = 6.9523742826386698e-17
+MbD: Convergence = 2.2890409496834589
+MbD: Convergence = 3.0317525172806292e-15
 Time = 0.1
-11 bryzs 2.82743 != -0.314159 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955535
-MbD: Convergence = 0.00011152671578490637
-MbD: Convergence = 2.7199172581472173e-08
+MbD: Convergence = 0.00970794391898782
+MbD: Convergence = 0.00015291749096388153
+MbD: Convergence = 3.8180977925633812e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.8545076600505356e-16
+MbD: Convergence = 2.3021744911366651
+MbD: Convergence = 2.0934794210327865e-15
 Time = 0.11
-12 bryzs 2.79602 != -0.345575 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955535
-MbD: Convergence = 0.00011152671578490234
-MbD: Convergence = 2.7199172605994713e-08
+MbD: Convergence = 0.0097079439189878252
+MbD: Convergence = 0.0001529174909638474
+MbD: Convergence = 3.8180977939886379e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 9.4190068564875419e-17
+MbD: Convergence = 2.3146201963109139
+MbD: Convergence = 2.4168140642113753e-15
 Time = 0.12
-13 bryzs 2.7646 != -0.376991 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955804
-MbD: Convergence = 0.00011152671578490286
-MbD: Convergence = 2.7199172610199732e-08
+MbD: Convergence = 0.0097079439189878131
+MbD: Convergence = 0.00015291749096386359
+MbD: Convergence = 3.8180977958485555e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689266
-MbD: Convergence = 7.9849726859758535e-17
+MbD: Convergence = 2.3261984009686096
+MbD: Convergence = 2.0751862053711985e-15
 Time = 0.13
-14 bryzs 2.73319 != -0.408407 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955917
-MbD: Convergence = 0.0001115267157849324
-MbD: Convergence = 2.719917258193505e-08
+MbD: Convergence = 0.0097079439189878339
+MbD: Convergence = 0.00015291749096382873
+MbD: Convergence = 3.8180977977426409e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 7.5472059117508339e-17
+MbD: Convergence = 2.3367487391634678
+MbD: Convergence = 1.6423755513712906e-15
 Time = 0.14
-15 bryzs 2.70177 != -0.439823 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955986
-MbD: Convergence = 0.00011152671578490286
-MbD: Convergence = 2.7199172608115356e-08
+MbD: Convergence = 0.0097079439189878425
+MbD: Convergence = 0.00015291749096386456
+MbD: Convergence = 3.8180977924638363e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 6.9560834725828003e-17
+MbD: Convergence = 2.3461312435483759
+MbD: Convergence = 1.519969930143883e-15
 Time = 0.15
-16 bryzs 2.67035 != -0.471239 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955709
-MbD: Convergence = 0.00011152671578490874
-MbD: Convergence = 2.7199172600001191e-08
+MbD: Convergence = 0.0097079439189878373
+MbD: Convergence = 0.00015291749096386565
+MbD: Convergence = 3.8180977906033191e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 3.1044859584776266e-17
+MbD: Convergence = 2.3542269388603079
+MbD: Convergence = 1.1393188236546436e-15
 Time = 0.16
-17 bryzs 2.63894 != -0.502655 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955951
-MbD: Convergence = 0.0001115267157849155
-MbD: Convergence = 2.7199172599803634e-08
+MbD: Convergence = 0.0097079439189878425
+MbD: Convergence = 0.00015291749096386421
+MbD: Convergence = 3.8180977958637359e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 9.4561031272724483e-17
+MbD: Convergence = 2.3609380110655116
+MbD: Convergence = 1.2891635997866949e-15
 Time = 0.17
-18 bryzs 2.60752 != -0.534071 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955414
-MbD: Convergence = 0.0001115267157849078
-MbD: Convergence = 2.7199172605365785e-08
+MbD: Convergence = 0.0097079439189878131
+MbD: Convergence = 0.00015291749096384838
+MbD: Convergence = 3.8180977940837927e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 2.9380318718216131e-16
+MbD: Convergence = 2.3661876395318417
+MbD: Convergence = 1.3210212798955091e-15
 Time = 0.18
-19 bryzs 2.57611 != -0.565487 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955986
-MbD: Convergence = 0.00011152671578490971
-MbD: Convergence = 2.7199172610397303e-08
+MbD: Convergence = 0.009707943918987846
+MbD: Convergence = 0.00015291749096386464
+MbD: Convergence = 3.8180977923490236e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 2.7567434684370022e-16
+MbD: Convergence = 2.3699195799927524
+MbD: Convergence = 9.1636696626813679e-16
 Time = 0.19
-20 bryzs 2.54469 != -0.596903 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956108
-MbD: Convergence = 0.00011152671578490921
-MbD: Convergence = 2.7199172577662278e-08
+MbD: Convergence = 0.0097079439189878304
+MbD: Convergence = 0.00015291749096386372
+MbD: Convergence = 3.8180977925431073e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7782365051289491e-16
+MbD: Convergence = 2.3720975825630046
+MbD: Convergence = 1.9914246400701359e-15
 Time = 0.2
-21 bryzs 2.51327 != -0.628319 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955535
-MbD: Convergence = 0.00011152671578487827
-MbD: Convergence = 2.7199172579450325e-08
+MbD: Convergence = 0.0097079439189878478
+MbD: Convergence = 0.00015291749096386359
+MbD: Convergence = 3.8180977941292023e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7569946144314537e-16
+MbD: Convergence = 2.3727047221630029
+MbD: Convergence = 2.1030143215859057e-15
 Time = 0.21
-22 bryzs 2.48186 != -0.659734 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955917
-MbD: Convergence = 0.00011152671578488436
-MbD: Convergence = 2.7199172579450335e-08
+MbD: Convergence = 0.0097079439189878356
+MbD: Convergence = 0.00015291749096386443
+MbD: Convergence = 3.8180977941290614e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7636103573312476e-16
+MbD: Convergence = 2.3717427088472069
+MbD: Convergence = 3.1452826667103877e-15
 Time = 0.22
-23 bryzs 2.45044 != -0.69115 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955856
-MbD: Convergence = 0.00011152671578492594
-MbD: Convergence = 2.7199172584284518e-08
+MbD: Convergence = 0.0097079439189878339
+MbD: Convergence = 0.00015291749096386388
+MbD: Convergence = 3.8180977941950432e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 2.8456885214365735e-16
+MbD: Convergence = 2.3692312331234446
+MbD: Convergence = 1.1953186879359832e-15
 Time = 0.23
-24 bryzs 2.41903 != -0.722566 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955873
-MbD: Convergence = 0.00011152671578488482
-MbD: Convergence = 2.7199172577464496e-08
+MbD: Convergence = 0.0097079439189878391
+MbD: Convergence = 0.0001529174909638641
+MbD: Convergence = 3.8180977941674723e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.1312161934504529e-17
+MbD: Convergence = 2.3652073868074042
+MbD: Convergence = 3.0015848480157877e-15
 Time = 0.24
-25 bryzs 2.38761 != -0.753982 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955388
-MbD: Convergence = 0.00011152671578490193
-MbD: Convergence = 2.7199172580428509e-08
+MbD: Convergence = 0.0097079439189878044
+MbD: Convergence = 0.00015291749096384708
+MbD: Convergence = 3.8180977958604999e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.8828777485341849e-17
+MbD: Convergence = 2.3597251837237665
+MbD: Convergence = 2.1788792592361138e-15
 Time = 0.25
-26 bryzs 2.35619 != -0.785398 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955691
-MbD: Convergence = 0.00011152671578491031
-MbD: Convergence = 2.7199172555655747e-08
+MbD: Convergence = 0.0097079439189878044
+MbD: Convergence = 0.00015291749096388115
+MbD: Convergence = 3.8180977924738154e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 1.1102703958252387e-17
+MbD: Convergence = 2.35285518714121
+MbD: Convergence = 2.1344543590658272e-15
 Time = 0.26
-27 bryzs 2.32478 != -0.816814 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955908
-MbD: Convergence = 0.00011152671578490882
-MbD: Convergence = 2.7199172578192452e-08
+MbD: Convergence = 0.0097079439189878356
+MbD: Convergence = 0.00015291749096386443
+MbD: Convergence = 3.8180977941250022e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.8483422364358483e-17
+MbD: Convergence = 2.3446842327756765
+MbD: Convergence = 2.1245842919938009e-15
 Time = 0.27
-28 bryzs 2.29336 != -0.84823 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955917
-MbD: Convergence = 0.00011152671578490803
-MbD: Convergence = 2.7199172608874116e-08
+MbD: Convergence = 0.0097079439189878425
+MbD: Convergence = 0.00015291749096386424
+MbD: Convergence = 3.8180977924840354e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.756803187504296e-16
+MbD: Convergence = 2.3353152181543013
+MbD: Convergence = 1.0403240932723971e-15
 Time = 0.28
-29 bryzs 2.26195 != -0.879646 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955917
-MbD: Convergence = 0.0001115267157849094
-MbD: Convergence = 2.7199172582564015e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.00015291749096386424
+MbD: Convergence = 3.8180977941470694e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689285
-MbD: Convergence = 2.7567898020098229e-16
+MbD: Convergence = 2.3248669118163763
+MbD: Convergence = 1.5248112802791927e-15
 Time = 0.29
-30 bryzs 2.23053 != -0.911062 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955787
-MbD: Convergence = 0.00011152671578493072
-MbD: Convergence = 2.7199172584882212e-08
+MbD: Convergence = 0.0097079439189878356
+MbD: Convergence = 0.00015291749096386405
+MbD: Convergence = 3.818097792488342e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.1243453617734115e-17
+MbD: Convergence = 2.3134737200344224
+MbD: Convergence = 1.5570762305003667e-15
 Time = 0.3
-31 bryzs 2.19911 != -0.942478 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956125
-MbD: Convergence = 0.00011152671578490284
-MbD: Convergence = 2.7199172582564015e-08
+MbD: Convergence = 0.0097079439189878391
+MbD: Convergence = 0.00015291749096386448
+MbD: Convergence = 3.8180977957202968e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.8811815335321497e-16
+MbD: Convergence = 2.3012853353445921
+MbD: Convergence = 9.8746365835602966e-16
 Time = 0.31
-32 bryzs 2.1677 != -0.973894 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955604
-MbD: Convergence = 0.00011152671578488667
-MbD: Convergence = 2.7199172579980498e-08
+MbD: Convergence = 0.0097079439189878148
+MbD: Convergence = 0.00015291749096384833
+MbD: Convergence = 3.8180977939490166e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 7.7648572526959815e-17
+MbD: Convergence = 2.2884661811428035
+MbD: Convergence = 9.1467959631438799e-16
 Time = 0.32
-33 bryzs 2.13628 != -1.00531 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955995
-MbD: Convergence = 0.0001115267157849073
-MbD: Convergence = 2.7199172607881555e-08
+MbD: Convergence = 0.0097079439189878235
+MbD: Convergence = 0.00015291749096386348
+MbD: Convergence = 3.8180977958972433e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 9.7865381104966672e-17
+MbD: Convergence = 2.275194560966999
+MbD: Convergence = 1.4581568178664407e-15
 Time = 0.33
-34 bryzs 2.10487 != -1.03673 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955587
-MbD: Convergence = 0.00011152671578490147
-MbD: Convergence = 2.7199172581503695e-08
+MbD: Convergence = 0.0097079439189878304
+MbD: Convergence = 0.00015291749096386356
+MbD: Convergence = 3.8180977927755351e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 2.845972940883898e-16
+MbD: Convergence = 2.2616614209410359
+MbD: Convergence = 1.4074783080276571e-15
 Time = 0.34
-35 bryzs 2.07345 != -1.06814 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955873
-MbD: Convergence = 0.00011152671578491101
-MbD: Convergence = 2.7199172600266521e-08
+MbD: Convergence = 0.0097079439189878564
+MbD: Convergence = 0.00015291749096388131
+MbD: Convergence = 3.8180977925613106e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 2.9239758004779651e-16
+MbD: Convergence = 2.2480686403005197
+MbD: Convergence = 1.3236149456065006e-15
 Time = 0.35
-36 bryzs 2.04204 != -1.09956 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956134
-MbD: Convergence = 0.00011152671578491149
-MbD: Convergence = 2.7199172605365798e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.00015291749096386508
+MbD: Convergence = 3.8180977957623388e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 2.9259600182987665e-16
+MbD: Convergence = 2.2346267789677934
+MbD: Convergence = 2.6049861989651179e-15
 Time = 0.36
-37 bryzs 2.01062 != -1.13097 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295596
-MbD: Convergence = 0.00011152671578490916
-MbD: Convergence = 2.7199172582564018e-08
+MbD: Convergence = 0.0097079439189878321
+MbD: Convergence = 0.00015291749096386299
+MbD: Convergence = 3.8180977943914933e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 8.7575627658302624e-17
+MbD: Convergence = 2.2215522335645219
+MbD: Convergence = 2.2982660472306364e-15
 Time = 0.37
-38 bryzs 1.9792 != -1.16239 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295583
-MbD: Convergence = 0.00011152671578493218
-MbD: Convergence = 2.7199172578525067e-08
+MbD: Convergence = 0.0097079439189878547
+MbD: Convergence = 0.000152917490963847
+MbD: Convergence = 3.8180977959975717e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689283
-MbD: Convergence = 7.0108342635686735e-17
+MbD: Convergence = 2.2090637843632819
+MbD: Convergence = 1.4557212792082896e-15
 Time = 0.38
-39 bryzs 1.94779 != -1.19381 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955977
-MbD: Convergence = 0.0001115267157849038
-MbD: Convergence = 2.7199172604305478e-08
+MbD: Convergence = 0.0097079439189878165
+MbD: Convergence = 0.00015291749096388091
+MbD: Convergence = 3.8180977941038065e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.8383939148521334e-17
+MbD: Convergence = 2.1973785550756122
+MbD: Convergence = 2.5125028212214501e-15
 Time = 0.39
-40 bryzs 1.91637 != -1.22522 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955943
-MbD: Convergence = 0.00011152671578491015
-MbD: Convergence = 2.7199172603842618e-08
+MbD: Convergence = 0.0097079439189878321
+MbD: Convergence = 0.00015291749096388042
+MbD: Convergence = 3.8180977942013914e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 6.9340038583128519e-17
+MbD: Convergence = 2.1867074536326641
+MbD: Convergence = 1.3470805527755445e-15
 Time = 0.4
-41 bryzs 1.88496 != -1.25664 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955865
-MbD: Convergence = 0.00011152671578493118
-MbD: Convergence = 2.7199172583624332e-08
+MbD: Convergence = 0.0097079439189878287
+MbD: Convergence = 0.0001529174909638651
+MbD: Convergence = 3.8180977922984776e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 1.553685003429166e-16
+MbD: Convergence = 2.1772502125633033
+MbD: Convergence = 1.1536889936968805e-15
 Time = 0.41
-42 bryzs 1.85354 != -1.28805 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955908
-MbD: Convergence = 0.00011152671578492534
-MbD: Convergence = 2.7199172581040835e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.00015291749096386426
+MbD: Convergence = 3.8180977938191406e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 3.3015880409336191e-16
+MbD: Convergence = 2.1691901981928403
+MbD: Convergence = 2.0634998224450848e-15
 Time = 0.42
-43 bryzs 1.82212 != -1.31947 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955232
-MbD: Convergence = 0.00011152671578493161
-MbD: Convergence = 2.7199172579980512e-08
+MbD: Convergence = 0.0097079439189877662
+MbD: Convergence = 0.00015291749096386475
+MbD: Convergence = 3.8180977942189918e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 3.2011573284495123e-17
+MbD: Convergence = 2.1626892034514502
+MbD: Convergence = 1.1126352314322219e-15
 Time = 0.43
-44 bryzs 1.79071 != -1.35088 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955787
-MbD: Convergence = 0.00011152671578493168
-MbD: Convergence = 2.7199172583161474e-08
+MbD: Convergence = 0.0097079439189878321
+MbD: Convergence = 0.00015291749096388047
+MbD: Convergence = 3.818097792480325e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 3.1075485645979138e-16
+MbD: Convergence = 2.1578824736459952
+MbD: Convergence = 2.1453489953728269e-15
 Time = 0.44
-45 bryzs 1.75929 != -1.3823 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955977
-MbD: Convergence = 0.0001115267157849322
-MbD: Convergence = 2.7199172577859872e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.00015291749096384705
+MbD: Convergence = 3.818097795771852e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.0203233865085845e-16
+MbD: Convergence = 2.1548742322446435
+MbD: Convergence = 1.0282522160787258e-15
 Time = 0.45
-46 bryzs 1.72788 != -1.41372 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955657
-MbD: Convergence = 0.00011152671578493259
-MbD: Convergence = 2.7199172575874271e-08
+MbD: Convergence = 0.009707943918987846
+MbD: Convergence = 0.00015291749096386396
+MbD: Convergence = 3.8180977942356433e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689283
-MbD: Convergence = 1.9773732616961788e-16
+MbD: Convergence = 2.1537339698272402
+MbD: Convergence = 2.2208823118970893e-15
 Time = 0.46
-47 bryzs 1.69646 != -1.44513 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295583
-MbD: Convergence = 0.00011152671578488484
-MbD: Convergence = 2.7199172601259101e-08
+MbD: Convergence = 0.0097079439189878269
+MbD: Convergence = 0.00015291749096384743
+MbD: Convergence = 3.818097794172309e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 1.3755528985467579e-16
+MbD: Convergence = 2.1544937313901142
+MbD: Convergence = 2.6552363287080099e-15
 Time = 0.47
-48 bryzs 1.66504 != -1.47655 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955743
-MbD: Convergence = 0.00011152671578490929
-MbD: Convergence = 2.7199172604637859e-08
+MbD: Convergence = 0.0097079439189878443
+MbD: Convergence = 0.00015291749096386489
+MbD: Convergence = 3.8180977925353431e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 1.7310494798155668e-16
+MbD: Convergence = 2.1571465857978773
+MbD: Convergence = 1.1057882980861466e-15
 Time = 0.48
-49 bryzs 1.63363 != -1.50796 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955856
-MbD: Convergence = 0.00011152671578491887
-MbD: Convergence = 2.7199172583624348e-08
+MbD: Convergence = 0.0097079439189878564
+MbD: Convergence = 0.00015291749096384656
+MbD: Convergence = 3.8180977907895585e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 1.9844571937959396e-16
+MbD: Convergence = 2.1616463904283969
+MbD: Convergence = 1.2435685813826969e-15
 Time = 0.49
-50 bryzs 1.60221 != -1.53938 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955483
-MbD: Convergence = 0.0001115267157848976
-MbD: Convergence = 2.7199172603000852e-08
+MbD: Convergence = 0.0097079439189877697
+MbD: Convergence = 0.00015291749096386537
+MbD: Convergence = 3.8180977940981354e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.4447165945806191e-16
+MbD: Convergence = 2.1679088811097698
+MbD: Convergence = 1.2623151780163129e-15
 Time = 0.5
-51 bryzs 1.5708 != -1.5708 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955804
-MbD: Convergence = 0.00011152671578493133
-MbD: Convergence = 2.7199172603842621e-08
+MbD: Convergence = 0.0097079439189878321
+MbD: Convergence = 0.00015291749096384675
+MbD: Convergence = 3.818097795891504e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 1.5444178867906075e-16
+MbD: Convergence = 2.1758140314356278
+MbD: Convergence = 1.2302849000478602e-15
 Time = 0.51
-52 bryzs 1.53938 != -1.60221 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955856
-MbD: Convergence = 0.00011152671578492734
-MbD: Convergence = 2.7199172580178307e-08
+MbD: Convergence = 0.0097079439189878425
+MbD: Convergence = 0.00015291749096386415
+MbD: Convergence = 3.8180977925969157e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 7.0679950952112187e-17
+MbD: Convergence = 2.185209546033442
+MbD: Convergence = 9.8768931611520636e-16
 Time = 0.52
-53 bryzs 1.50796 != -1.63363 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955839
-MbD: Convergence = 0.00011152671578490772
-MbD: Convergence = 2.7199172605365811e-08
+MbD: Convergence = 0.0097079439189878339
+MbD: Convergence = 0.0001529174909638473
+MbD: Convergence = 3.818097794135205e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.6876514306655871e-16
+MbD: Convergence = 2.1959152876944725
+MbD: Convergence = 1.7566230302715535e-15
 Time = 0.53
-54 bryzs 1.47655 != -1.66504 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955743
-MbD: Convergence = 0.00011152671578492679
-MbD: Convergence = 2.7199172556186162e-08
+MbD: Convergence = 0.0097079439189878287
+MbD: Convergence = 0.00015291749096386415
+MbD: Convergence = 3.8180977957057517e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 3.3233752462879178e-16
+MbD: Convergence = 2.2077283942446879
+MbD: Convergence = 1.0118483892635194e-15
 Time = 0.54
-55 bryzs 1.44513 != -1.69646 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955943
-MbD: Convergence = 0.0001115267157849277
-MbD: Convergence = 2.7199172576404438e-08
+MbD: Convergence = 0.0097079439189878373
+MbD: Convergence = 0.00015291749096386399
+MbD: Convergence = 3.8180977942368893e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.569782811968927
-MbD: Convergence = 1.4186765922897596e-16
+MbD: Convergence = 2.2204288201691078
+MbD: Convergence = 1.2752440104287456e-15
 Time = 0.55
-56 bryzs 1.41372 != -1.72788 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955821
-MbD: Convergence = 0.00011152671578488529
-MbD: Convergence = 2.719917260391037e-08
+MbD: Convergence = 0.009707943918987853
+MbD: Convergence = 0.0001529174909638647
+MbD: Convergence = 3.818097794015637e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 1.1934998489715197e-16
+MbD: Convergence = 2.2337850395697236
+MbD: Convergence = 2.1918531806552091e-15
 Time = 0.56
-57 bryzs 1.3823 != -1.75929 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955648
-MbD: Convergence = 0.00011152671578490239
-MbD: Convergence = 2.7199172605963264e-08
+MbD: Convergence = 0.0097079439189878321
+MbD: Convergence = 0.00015291749096386432
+MbD: Convergence = 3.8180977959731672e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689285
-MbD: Convergence = 3.2409990446938301e-16
+MbD: Convergence = 2.2475596676863803
+MbD: Convergence = 1.549925573839508e-15
 Time = 0.57
-58 bryzs 1.35088 != -1.79071 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955873
-MbD: Convergence = 0.00011152671578490238
-MbD: Convergence = 2.7199172582959146e-08
+MbD: Convergence = 0.009707943918987872
+MbD: Convergence = 0.00015291749096384865
+MbD: Convergence = 3.8180977939387681e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.4961340615161452e-17
+MbD: Convergence = 2.2615147929573522
+MbD: Convergence = 1.7393133585394807e-15
 Time = 0.58
-59 bryzs 1.31947 != -1.82212 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955379
-MbD: Convergence = 0.00011152671578492581
-MbD: Convergence = 2.7199172582959149e-08
+MbD: Convergence = 0.009707943918987768
+MbD: Convergence = 0.00015291749096384833
+MbD: Convergence = 3.8180977940068616e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.9303690055415195e-16
+MbD: Convergence = 2.2754168548941101
+MbD: Convergence = 1.7849848533575628e-15
 Time = 0.59
-60 bryzs 1.28805 != -1.85354 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295609
-MbD: Convergence = 0.00011152671578490825
-MbD: Convergence = 2.7199172583556595e-08
+MbD: Convergence = 0.0097079439189878339
+MbD: Convergence = 0.00015291749096388044
+MbD: Convergence = 3.8180977926433629e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 3.0030790168892085e-16
+MbD: Convergence = 2.2890409496834629
+MbD: Convergence = 3.0540362670147864e-15
 Time = 0.6
-61 bryzs 1.25664 != -1.88496 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955891
-MbD: Convergence = 0.00011152671578490192
-MbD: Convergence = 2.7199172603842618e-08
+MbD: Convergence = 0.00970794391898782
+MbD: Convergence = 0.00015291749096382913
+MbD: Convergence = 3.8180977974170481e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.9224171289968725e-16
+MbD: Convergence = 2.3021744911366677
+MbD: Convergence = 9.876743457852242e-16
 Time = 0.61
-62 bryzs 1.22522 != -1.91637 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955466
-MbD: Convergence = 0.00011152671578492534
-MbD: Convergence = 2.7199172583624348e-08
+MbD: Convergence = 0.0097079439189878287
+MbD: Convergence = 0.00015291749096384719
+MbD: Convergence = 3.8180977958462956e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 3.2394184686640187e-16
+MbD: Convergence = 2.3146201963109143
+MbD: Convergence = 1.4234923938600756e-15
 Time = 0.62
-63 bryzs 1.19381 != -1.94779 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295583
-MbD: Convergence = 0.0001115267157848785
-MbD: Convergence = 2.7199172608546774e-08
+MbD: Convergence = 0.0097079439189878634
+MbD: Convergence = 0.00015291749096386494
+MbD: Convergence = 3.8180977942067627e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.9314378059309075e-16
+MbD: Convergence = 2.3261984009686114
+MbD: Convergence = 2.6372295897460729e-15
 Time = 0.63
-64 bryzs 1.16239 != -1.9792 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295609
-MbD: Convergence = 0.00011152671578490782
-MbD: Convergence = 2.7199172583556595e-08
+MbD: Convergence = 0.0097079439189878408
+MbD: Convergence = 0.0001529174909638651
+MbD: Convergence = 3.8180977941723507e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 7.0430244286333832e-17
+MbD: Convergence = 2.3367487391634665
+MbD: Convergence = 5.522415920413674e-16
 Time = 0.64
-65 bryzs 1.13097 != -2.01062 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956342
-MbD: Convergence = 0.00011152671578492672
-MbD: Convergence = 2.7199172578987945e-08
+MbD: Convergence = 0.0097079439189879119
+MbD: Convergence = 0.00015291749096386426
+MbD: Convergence = 3.8180977959094843e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 2.878003416594902e-16
+MbD: Convergence = 2.3461312435483781
+MbD: Convergence = 1.742997725849797e-15
 Time = 0.65
-66 bryzs 1.09956 != -2.04204 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955188
-MbD: Convergence = 0.00011152671578492625
-MbD: Convergence = 2.7199172577927621e-08
+MbD: Convergence = 0.009707943918987768
+MbD: Convergence = 0.00015291749096386334
+MbD: Convergence = 3.8180977925158434e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689279
-MbD: Convergence = 2.7957207710258957e-16
+MbD: Convergence = 2.354226938860311
+MbD: Convergence = 9.467644623258073e-16
 Time = 0.66
-67 bryzs 1.06814 != -2.07345 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.007674803545295537
-MbD: Convergence = 0.00011152671578490918
-MbD: Convergence = 2.719917260132686e-08
+MbD: Convergence = 0.0097079439189877593
+MbD: Convergence = 0.0001529174909638638
+MbD: Convergence = 3.8180977923917452e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 1.1773406692539996e-17
+MbD: Convergence = 2.3609380110655116
+MbD: Convergence = 1.1738836889601099e-15
 Time = 0.67
-68 bryzs 1.03673 != -2.10487 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956515
-MbD: Convergence = 0.00011152671578490784
-MbD: Convergence = 2.7199172606358385e-08
+MbD: Convergence = 0.0097079439189878911
+MbD: Convergence = 0.00015291749096386323
+MbD: Convergence = 3.8180977942823684e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 2.8431780151290945e-16
+MbD: Convergence = 2.3661876395318466
+MbD: Convergence = 1.6119243443393276e-15
 Time = 0.68
-69 bryzs 1.00531 != -2.13628 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955153
-MbD: Convergence = 0.00011152671578490147
-MbD: Convergence = 2.7199172608941882e-08
+MbD: Convergence = 0.0097079439189877714
+MbD: Convergence = 0.00015291749096386426
+MbD: Convergence = 3.8180977924331095e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.0477527350483355e-16
+MbD: Convergence = 2.3699195799927542
+MbD: Convergence = 1.2296612648899637e-15
 Time = 0.69
-70 bryzs 0.973894 != -2.1677 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956515
-MbD: Convergence = 0.00011152671578488574
-MbD: Convergence = 2.7199172604835185e-08
+MbD: Convergence = 0.0097079439189878981
+MbD: Convergence = 0.00015291749096386388
+MbD: Convergence = 3.8180977924744487e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 7.9147455434230375e-17
+MbD: Convergence = 2.3720975825630024
+MbD: Convergence = 2.3347488139449476e-15
 Time = 0.7
-71 bryzs 0.942478 != -2.19911 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955336
-MbD: Convergence = 0.00011152671578490939
-MbD: Convergence = 2.7199172576404425e-08
+MbD: Convergence = 0.009707943918987768
+MbD: Convergence = 0.00015291749096386375
+MbD: Convergence = 3.8180977941590503e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 4.1613180163795708e-17
+MbD: Convergence = 2.3727047221630029
+MbD: Convergence = 8.3171350426732021e-16
 Time = 0.71
-72 bryzs 0.911062 != -2.23053 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956342
-MbD: Convergence = 0.00011152671578489139
-MbD: Convergence = 2.7199172580973079e-08
+MbD: Convergence = 0.0097079439189879085
+MbD: Convergence = 0.00015291749096384727
+MbD: Convergence = 3.8180977924447813e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 7.2647004772313583e-17
+MbD: Convergence = 2.3717427088472065
+MbD: Convergence = 2.4130559905584391e-15
 Time = 0.72
-73 bryzs 0.879646 != -2.26195 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955422
-MbD: Convergence = 0.00011152671578490734
-MbD: Convergence = 2.7199172607153616e-08
+MbD: Convergence = 0.0097079439189877749
+MbD: Convergence = 0.00015291749096384708
+MbD: Convergence = 3.8180977941989416e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 1.3924371580268391e-16
+MbD: Convergence = 2.3692312331234473
+MbD: Convergence = 1.4196716528996722e-15
 Time = 0.73
-74 bryzs 0.84823 != -2.29336 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956498
-MbD: Convergence = 0.00011152671578492699
-MbD: Convergence = 2.7199172560157353e-08
+MbD: Convergence = 0.0097079439189879102
+MbD: Convergence = 0.00015291749096386432
+MbD: Convergence = 3.81809779244747e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.1734439512998666e-17
+MbD: Convergence = 2.3652073868074033
+MbD: Convergence = 2.0773256704611111e-15
 Time = 0.74
-75 bryzs 0.816814 != -2.32478 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955336
-MbD: Convergence = 0.00011152671578491488
-MbD: Convergence = 2.7199172577647015e-08
+MbD: Convergence = 0.009707943918987768
+MbD: Convergence = 0.00015291749096384697
+MbD: Convergence = 3.8180977941606061e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.569782811968927
-MbD: Convergence = 1.0929128383705714e-15
+MbD: Convergence = 2.3597251837237652
+MbD: Convergence = 2.1813458378272071e-15
 Time = 0.75
-76 bryzs 0.785398 != -2.35619 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956481
-MbD: Convergence = 0.0001115267157849015
-MbD: Convergence = 2.7199172587792865e-08
+MbD: Convergence = 0.0097079439189879102
+MbD: Convergence = 0.00015291749096386434
+MbD: Convergence = 3.8180977941582271e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 7.0371869335698364e-17
+MbD: Convergence = 2.3528551871412038
+MbD: Convergence = 1.5096813519121399e-15
 Time = 0.76
-77 bryzs 0.753982 != -2.38761 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955336
-MbD: Convergence = 0.00011152671578490159
-MbD: Convergence = 2.7199172583026419e-08
+MbD: Convergence = 0.0097079439189877645
+MbD: Convergence = 0.00015291749096388115
+MbD: Convergence = 3.8180977924065233e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7634237803232431e-16
+MbD: Convergence = 2.3446842327756778
+MbD: Convergence = 1.1810562034894907e-15
 Time = 0.77
-78 bryzs 0.722566 != -2.41903 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956541
-MbD: Convergence = 0.00011152671578491101
-MbD: Convergence = 2.7199172601857007e-08
+MbD: Convergence = 0.0097079439189879102
+MbD: Convergence = 0.00015291749096388156
+MbD: Convergence = 3.8180977958249246e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689268
-MbD: Convergence = 2.7568685132300949e-16
+MbD: Convergence = 2.3353152181543022
+MbD: Convergence = 1.7451998987182009e-15
 Time = 0.78
-79 bryzs 0.69115 != -2.45044 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955292
-MbD: Convergence = 0.00011152671578490307
-MbD: Convergence = 2.7199172577464748e-08
+MbD: Convergence = 0.0097079439189877593
+MbD: Convergence = 0.00015291749096384667
+MbD: Convergence = 3.8180977958248187e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 2.7821190570666977e-16
+MbD: Convergence = 2.3248669118163807
+MbD: Convergence = 1.3707233976754309e-15
 Time = 0.79
-80 bryzs 0.659734 != -2.48186 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955171
-MbD: Convergence = 0.00011152671578490332
-MbD: Convergence = 2.7199172577464744e-08
+MbD: Convergence = 0.009707943918987761
+MbD: Convergence = 0.0001529174909638473
+MbD: Convergence = 3.8180977957781624e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7760759705890816e-16
+MbD: Convergence = 2.3134737200344202
+MbD: Convergence = 1.569921453783669e-15
 Time = 0.8
-81 bryzs 0.628319 != -2.51327 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956463
-MbD: Convergence = 0.00011152671578490234
-MbD: Convergence = 2.7199172581108574e-08
+MbD: Convergence = 0.0097079439189878981
+MbD: Convergence = 0.00015291749096388066
+MbD: Convergence = 3.8180977924680112e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.7312996699857381e-17
+MbD: Convergence = 2.3012853353445926
+MbD: Convergence = 1.3775112190774224e-15
 Time = 0.81
-82 bryzs 0.596903 != -2.54469 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955284
-MbD: Convergence = 0.00011152671578490333
-MbD: Convergence = 2.7199172584019453e-08
+MbD: Convergence = 0.0097079439189877766
+MbD: Convergence = 0.00015291749096386453
+MbD: Convergence = 3.8180977923501949e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.7762150122734637e-16
+MbD: Convergence = 2.2884661811428035
+MbD: Convergence = 1.039698292104931e-15
 Time = 0.82
-83 bryzs 0.565487 != -2.57611 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956428
-MbD: Convergence = 0.00011152671578490332
-MbD: Convergence = 2.7199172602850037e-08
+MbD: Convergence = 0.0097079439189878946
+MbD: Convergence = 0.00015291749096384713
+MbD: Convergence = 3.818097794136367e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.9219619679608718e-16
+MbD: Convergence = 2.2751945609669995
+MbD: Convergence = 1.0814138600898097e-15
 Time = 0.83
-84 bryzs 0.534071 != -2.60752 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955353
-MbD: Convergence = 0.00011152671578493213
-MbD: Convergence = 2.7199172579585381e-08
+MbD: Convergence = 0.0097079439189877662
+MbD: Convergence = 0.00015291749096386364
+MbD: Convergence = 3.8180977941761895e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.0411478811620039e-16
+MbD: Convergence = 2.2616614209410337
+MbD: Convergence = 2.0105736495252051e-15
 Time = 0.84
-85 bryzs 0.502655 != -2.63894 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956298
-MbD: Convergence = 0.00011152671578490773
-MbD: Convergence = 2.7199172577464738e-08
+MbD: Convergence = 0.0097079439189879067
+MbD: Convergence = 0.00015291749096386464
+MbD: Convergence = 3.818097792412387e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.9226394860658802e-16
+MbD: Convergence = 2.2480686403005188
+MbD: Convergence = 1.9058839700932246e-15
 Time = 0.85
-86 bryzs 0.471239 != -2.67035 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955466
-MbD: Convergence = 0.00011152671578490246
-MbD: Convergence = 2.7199172584019449e-08
+MbD: Convergence = 0.0097079439189877628
+MbD: Convergence = 0.00015291749096384643
+MbD: Convergence = 3.8180977941358648e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 1.417435956651015e-16
+MbD: Convergence = 2.2346267789677956
+MbD: Convergence = 2.2524385784914012e-15
 Time = 0.86
-87 bryzs 0.439823 != -2.70177 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956402
-MbD: Convergence = 0.0001115267157849038
-MbD: Convergence = 2.7199172577927608e-08
+MbD: Convergence = 0.0097079439189879206
+MbD: Convergence = 0.0001529174909638647
+MbD: Convergence = 3.8180977957523272e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 2.840341636459203e-16
+MbD: Convergence = 2.2215522335645219
+MbD: Convergence = 2.2942746743680649e-15
 Time = 0.87
-88 bryzs 0.408407 != -2.73319 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955353
-MbD: Convergence = 0.00011152671578492627
-MbD: Convergence = 2.719917256227798e-08
+MbD: Convergence = 0.009707943918987768
+MbD: Convergence = 0.0001529174909638821
+MbD: Convergence = 3.8180977923004317e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 1.4163535648907065e-16
+MbD: Convergence = 2.2090637843632801
+MbD: Convergence = 1.4824326504251718e-15
 Time = 0.88
-89 bryzs 0.376991 != -2.7646 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956463
-MbD: Convergence = 0.00011152671578490333
-MbD: Convergence = 2.7199172576404411e-08
+MbD: Convergence = 0.0097079439189879241
+MbD: Convergence = 0.00015291749096384697
+MbD: Convergence = 3.8180977959486747e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.861708739903218e-16
+MbD: Convergence = 2.1973785550756135
+MbD: Convergence = 2.1197319091244199e-15
 Time = 0.89
-90 bryzs 0.345575 != -2.79602 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955318
-MbD: Convergence = 0.00011152671578489307
-MbD: Convergence = 2.7199172601654205e-08
+MbD: Convergence = 0.009707943918987735
+MbD: Convergence = 0.00015291749096384627
+MbD: Convergence = 3.8180977940226211e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.569782811968927
-MbD: Convergence = 1.2347936125416001e-16
+MbD: Convergence = 2.1867074536326614
+MbD: Convergence = 9.6417302670235364e-16
 Time = 0.9
-91 bryzs 0.314159 != -2.82743 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956567
-MbD: Convergence = 0.0001115267157848799
-MbD: Convergence = 2.719917260132683e-08
+MbD: Convergence = 0.0097079439189878981
+MbD: Convergence = 0.00015291749096386204
+MbD: Convergence = 3.8180977957664713e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 7.007655827565705e-17
+MbD: Convergence = 2.1772502125633002
+MbD: Convergence = 1.7257215275977632e-15
 Time = 0.91
-92 bryzs 0.282743 != -2.85885 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955206
-MbD: Convergence = 0.0001115267157849258
-MbD: Convergence = 2.7199172582959123e-08
+MbD: Convergence = 0.0097079439189877523
+MbD: Convergence = 0.00015291749096386383
+MbD: Convergence = 3.8180977924542324e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 2.7763947560696181e-16
+MbD: Convergence = 2.1691901981928399
+MbD: Convergence = 3.3358962513243337e-15
 Time = 0.92
-93 bryzs 0.251327 != -2.89027 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955353
-MbD: Convergence = 0.0001115267157849155
-MbD: Convergence = 2.7199172578525051e-08
+MbD: Convergence = 0.0097079439189877818
+MbD: Convergence = 0.00015291749096384721
+MbD: Convergence = 3.8180977939930411e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 2.8433137933411262e-16
+MbD: Convergence = 2.1626892034514498
+MbD: Convergence = 1.4344071188736286e-15
 Time = 0.93
-94 bryzs 0.219911 != -2.92168 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956481
-MbD: Convergence = 0.00011152671578488574
-MbD: Convergence = 2.7199172607881545e-08
+MbD: Convergence = 0.0097079439189878963
+MbD: Convergence = 0.00015291749096388082
+MbD: Convergence = 3.8180977958099228e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689272
-MbD: Convergence = 3.2275930896347081e-16
+MbD: Convergence = 2.1578824736459938
+MbD: Convergence = 1.8012326168948547e-15
 Time = 0.94
-95 bryzs 0.188496 != -2.9531 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955197
-MbD: Convergence = 0.00011152671578493164
-MbD: Convergence = 2.7199172557246452e-08
+MbD: Convergence = 0.0097079439189877749
+MbD: Convergence = 0.00015291749096384735
+MbD: Convergence = 3.8180977943335986e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 7.6597621321572042e-17
+MbD: Convergence = 2.1548742322446421
+MbD: Convergence = 1.2578564884420385e-15
 Time = 0.95
-96 bryzs 0.15708 != -2.98451 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956758
-MbD: Convergence = 0.0001115267157848811
-MbD: Convergence = 2.7199172605230746e-08
+MbD: Convergence = 0.0097079439189879258
+MbD: Convergence = 0.0001529174909638483
+MbD: Convergence = 3.8180977940444295e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689285
-MbD: Convergence = 2.7801374035883702e-16
+MbD: Convergence = 2.153733969827238
+MbD: Convergence = 1.0996239226032455e-15
 Time = 0.96
-97 bryzs 0.125664 != -3.01593 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955318
-MbD: Convergence = 0.00011152671578487854
-MbD: Convergence = 2.7199172586997607e-08
+MbD: Convergence = 0.0097079439189877662
+MbD: Convergence = 0.00015291749096383103
+MbD: Convergence = 3.8180977958447551e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689277
-MbD: Convergence = 9.8811233013359527e-17
+MbD: Convergence = 2.1544937313901125
+MbD: Convergence = 1.6832428428179451e-15
 Time = 0.97
-98 bryzs 0.0942478 != -3.04734 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956437
-MbD: Convergence = 0.00011152671578490852
-MbD: Convergence = 2.7199172602382151e-08
+MbD: Convergence = 0.0097079439189878998
+MbD: Convergence = 0.00015291749096389836
+MbD: Convergence = 3.8180977941607186e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 4.9945215282825692e-16
+MbD: Convergence = 2.1571465857978751
+MbD: Convergence = 1.9680067020779417e-15
 Time = 0.98
-99 bryzs 0.0628319 != -3.07876 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955526
-MbD: Convergence = 0.00011152671578490391
-MbD: Convergence = 2.7199172607948828e-08
+MbD: Convergence = 0.0097079439189877662
+MbD: Convergence = 0.00015291749096386415
+MbD: Convergence = 3.8180977942895457e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689281
-MbD: Convergence = 1.9269521127261882e-16
+MbD: Convergence = 2.1616463904283965
+MbD: Convergence = 1.4524352215215374e-15
 Time = 0.99
-100 bryzs 0.0314159 != -3.11018 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452956402
-MbD: Convergence = 0.00011152671578487725
-MbD: Convergence = 2.7199172607258328e-08
+MbD: Convergence = 0.0097079439189879137
+MbD: Convergence = 0.00015291749096386415
+MbD: Convergence = 3.8180977907239605e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.569782811968927
-MbD: Convergence = 5.6594189367643141e-17
+MbD: Convergence = 2.1679088811097698
+MbD: Convergence = 1.5497058485421955e-15
 Time = 1
-101 bryzs -7.60503e-15 != 3.14159 tol = 1e-06
 MbD: Solving for kinematic position.
-MbD: Convergence = 0.0076748035452955318
-MbD: Convergence = 0.00011152671578490365
-MbD: Convergence = 2.7199172603115099e-08
+MbD: Convergence = 0.0097079439189877593
+MbD: Convergence = 0.00015291749096384778
+MbD: Convergence = 3.8180977942055868e-08
 MbD: Solving for kinematic velocity.
 MbD: Solving for kinematic acceleration.
-MbD: Convergence = 1.5697828119689274
-MbD: Convergence = 1.7027046856970899e-16
+MbD: Convergence = 2.1758140314356278
+MbD: Convergence = 1.9285280222783373e-15
 FileName = assembly.asmt
 
 test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
 
-27: MbD: Convergence = 1.6442599257468677e-15
-27: Time = 0.9
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.014967577357563749
-27: MbD: Convergence = 0.00032949293955757272
-27: MbD: Convergence = 6.1397287443321313e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 2.9208034097107216e-07
 14: MbD: Solving for kinematic velocity.
 14: MbD: Solving for kinematic acceleration.
-14: MbD: Convergence = 5.490055614156427
-17: MbD: Convergence = 0.10439703141367584
-17: MbD: Convergence = 1.724110678694748e-08
+14: MbD: Convergence = 5.3786307695613935
+14: MbD: Convergence = 5.7342101867320866e-15
+14: Time = 0.79
+17: MbD: Convergence = 308.6329007366046
+17: MbD: Convergence = 0.048803635241294205
+17: MbD: Convergence = 7.8333292996082295e-09
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.9749998541697837
-17: MbD: Convergence = 5.4624760923121628e-16
-17: MbD: Convergence = 4.7001187107904455e-16
-25: MbD: Convergence = 0.03170730816008914
-25: MbD: Convergence = 0.0016705269888035554
-25: MbD: Convergence = 4.5380918100581314e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-28: 0 xs 0.787128 != 0.781486 tol = 1e-06
-28: 0 ys 2.81024 != 2.81703 tol = 1e-06
-28: 0 bryys -0.692995 != -0.697084 tol = 1e-06
-28: 0 bryzs 2.02 != 2.01998 tol = 1e-06
-28: 0 vxs -0.00488825 != -0.00469704 tol = 1e-06
-28: 0 vys 0.00548351 != 0.00560964 tol = 1e-06
-28: 0 omexs -0.0314827 != -0.0316386 tol = 1e-06
-28: 0 omeys 0.0379134 != 0.0377857 tol = 1e-06
-28: 0 omezs -0.0257596 != -0.0256717 tol = 1e-06
-28: 0 axs -0.00152729 != 0 tol = 1e-06
-28: 0 ays -0.000667772 != 0 tol = 1e-06
-28: 0 azs 0.000883771 != 0 tol = 1e-06
-28: 0 xs -1.01446 != -1.02262 tol = 1e-06
-28: 0 ys 2.71519 != 2.7159 tol = 1e-06
-28: 0 bryys -1.48499 != -1.49134 tol = 1e-06
-28: 0 bryzs 2.60459 != 2.60457 tol = 1e-06
-28: 0 vxs -0.00126895 != -0.00117231 tol = 1e-06
-28: 0 vys 6.44269e-05 != 9.33388e-05 tol = 1e-06
-28: 0 omexs -0.0386378 != -0.0386576 tol = 1e-06
-28: 0 omeys 0.00332334 != 0.0030779 tol = 1e-06
-28: 0 omezs -0.00445546 != -0.00412639 tol = 1e-06
-28: 0 axs -0.000127785 != 0 tol = 1e-06
-28: 0 ays -0.000438882 != 0 tol = 1e-06
-28: 0 azs 0.000780791 != 0 tol = 1e-06
-28: 0 ays 0.000479426 != 0 tol = 1e-06
-28: 0 azs 0.000877583 != 0 tol = 1e-06
-28: 0 xs -0.998616 != -0.987747 tol = 1e-06
-28: 0 ys -0.0849612 != -0.0834043 tol = 1e-06
-28: 0 zs 1.81906 != 1.81909 tol = 1e-06
-28: 0 bryxs -2.28976 != -2.2906 tol = 1e-06
-28: 0 bryys -0.10128 != -0.110025 tol = 1e-06
-28: 0 bryzs 3.05333 != 3.04562 tol = 1e-06
-28: 0 vxs -0.020695 != -0.0224605 tol = 1e-06
-28: 0 vys 0.148303 != 0.147955 tol = 1e-06
-28: 0 vzs 0.050761 != 0.0507443 tol = 1e-06
-28: 0 omexs -0.120937 != -0.120724 tol = 1e-06
-28: 0 omeys -0.0163332 != -0.0177363 tol = 1e-06
-28: 0 omezs -0.00781957 != -0.00849174 tol = 1e-06
-28: 0 axs -0.00044614 != 0 tol = 1e-06
-28: 0 ays 0.00563921 != 0 tol = 1e-06
-28: 0 azs -0.00487901 != 0 tol = 1e-06
-28: 0 xs 0.0997907 != 0.101962 tol = 1e-06
-28: 0 ys 0.402771 != 0.407507 tol = 1e-06
-28: 0 zs 1.64153 != 1.64151 tol = 1e-06
-28: 0 bryxs -2.53191 != -2.53688 tol = 1e-06
-28: 0 bryys -0.894398 != -0.897178 tol = 1e-06
-28: 0 bryzs 2.3012 != 2.29482 tol = 1e-06
-28: 0 vxs -0.0279845 != -0.0279405 tol = 1e-06
-28: 0 vys 0.0369251 != 0.0367411 tol = 1e-06
-28: 0 omexs -0.0129337 != -0.0127966 tol = 1e-06
-28: 0 omeys -0.0281385 != -0.0282004 tol = 1e-06
-28: 0 omezs -0.0221702 != -0.0222192 tol = 1e-06
-28: 0 axs -0.000492023 != 0 tol = 1e-06
-28: 0 ays 0.000420053 != 0 tol = 1e-06
-28: 0 azs -0.000246095 != 0 tol = 1e-06
-28: 0 xs -0.0098387 != -0.0127758 tol = 1e-06
-28: 0 ys 2.14845 != 2.15199 tol = 1e-06
-28: 0 zs 1.22938 != 1.22936 tol = 1e-06
-28: 0 bryxs 2.22048 != 2.21809 tol = 1e-06
-28: 0 bryys -0.764435 != -0.761184 tol = 1e-06
-28: 0 bryzs 0.484081 != 0.480649 tol = 1e-06
-28: 0 vxs -0.00300239 != -0.0029013 tol = 1e-06
-28: 0 vys 0.0417349 != 0.0417987 tol = 1e-06
-28: 0 vzs 0.0510506 != 0.0510529 tol = 1e-06
-28: 0 omexs 0.0327244 != 0.0328863 tol = 1e-06
-28: 0 omeys -0.0394088 != -0.0392759 tol = 1e-06
-28: 0 omezs -0.0257596 != -0.0256717 tol = 1e-06
-28: 0 axs -0.00132172 != 0 tol = 1e-06
-28: 0 ays -0.000723097 != 0 tol = 1e-06
-28: 0 azs -0.000572837 != 0 tol = 1e-06
-28: 0 xs -1.06488 != -1.06931 tol = 1e-06
-28: 0 ys 2.12906 != 2.12944 tol = 1e-06
-28: 0 zs 1.71813 != 1.71812 tol = 1e-06
-28: 0 bryxs 2.54737 != 2.54711 tol = 1e-06
-28: 0 bryys -0.0481184 != -0.0445638 tol = 1e-06
-28: 0 bryzs 0.0710661 != 0.0657992 tol = 1e-06
-28: 0 vxs -0.000596565 != -0.000550933 tol = 1e-06
-28: 0 vys 0.0384683 != 0.0384845 tol = 1e-06
-28: 0 omexs 0.0417053 != 0.0417269 tol = 1e-06
-28: 0 omeys -0.00358718 != -0.00332227 tol = 1e-06
-28: 0 omezs -0.00445546 != -0.00412639 tol = 1e-06
-28: 0 axs -0.000119511 != 0 tol = 1e-06
-28: 0 ays -0.000488868 != 0 tol = 1e-06
-28: 0 azs -0.00072508 != 0 tol = 1e-06
-28: 0 bryys 1.13319 != 1.10184 tol = 1e-06
-28: 0 omeys -0.39126 != -0.4095 tol = 1e-06
-28: 0 omezs 0.213746 != 0.223711 tol = 1e-06
-28: 0 bryys 0.343045 != 0.344392 tol = 1e-06
-28: 0 omeys -0.0821139 != -0.081472 tol = 1e-06
-28: 0 omezs 0.044859 != 0.0445083 tol = 1e-06
-28: 0 bryys -0.760667 != -0.763382 tol = 1e-06
-28: 0 omeys 0.00144656 != 0.00163532 tol = 1e-06
-28: 0 omezs -0.000790259 != -0.000893379 tol = 1e-06
-28: 0 bryys -1.52246 != -1.52603 tol = 1e-06
-28: 0 omeys -0.000188961 != -0.000173133 tol = 1e-06
-28: 0 omezs 0.00010323 != 9.45832e-05 tol = 1e-06
-28: 0 xs -1.09972 != -1.09755 tol = 1e-06
-28: 0 ys 0.66367 != 0.663982 tol = 1e-06
-28: 0 zs 1.16383 != 1.16384 tol = 1e-06
-28: 0 bryxs -2.28976 != -2.2906 tol = 1e-06
-28: 0 bryys -0.10128 != -0.110025 tol = 1e-06
-28: 0 bryzs -2.71513 != -2.68479 tol = 1e-06
-28: 0 vxs -0.004139 != -0.00449209 tol = 1e-06
-28: 0 vys 0.0698521 != 0.0697826 tol = 1e-06
-28: 0 vzs -0.0414275 != -0.0414308 tol = 1e-06
-28: 0 omexs -0.0756209 != -0.0692064 tol = 1e-06
-28: 0 omeys -0.351867 != -0.3684 tol = 1e-06
-28: 0 omezs 0.285853 != 0.298944 tol = 1e-06
-28: 0 axs -0.00685794 != 0 tol = 1e-06
-28: 0 ays 0.000279849 != 0 tol = 1e-06
-28: 0 azs -0.00146976 != 0 tol = 1e-06
-28: 0 xs -0.680042 != -0.679608 tol = 1e-06
-28: 0 ys 0.761217 != 0.762164 tol = 1e-06
-28: 0 zs 1.12832 != 1.12832 tol = 1e-06
-28: 0 bryxs -2.53191 != -2.53688 tol = 1e-06
-28: 0 bryys -0.894398 != -0.897178 tol = 1e-06
-28: 0 bryzs -2.13805 != -2.14269 tol = 1e-06
-28: 0 vxs -0.00559689 != -0.00558811 tol = 1e-06
-28: 0 vys 0.0475765 != 0.0475397 tol = 1e-06
-28: 0 omexs 0.0976593 != 0.0976358 tol = 1e-06
-28: 0 omeys -0.0789719 != -0.0783119 tol = 1e-06
-28: 0 omezs 0.0506104 != 0.0502928 tol = 1e-06
-28: 0 axs -0.000194994 != 0 tol = 1e-06
-28: 0 ays -0.000466095 != 0 tol = 1e-06
-28: 0 azs -0.000351025 != 0 tol = 1e-06
-28: 0 xs -0.701968 != -0.702555 tol = 1e-06
-28: 0 ys 1.57372 != 1.57442 tol = 1e-06
-28: 0 zs 0.792758 != 0.792754 tol = 1e-06
-28: 0 bryxs 2.22048 != 2.21809 tol = 1e-06
-28: 0 bryys -0.764435 != -0.761184 tol = 1e-06
-28: 0 bryzs -0.300618 != -0.301461 tol = 1e-06
-28: 0 vxs -0.000600478 != -0.00058026 tol = 1e-06
-28: 0 vys 0.0738522 != 0.0738649 tol = 1e-06
-28: 0 omexs 0.0887499 != 0.0885797 tol = 1e-06
-28: 0 omeys 0.00711377 != 0.00735708 tol = 1e-06
-28: 0 omezs 0.0095835 != 0.00958023 tol = 1e-06
-28: 0 axs 7.94531e-05 != 0 tol = 1e-06
-28: 0 ays -0.000514119 != 0 tol = 1e-06
-28: 0 azs -0.000354164 != 0 tol = 1e-06
-28: 0 xs -1.11298 != -1.11386 tol = 1e-06
-28: 0 ys 1.56984 != 1.56991 tol = 1e-06
-28: 0 zs 0.890508 != 0.890506 tol = 1e-06
-28: 0 bryxs 2.54737 != 2.54711 tol = 1e-06
-28: 0 bryys -0.0481184 != -0.0445638 tol = 1e-06
-28: 0 bryzs -0.00454565 != -0.0042217 tol = 1e-06
-28: 0 vxs -0.000119313 != -0.000110187 tol = 1e-06
-28: 0 vys 0.0731988 != 0.0732021 tol = 1e-06
-28: 0 omexs 0.042113 != 0.0420766 tol = 1e-06
-28: 0 omeys 0.00115343 != 0.00107077 tol = 1e-06
-28: 0 omezs 0.00256046 != 0.00237153 tol = 1e-06
-28: 0 axs 1.45033e-05 != 0 tol = 1e-06
-28: 0 ays -0.000123833 != 0 tol = 1e-06
-28: 0 azs -0.000182757 != 0 tol = 1e-06
-28: 0 bryzs 3.14159 != -3.14159 tol = 1e-06
-28: 0 ays 0.00109698 != 0 tol = 1e-06
-28: 0 azs -0.000599282 != 0 tol = 1e-06
-28: 0 bryzs 3.14159 != -3.14159 tol = 1e-06
-28: 0 ays 0.00109698 != 0 tol = 1e-06
-28: 0 azs -0.000599282 != 0 tol = 1e-06
-28: 0 ays -0.00109698 != 0 tol = 1e-06
-28: 0 azs 0.000599282 != 0 tol = 1e-06
-28: 0 ays -0.00109698 != 0 tol = 1e-06
-28: 0 azs 0.000599282 != 0 tol = 1e-06
-28: MbD: Assembling system. 
-27: MbD: Convergence = 6.4788374788361054
-14: MbD: Convergence = 6.4252798169780926e-15
-14: Time = 0.96
+29: MbD: Solving for kinematic acceleration.
+27: MbD: Convergence = 16.20488938108041
+27: MbD: Convergence = 7.466702729855666e-15
+24: MbD: Convergence = 7.0682053189323189e-10
+24: Time = 0.22
+24: MbD: Solving for kinematic position.
 14: MbD: Solving for kinematic position.
-17: MbD: Convergence = 2.5040635995163851e-16
-17: MbD: Convergence = 3.2699809215506853e-16
-17: Time = 0.49
+27: [       OK ] OndselSolver.fourbar (128 ms)
+27: [----------] 1 test from OndselSolver (128 ms total)
+27: 
+27: [----------] Global test environment tear-down
+27: [==========] 1 test from 1 test suite ran. (128 ms total)
+27: [  PASSED  ] 1 test.
+17: MbD: Convergence = 4.4452169340729784
+14: MbD: Convergence = 0.013177068994508403
+17: MbD: Convergence = 8.7654335385718512e-16
+28/35 Test #27: OndselSolver.fourbar .............................   Passed    0.13 sec
+14: MbD: Convergence = 0.00034464872108613749
+14: MbD: Convergence = 2.9208034094278544e-07
+17: MbD: Convergence = 8.3049544832088069e-16
+17: MbD: Convergence = 5.7945872619184526e-16
+24: MbD: Convergence = 0.15254044685200968
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 3.8461046047426576e-16
+17: Time = 0.66
 17: MbD: Solving for quasi kinematic position.
-25: MbD: Convergence = 65.358396197531675
-25: MbD: Convergence = 6.6472010219761473e-15
-25: Time = 0.86
-25: 87 vxs -0.0836224 != -0.0835606 tol = 1e-06
-25: 87 vys -0.884633 != -0.884841 tol = 1e-06
-25: 87 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 87 axs 5.55831 != 5.56848 tol = 1e-06
-25: 87 ays -0.525415 != -0.558307 tol = 1e-06
-25: 87 alpzs -7.10543e-15 != -0.000238172 tol = 1e-06
-25: 87 ys 0.116966 != 0.116973 tol = 1e-06
-25: 87 zs -0.0794903 != -0.07948 tol = 1e-06
-25: 87 vys -0.998904 != -1.00623 tol = 1e-06
-25: 87 vzs -1.46984 != -1.48119 tol = 1e-06
-25: 87 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 87 ays -18.4706 != -19.6662 tol = 1e-06
-25: 87 azs 12.5526 != 10.7869 tol = 1e-06
-25: 87 alpxs -1.06581e-14 != 0.029699 tol = 1e-06
-25: MbD: Solving for kinematic position.
-29: MbD: Convergence = 16.74669516351976
-14: MbD: Convergence = 0.013177068994508394
-17: MbD: Convergence = 12179.090415443457
-25: MbD: Convergence = 0.031707308160089633
-27: MbD: Convergence = 4.9117974007324955e-15
-27: Time = 0.91
-25: MbD: Convergence = 0.0016705269888036126
-17: MbD: Convergence = 484.22403463604633
-14: MbD: Convergence = 0.000344648721086153
-25: MbD: Convergence = 4.5380918098027732e-07
-27: MbD: Solving for kinematic position.
-25: MbD: Solving for kinematic velocity.
-14: MbD: Convergence = 2.9208034096599155e-07
-27: MbD: Convergence = 0.015195647206882844
-17: MbD: Convergence = 0.1013441228867781
-25: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 0.00032705878549094206
+14: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.586464463229984
+24: MbD: Convergence = 0.0093715805136189451
+17: MbD: Convergence = 6845.4902554397249
+17: MbD: Convergence = 299.84095269697417
+14: MbD: Convergence = 5.3835377750272668
+14: MbD: Convergence = 5.6221262083890044e-15
+17: MbD: Convergence = 0.045948823968691911
+24: MbD: Convergence = 1.4107573433874048e-05
+14: Time = 0.8
+3: MbD: Convergence = 1958585.8965323453
+14: MbD: Solving for kinematic position.
+5: MbD: Convergence = 8.6965422374734829e-05
+17: MbD: Convergence = 7.6105402857789787e-09
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 0.013177068994508292
+24: MbD: Convergence = 2.4343722388487558e-10
+29: MbD: Convergence = 1.349560843902049e-14
+17: MbD: Solving for quasi kinematic acceleration.
+14: MbD: Convergence = 0.00034464872108613793
+29: Time = 0.24
+14: MbD: Convergence = 2.9208034094449951e-07
+29: MbD: Solving for kinematic position.
+24: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.5329930006458969
 14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 1.6550072367166703e-08
-27: MbD: Convergence = 6.378957787737754e-07
-25: MbD: Convergence = 65.466405375059367
+17: MbD: Convergence = 6.2907840851243064e-16
+17: MbD: Convergence = 5.314837357076406e-16
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 3.3155435311213436e-16
+17: MbD: Convergence = 3.6444776987431537e-16
+17: Time = 0.67
+17: MbD: Solving for quasi kinematic position.
+14: MbD: Convergence = 5.3886540490972692
+29: MbD: Convergence = 0.0080554498682496312
+17: MbD: Convergence = 6623.8789859930548
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.5932515601132091e-15
+14: Time = 0.81
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 291.40308488934937
+17: MbD: Convergence = 0.043263594737893492
+14: MbD: Convergence = 0.013177068994508276
+29: MbD: Convergence = 0.0004161542201476208
+14: MbD: Convergence = 0.00034464872108613668
+17: MbD: Convergence = 7.4576408500946462e-09
 17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 1.2747603468462939e-14
-25: Time = 0.87
+14: MbD: Convergence = 2.9208034097858984e-07
+14: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 6825.4644323730045
+29: MbD: Convergence = 1.4947453347518436e-06
+29: MbD: Convergence = 1.4275624636998563e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.6204884277931404
+17: MbD: Convergence = 1.3035195261472911e-15
+17: MbD: Convergence = 1.3466227163621124e-15
+17: MbD: Convergence = 7.5855027041167586e-16
+17: MbD: Convergence = 1.0922250812942832e-15
+17: Time = 0.68
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 6412.6338201261378
+17: MbD: Convergence = 283.33028677992019
+17: MbD: Convergence = 0.040781774723467695
+17: MbD: Convergence = 7.3497677110614835e-09
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 4.7068286159496822
+17: MbD: Convergence = 1.3826493013808328e-15
+17: MbD: Convergence = 1.0024153600129573e-15
+17: MbD: Convergence = 7.3070659829672547e-16
+17: MbD: Convergence = 4.2766777781217283e-16
+17: Time = 0.69
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 6211.7461680365468
+17: MbD: Convergence = 275.63267205571441
 14: MbD: Solving for kinematic acceleration.
-25: 88 vxs -0.0279109 != -0.0279412 tol = 1e-06
-25: 88 vys -0.888138 != -0.888078 tol = 1e-06
-25: 88 axs 5.58034 != 5.58042 tol = 1e-06
-25: 88 ays -0.175369 != -0.175805 tol = 1e-06
-25: 88 alpzs -6.21725e-15 != -4.25414e-06 tol = 1e-06
-25: 88 ys 0.106081 != 0.106109 tol = 1e-06
-25: 88 zs -0.0935232 != -0.0935024 tol = 1e-06
-25: 88 vys -1.17525 != -1.17186 tol = 1e-06
-25: 88 vzs -1.33306 != -1.33055 tol = 1e-06
-25: 88 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 88 ays -16.7517 != -16.7652 tol = 1e-06
-25: 88 azs 14.7686 != 14.7402 tol = 1e-06
-25: 88 alpxs -3.55271e-15 != 0.000521589 tol = 1e-06
-27: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 5.3939789962877285
+14: MbD: Convergence = 6.2062910778410998e-15
+14: Time = 0.82
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508562
+14: MbD: Convergence = 0.00034464872108613581
+14: MbD: Convergence = 2.9208034099817239e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.399511999224373
+14: MbD: Convergence = 6.3821561096785655e-15
+14: Time = 0.83
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994507969
+14: MbD: Convergence = 0.00034464872108612042
+14: MbD: Convergence = 2.920803409501326e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+5: MbD: Convergence = 0.00023026330771306439
+5: MbD: Convergence = 0.00054270322048619642
+24: MbD: Convergence = 51421.936220965435
+24: MbD: Convergence = 3.244462211197999e-09
+24: Time = 0.24
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.15154571847451304
+24: MbD: Convergence = 0.0096478815066717103
+3: MbD: Convergence = 6.6997143368370065
+24: MbD: Convergence = 1.3967111673560934e-05
+17: MbD: Convergence = 0.038541222880924514
+14: MbD: Convergence = 5.4052524189881037
+14: MbD: Convergence = 5.602482269687693e-15
+14: Time = 0.84
+17: MbD: Convergence = 7.2812194010725956e-09
+14: MbD: Solving for kinematic position.
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 0.013177068994508283
+24: MbD: Convergence = 2.4608274374760277e-10
+29: MbD: Convergence = 16.74669516351976
 17: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089126
+14: MbD: Convergence = 0.00034464872108613533
+24: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 2.9208034094741887e-07
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4.7912327344641801
+17: MbD: Convergence = 6.1134853695540261e-16
+17: MbD: Convergence = 6.1189857559275147e-16
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 7.8207519855476655e-16
+3: MbD: Convergence = 0.0002757228168836542
+17: MbD: Convergence = 6.923397291780146e-16
+17: Time = 0.7
+14: MbD: Convergence = 5.4111995954704373
+17: MbD: Solving for quasi kinematic position.
+14: MbD: Convergence = 8.1450363220267535e-15
+14: Time = 0.85
 29: MbD: Convergence = 1.3492616684068067e-14
-27: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 0.0016705269888035469
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 6021.1974174396819
+24: MbD: Solving for kinematic acceleration.
 29: Time = 0.26
-17: MbD: Convergence = 3.914830291047211
-25: MbD: Convergence = 4.5380918101005042e-07
-14: MbD: Convergence = 5.4984251914144187
-17: MbD: Convergence = 2.6509375369864911e-15
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5.8366768525205555e-16
+14: MbD: Convergence = 0.013177068994508134
+17: MbD: Convergence = 268.31934845455169
+14: MbD: Convergence = 0.00034464872108613468
 29: MbD: Solving for kinematic position.
-17: MbD: Convergence = 2.9115809936600721e-16
-14: MbD: Convergence = 8.7215768132948541e-15
-27: MbD: Convergence = 6.1574649899392933
-14: Time = 0.97
-17: MbD: Convergence = 3.3367690472015075e-16
-17: Time = 0.5
-3: MbD: Convergence = 4507469.8319138149
-27: MbD: Convergence = 1.6584679315983899e-15
-17: 51 bryzs -3.14159 != 3.14159 tol = 1e-06
-27: Time = 0.92
+17: MbD: Convergence = 0.036582725779446115
+14: MbD: Convergence = 2.9208034095569681e-07
+17: MbD: Convergence = 7.2499989180446705e-09
+14: MbD: Solving for kinematic velocity.
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 0.0080554498682496485
+17: MbD: Solving for quasi kinematic acceleration.
+5: MbD: Convergence = 0.0003420536211631277
+17: MbD: Convergence = 4.8730094637325303
+14: MbD: Convergence = 5.4173528477381012
+17: MbD: Convergence = 4.783966373349816e-16
+24: MbD: Convergence = 58738.444746446505
+5: Time = 0
+17: MbD: Convergence = 5.0252972487422989e-16
+14: MbD: Convergence = 6.1854224379170418e-15
+14: Time = 0.86
+17: MbD: Convergence = 3.5446352709219624e-16
+29: MbD: Convergence = 0.00041941746641955749
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 4.0880053585392833e-16
+17: Time = 0.71
+14: MbD: Convergence = 0.013177068994508455
 17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 5840.9569527585945
+14: MbD: Convergence = 0.00034464872108613804
+3: MbD: Convergence = 2.3711705354915635e-06
+14: MbD: Convergence = 2.9208034094027256e-07
+29: MbD: Convergence = 1.5143386278763342e-06
+5: [       OK ] OndselSolver.runPreDragBackhoe3 (173 ms)
+5: [----------] 1 test from OndselSolver (173 ms total)
+5: 
+5: [----------] Global test environment tear-down
+5: [==========] 1 test from 1 test suite ran. (173 ms total)
+5: [  PASSED  ] 1 test.
+17: MbD: Convergence = 261.39824039701733
+24: MbD: Convergence = 4.3090718381836824e-09
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 0.034947639445267957
+24: Time = 0.26
+24: MbD: Solving for kinematic position.
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 7.2542109980149636e-09
+29/35 Test  #5: OndselSolver.runPreDragBackhoe3 ..................   Passed    0.18 sec
+17: MbD: Solving for velocity initial conditions.
+29: MbD: Convergence = 1.4952853264273698e-11
+14: MbD: Convergence = 5.4237114744063195
+17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 5.6363820929636691e-15
+14: Time = 0.87
+17: MbD: Convergence = 4.951551611570129
 14: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic position.
-14: MbD: Convergence = 0.013177068994508295
-17: MbD: Convergence = 11785.930571109109
-27: MbD: Convergence = 0.01536082976721634
-17: MbD: Convergence = 472.30708144259165
-14: MbD: Convergence = 0.00034464872108613636
-27: MbD: Convergence = 0.00032565862759994775
-27: MbD: Convergence = 6.3447946843361139e-07
-14: MbD: Convergence = 2.9208034095285391e-07
-29: MbD: Convergence = 0.0080554498682496485
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.098218517215023685
+17: MbD: Convergence = 1.1168497464253411e-15
+24: MbD: Convergence = 0.1479564509743774
+17: MbD: Convergence = 5.875713453270675e-16
+14: MbD: Convergence = 0.013177068994508118
+17: MbD: Convergence = 3.8563254818874006e-16
+14: MbD: Convergence = 0.00034464872108612253
+17: MbD: Convergence = 3.942008554728497e-16
+17: Time = 0.72
+14: MbD: Convergence = 2.9208034094896052e-07
+17: MbD: Solving for quasi kinematic position.
+24: MbD: Convergence = 0.0096858565990259309
 14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 1.5867446110235011e-08
-27: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 5670.9801389529457
+29: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 254.87586995559087
+14: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 1.2840721024448716e-05
+17: MbD: Convergence = 0.033674043218725837
+3: MbD: Convergence = 1.1371480222003164e-07
+17: MbD: Convergence = 7.293043911877715e-09
 17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 5.4302747540203997
+24: MbD: Convergence = 2.197431632489297e-10
+14: MbD: Convergence = 5.6336135041643389e-15
+3: MbD: Assembling system with limits. 
+17: MbD: Solving for quasi kinematic acceleration.
+14: Time = 0.88
+14: MbD: Solving for kinematic position.
+24: MbD: Solving for kinematic velocity.
+3: MbD: No limits reached. 
+3: Time = 0
+17: MbD: Convergence = 5.026330157693117
+14: MbD: Convergence = 0.013177068994508441
+17: MbD: Convergence = 1.4173133852893742e-15
+17: MbD: Convergence = 7.8173323073007568e-16
+17: MbD: Convergence = 5.1149149479197716e-16
+14: MbD: Convergence = 0.00034464872108615761
+17: MbD: Convergence = 4.8947311533326235e-16
+17: Time = 0.73
+29: MbD: Convergence = 16.91099652244089
+14: MbD: Convergence = 2.9208034094953952e-07
+17: MbD: Solving for quasi kinematic position.
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 5511.2063690210089
+17: MbD: Convergence = 248.75710450908113
 14: MbD: Solving for kinematic acceleration.
-5: MbD: Convergence = 8.6965422374734829e-05
-27: MbD: Convergence = 5.8282729833483682
+17: MbD: Convergence = 0.032791630397418496
+17: MbD: Convergence = 7.3649586621042863e-09
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 5.4370419454451406
+29: MbD: Convergence = 2.7542274882842473e-14
+14: MbD: Convergence = 6.1693923167830152e-15
+14: Time = 0.89
+14: MbD: Solving for kinematic position.
+29: Time = 0.28
 17: MbD: Solving for quasi kinematic acceleration.
-14: MbD: Convergence = 5.5069911921542856
-29: MbD: Convergence = 0.00041941746641955749
-27: MbD: Convergence = 1.5968052169456523e-15
-27: Time = 0.93
-14: MbD: Convergence = 6.5318565887824897e-15
-14: Time = 0.98
-17: MbD: Convergence = 3.8650313799225566
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 4.5048783541640826e-16
+14: MbD: Convergence = 0.01317706899450811
+29: MbD: Solving for kinematic position.
+17: MbD: Convergence = 5.09688811389133
+24: MbD: Convergence = 65252.953591624544
+17: MbD: Convergence = 7.9411180827912554e-16
+14: MbD: Convergence = 0.00034464872108612953
+17: MbD: Convergence = 5.3674669146438735e-16
+17: MbD: Convergence = 6.7768191217586223e-16
+14: MbD: Convergence = 2.9208034095263135e-07
+17: MbD: Convergence = 5.3324970754069259e-16
+17: Time = 0.74
+14: MbD: Solving for kinematic velocity.
+17: MbD: Solving for quasi kinematic position.
+29: MbD: Convergence = 0.0080129477614537363
+14: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 4507469.8319138149
+17: MbD: Convergence = 5361.5572845773204
+24: MbD: Convergence = 1.7177242268516792e-09
+24: Time = 0.28
+17: MbD: Convergence = 243.04488269781569
+29: MbD: Convergence = 0.00042437537520839685
+14: MbD: Convergence = 5.4440122882615105
+24: MbD: Solving for kinematic position.
+17: MbD: Convergence = 0.032316284850900753
+14: MbD: Convergence = 5.7861311961569314e-15
+14: Time = 0.9
+17: MbD: Convergence = 7.463748666954448e-09
 14: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.015444820688177839
-27: MbD: Convergence = 0.00032812670619532236
-27: MbD: Convergence = 5.9399050707434294e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.6039557703876808
-27: MbD: Convergence = 1.6327434213944282e-15
-27: Time = 0.94
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.015429222713642578
-27: MbD: Convergence = 0.00033835776163148923
-27: MbD: Convergence = 5.0844804725729429e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 5.7013881598376965
-27: MbD: Convergence = 8.8087648609648714e-16
-27: Time = 0.95
-27: MbD: Solving for kinematic position.
-27: MbD: Convergence = 0.015297509917606048
-27: MbD: Convergence = 0.00036014302351561686
-27: MbD: Convergence = 3.7526801751164967e-07
-27: MbD: Solving for kinematic velocity.
-27: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 6.3736432870712338
-27: MbD: Convergence = 4.1419976165045355e-15
-27: Time = 0.96
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 5.7226697606630968e-16
-17: MbD: Convergence = 3.1817755233534025e-16
-17: MbD: Convergence = 3.3121729903890461e-16
-17: Time = 0.51
+17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 0.01317706899450834
+29: MbD: Convergence = 1.5298061604003813e-06
+17: MbD: Solving for quasi kinematic acceleration.
+24: MbD: Convergence = 0.14198661664530141
+14: MbD: Convergence = 0.00034464872108613099
+17: MbD: Convergence = 5.1628344591646069
+14: MbD: Convergence = 2.920803409490854e-07
+17: MbD: Convergence = 5.9113155897977646e-16
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 8.3049639114502997e-16
+29: MbD: Convergence = 1.5621971574683631e-11
+17: MbD: Convergence = 6.1764263827888816e-16
+24: MbD: Convergence = 0.0095056680412245968
+17: MbD: Convergence = 7.9444434641423794e-16
+14: MbD: Solving for kinematic acceleration.
+17: Time = 0.75
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 11402.115976182618
-17: MbD: Convergence = 460.34261573779708
-17: MbD: Convergence = 0.095024426053322938
-17: MbD: Convergence = 1.5203718904509223e-08
+29: MbD: Solving for kinematic velocity.
+14: MbD: Convergence = 5.4511850031703055
+17: MbD: Convergence = 5221.9352860908803
+24: MbD: Convergence = 1.0836224261821886e-05
+14: MbD: Convergence = 5.589619808718323e-15
+14: Time = 0.91
+17: MbD: Convergence = 237.7399337791752
+14: MbD: Solving for kinematic position.
+3: MbD: Convergence = 36793.285151038777
+17: MbD: Convergence = 0.032245925622498221
+14: MbD: Convergence = 0.013177068994508356
+17: MbD: Convergence = 7.5963136954667191e-09
+24: MbD: Convergence = 1.7494458738579343e-10
 17: MbD: Solving for velocity initial conditions.
+14: MbD: Convergence = 0.00034464872108614319
+29: MbD: Solving for kinematic acceleration.
+24: MbD: Solving for kinematic velocity.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.8268586805474043
-17: MbD: Convergence = 6.5116114050090814e-16
-17: MbD: Convergence = 6.8449360319280402e-16
-17: MbD: Convergence = 5.0682874097560955e-16
-17: MbD: Convergence = 4.875424700935646e-16
-17: Time = 0.52
+14: MbD: Convergence = 2.9208034096796069e-07
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 5.2238383139683791
+17: MbD: Convergence = 1.5585843256610185e-15
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 8.8626234650949264e-16
+17: MbD: Convergence = 7.4806102449806899e-16
+17: MbD: Convergence = 4.6129735117908604e-16
+17: Time = 0.76
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4585592924020956
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 11027.864275910426
-17: MbD: Convergence = 448.38430880402007
-17: MbD: Convergence = 0.091768665189803561
-17: MbD: Convergence = 1.4514621767447328e-08
+14: MbD: Convergence = 5.7766446741874187e-15
+17: MbD: Convergence = 5092.222451474373
+14: Time = 0.92
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 232.84050879182851
+14: MbD: Convergence = 0.013177068994507976
+29: MbD: Convergence = 17.057219821990429
+17: MbD: Convergence = 0.032559169651515202
+14: MbD: Convergence = 0.00034464872108609586
+17: MbD: Convergence = 7.7839699559484906e-09
+3: MbD: Convergence = 84.36869188807654
+14: MbD: Convergence = 2.9208034096604089e-07
 17: MbD: Solving for velocity initial conditions.
+14: MbD: Solving for kinematic velocity.
 17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.8012190473282361
-17: MbD: Convergence = 6.9741263651683481e-16
-17: MbD: Convergence = 4.9800091015398076e-16
-17: MbD: Convergence = 5.5936607155853777e-16
-17: MbD: Convergence = 3.9680581317090687e-16
-17: Time = 0.53
+24: MbD: Convergence = 70200.667257526293
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 5.2796234496579642
+17: MbD: Convergence = 2.3644821394305538e-15
+17: MbD: Convergence = 1.1072215648227863e-15
+14: MbD: Convergence = 5.4661343401332214
+29: MbD: Convergence = 1.9817381282925066e-13
+17: MbD: Convergence = 8.8295611806363142e-16
+29: Time = 0.3
+14: MbD: Convergence = 5.9002908879027369e-15
+17: MbD: Convergence = 7.7086295834432308e-16
+17: Time = 0.77
+14: Time = 0.93
+17: MbD: Solving for quasi kinematic position.
+14: MbD: Solving for kinematic position.
+29: MbD: Solving for kinematic position.
+24: MbD: Convergence = 3.2249456563083113e-09
+14: MbD: Convergence = 0.013177068994508311
+17: MbD: Convergence = 4972.2799770651218
+24: Time = 0.3
+17: MbD: Convergence = 228.34214465268923
+14: MbD: Convergence = 0.00034464872108613099
+24: MbD: Solving for kinematic position.
+17: MbD: Convergence = 0.033217415198052103
+14: MbD: Convergence = 2.9208034094957986e-07
+29: MbD: Convergence = 0.0079371547765552906
+17: MbD: Convergence = 7.977471468314571e-09
+14: MbD: Solving for kinematic velocity.
+17: MbD: Solving for velocity initial conditions.
+24: MbD: Convergence = 0.1339339628318674
+14: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 0.014429395386716958
+17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Convergence = 0.0004275504370991916
+17: MbD: Convergence = 5.3299631822223708
+17: MbD: Convergence = 1.2011407364405059e-15
+17: MbD: Convergence = 5.139276721195155e-16
+17: MbD: Convergence = 3.639423506193754e-16
+17: MbD: Convergence = 3.8120396381460977e-16
+17: Time = 0.78
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 4861.9482422692026
+17: MbD: Convergence = 224.2374839003474
+17: MbD: Convergence = 0.034169584819751117
+17: MbD: Convergence = 8.2261367862472564e-09
+17: MbD: Solving for velocity initial conditions.
+17: MbD: Solving for quasi kinematic acceleration.
+17: MbD: Convergence = 5.3746756682080967
+17: MbD: Convergence = 1.1823401266093204e-15
+17: MbD: Convergence = 1.2055961037254002e-15
+17: MbD: Convergence = 1.2406070810051451e-15
+17: MbD: Convergence = 1.501638127020429e-15
+17: Time = 0.79
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 4761.0475776824169
+17: MbD: Convergence = 220.51617284274411
+17: MbD: Convergence = 0.035357896148191348
+17: MbD: Convergence = 8.5368301745124885e-09
+17: MbD: Solving for velocity initial conditions.
+24: MbD: Convergence = 0.0091449417661371261
+24: MbD: Convergence = 8.4103386096354741e-06
+24: MbD: Convergence = 1.3532117156838986e-10
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4739093129071774
+14: MbD: Convergence = 5.954940706581926e-15
+14: Time = 0.94
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508089
+14: MbD: Convergence = 0.00034464872108612183
+14: MbD: Convergence = 2.9208034094383242e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.4818833600610537
+14: MbD: Convergence = 5.712314809542268e-15
+14: Time = 0.95
+14: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.013177068994508484
+14: MbD: Convergence = 0.0003446487210861524
+14: MbD: Convergence = 2.9208034097107216e-07
+14: MbD: Solving for kinematic velocity.
+14: MbD: Solving for kinematic acceleration.
+14: MbD: Convergence = 5.490055614156427
+14: MbD: Convergence = 6.4252798169780926e-15
+14: Time = 0.96
+14: MbD: Solving for kinematic position.
+29: MbD: Convergence = 1.5330470010886434e-06
+29: MbD: Convergence = 1.5706409395656644e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 3.2635129117393214e-06
+14: MbD: Convergence = 0.013177068994508394
+14: MbD: Convergence = 0.000344648721086153
+17: MbD: Solving for quasi kinematic acceleration.
+14: MbD: Convergence = 2.9208034096599155e-07
+24: MbD: Convergence = 73074.321029074941
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 5.4136196010753617
+17: MbD: Convergence = 6.8409803634385085e-16
+29: MbD: Convergence = 17.167067213940776
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 1.0003158486230121e-15
+3: MbD: Convergence = 1.7717407530229311e-06
+17: MbD: Convergence = 5.8113477949895122e-16
+14: MbD: Convergence = 5.4984251914144187
+17: MbD: Convergence = 4.904520186646238e-16
+17: Time = 0.8
+14: MbD: Convergence = 8.7215768132948541e-15
+14: Time = 0.97
 17: MbD: Solving for quasi kinematic position.
+24: MbD: Convergence = 5.0362805683548513e-09
+14: MbD: Solving for kinematic position.
+24: Time = 0.32
+17: MbD: Convergence = 4669.3797866432515
+14: MbD: Convergence = 0.013177068994508295
+24: MbD: Solving for kinematic position.
+14: MbD: Convergence = 0.00034464872108613636
+17: MbD: Convergence = 217.16485902472661
+14: MbD: Convergence = 2.9208034095285391e-07
+29: MbD: Convergence = 5.3490796854432724e-14
+14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 0.036723099279527702
+29: Time = 0.32
+14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 8.8263679970421582e-09
+17: MbD: Solving for velocity initial conditions.
+29: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.1241694190437415
+14: MbD: Convergence = 5.5069911921542856
+17: MbD: Solving for quasi kinematic acceleration.
+14: MbD: Convergence = 6.5318565887824897e-15
+14: Time = 0.98
+24: MbD: Convergence = 0.0086555188687262481
+14: MbD: Solving for kinematic position.
+17: MbD: Convergence = 5.4466902947777696
+29: MbD: Convergence = 0.0078431868564357975
+17: MbD: Convergence = 1.4706423636087485e-15
 14: MbD: Convergence = 0.013177068994508285
+17: MbD: Convergence = 6.2547134416738191e-16
 14: MbD: Convergence = 0.00034464872108611836
+17: MbD: Convergence = 3.2876193409160974e-16
+3: MbD: Convergence = 1.477975528780676e-06
+17: MbD: Convergence = 3.8483295103370784e-16
+24: MbD: Convergence = 7.0163436874025632e-06
+17: Time = 0.81
 14: MbD: Convergence = 2.9208034094747885e-07
+17: MbD: Solving for quasi kinematic position.
+29: MbD: Convergence = 0.00042567637305776122
 14: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 4586.7304333718985
+17: MbD: Convergence = 214.1673051058624
+24: MbD: Convergence = 1.3252556075701013e-10
 14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 0.038208319897652887
+29: MbD: Convergence = 1.5152200966962314e-06
+24: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 9.3059230658318467e-09
+17: MbD: Solving for velocity initial conditions.
 14: MbD: Convergence = 5.5157527012351641
 14: MbD: Convergence = 5.6194212563837802e-15
 14: Time = 0.99
+29: MbD: Convergence = 1.5107011335464813e-11
 14: MbD: Solving for kinematic position.
+17: MbD: Solving for quasi kinematic acceleration.
 14: MbD: Convergence = 0.013177068994508294
+24: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 5.473816135607894
+29: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 8.0941589922125416e-16
 14: MbD: Convergence = 0.00034464872108613072
+17: MbD: Convergence = 5.0353942304830034e-16
+17: MbD: Convergence = 1.0413136731536348e-15
 14: MbD: Convergence = 2.9208034096928195e-07
+17: MbD: Convergence = 6.3013915019897712e-16
+17: Time = 0.82
 14: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 2.8133442294086833e-06
+17: MbD: Solving for quasi kinematic position.
+17: MbD: Convergence = 4512.8718695522248
 14: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 211.50463058882929
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Assembling system with limits. 
+17: MbD: Convergence = 0.039761386231901903
+24: MbD: Convergence = 73495.183334310539
 14: MbD: Convergence = 5.5247087885005355
+3: MbD: No limits reached. 
+3: Time = 0
 14: MbD: Convergence = 6.6631975078590768e-15
+17: MbD: Convergence = 9.7545815933138306e-09
 14: Time = 1
 14: MbD: Solving for kinematic position.
+17: MbD: Solving for velocity initial conditions.
 14: MbD: Convergence = 0.013177068994508233
+17: MbD: Solving for quasi kinematic acceleration.
 14: MbD: Convergence = 0.00034464872108613598
-29: MbD: Convergence = 1.5143386278763342e-06
-29: MbD: Convergence = 1.4952853264273698e-11
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 36793.285151038777
-3: MbD: Convergence = 84.36869188807654
-28: MbD: Convergence = 167934.96823370771
-24: MbD: Convergence = 67044.854493470761
-24: MbD: Convergence = 9.8070024052521176e-08
-24: Time = 0.08
-24: MbD: Solving for kinematic position.
-5: MbD: Convergence = 0.00023026330771306439
-27: MbD: Convergence = 0.015037579073331191
-27: MbD: Convergence = 0.00039527123204219708
-17: MbD: Convergence = 10663.346148433451
+17: MbD: Convergence = 5.4949553814673262
+24: MbD: Convergence = 1.1370007353575318e-09
 14: MbD: Convergence = 2.9208034095579809e-07
-25: MbD: Solving for kinematic acceleration.
-27: MbD: Convergence = 2.0737047254136176e-07
-17: MbD: Convergence = 436.47874368986237
-27: MbD: Solving for kinematic velocity.
+17: MbD: Convergence = 8.6472209297674355e-16
+24: Time = 0.34
+17: MbD: Convergence = 4.4211021318046566e-16
 14: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.08845986236334917
-25: MbD: Convergence = 65.507869924990445
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 1.3848670391938982e-08
-25: MbD: Convergence = 1.3992780577511993e-14
-25: Time = 0.88
-25: 89 vxs 0.0279109 != 0.0279033 tol = 1e-06
-25: 89 vys -0.888138 != -0.888125 tol = 1e-06
-25: 89 axs 5.58034 != 5.58549 tol = 1e-06
-25: 89 ays 0.175369 != 0.165201 tol = 1e-06
-25: 89 alpzs -7.99361e-15 != -7.00576e-05 tol = 1e-06
-25: 89 ys 0.0935232 != 0.0935751 tol = 1e-06
-25: 89 zs -0.106081 != -0.106042 tol = 1e-06
-25: 89 vys -1.33306 != -1.33223 tol = 1e-06
-25: 89 vzs -1.17525 != -1.17475 tol = 1e-06
-25: 89 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 89 ays -14.7686 != -15.3401 tol = 1e-06
-25: 89 azs 16.7517 != 16.3305 tol = 1e-06
-25: 89 alpxs -4.61853e-14 != 0.00875726 tol = 1e-06
+24: MbD: Solving for kinematic position.
+17: MbD: Convergence = 3.6533796743618131e-16
+29: MbD: Convergence = 17.232505673156222
+17: MbD: Convergence = 5.2252232188371231e-16
+17: Time = 0.83
 14: MbD: Solving for kinematic acceleration.
-25: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.086851788119490805
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 0.031707308160089605
-27: MbD: Convergence = 7.7224287044561857
-25: MbD: Convergence = 0.0016705269888035823
-27: MbD: Convergence = 2.3671958810409326e-15
-25: MbD: Convergence = 4.5380918100516622e-07
 14: MbD: Convergence = 5.5338585092249239
-29: MbD: Convergence = 16.91099652244089
-27: Time = 0.97
-25: MbD: Solving for kinematic velocity.
 14: MbD: Convergence = 5.8205648113070399e-15
-17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Solving for kinematic position.
-25: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.0027178515732106169
-27: MbD: Convergence = 0.014644632489518089
-17: MbD: Convergence = 3.7886474084513253
-27: MbD: Convergence = 0.00044223087982898864
-25: MbD: Convergence = 65.481129427346701
-17: MbD: Convergence = 9.3582034588091962e-16
-25: MbD: Convergence = 1.2359034319315288e-14
-25: Time = 0.89
-25: 90 vxs 0.0836224 != 0.0837121 tol = 1e-06
-25: 90 vys -0.884633 != -0.884805 tol = 1e-06
-25: 90 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 90 axs 5.55831 != 5.57365 tol = 1e-06
-25: 90 ays 0.525415 != 0.496767 tol = 1e-06
-27: MbD: Convergence = 1.3606221593022061e-07
-25: 90 alpzs 0 != -0.000223009 tol = 1e-06
-25: 90 ys 0.0794903 != 0.0795075 tol = 1e-06
-25: 90 zs -0.116966 != -0.116954 tol = 1e-06
-25: 90 vys -1.46984 != -1.4797 tol = 1e-06
-25: 90 vzs -0.998904 != -1.00586 tol = 1e-06
-25: 90 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 90 ays -12.5526 != -14.223 tol = 1e-06
-25: 90 azs 18.4706 != 17.3467 tol = 1e-06
-25: 90 alpxs 0 != 0.0278143 tol = 1e-06
-25: MbD: Solving for kinematic position.
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 8.4706056510127258e-16
-25: MbD: Convergence = 0.03170730816008914
-24: MbD: Convergence = 1.7667980471063774e-06
-25: MbD: Convergence = 0.001670526988803532
-17: MbD: Convergence = 5.5973820962124148e-16
-27: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 4.5380918100966915e-07
-3: MbD: Convergence = 0.014429395386716958
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 3.913490219702634e-16
-17: Time = 0.54
 17: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 9.6262036754404487
-29: MbD: Convergence = 2.7542274882842473e-14
-29: Time = 0.28
-24: MbD: Convergence = 5.3425919771236647e-12
-17: MbD: Convergence = 10308.694875741494
-27: MbD: Convergence = 1.5778189191328552e-15
-27: Time = 0.98
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 424.6664465449773
-27: MbD: Convergence = 0.014123925348539739
-29: MbD: Solving for kinematic position.
-17: MbD: Convergence = 0.085107859797083352
-27: MbD: Convergence = 0.00049651936216632217
-17: MbD: Convergence = 1.3185153793856609e-08
-28: MbD: Convergence = 12739802.335246192
-27: MbD: Convergence = 3.2511883732555018e-07
+17: MbD: Convergence = 4447.5669287377004
+17: MbD: Convergence = 209.15568579048789
+17: MbD: Convergence = 0.041335950349753528
+17: MbD: Convergence = 1.022723921176018e-08
 17: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic velocity.
 17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Solving for kinematic acceleration.
-5: MbD: Convergence = 0.00054270322048619642
-17: MbD: Convergence = 3.7893012356491136
-17: MbD: Convergence = 8.7777385082838477e-16
-29: MbD: Convergence = 0.0080129477614537363
-27: MbD: Convergence = 11.845728269464107
-17: MbD: Convergence = 6.168799020448737e-16
-17: MbD: Convergence = 5.7506962319928384e-16
-17: MbD: Convergence = 7.0090211688422812e-16
-27: MbD: Convergence = 3.8268847518471773e-15
-17: Time = 0.55
+17: MbD: Convergence = 5.5100932883761331
+17: MbD: Convergence = 8.5445607588436544e-16
+17: MbD: Convergence = 6.6276859616027928e-16
+17: MbD: Convergence = 5.9545510062567439e-16
+17: MbD: Convergence = 5.9639055270026221e-16
+17: Time = 0.84
 17: MbD: Solving for quasi kinematic position.
-27: Time = 0.99
-27: MbD: Solving for kinematic position.
-17: MbD: Convergence = 9964.01432191405
-27: MbD: Convergence = 0.013492760132851814
-17: MbD: Convergence = 412.98279351074882
-29: MbD: Convergence = 0.00042437537520839685
-27: MbD: Convergence = 0.0005520485381899843
-3: MbD: Convergence = 3.2635129117393214e-06
-17: MbD: Convergence = 0.081723288994787119
-27: MbD: Convergence = 5.4928740975832852e-07
-17: MbD: Convergence = 1.2521274133671917e-08
+17: MbD: Convergence = 4390.5731780321576
+17: MbD: Convergence = 207.09755462336798
+17: MbD: Convergence = 0.042891831442642601
+24: MbD: Convergence = 0.11312049002314771
+24: MbD: Convergence = 0.0080980364377456048
+24: MbD: Convergence = 9.0748119673231827e-06
+24: MbD: Convergence = 1.9149271541037976e-10
+24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 4.9897828977615365e-14
+29: Time = 0.34
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0077470919209501124
+3: MbD: Convergence = 6498785.8148466954
+17: MbD: Convergence = 1.0732039077099851e-08
+29: MbD: Convergence = 0.0004172548688050137
 17: MbD: Solving for velocity initial conditions.
-27: MbD: Solving for kinematic velocity.
 17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.5298061604003813e-06
-17: MbD: Convergence = 3.8029747990217437
-17: MbD: Convergence = 5.8757961996137051e-16
-27: MbD: Convergence = 14.119101135282023
-17: MbD: Convergence = 7.8121428615869521e-16
-17: MbD: Convergence = 3.6519511568709168e-16
-27: MbD: Convergence = 2.9329308993653046e-15
-27: Time = 1
-17: MbD: Convergence = 4.9120936946913493e-16
-29: MbD: Convergence = 1.5621971574683631e-11
-27: MbD: Solving for kinematic position.
-24: MbD: Solving for kinematic velocity.
-17: Time = 0.56
-27: MbD: Convergence = 0.012781102073829488
+24: MbD: Solving for kinematic acceleration.
+17: MbD: Convergence = 5.519239546292412
+29: MbD: Convergence = 1.4721914169701984e-06
+17: MbD: Convergence = 1.2840525367960812e-15
+17: MbD: Convergence = 6.2514410282159896e-16
+17: MbD: Convergence = 6.274084757594965e-16
+3: MbD: Convergence = 78534.619905509724
+17: MbD: Convergence = 7.418054548295559e-16
+29: MbD: Convergence = 1.4077326183606194e-11
+17: Time = 0.85
 17: MbD: Solving for quasi kinematic position.
-27: MbD: Convergence = 0.0006026508360567819
-17: MbD: Convergence = 9629.3855278591382
-27: MbD: Convergence = 7.4517906079293511e-07
 29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 401.45880401164288
-27: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.078317297406480593
-27: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 1.1912920718914782e-08
+17: MbD: Convergence = 4341.6475827190952
+17: MbD: Convergence = 205.30617485787502
+24: MbD: Convergence = 71059.746057333963
+17: MbD: Convergence = 0.044394944388795668
+17: MbD: Convergence = 1.1270487604799382e-08
 17: MbD: Solving for velocity initial conditions.
-27: MbD: Convergence = 16.20488938108041
-24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic acceleration.
 17: MbD: Solving for quasi kinematic acceleration.
-27: MbD: Convergence = 7.466702729855666e-15
-5: MbD: Convergence = 0.0003420536211631277
-17: MbD: Convergence = 3.8291324654576382
 14: FileName = assembly.asmt
 14: 
-17: MbD: Convergence = 1.108110475732902e-15
-27: [       OK ] OndselSolver.fourbar (329 ms)
-27: [----------] 1 test from OndselSolver (329 ms total)
-27: 
-27: [----------] Global test environment tear-down
-3: MbD: Convergence = 1.7717407530229311e-06
-17: MbD: Convergence = 8.65132495951849e-16
-27: [==========] 1 test from 1 test suite ran. (330 ms total)
-27: [  PASSED  ] 1 test.
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 6.579778293541145e-16
-17: MbD: Convergence = 6.5110826125180941e-16
+24: MbD: Convergence = 2.2191255034217268e-08
+17: MbD: Convergence = 5.5224260095084423
+24: Time = 0.36
+17: MbD: Convergence = 6.9110777682893684e-16
 14: test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
-17: Time = 0.57
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 9304.8721027970605
-5: Time = 0
-27/35 Test #27: OndselSolver.fourbar .............................   Passed    0.34 sec
-25: MbD: Solving for kinematic acceleration.
-28/35 Test #14: OndselSolver.rackscrew ...........................Subprocess aborted***Exception:   0.41 sec
+24: MbD: Solving for kinematic position.
+17: MbD: Convergence = 6.6944259965751792e-16
+17: MbD: Convergence = 5.514872991186211e-16
+3: MbD: Convergence = 264.83538254376316
+17: MbD: Convergence = 6.1893794933064001e-16
+30/35 Test #14: OndselSolver.rackscrew ...........................Subprocess aborted***Exception:   0.20 sec
 Running main() from ./googletest/src/gtest_main.cc
 Note: Google Test filter = OndselSolver.rackscrew
 [==========] Running 1 test from 1 test suite.
@@ -18447,965 +21832,169 @@
 
 test_run: ./OndselSolver/ASMTAssembly.cpp:755: void MbD::ASMTAssembly::readJoints(std::vector<std::__cxx11::basic_string<char> >&): Assertion `false' failed.
 
-25: MbD: Convergence = 65.385611349836537
-25: MbD: Convergence = 9.5756059745182317e-15
-25: Time = 0.9
-25: 91 vxs 0.139004 != 0.138963 tol = 1e-06
-25: 91 vys -0.877637 != -0.877583 tol = 1e-06
-25: 91 axs 5.51435 != 5.51423 tol = 1e-06
-25: 91 ays 0.873388 != 0.873351 tol = 1e-06
-25: 91 alpzs -5.32907e-15 != -1.82044e-06 tol = 1e-06
-25: 91 ys 0.0642037 != 0.064234 tol = 1e-06
-25: 91 zs -0.126007 != -0.125999 tol = 1e-06
-25: 91 vys -1.58345 != -1.57936 tol = 1e-06
-25: 91 vzs -0.806807 != -0.805744 tol = 1e-06
-25: 91 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 91 ays -10.1386 != -10.1333 tol = 1e-06
-25: 91 azs 19.8982 != 19.8846 tol = 1e-06
-25: 91 alpxs 3.55271e-15 != 0.000216249 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089619
-25: MbD: Convergence = 0.0016705269888036083
-25: MbD: Convergence = 4.5380918097967587e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 65.2218630386363
-25: MbD: Convergence = 1.6779880195969604e-14
-25: Time = 0.91
-25: 92 vxs 0.193837 != 0.193822 tol = 1e-06
-25: 92 vys -0.867177 != -0.867159 tol = 1e-06
-25: 92 axs 5.44863 != 5.45498 tol = 1e-06
-25: 92 ays 1.21791 != 1.20973 tol = 1e-06
-25: 92 alpzs 0 != -6.32126e-05 tol = 1e-06
-25: 92 ys 0.0479046 != 0.0479665 tol = 1e-06
-25: 92 zs -0.13306 != -0.133044 tol = 1e-06
-25: 92 vys -1.67208 != -1.67067 tol = 1e-06
-25: 92 vzs -0.601987 != -0.601717 tol = 1e-06
-25: 92 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 92 ays -7.56479 != -8.18914 tol = 1e-06
-25: 92 azs 21.012 != 20.8502 tol = 1e-06
-25: 92 alpxs -3.19744e-14 != 0.00790196 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.03170730816008914
-25: MbD: Convergence = 0.0016705269888035634
-25: MbD: Convergence = 4.5380918103709412e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 64.991570871386443
-25: MbD: Convergence = 8.4469697281076877e-15
-25: Time = 0.92
-25: 93 vxs 0.247905 != 0.248012 tol = 1e-06
-25: 93 vys -0.853294 != -0.853429 tol = 1e-06
-25: 93 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 93 axs 5.36141 != 5.38074 tol = 1e-06
-28: MbD: Convergence = 88945553129.929825
-17: MbD: Convergence = 390.12183120635007
-17: MbD: Convergence = 0.074901409012048115
-17: MbD: Convergence = 1.127387519132437e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.8669575345328511
-17: MbD: Convergence = 6.5078591991034873e-16
-17: MbD: Convergence = 6.0447153803041327e-16
-17: MbD: Convergence = 4.9894890064457642e-16
-17: MbD: Convergence = 6.6516791082376899e-16
-17: Time = 0.58
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 8990.5245665062757
-17: MbD: Convergence = 378.99615970968074
-17: MbD: Convergence = 0.071487504173968763
-5: [       OK ] OndselSolver.runPreDragBackhoe3 (425 ms)
-5: [----------] 1 test from OndselSolver (425 ms total)
-5: 
-5: [----------] Global test environment tear-down
-5: [==========] 1 test from 1 test suite ran. (425 ms total)
-5: [  PASSED  ] 1 test.
-29: MbD: Convergence = 17.057219821990429
-3: MbD: Convergence = 1.477975528780676e-06
-29/35 Test  #5: OndselSolver.runPreDragBackhoe3 ..................   Passed    0.44 sec
-29: MbD: Convergence = 1.9817381282925066e-13
-29: Time = 0.3
-17: MbD: Convergence = 1.0690323878794789e-08
-24: MbD: Convergence = 60917.777766035637
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.9154111397650242
-17: MbD: Convergence = 9.6266075009375475e-16
-17: MbD: Convergence = 6.645401773366287e-16
-29: MbD: Convergence = 0.0079371547765552906
-17: MbD: Convergence = 3.087820850986674e-16
-3: MbD: Convergence = 2.8133442294086833e-06
-17: MbD: Convergence = 3.3877486937210601e-16
-24: MbD: Convergence = 1.667897826434452e-08
-17: Time = 0.59
-17: MbD: Solving for quasi kinematic position.
-24: Time = 0.1
-17: MbD: Convergence = 8686.3837729722309
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0004275504370991916
-3: MbD: Assembling system with limits. 
-17: MbD: Convergence = 368.10351968939989
-17: MbD: Convergence = 0.068087907499276762
-3: MbD: No limits reached. 
-3: Time = 0
-17: MbD: Convergence = 1.016937252897315e-08
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 1.5330470010886434e-06
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 3.9732950012482107
-17: MbD: Convergence = 9.2030336519727555e-16
-28: MbD: Checking for redundant constraints.
-17: MbD: Convergence = 8.7291936611069309e-16
-17: MbD: Convergence = 6.3785083515792438e-16
-17: MbD: Convergence = 5.2826577111014026e-16
-29: MbD: Convergence = 1.5706409395656644e-11
-17: Time = 0.6
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 8392.4835255842372
-17: MbD: Convergence = 357.46352523704257
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.064715575541787085
-17: MbD: Convergence = 9.6800309213493128e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.0393122957142946
-17: MbD: Convergence = 9.7898217853410315e-16
-17: MbD: Convergence = 6.9370369853703629e-16
-25: 93 ays 1.55763 != 1.53388 tol = 1e-06
-25: 93 alpzs 3.55271e-15 != -0.000208525 tol = 1e-06
-25: 93 ys 0.03085 != 0.030878 tol = 1e-06
-25: 93 zs -0.138015 != -0.138008 tol = 1e-06
-25: 93 vys -1.73435 != -1.74476 tol = 1e-06
-25: 93 vzs -0.387672 != -0.390122 tol = 1e-06
-25: 93 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 93 ays -4.87163 != -6.72858 tol = 1e-06
-25: 93 azs 21.7944 != 21.4007 tol = 1e-06
-25: 93 alpxs 1.42109e-14 != 0.0260133 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 4.6021576975403661e-16
-29: MbD: Solving for kinematic acceleration.
-25: MbD: Convergence = 0.031707308160089175
-17: MbD: Convergence = 3.7457681728303643e-16
-17: Time = 0.61
-25: MbD: Convergence = 0.0016705269888035528
-17: MbD: Solving for quasi kinematic position.
-3: MbD: Convergence = 6498785.8148466954
-25: MbD: Convergence = 4.5380918101414741e-07
-24: MbD: Convergence = 0.10298153790418038
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 8108.8524764152553
-25: MbD: Convergence = 64.697565754632947
-25: MbD: Convergence = 5.1007907390871251e-15
-25: Time = 0.93
-17: MbD: Convergence = 347.09404361342314
-25: 94 vxs 0.300995 != 0.300944 tol = 1e-06
-25: 94 vys -0.836045 != -0.836 tol = 1e-06
-25: 94 axs 5.25302 != 5.25258 tol = 1e-06
-25: 94 ays 1.8912 != 1.89144 tol = 1e-06
-25: 94 ys 0.0133089 != 0.0133373 tol = 1e-06
-25: 94 zs -0.140793 != -0.140797 tol = 1e-06
-25: 94 vys -1.76926 != -1.76508 tol = 1e-06
-25: 94 vzs -0.167244 != -0.167786 tol = 1e-06
-25: 94 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 94 ays -2.10165 != -2.07449 tol = 1e-06
-25: 94 azs 22.2332 != 22.2153 tol = 1e-06
-25: 94 alpxs 2.84217e-14 != -6.25032e-05 tol = 1e-06
-25: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.0038242874663573503
-25: MbD: Convergence = 0.031707308160089639
-25: MbD: Convergence = 0.0016705269888036198
-17: MbD: Convergence = 0.06138437920591306
-25: MbD: Convergence = 4.5380918098589955e-07
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 9.1992232662749086e-09
-25: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 3.2349655452241065e-06
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 64.343813872570323
-25: MbD: Convergence = 1.8563079188942552e-14
-25: Time = 0.94
-25: 95 vxs 0.352896 != 0.352873 tol = 1e-06
-25: 95 vys -0.815495 != -0.815476 tol = 1e-06
-25: 95 axs 5.12391 != 5.13093 tol = 1e-06
-25: 95 ays 2.21731 != 2.21114 tol = 1e-06
-25: 95 alpzs -1.33227e-15 != -5.67658e-05 tol = 1e-06
-25: 95 ys -0.00444213 != -0.00437962 tol = 1e-06
-25: 95 zs -0.141351 != -0.141359 tol = 1e-06
-29: MbD: Convergence = 17.167067213940776
-25: 95 vys -1.77627 != -1.77444 tol = 1e-06
-25: 95 vzs 0.0558215 != 0.0554851 tol = 1e-06
-25: 95 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 95 ays 0.701474 != 0.123297 tol = 1e-06
-25: 95 azs 22.3213 != 22.3954 tol = 1e-06
-25: 95 alpxs 7.10543e-15 != 0.00709618 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089126
-25: MbD: Convergence = 0.0016705269888035493
-25: MbD: Convergence = 4.5380918100698104e-07
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.1121222592930726
-17: MbD: Convergence = 1.0081078448538709e-15
-17: MbD: Convergence = 6.1567138631855492e-16
-17: MbD: Convergence = 3.3900033653705507e-16
-17: MbD: Convergence = 3.432304654808101e-16
-17: Time = 0.62
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 7835.5153873443614
-17: MbD: Convergence = 337.01150065448468
-17: MbD: Convergence = 0.058109477297677806
-17: MbD: Convergence = 8.7869296628331789e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.1903858559683389
-17: MbD: Convergence = 1.0921519928429271e-15
-17: MbD: Convergence = 1.7759664009354135e-15
-17: MbD: Convergence = 4.0309979177264872e-16
-17: MbD: Convergence = 4.2860925087793949e-16
-17: Time = 0.63
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 7572.4938188740034
-17: MbD: Convergence = 327.23112634530207
-17: MbD: Convergence = 0.054907776965002417
-17: MbD: Convergence = 8.4132273320900172e-09
-17: MbD: Solving for velocity initial conditions.
-24: MbD: Convergence = 1.3895766520555588e-11
-3: MbD: Convergence = 78534.619905509724
-3: MbD: Convergence = 264.83538254376316
-29: MbD: Convergence = 5.3490796854432724e-14
-29: Time = 0.32
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0078431868564357975
-17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 0.00042567637305776122
-24: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4.2728014835802792
-17: MbD: Convergence = 8.4779656636512638e-16
-17: MbD: Convergence = 6.3124715527201075e-16
-17: MbD: Convergence = 4.4174687222801955e-16
-17: MbD: Convergence = 4.195129828094328e-16
-17: Time = 0.64
-29: MbD: Convergence = 1.5152200966962314e-06
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 7319.8063034579172
-24: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 317.76714340919654
-29: MbD: Convergence = 1.5107011335464813e-11
-17: MbD: Convergence = 0.051798471680820385
-17: MbD: Convergence = 8.1047627231730671e-09
-29: MbD: Solving for kinematic velocity.
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-3: MbD: Convergence = 0.090267821767918296
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4.3581309696542014
-17: MbD: Convergence = 1.1918522628703576e-15
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 8.0360456024842398e-16
-17: MbD: Convergence = 8.2568759429817535e-16
-17: MbD: Convergence = 1.1732222037617784e-15
-17: Time = 0.65
-17: MbD: Solving for quasi kinematic position.
-25: MbD: Convergence = 63.935391306968263
-25: MbD: Convergence = 1.7915082851167395e-14
-25: Time = 0.95
-29: MbD: Solving for kinematic acceleration.
-25: 96 vxs 0.403405 != 0.403521 tol = 1e-06
-25: 96 vys -0.791727 != -0.791826 tol = 1e-06
-25: 96 omezs 6.28319 != 6.28318 tol = 1e-06
-25: 96 axs 4.97457 != 4.99669 tol = 1e-06
-25: 96 ays 2.53467 != 2.51618 tol = 1e-06
-25: 96 alpzs -4.44089e-16 != -0.000194698 tol = 1e-06
-25: 96 ys -0.0221231 != -0.0220878 tol = 1e-06
-25: 96 zs -0.13968 != -0.139685 tol = 1e-06
-25: 96 vys -1.75527 != -1.76458 tol = 1e-06
-25: 96 vzs 0.278007 != 0.279433 tol = 1e-06
-25: 96 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 96 ays 3.49354 != 1.73346 tol = 1e-06
-25: 96 azs 22.0573 != 22.3673 tol = 1e-06
-25: 96 alpxs 1.77636e-15 != 0.0242934 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 7077.4680540454265
-25: MbD: Convergence = 0.031707308160089598
-25: MbD: Convergence = 0.0016705269888035558
-17: MbD: Convergence = 308.6329007366046
-25: MbD: Convergence = 4.538091809819303e-07
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.048803635241294205
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 7.8333292996082295e-09
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 63.478440871178904
-25: MbD: Convergence = 1.2659923320462747e-14
-25: Time = 0.96
-17: MbD: Solving for quasi kinematic acceleration.
-25: 97 vxs 0.452322 != 0.452264 tol = 1e-06
-25: 97 vys -0.764835 != -0.764801 tol = 1e-06
-25: 97 axs 4.8056 != 4.80477 tol = 1e-06
-25: 97 ays 2.84202 != 2.84238 tol = 1e-06
-25: 97 alpzs 0 != 2.42001e-06 tol = 1e-06
-25: 97 ys -0.0394551 != -0.0394326 tol = 1e-06
-25: 97 zs -0.135805 != -0.135818 tol = 1e-06
-25: 97 vys -1.70658 != -1.70294 tol = 1e-06
-25: 97 vzs 0.495808 != 0.493758 tol = 1e-06
-25: 97 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 97 ays 6.23051 != 6.27145 tol = 1e-06
-25: 97 azs 21.4455 != 21.4065 tol = 1e-06
-25: 97 alpxs 2.30926e-14 != -0.000315967 tol = 1e-06
-25: MbD: Solving for kinematic position.
-25: MbD: Convergence = 0.031707308160089147
-17: MbD: Convergence = 4.4452169340729784
-25: MbD: Convergence = 0.0016705269888035576
-17: MbD: Convergence = 8.7654335385718512e-16
-25: MbD: Convergence = 4.5380918100948794e-07
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 8.3049544832088069e-16
-17: MbD: Convergence = 5.7945872619184526e-16
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 3.8461046047426576e-16
-17: Time = 0.66
-3: MbD: Convergence = 7.0148620723458105e-06
-17: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 17.232505673156222
-17: MbD: Convergence = 6845.4902554397249
-17: MbD: Convergence = 299.84095269697417
-17: MbD: Convergence = 0.045948823968691911
-17: MbD: Convergence = 7.6105402857789787e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 4.9897828977615365e-14
-17: MbD: Convergence = 4.5329930006458969
-29: Time = 0.34
-17: MbD: Convergence = 6.2907840851243064e-16
-17: MbD: Convergence = 5.314837357076406e-16
-29: MbD: Solving for kinematic position.
-17: MbD: Convergence = 3.3155435311213436e-16
-17: MbD: Convergence = 3.6444776987431537e-16
-17: Time = 0.67
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 6623.8789859930548
-3: MbD: Convergence = 3.6454721311929896e-06
-17: MbD: Convergence = 291.40308488934937
-29: MbD: Convergence = 0.0077470919209501124
-25: MbD: Convergence = 62.980109265815706
-17: MbD: Convergence = 0.043263594737893492
-25: MbD: Convergence = 1.6113465069418707e-14
-25: Time = 0.97
-25: 98 vxs 0.499454 != 0.499423 tol = 1e-06
-25: 98 vys -0.734924 != -0.734907 tol = 1e-06
-17: MbD: Convergence = 7.4576408500946462e-09
-25: 98 axs 4.61767 != 4.62491 tol = 1e-06
-25: 98 ays 3.13816 != 3.13392 tol = 1e-06
-25: 98 alpzs 0 != -5.07022e-05 tol = 1e-06
-25: 98 ys -0.056165 != -0.0561111 tol = 1e-06
-25: 98 zs -0.12979 != -0.12982 tol = 1e-06
-25: 98 vys -1.63098 != -1.62908 tol = 1e-06
-25: 98 vzs 0.70579 != 0.704602 tol = 1e-06
-25: 98 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 98 ays 8.86922 != 8.41172 tol = 1e-06
-25: 98 azs 20.4955 != 20.7504 tol = 1e-06
-25: 98 alpxs -2.66454e-15 != 0.00633807 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 0.031707308160089605
-24: MbD: Convergence = 53937.322049647002
-25: MbD: Convergence = 0.0016705269888035933
-17: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Convergence = 4.5380918098464346e-07
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.6204884277931404
-29: MbD: Convergence = 0.0004172548688050137
-17: MbD: Convergence = 1.3035195261472911e-15
-17: MbD: Convergence = 1.3466227163621124e-15
-25: MbD: Convergence = 62.448462514952247
-17: MbD: Convergence = 7.5855027041167586e-16
-25: MbD: Convergence = 1.0383203593751434e-14
-25: Time = 0.98
-25: 99 vxs 0.544615 != 0.54473 tol = 1e-06
-25: 99 vys -0.702113 != -0.702178 tol = 1e-06
-25: 99 axs 4.41151 != 4.43522 tol = 1e-06
-25: 99 ays 3.42192 != 3.40882 tol = 1e-06
-25: 99 alpzs -2.22045e-15 != -0.000181507 tol = 1e-06
-25: 99 ys -0.071989 != -0.0719531 tol = 1e-06
-25: 99 zs -0.121727 != -0.121748 tol = 1e-06
-25: 99 vys -1.52966 != -1.53673 tol = 1e-06
-25: 99 vzs 0.904641 != 0.908828 tol = 1e-06
-25: 99 omexs -12.5664 != -12.5662 tol = 1e-06
-25: 99 ays 11.3681 != 9.94245 tol = 1e-06
-25: 99 azs 19.2223 != 20.1111 tol = 1e-06
-25: 99 alpxs 7.10543e-15 != 0.0226521 tol = 1e-06
-25: MbD: Solving for kinematic position.
-17: MbD: Convergence = 1.0922250812942832e-15
-17: Time = 0.68
-25: MbD: Convergence = 0.031707308160089154
-17: MbD: Solving for quasi kinematic position.
-25: MbD: Convergence = 0.0016705269888035328
-24: MbD: Convergence = 4.5157405113557668e-09
-25: MbD: Convergence = 4.5380918100871799e-07
-17: MbD: Convergence = 6412.6338201261378
-29: MbD: Convergence = 1.4721914169701984e-06
-24: Time = 0.12
-25: MbD: Solving for kinematic velocity.
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 283.33028677992019
-24: MbD: Solving for kinematic position.
-17: MbD: Convergence = 0.040781774723467695
-25: MbD: Convergence = 61.892377639617351
-3: MbD: Convergence = 1.720496120252344e-06
-25: MbD: Convergence = 7.7876713362417518e-15
-25: Time = 0.99
-25: 100 vxs 0.587626 != 0.587564 tol = 1e-06
-25: 100 vys -0.666531 != -0.666509 tol = 1e-06
-25: 100 axs 4.18794 != 4.1867 tol = 1e-06
-25: 100 ays 3.69216 != 3.69248 tol = 1e-06
-25: 100 alpzs -6.66134e-16 != 4.2474e-06 tol = 1e-06
-25: 100 ys -0.0866778 != -0.0866634 tol = 1e-06
-25: 100 zs -0.111744 != -0.111762 tol = 1e-06
-25: 100 vys -1.40422 != -1.40164 tol = 1e-06
-25: 100 vzs 1.08923 != 1.086 tol = 1e-06
-25: 100 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 100 ays 13.6876 != 13.726 tol = 1e-06
-17: MbD: Convergence = 7.3497677110614835e-09
-25: 100 azs 17.646 != 17.5761 tol = 1e-06
-25: 100 alpxs -4.44089e-16 != -0.000545405 tol = 1e-06
-25: MbD: Solving for kinematic position.
-29: MbD: Convergence = 1.4077326183606194e-11
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Convergence = 0.031707308160089584
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.7068286159496822
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 1.3826493013808328e-15
-17: MbD: Convergence = 1.0024153600129573e-15
-17: MbD: Convergence = 7.3070659829672547e-16
-17: MbD: Convergence = 4.2766777781217283e-16
-17: Time = 0.69
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 6211.7461680365468
-17: MbD: Convergence = 275.63267205571441
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 0.038541222880924514
-17: MbD: Convergence = 7.2812194010725956e-09
-17: MbD: Solving for velocity initial conditions.
-3: MbD: Convergence = 3.9537930412729248e-07
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 4.7912327344641801
-25: MbD: Convergence = 0.0016705269888036272
-17: MbD: Convergence = 6.1134853695540261e-16
-25: MbD: Convergence = 4.5380918098179446e-07
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 6.1189857559275147e-16
-17: MbD: Convergence = 7.8207519855476655e-16
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 6.923397291780146e-16
-3: MbD: Assembling system with limits. 
-17: Time = 0.7
-17: MbD: Solving for quasi kinematic position.
-25: MbD: Convergence = 61.321408745041289
-29: MbD: Convergence = 17.256375779210806
-17: MbD: Convergence = 6021.1974174396819
-25: MbD: Convergence = 3.8822127409707627e-15
-25: Time = 1
-3: MbD: No limits reached. 
-25: 101 vxs 0.628318 != 0.628279 tol = 1e-06
-25: 101 vys -0.628318 != -0.628306 tol = 1e-06
-25: 101 axs 3.94784 != 3.9549 tol = 1e-06
-25: 101 ays 3.94784 != 3.94534 tol = 1e-06
-25: 101 alpzs -3.78653e-29 != -4.5007e-05 tol = 1e-06
-25: 101 ys -0.0999996 != -0.099962 tol = 1e-06
-25: 101 zs -0.0999996 != -0.100046 tol = 1e-06
-25: 101 vys -1.25663 != -1.2551 tol = 1e-06
-25: 101 vzs 1.25663 != 1.25455 tol = 1e-06
-25: 101 omexs -12.5664 != -12.5664 tol = 1e-06
-25: 101 ays 15.7913 != 15.4966 tol = 1e-06
-25: 101 azs 15.7913 != 16.1539 tol = 1e-06
-25: 101 alpxs 1.22785e-25 != 0.00562579 tol = 1e-06
-17: MbD: Convergence = 268.31934845455169
-25: MbD: Solving for kinematic position.
-3: Time = 0
-25: MbD: Convergence = 0.031707308160089147
-17: MbD: Convergence = 0.036582725779446115
-25: MbD: Convergence = 0.0016705269888035274
-25: MbD: Convergence = 4.5380918098898238e-07
-25: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 7.2499989180446705e-09
-17: MbD: Solving for velocity initial conditions.
-25: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-25: MbD: Convergence = 60.745626225254775
-25: MbD: Convergence = 6.5035468640311419e-15
-17: MbD: Convergence = 4.8730094637325303
-25: [       OK ] OndselSolver.circular (385 ms)
-25: [----------] 1 test from OndselSolver (385 ms total)
-25: 
-25: [----------] Global test environment tear-down
-25: [==========] 1 test from 1 test suite ran. (385 ms total)
-25: [  PASSED  ] 1 test.
-29: MbD: Convergence = 1.9444178687216379e-14
-29: Time = 0.36
-17: MbD: Convergence = 4.783966373349816e-16
-17: MbD: Convergence = 5.0252972487422989e-16
-17: MbD: Convergence = 3.5446352709219624e-16
-17: MbD: Convergence = 4.0880053585392833e-16
-17: Time = 0.71
-17: MbD: Solving for quasi kinematic position.
-29: MbD: Solving for kinematic position.
-30/35 Test #25: OndselSolver.circular ............................   Passed    0.40 sec
-17: MbD: Convergence = 5840.9569527585945
-24: MbD: Convergence = 0.11725814418706824
-17: MbD: Convergence = 261.39824039701733
-17: MbD: Convergence = 0.034947639445267957
-29: MbD: Convergence = 0.0076614558424186281
-17: MbD: Convergence = 7.2542109980149636e-09
-17: MbD: Solving for velocity initial conditions.
-24: MbD: Convergence = 0.0049833097821764278
-3: MbD: Convergence = 2535668.5831292071
-17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 0.00040287408916853812
-17: MbD: Convergence = 4.951551611570129
-24: MbD: Convergence = 5.1699822146583391e-06
-17: MbD: Convergence = 1.1168497464253411e-15
-17: MbD: Convergence = 5.875713453270675e-16
-17: MbD: Convergence = 3.8563254818874006e-16
-29: MbD: Convergence = 1.4086143175414748e-06
-17: MbD: Convergence = 3.942008554728497e-16
-17: Time = 0.72
-24: MbD: Convergence = 3.2534123409533326e-11
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 5670.9801389529457
-17: MbD: Convergence = 254.87586995559087
-29: MbD: Convergence = 1.2868121851544391e-11
-17: MbD: Convergence = 0.033674043218725837
-17: MbD: Convergence = 7.293043911877715e-09
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic velocity.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.026330157693117
-17: MbD: Convergence = 1.4173133852893742e-15
-17: MbD: Convergence = 7.8173323073007568e-16
-17: MbD: Convergence = 5.1149149479197716e-16
-17: MbD: Convergence = 4.8947311533326235e-16
-17: Time = 0.73
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 5511.2063690210089
-3: MbD: Convergence = 12080.566633759097
-17: MbD: Convergence = 248.75710450908113
-17: MbD: Convergence = 0.032791630397418496
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 7.3649586621042863e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.09688811389133
-17: MbD: Convergence = 7.9411180827912554e-16
-17: MbD: Convergence = 5.3674669146438735e-16
-17: MbD: Convergence = 6.7768191217586223e-16
-17: MbD: Convergence = 5.3324970754069259e-16
-17: Time = 0.74
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 5361.5572845773204
-17: MbD: Convergence = 243.04488269781569
-29: MbD: Convergence = 17.248636902836093
-17: MbD: Convergence = 0.032316284850900753
-17: MbD: Convergence = 7.463748666954448e-09
-17: MbD: Solving for velocity initial conditions.
-3: MbD: Convergence = 15.919695098449669
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.1628344591646069
-17: MbD: Convergence = 5.9113155897977646e-16
-17: MbD: Convergence = 8.3049639114502997e-16
-29: MbD: Convergence = 5.4217909410680557e-14
-17: MbD: Convergence = 6.1764263827888816e-16
-17: MbD: Convergence = 7.9444434641423794e-16
-17: Time = 0.75
-29: Time = 0.38
-17: MbD: Solving for quasi kinematic position.
-24: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 5221.9352860908803
-29: MbD: Solving for kinematic position.
-17: MbD: Convergence = 237.7399337791752
-17: MbD: Convergence = 0.032245925622498221
-17: MbD: Convergence = 7.5963136954667191e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.2238383139683791
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0075931679587694827
-17: MbD: Convergence = 1.5585843256610185e-15
-17: MbD: Convergence = 8.8626234650949264e-16
-3: MbD: Convergence = 0.0010683237931707233
-17: MbD: Convergence = 7.4806102449806899e-16
-17: MbD: Convergence = 4.6129735117908604e-16
-17: Time = 0.76
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 5092.222451474373
-29: MbD: Convergence = 0.00038466030116207655
-17: MbD: Convergence = 232.84050879182851
-17: MbD: Convergence = 0.032559169651515202
-17: MbD: Convergence = 7.7839699559484906e-09
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 1.336685705822733e-06
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.2796234496579642
-17: MbD: Convergence = 2.3644821394305538e-15
-17: MbD: Convergence = 1.1072215648227863e-15
-29: MbD: Convergence = 1.1636649572196769e-11
-17: MbD: Convergence = 8.8295611806363142e-16
-17: MbD: Convergence = 7.7086295834432308e-16
-17: Time = 0.77
-17: MbD: Solving for quasi kinematic position.
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 4972.2799770651218
-3: MbD: Convergence = 1.2803363653767236e-06
-17: MbD: Convergence = 228.34214465268923
-17: MbD: Convergence = 0.033217415198052103
-17: MbD: Convergence = 7.977471468314571e-09
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.3299631822223708
-17: MbD: Convergence = 1.2011407364405059e-15
-17: MbD: Convergence = 5.139276721195155e-16
-17: MbD: Convergence = 3.639423506193754e-16
-17: MbD: Convergence = 3.8120396381460977e-16
-17: Time = 0.78
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4861.9482422692026
-17: MbD: Convergence = 224.2374839003474
-17: MbD: Convergence = 0.034169584819751117
-3: MbD: Convergence = 1.3810473386852822e-06
-17: MbD: Convergence = 8.2261367862472564e-09
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 17.221622484807806
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.3746756682080967
-17: MbD: Convergence = 1.1823401266093204e-15
-17: MbD: Convergence = 1.2055961037254002e-15
-17: MbD: Convergence = 1.2406070810051451e-15
-24: MbD: Convergence = 46895.353358167536
-24: MbD: Convergence = 6.6014027642060693e-09
-24: Time = 0.14
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 3.350117475937957e-14
-29: Time = 0.4
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0075436104873196352
-29: MbD: Convergence = 0.00036540757235920684
-3: MbD: Convergence = 1.3764772364052285e-06
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-17: MbD: Convergence = 1.501638127020429e-15
-17: Time = 0.79
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4761.0475776824169
-17: MbD: Convergence = 220.51617284274411
-29: MbD: Convergence = 1.2699488456094933e-06
-17: MbD: Convergence = 0.035357896148191348
-17: MbD: Convergence = 8.5368301745124885e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.4136196010753617
-17: MbD: Convergence = 6.8409803634385085e-16
-17: MbD: Convergence = 1.0003158486230121e-15
-17: MbD: Convergence = 5.8113477949895122e-16
-29: MbD: Convergence = 1.0529905427193123e-11
-17: MbD: Convergence = 4.904520186646238e-16
-17: Time = 0.8
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4669.3797866432515
-17: MbD: Convergence = 217.16485902472661
-17: MbD: Convergence = 0.036723099279527702
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 8.8263679970421582e-09
-17: MbD: Solving for velocity initial conditions.
-3: MbD: Convergence = 22241203.517081384
-24: MbD: Convergence = 0.12939788241868627
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.0061276968009529829
-24: MbD: Convergence = 7.41168706117116e-06
-24: MbD: Convergence = 6.5242132267220544e-11
-3: MbD: Convergence = 1026520.3588059158
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.4466902947777696
-29: MbD: Convergence = 17.186610420113357
-17: MbD: Convergence = 1.4706423636087485e-15
-17: MbD: Convergence = 6.2547134416738191e-16
-17: MbD: Convergence = 3.2876193409160974e-16
-17: MbD: Convergence = 3.8483295103370784e-16
-17: Time = 0.81
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4586.7304333718985
-17: MbD: Convergence = 214.1673051058624
-17: MbD: Convergence = 0.038208319897652887
-17: MbD: Convergence = 9.3059230658318467e-09
-17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 2.8383408292958476e-14
-17: MbD: Solving for quasi kinematic acceleration.
-29: Time = 0.42
-17: MbD: Convergence = 5.473816135607894
-17: MbD: Convergence = 8.0941589922125416e-16
-17: MbD: Convergence = 5.0353942304830034e-16
-17: MbD: Convergence = 1.0413136731536348e-15
-29: MbD: Solving for kinematic position.
-17: MbD: Convergence = 6.3013915019897712e-16
-17: Time = 0.82
-17: MbD: Solving for quasi kinematic position.
-3: MbD: Convergence = 13166.75793277352
-24: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0075104385728312966
-29: MbD: Convergence = 0.00034773984667756894
-29: MbD: Convergence = 1.2167527408215335e-06
-29: MbD: Convergence = 9.6781943520435033e-12
-17: MbD: Convergence = 4512.8718695522248
-3: MbD: Convergence = 52.620533930238736
-17: MbD: Convergence = 211.50463058882929
-29: MbD: Solving for kinematic velocity.
-17: MbD: Convergence = 0.039761386231901903
-17: MbD: Convergence = 9.7545815933138306e-09
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.4949553814673262
-17: MbD: Convergence = 8.6472209297674355e-16
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 4.4211021318046566e-16
-17: MbD: Convergence = 3.6533796743618131e-16
-17: MbD: Convergence = 5.2252232188371231e-16
-17: Time = 0.83
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4447.5669287377004
-17: MbD: Convergence = 209.15568579048789
-17: MbD: Convergence = 0.041335950349753528
-17: MbD: Convergence = 1.022723921176018e-08
-3: MbD: Convergence = 0.012541811417596782
-24: MbD: Convergence = 41087.181010302585
-29: MbD: Convergence = 17.152251237980558
-24: MbD: Convergence = 4.8801811584071663e-09
-24: Time = 0.16
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 2.6276238297267372e-14
-29: Time = 0.44
-17: MbD: Solving for velocity initial conditions.
-3: MbD: Convergence = 4.1989202921918344e-06
-29: MbD: Solving for kinematic position.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.5100932883761331
-17: MbD: Convergence = 8.5445607588436544e-16
-17: MbD: Convergence = 6.6276859616027928e-16
-17: MbD: Convergence = 5.9545510062567439e-16
-17: MbD: Convergence = 5.9639055270026221e-16
-17: Time = 0.84
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4390.5731780321576
-29: MbD: Convergence = 0.0074897507118110119
-17: MbD: Convergence = 207.09755462336798
-17: MbD: Convergence = 0.042891831442642601
-17: MbD: Convergence = 1.0732039077099851e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 0.00033352064367225175
-17: MbD: Convergence = 5.519239546292412
-17: MbD: Convergence = 1.2840525367960812e-15
-3: MbD: Convergence = 3.251506238283671e-06
-24: MbD: Convergence = 0.1391553943804324
-24: MbD: Convergence = 0.0071921894293753364
-24: MbD: Convergence = 9.710102406863673e-06
-24: MbD: Convergence = 1.1149118100264676e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.1782903134818971e-06
-29: MbD: Convergence = 9.1114597356417932e-12
-29: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 1.8512571048278731e-06
-29: MbD: Solving for kinematic acceleration.
-17: MbD: Convergence = 6.2514410282159896e-16
-17: MbD: Convergence = 6.274084757594965e-16
-17: MbD: Convergence = 7.418054548295559e-16
-17: Time = 0.85
-17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4341.6475827190952
-17: MbD: Convergence = 205.30617485787502
-17: MbD: Convergence = 0.044394944388795668
-17: MbD: Convergence = 1.1270487604799382e-08
-17: MbD: Solving for velocity initial conditions.
-17: MbD: Solving for quasi kinematic acceleration.
-17: MbD: Convergence = 5.5224260095084423
-17: MbD: Convergence = 6.9110777682893684e-16
-17: MbD: Convergence = 6.6944259965751792e-16
-17: MbD: Convergence = 5.514872991186211e-16
-17: MbD: Convergence = 6.1893794933064001e-16
 17: Time = 0.86
 17: MbD: Solving for quasi kinematic position.
-3: MbD: Convergence = 1.4857611317613727e-06
 17: MbD: Convergence = 4300.5514148930488
-29: MbD: Convergence = 17.124373944509276
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Convergence = 1.2593882887141253e-14
-24: MbD: Solving for kinematic acceleration.
-29: Time = 0.46
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074777581903297252
 17: MbD: Convergence = 203.7570572411297
+24: MbD: Convergence = 0.10124477427296633
+24: MbD: Convergence = 0.007533110067079127
+29: MbD: Convergence = 17.256375779210806
 17: MbD: Convergence = 0.04581705800549498
+24: MbD: Convergence = 1.4460114035124124e-05
 17: MbD: Convergence = 1.1856219494677334e-08
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 0.00032365849704795336
 17: MbD: Solving for quasi kinematic acceleration.
+24: MbD: Convergence = 3.6321101225888749e-10
+29: MbD: Convergence = 1.9444178687216379e-14
 17: MbD: Convergence = 5.5197047105647412
-3: MbD: Convergence = 2362769.7861507335
 17: MbD: Convergence = 6.7920327025800926e-16
 17: MbD: Convergence = 6.8446667379439804e-16
 17: MbD: Convergence = 4.8153817451616061e-16
 17: MbD: Convergence = 7.2093820241130478e-16
 17: Time = 0.87
-29: MbD: Convergence = 1.1515807533748729e-06
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 4267.0552235593177
 17: MbD: Convergence = 202.42607864755522
 17: MbD: Convergence = 0.047135518604426753
-29: MbD: Convergence = 8.7583745354617007e-12
 17: MbD: Convergence = 1.236165072631577e-08
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 38222.07492736329
-24: MbD: Convergence = 1.6617886932752899e-09
-24: Time = 0.18
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 11625.476165525737
-24: MbD: Convergence = 0.14633736101379161
+29: Time = 0.36
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0076614558424186281
+3: MbD: Convergence = 0.090267821767918296
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 0.00040287408916853812
 17: MbD: Solving for quasi kinematic acceleration.
 17: MbD: Convergence = 5.5111461504573294
+29: MbD: Convergence = 1.4086143175414748e-06
 17: MbD: Convergence = 1.5036619239665487e-15
 17: MbD: Convergence = 7.497148201397987e-16
 17: MbD: Convergence = 4.5343330754934034e-16
+24: MbD: Convergence = 65117.862826179946
+3: MbD: Convergence = 7.0148620723458105e-06
 17: MbD: Convergence = 4.8043664913631424e-16
 17: Time = 0.88
+29: MbD: Convergence = 1.2868121851544391e-11
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 4240.9436817103533
+29: MbD: Solving for kinematic velocity.
 17: MbD: Convergence = 201.29031961753003
+24: MbD: Convergence = 8.8726914278673496e-09
+24: Time = 0.38
 17: MbD: Convergence = 0.048332999026402888
+24: MbD: Solving for kinematic position.
 17: MbD: Convergence = 1.2816010638678063e-08
 17: MbD: Solving for velocity initial conditions.
+29: MbD: Solving for kinematic acceleration.
 17: MbD: Solving for quasi kinematic acceleration.
+24: MbD: Convergence = 0.088982229321480408
 17: MbD: Convergence = 5.4968378616841314
+3: MbD: Convergence = 3.6454721311929896e-06
 17: MbD: Convergence = 5.8606384355699246e-16
 17: MbD: Convergence = 6.3260972291811895e-16
+24: MbD: Convergence = 0.007005603557583541
 17: MbD: Convergence = 7.4932302302267297e-16
-29: MbD: Convergence = 17.106470399203832
-29: MbD: Convergence = 9.5790725042180551e-15
-29: Time = 0.48
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 15.37680656501065
-29: MbD: Convergence = 0.007471645086685047
-24: MbD: Convergence = 0.0081177424878889105
-24: MbD: Convergence = 1.1774783430679048e-05
-29: MbD: Convergence = 0.00031832295023375925
-3: MbD: Convergence = 0.0010302714126116967
-24: MbD: Convergence = 1.6466699907949166e-10
-29: MbD: Convergence = 1.1334253978554092e-06
-24: MbD: Solving for kinematic velocity.
 17: MbD: Convergence = 5.212060142851565e-16
 17: Time = 0.89
 17: MbD: Solving for quasi kinematic position.
+24: MbD: Convergence = 2.210716790303836e-05
 17: MbD: Convergence = 4222.0201347660977
-29: MbD: Convergence = 8.5325414027911307e-12
+29: MbD: Convergence = 17.248636902836093
+24: MbD: Convergence = 7.6988000772917692e-10
 17: MbD: Convergence = 200.32891325753789
 17: MbD: Convergence = 0.049397284722678562
+24: MbD: Solving for kinematic velocity.
 17: MbD: Convergence = 1.322285232034611e-08
-29: MbD: Solving for kinematic velocity.
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Convergence = 5.4217909410680557e-14
+29: Time = 0.38
+3: MbD: Convergence = 1.720496120252344e-06
+24: MbD: Solving for kinematic acceleration.
 17: MbD: Convergence = 5.4768832442256459
 17: MbD: Convergence = 6.2409814200457865e-16
-3: MbD: Convergence = 1.7575322464104914e-06
 17: MbD: Convergence = 1.0593267156189018e-15
 17: MbD: Convergence = 5.8326298228595195e-16
 17: MbD: Convergence = 8.6004732997318931e-16
 17: Time = 0.9
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 4210.110692627426
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 39506.74263791195
-29: MbD: Convergence = 17.100323065280094
-29: MbD: Convergence = 6.8218295197805909e-15
-3: MbD: Convergence = 1.1304406143055766e-06
-29: Time = 0.5
 17: MbD: Convergence = 199.52387041707112
 17: MbD: Convergence = 0.050321084155469306
-29: MbD: Solving for kinematic position.
 17: MbD: Convergence = 1.3619613073688261e-08
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075931679587694827
+29: MbD: Convergence = 0.00038466030116207655
 17: MbD: Solving for velocity initial conditions.
+24: MbD: Convergence = 54643.383194182796
 17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Convergence = 1.336685705822733e-06
 17: MbD: Convergence = 5.4514006777711819
 17: MbD: Convergence = 8.5127333341379253e-16
 17: MbD: Convergence = 8.1806664751245326e-16
+3: MbD: Convergence = 3.9537930412729248e-07
+24: MbD: Convergence = 2.243979867267588e-08
 17: MbD: Convergence = 5.7571509650808917e-16
+24: Time = 0.4
+29: MbD: Convergence = 1.1636649572196769e-11
 17: MbD: Convergence = 4.3232762181572652e-16
+24: MbD: Solving for kinematic position.
 17: Time = 0.91
 17: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 0.007469781361531402
-3: MbD: Convergence = 4.035497492973429e-07
+3: MbD: Assembling system with limits. 
+29: MbD: Solving for kinematic velocity.
 17: MbD: Convergence = 4205.0677318220669
+3: MbD: No limits reached. 
+3: Time = 0
+24: MbD: Convergence = 0.076658311491852899
 17: MbD: Convergence = 198.86084515767988
 17: MbD: Convergence = 0.051101838791894165
+24: MbD: Convergence = 0.0065130448463723662
 17: MbD: Convergence = 1.3993466448307053e-08
 17: MbD: Solving for velocity initial conditions.
-3: MbD: Assembling system with limits. 
-29: MbD: Convergence = 0.00031738129166311504
+29: MbD: Solving for kinematic acceleration.
 17: MbD: Solving for quasi kinematic acceleration.
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Convergence = 1.1223032469520239e-06
-24: MbD: Convergence = 1.7678387657993027e-09
-24: Time = 0.2
-29: MbD: Convergence = 8.3916641018894992e-12
-24: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 0.15081594896530864
+24: MbD: Convergence = 3.1473023955730271e-05
 17: MbD: Convergence = 5.4205229163002064
 17: MbD: Convergence = 1.2723474030266561e-15
-3: MbD: Convergence = 2270391.7933396315
+24: MbD: Convergence = 1.6186237091645686e-09
 17: MbD: Convergence = 6.0041628630305906e-16
 17: MbD: Convergence = 6.5429878313760375e-16
-29: MbD: Solving for kinematic acceleration.
+24: MbD: Solving for kinematic velocity.
 17: MbD: Convergence = 6.4842166373572713e-16
 17: Time = 0.92
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 4206.7727020466291
+29: MbD: Convergence = 17.221622484807806
 17: MbD: Convergence = 198.32980465018815
+3: MbD: Convergence = 2535668.5831292071
+24: MbD: Solving for kinematic acceleration.
 17: MbD: Convergence = 0.051741505111605017
 17: MbD: Convergence = 1.4206486080399101e-08
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
+29: MbD: Convergence = 3.350117475937957e-14
+29: Time = 0.4
 17: MbD: Convergence = 5.3843967734429539
+29: MbD: Solving for kinematic position.
 17: MbD: Convergence = 6.866653315499281e-16
 17: MbD: Convergence = 6.5556404428000301e-16
 17: MbD: Convergence = 6.6388664759398867e-16
+24: MbD: Convergence = 41672.813068253417
 17: MbD: Convergence = 1.0022661258827069e-15
 17: Time = 0.93
+29: MbD: Convergence = 0.0075436104873196352
 17: MbD: Solving for quasi kinematic position.
 17: MbD: Convergence = 4215.1381602499823
-29: MbD: Convergence = 17.106470399203825
-24: MbD: Convergence = 0.0088557092130745613
-3: MbD: Convergence = 10827.611907254954
-24: MbD: Convergence = 1.3321095053140912e-05
-29: MbD: Convergence = 2.1032793702032678e-14
-24: MbD: Convergence = 2.1306234808548172e-10
-29: Time = 0.52
-24: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.00036540757235920684
 17: MbD: Convergence = 197.9255687727875
+24: MbD: Convergence = 1.0566244383107371e-09
+3: MbD: Convergence = 12080.566633759097
 17: MbD: Convergence = 0.052246282854583548
 17: MbD: Convergence = 1.4398662542754749e-08
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 0.0074716450866850878
 17: MbD: Solving for quasi kinematic acceleration.
-3: MbD: Convergence = 13.865447865983375
 17: MbD: Convergence = 5.3431831088178594
 17: MbD: Convergence = 1.5611212963290604e-15
 17: MbD: Convergence = 4.931556492706906e-16
@@ -19413,20 +22002,12 @@
 17: MbD: Convergence = 4.2500837927431238e-16
 17: Time = 0.94
 17: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 0.00032075549848137774
 17: MbD: Convergence = 4230.1089833803662
 17: MbD: Convergence = 197.6481870010611
 17: MbD: Convergence = 0.052626268955959545
 17: MbD: Convergence = 1.4515983232012107e-08
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 1.1185349472482978e-06
 17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 8.3429099198457059e-12
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 0.00087774311923351201
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 44466.109114108927
 17: MbD: Convergence = 5.2970571267174948
 17: MbD: Convergence = 9.5021575599573875e-16
 17: MbD: Convergence = 5.7300318597872342e-16
@@ -19434,64 +22015,69 @@
 17: MbD: Convergence = 3.6791451429900166e-16
 17: Time = 0.95
 17: MbD: Solving for quasi kinematic position.
+24: Time = 0.42
+24: MbD: Solving for kinematic position.
+24: MbD: Convergence = 0.064280294149662853
+24: MbD: Convergence = 0.0059394975581458977
+24: MbD: Convergence = 4.0281951426929533e-05
+24: MbD: Convergence = 2.9799970614128846e-09
+24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 1.2699488456094933e-06
+29: MbD: Convergence = 1.0529905427193123e-11
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 15.919695098449669
 17: MbD: Convergence = 4251.6627369364542
+24: MbD: Solving for kinematic acceleration.
 17: MbD: Convergence = 197.50312400967377
-3: MbD: Convergence = 1.9314431155117257e-06
 17: MbD: Convergence = 0.052895022636010716
+29: MbD: Convergence = 17.186610420113357
 17: MbD: Convergence = 1.4460356141560846e-08
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
+3: MbD: Convergence = 0.0010683237931707233
 17: MbD: Convergence = 5.246208999022155
 17: MbD: Convergence = 1.1429647515565114e-15
 17: MbD: Convergence = 6.0734882719912432e-16
+24: MbD: Convergence = 63339.605195997239
 17: MbD: Convergence = 4.3984960010215908e-16
+29: MbD: Convergence = 2.8383408292958476e-14
 17: MbD: Convergence = 4.7321868303359949e-16
 17: Time = 0.96
+29: Time = 0.42
 17: MbD: Solving for quasi kinematic position.
-17: MbD: Convergence = 4279.8092003246384
-29: MbD: Convergence = 17.124373944509284
-29: MbD: Convergence = 1.0039320846935982e-14
-29: Time = 0.54
 29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 7.0682053189323189e-10
-3: MbD: Convergence = 4.6605745994215128e-07
-24: Time = 0.22
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074777581903297339
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-24: MbD: Convergence = 0.15254044685200968
-3: Time = 0
-29: MbD: Convergence = 0.00032847894981179963
+17: MbD: Convergence = 4279.8092003246384
 17: MbD: Convergence = 197.50123117912059
+24: MbD: Convergence = 6.2345446071101249e-09
+24: Time = 0.44
 17: MbD: Convergence = 0.053069036535778907
+24: MbD: Solving for kinematic position.
 17: MbD: Convergence = 1.4423948920119515e-08
+29: MbD: Convergence = 0.0075104385728312966
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 1.1241535591238258e-06
 17: MbD: Solving for quasi kinematic acceleration.
+3: MbD: Convergence = 1.2803363653767236e-06
+29: MbD: Convergence = 0.00034773984667756894
+24: MbD: Convergence = 0.051139591266223555
 17: MbD: Convergence = 5.1908448239704583
 17: MbD: Convergence = 1.1194242827093783e-15
 17: MbD: Convergence = 5.7218809691730561e-16
+24: MbD: Convergence = 0.00494265707612039
 17: MbD: Convergence = 4.5797703557461421e-16
+29: MbD: Convergence = 1.2167527408215335e-06
 17: MbD: Convergence = 4.3663896725761886e-16
 17: Time = 0.97
 17: MbD: Solving for quasi kinematic position.
-29: MbD: Convergence = 8.4344045138627068e-12
 17: MbD: Convergence = 4314.5890722397207
+24: MbD: Convergence = 3.9993488498532418e-05
+29: MbD: Convergence = 9.6781943520435033e-12
 17: MbD: Convergence = 197.65848934569181
 17: MbD: Convergence = 0.053167116030334693
 17: MbD: Convergence = 1.4202636766156272e-08
-29: MbD: Solving for kinematic velocity.
 17: MbD: Solving for velocity initial conditions.
-3: MbD: Convergence = 55479911.769908883
-24: MbD: Convergence = 0.0093715805136189451
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 1.4107573433874048e-05
-24: MbD: Convergence = 2.4343722388487558e-10
-24: MbD: Solving for kinematic velocity.
 17: MbD: Solving for quasi kinematic acceleration.
 17: MbD: Convergence = 5.1311879312797402
-29: MbD: Convergence = 17.152251237980568
 17: MbD: Convergence = 7.5083337119796348e-16
 17: MbD: Convergence = 6.0428858784345215e-16
 17: MbD: Convergence = 4.6157802837515229e-16
@@ -19502,324 +22088,82 @@
 17: MbD: Convergence = 197.99551892703121
 17: MbD: Convergence = 0.053209679894015476
 17: MbD: Convergence = 1.4015943759781512e-08
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+24: MbD: Convergence = 3.4524734519318932e-09
+24: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 1.3810473386852822e-06
 17: MbD: Solving for velocity initial conditions.
 17: MbD: Solving for quasi kinematic acceleration.
-29: MbD: Convergence = 1.1491974393066379e-14
 17: MbD: Convergence = 5.0674805418934215
+29: MbD: Convergence = 17.152251237980558
+24: MbD: Convergence = 174891.94770269369
 17: MbD: Convergence = 8.4759108463425878e-16
-29: Time = 0.56
 17: MbD: Convergence = 6.6606977609467421e-16
+3: MbD: Convergence = 1.3764772364052285e-06
 17: MbD: Convergence = 4.5674647950224841e-16
 17: MbD: Convergence = 4.1662698870173165e-16
 17: Time = 0.99
 17: MbD: Solving for quasi kinematic position.
-29: MbD: Solving for kinematic position.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0074897507118110327
-29: MbD: Convergence = 0.00034042886396862222
-24: MbD: Convergence = 51421.936220965435
-29: MbD: Convergence = 1.1426289367274116e-06
-3: MbD: Convergence = 8289968.5130914664
+3: MbD: Assembling system with limits. 
 17: MbD: Convergence = 4404.3533041673109
+24: MbD: Convergence = 1.2209308218960905e-07
+24: Time = 0.46
 17: MbD: Convergence = 198.53686692672974
+3: MbD: No limits reached. 
+3: Time = 0
+29: MbD: Convergence = 2.6276238297267372e-14
+24: MbD: Solving for kinematic position.
+29: Time = 0.44
 17: MbD: Convergence = 0.053218005034584161
+29: MbD: Solving for kinematic position.
 17: MbD: Convergence = 1.3722667978133429e-08
+24: MbD: Convergence = 0.03523744670363145
 17: MbD: Solving for velocity initial conditions.
-29: MbD: Convergence = 8.737441137797845e-12
+29: MbD: Convergence = 0.0074897507118110119
 17: MbD: Solving for quasi kinematic acceleration.
+24: MbD: Convergence = 0.0029821489434002642
 17: MbD: Convergence = 4.9999857870547215
 17: MbD: Convergence = 2.382490964656767e-15
-29: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 0.00033352064367225175
 17: MbD: Convergence = 4.4898002211119506e-16
 17: MbD: Convergence = 3.3533919441637944e-16
+24: MbD: Convergence = 1.9005055114318073e-05
 17: MbD: Convergence = 4.2722182731190488e-16
 17: Time = 1
 17: MbD: Solving for quasi kinematic position.
+29: MbD: Convergence = 1.1782903134818971e-06
+24: MbD: Convergence = 9.1044775558350367e-10
 17: MbD: Convergence = 4459.5515718922243
 17: MbD: Convergence = 199.31009570908077
+24: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 22241203.517081384
 17: MbD: Convergence = 0.053213447031972914
+29: MbD: Convergence = 9.1114597356417932e-12
 17: MbD: Convergence = 1.3438245017154675e-08
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 3.244462211197999e-09
-24: Time = 0.24
-24: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.15154571847451304
-29: MbD: Convergence = 17.186610420113375
-24: MbD: Convergence = 0.0096478815066717103
 17: MbD: Solving for velocity initial conditions.
+29: MbD: Solving for kinematic velocity.
+24: MbD: Solving for kinematic acceleration.
 17: MbD: Solving for quasi kinematic acceleration.
-3: MbD: Convergence = 410952.39537710277
 17: MbD: Convergence = 4.9289900860541582
 17: MbD: Convergence = 1.340462016180745e-15
 17: MbD: Convergence = 6.0293503914707018e-16
+29: MbD: Solving for kinematic acceleration.
 17: MbD: Convergence = 4.0549676981973618e-16
 17: MbD: Convergence = 4.0717514785317897e-16
-29: MbD: Convergence = 1.7905807285468753e-14
-29: Time = 0.58
-17: [       OK ] OndselSolver.quasikine (564 ms)
-17: [----------] 1 test from OndselSolver (564 ms total)
+17: [       OK ] OndselSolver.quasikine (230 ms)
+17: [----------] 1 test from OndselSolver (230 ms total)
 17: 
 17: [----------] Global test environment tear-down
-17: [==========] 1 test from 1 test suite ran. (564 ms total)
+17: [==========] 1 test from 1 test suite ran. (230 ms total)
 17: [  PASSED  ] 1 test.
-29: MbD: Solving for kinematic position.
-31/35 Test #17: OndselSolver.quasikine ...........................   Passed    0.58 sec
-29: MbD: Convergence = 0.0075104385728312984
-29: MbD: Convergence = 0.00035591199627258016
-29: MbD: Convergence = 1.1772692354555145e-06
-24: MbD: Convergence = 1.3967111673560934e-05
-24: MbD: Convergence = 2.4608274374760277e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 9.2962776942600818e-12
-29: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 11470.959471684915
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 58738.444746446505
-24: MbD: Convergence = 4.3090718381836824e-09
-29: MbD: Convergence = 17.221622484807817
-24: Time = 0.26
-24: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.1479564509743774
-29: MbD: Convergence = 9.3088222183011258e-15
-29: Time = 0.6
-24: MbD: Convergence = 0.0096858565990259309
-29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 1.2840721024448716e-05
-29: MbD: Convergence = 0.0075436104873196352
-24: MbD: Convergence = 2.197431632489297e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 0.0003733913940544689
-3: MbD: Convergence = 16.991956245294272
-29: MbD: Convergence = 1.2279339223257728e-06
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.0080230926768745e-11
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 65252.953591624544
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 1.7177242268516792e-09
-24: Time = 0.28
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 17.248636902836093
-24: MbD: Convergence = 0.14198661664530141
-24: MbD: Convergence = 0.0095056680412245968
-29: MbD: Convergence = 2.146614115649564e-14
-3: MbD: Convergence = 0.016466494109520835
-29: Time = 0.62
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0075931679587694654
-29: MbD: Convergence = 0.00039057921170486686
-29: MbD: Convergence = 1.2884825586979707e-06
-24: MbD: Convergence = 1.0836224261821886e-05
-24: MbD: Convergence = 1.7494458738579343e-10
-24: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.1003890331443485e-11
-24: MbD: Convergence = 70200.667257526293
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 3.2249456563083113e-09
-24: Time = 0.3
-24: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.1339339628318674
-3: MbD: Convergence = 1.0866597907214391e-05
-24: MbD: Convergence = 0.0091449417661371261
-29: MbD: Convergence = 17.256375779210817
-24: MbD: Convergence = 8.4103386096354741e-06
-24: MbD: Convergence = 1.3532117156838986e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 2.0903477763006055e-14
-29: Time = 0.64
-29: MbD: Solving for kinematic position.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0076614558424186333
-29: MbD: Convergence = 0.00040493029019598255
-24: MbD: Convergence = 73074.321029074941
-29: MbD: Convergence = 1.3482689018774224e-06
-3: MbD: Convergence = 2.4172531377341386e-06
-24: MbD: Convergence = 5.0362805683548513e-09
-24: Time = 0.32
-29: MbD: Convergence = 1.1982374460761852e-11
-24: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 0.1241694190437415
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.0086555188687262481
-24: MbD: Convergence = 7.0163436874025632e-06
-3: MbD: Convergence = 1.4904962411120436e-06
-24: MbD: Convergence = 1.3252556075701013e-10
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 17.232505673156229
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 2.4420341814232584e-14
-29: Time = 0.66
-3: MbD: Convergence = 2.6360335887606069e-06
-29: MbD: Solving for kinematic position.
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-29: MbD: Convergence = 0.0077470919209501601
-3: Time = 0
-29: MbD: Convergence = 0.00041441067826355772
-24: MbD: Convergence = 73495.183334310539
-29: MbD: Convergence = 1.3974923123041494e-06
-29: MbD: Convergence = 1.2917886336405946e-11
-24: MbD: Convergence = 1.1370007353575318e-09
-24: Time = 0.34
-29: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 2237439.7227442758
-24: MbD: Convergence = 0.11312049002314771
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.0080980364377456048
-24: MbD: Convergence = 9.0748119673231827e-06
-24: MbD: Convergence = 1.9149271541037976e-10
-3: MbD: Convergence = 13008.407477362496
-29: MbD: Convergence = 17.167067213940786
-24: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.965759345214663e-14
-29: Time = 0.68
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 23.210687933836976
-29: MbD: Convergence = 0.0078431868564357889
-24: MbD: Convergence = 71059.746057333963
-29: MbD: Convergence = 0.00041833251683846736
-24: MbD: Convergence = 2.2191255034217268e-08
-24: Time = 0.36
-29: MbD: Convergence = 1.4323749505668599e-06
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 1.3639608184593386e-11
-24: MbD: Convergence = 0.10124477427296633
-3: MbD: Convergence = 0.0015287141659443403
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 0.007533110067079127
-24: MbD: Convergence = 1.4460114035124124e-05
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 3.6321101225888749e-10
-24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 2.1206036295278138e-06
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 17.057219821990433
-29: MbD: Convergence = 2.3430540096028017e-14
-29: Time = 0.7
-24: MbD: Convergence = 65117.862826179946
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 1.2719419230636234e-06
-24: MbD: Convergence = 8.8726914278673496e-09
-24: Time = 0.38
-29: MbD: Convergence = 0.0079371547765552976
-24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.00041792545334508796
-24: MbD: Convergence = 0.088982229321480408
-29: MbD: Convergence = 1.4561740816759395e-06
-24: MbD: Convergence = 0.007005603557583541
-3: MbD: Convergence = 1.2306432085199439e-06
-29: MbD: Convergence = 1.3977513714048209e-11
-24: MbD: Convergence = 2.210716790303836e-05
-29: MbD: Solving for kinematic velocity.
-3: MbD: Assembling system with limits. 
-24: MbD: Convergence = 7.6988000772917692e-10
-3: MbD: No limits reached. 
-3: Time = 0
-24: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.910996522440897
-24: MbD: Convergence = 54643.383194182796
-3: MbD: Convergence = 61590759.150620729
-24: MbD: Convergence = 2.243979867267588e-08
-24: Time = 0.4
-29: MbD: Convergence = 2.1595191840960321e-13
-29: Time = 0.72
-24: MbD: Solving for kinematic position.
-29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.076658311491852899
-29: MbD: Convergence = 0.0080129477614537224
-24: MbD: Convergence = 0.0065130448463723662
-3: MbD: Convergence = 9079944.0096197613
-29: MbD: Convergence = 0.00041612454723349656
-24: MbD: Convergence = 3.1473023955730271e-05
-24: MbD: Convergence = 1.6186237091645686e-09
-29: MbD: Convergence = 1.475414862137087e-06
-24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.4034753153550268e-11
-29: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 773059.75746756443
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 41672.813068253417
-24: MbD: Convergence = 1.0566244383107371e-09
-24: Time = 0.42
-29: MbD: Convergence = 16.746695163519764
-24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 22083.183824179068
-24: MbD: Convergence = 0.064280294149662853
-29: MbD: Convergence = 1.2435769956394962e-14
-29: Time = 0.74
-24: MbD: Convergence = 0.0059394975581458977
-29: MbD: Solving for kinematic position.
-24: MbD: Convergence = 4.0281951426929533e-05
-24: MbD: Convergence = 2.9799970614128846e-09
-29: MbD: Convergence = 0.0080554498682496537
-24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 71.546941314435614
-29: MbD: Convergence = 0.00041615422014765392
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.4947453347407563e-06
-29: MbD: Convergence = 1.4275622676856464e-11
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 63339.605195997239
-3: MbD: Convergence = 0.04683726124403139
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 6.2345446071101249e-09
-24: Time = 0.44
-24: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.051139591266223555
-24: MbD: Convergence = 0.00494265707612039
-29: MbD: Convergence = 16.586464463229987
-24: MbD: Convergence = 3.9993488498532418e-05
-3: MbD: Convergence = 1.8355956817110083e-05
-24: MbD: Convergence = 3.4524734519318932e-09
-29: MbD: Convergence = 1.6091999445447325e-14
-24: MbD: Solving for kinematic velocity.
-29: Time = 0.76
-29: MbD: Solving for kinematic position.
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0080554498682496433
-29: MbD: Convergence = 0.00041941746641956709
-3: MbD: Convergence = 7.7583375582038063e-07
-24: MbD: Convergence = 174891.94770269369
-29: MbD: Convergence = 1.5143386278703245e-06
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Convergence = 1.4952863856620241e-11
-24: MbD: Convergence = 1.2209308218960905e-07
-24: Time = 0.46
-29: MbD: Solving for kinematic velocity.
-24: MbD: Solving for kinematic position.
-24: MbD: Convergence = 0.03523744670363145
-29: MbD: Solving for kinematic acceleration.
-24: MbD: Convergence = 0.0029821489434002642
-24: MbD: Convergence = 1.9005055114318073e-05
-24: MbD: Convergence = 9.1044775558350367e-10
-24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 464312.05264373502
-29: MbD: Convergence = 16.447451086962257
-24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 7.6384883461191243e-14
-29: Time = 0.78
-29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 382981.639106374
-29: MbD: Convergence = 0.0080129477614537415
-3: MbD: Convergence = 518.57584383153858
-29: MbD: Convergence = 0.00042437537520841734
-29: MbD: Convergence = 1.5298061603635216e-06
-29: MbD: Convergence = 1.5621995121847612e-11
-29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 1026520.3588059158
+31/35 Test #17: OndselSolver.quasikine ...........................   Passed    0.24 sec
+29: MbD: Convergence = 17.124373944509276
 24: MbD: Convergence = 2.8039247677381226e-07
 24: Time = 0.48
-3: MbD: Convergence = 0.28859887637497228
 24: 25 bryxs 0.959228 != -1.26818e-13 tol = 1e-06
 24: 25 bryys 1.5708 != 1.5646 tol = 1e-06
 24: 25 bryzs 0 != 0.959228 tol = 1e-06
@@ -19832,70 +22176,45 @@
 24: 25 bryzs 0 != -0.830942 tol = 1e-06
 24: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.013459710746722635
-29: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.336721868704451
-3: MbD: Convergence = 1.7926544457871562e-06
-29: MbD: Convergence = 6.8591128031700255e-14
-29: Time = 0.8
-29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 1.2593882887141253e-14
+29: Time = 0.46
 24: MbD: Convergence = 0.00049292277500331426
-29: MbD: Convergence = 0.0079371547765552646
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 13166.75793277352
 24: MbD: Convergence = 5.8411700264134073e-07
 24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 0.00042755043709920466
-3: MbD: Convergence = 7.9463527093380705e-08
-29: MbD: Convergence = 1.5330470010779265e-06
-29: MbD: Convergence = 1.5706422231547472e-11
-3: MbD: Assembling system with limits. 
-29: MbD: Solving for kinematic velocity.
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 0.0074777581903297252
+29: MbD: Convergence = 0.00032365849704795336
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 617006076.50123894
-29: MbD: Convergence = 16.252821924136828
+29: MbD: Convergence = 1.1515807533748729e-06
+3: MbD: Convergence = 52.620533930238736
+29: MbD: Convergence = 8.7583745354617007e-12
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 523840.31694671896
-29: MbD: Convergence = 2.5330330301933613e-14
-29: Time = 0.82
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 670794494.67435324
-29: MbD: Convergence = 0.007843186856435775
-29: MbD: Convergence = 0.00042567637305773254
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 4.2008147841635021e-07
 24: Time = 0.5
-29: MbD: Convergence = 1.5152200967361934e-06
 24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 4058258969.9759574
-29: MbD: Convergence = 1.5106982506776212e-11
+3: MbD: Convergence = 0.012541811417596782
 24: MbD: Convergence = 0.014293653818813862
-29: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 17.106470399203832
+29: MbD: Convergence = 9.5790725042180551e-15
+29: Time = 0.48
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.007471645086685047
 24: MbD: Convergence = 0.00052709779012750251
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 3990924472.2703657
-29: MbD: Convergence = 16.1908627947026
 24: MbD: Convergence = 6.2526481928071046e-07
 24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 1.0942667491537376e-14
-3: MbD: Convergence = 2435566325.0890222
-29: Time = 0.84
 24: MbD: Solving for kinematic acceleration.
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0077470919209500959
-29: MbD: Convergence = 0.00041725486880502574
-29: MbD: Convergence = 1.4721914169556125e-06
-29: MbD: Convergence = 1.4077322540832482e-11
-3: MbD: Convergence = 405731927.20480198
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 4.1989202921918344e-06
+29: MbD: Convergence = 0.00031832295023375925
 24: MbD: Convergence = 382981.63910268986
-3: MbD: Convergence = 89972083.218579635
-29: MbD: Convergence = 16.146385321704305
-29: MbD: Convergence = 1.8111577208507954e-14
-29: Time = 0.86
-3: MbD: Convergence = 7255535.2019442674
-29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 3.251506238283671e-06
+29: MbD: Convergence = 1.1334253978554092e-06
+29: MbD: Convergence = 8.5325414027911307e-12
 24: MbD: Convergence = 6.3891563723258223e-08
 24: Time = 0.52
+29: MbD: Solving for kinematic velocity.
 24: 27 bryxs 0.959228 != -1.44744e-13 tol = 1e-06
 24: 27 bryys 1.5708 != 1.5646 tol = 1e-06
 24: 27 bryzs 0 != 0.959228 tol = 1e-06
@@ -19907,439 +22226,658 @@
 24: 27 bryys 1.5708 != 1.5646 tol = 1e-06
 24: 27 bryzs 0 != -0.830942 tol = 1e-06
 24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0076614558424186185
 24: MbD: Convergence = 0.040167749317128389
-29: MbD: Convergence = 0.00040287408916853454
-24: MbD: Convergence = 0.0034774806251587826
-3: MbD: Convergence = 208333.50308243383
-29: MbD: Convergence = 1.4086143175501652e-06
-29: MbD: Convergence = 1.2868138982175747e-11
-29: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 2123.9580052220545
 29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 1.8512571048278731e-06
+24: MbD: Convergence = 0.0034774806251587826
 24: MbD: Convergence = 2.2239102245256896e-05
 24: MbD: Convergence = 1.0545590827415127e-09
+29: MbD: Convergence = 17.100323065280094
 24: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 1.4857611317613727e-06
 24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.116297534392249
-3: MbD: Convergence = 3.9773763013978254
-29: MbD: Convergence = 1.2201444292615369e-14
-29: Time = 0.88
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0075931679587695105
-3: MbD: Convergence = 0.0054344464859331053
-29: MbD: Convergence = 0.00038466030116208344
-29: MbD: Convergence = 1.3366857058316519e-06
-29: MbD: Convergence = 1.1636629887416616e-11
-29: MbD: Solving for kinematic velocity.
-24: MbD: Convergence = 174891.94770277306
-3: MbD: Convergence = 1.2671969269734276e-05
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 1.1061626356613072e-06
-29: MbD: Convergence = 16.098132352816616
-29: MbD: Convergence = 1.4915659317800741e-14
-29: Time = 0.9
-29: MbD: Solving for kinematic position.
-3: MbD: Convergence = 7.2210743092895966e-07
-29: MbD: Convergence = 0.0075436104873196396
+29: MbD: Convergence = 6.8218295197805909e-15
+29: Time = 0.5
 3: MbD: Assembling system with limits. 
+29: MbD: Solving for kinematic position.
 3: MbD: No limits reached. 
 3: Time = 0
+29: MbD: Convergence = 0.007469781361531402
+24: MbD: Convergence = 174891.94770277306
+29: MbD: Convergence = 0.00031738129166311504
+29: MbD: Convergence = 1.1223032469520239e-06
 24: MbD: Convergence = 3.8195033443357624e-08
-29: MbD: Convergence = 0.00036540757235921167
 24: Time = 0.54
 24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 1.2699488456123434e-06
-24: MbD: Convergence = 0.058114683242138858
-29: MbD: Convergence = 1.0529895460836986e-11
+29: MbD: Convergence = 8.3916641018894992e-12
 29: MbD: Solving for kinematic velocity.
+24: MbD: Convergence = 0.058114683242138858
+3: MbD: Convergence = 2362769.7861507335
 24: MbD: Convergence = 0.0058434068173195131
 29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 245107.47971715109
-29: MbD: Convergence = 16.089260906642348
 24: MbD: Convergence = 4.7588020497728771e-05
 24: MbD: Convergence = 4.0259808026907222e-09
-3: MbD: Convergence = 41.979654287744381
-29: MbD: Convergence = 1.7346435121124614e-14
 24: MbD: Solving for kinematic velocity.
-29: Time = 0.92
-29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 17.106470399203825
+3: MbD: Convergence = 11625.476165525737
 24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 0.0075104385728312914
-29: MbD: Convergence = 0.0003477398466775736
-3: MbD: Convergence = 0.028158669594858309
-29: MbD: Convergence = 1.2167527407991667e-06
-29: MbD: Convergence = 9.6781997339427186e-12
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 2.0897180176153988e-06
-24: MbD: Convergence = 63339.605196037097
-29: MbD: Convergence = 16.086719053721989
-3: MbD: Convergence = 2.1315267524842995e-06
-29: MbD: Convergence = 2.3562423391405709e-14
-29: Time = 0.94
+29: MbD: Convergence = 2.1032793702032678e-14
+29: Time = 0.52
 29: MbD: Solving for kinematic position.
+24: MbD: Convergence = 63339.605196037097
+29: MbD: Convergence = 0.0074716450866850878
+3: MbD: Convergence = 15.37680656501065
 24: MbD: Convergence = 4.5536846123479844e-08
 24: Time = 0.56
 24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074897507118110353
+29: MbD: Convergence = 0.00032075549848137774
+29: MbD: Convergence = 1.1185349472482978e-06
 24: MbD: Convergence = 0.070470814136661952
-29: MbD: Convergence = 0.00033352064367224367
+29: MbD: Convergence = 8.3429099198457059e-12
 24: MbD: Convergence = 0.0068549609145248224
-3: MbD: Convergence = 9.1766339419321944e-07
-29: MbD: Convergence = 1.1782903134871855e-06
-29: MbD: Convergence = 9.1114437756262633e-12
-3: MbD: Assembling system with limits. 
 29: MbD: Solving for kinematic velocity.
-3: MbD: No limits reached. 
-3: Time = 0
-29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 4.6924308806237438e-05
+3: MbD: Convergence = 0.0010302714126116967
 24: MbD: Convergence = 3.3645175756648228e-09
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Solving for kinematic velocity.
-29: MbD: Convergence = 16.087521109401287
-3: MbD: Convergence = 2238435039.6987281
 24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 1.4076516789046172e-14
-29: Time = 0.96
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074777581903297322
-3: MbD: Convergence = 283223887698.41516
-29: MbD: Convergence = 0.00032365849704796019
-29: MbD: Convergence = 1.1515807534034008e-06
-29: MbD: Convergence = 8.7583681699980886e-12
-29: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 17.124373944509284
+3: MbD: Convergence = 1.7575322464104914e-06
 24: MbD: Convergence = 41672.813068252748
-3: MbD: Convergence = 326114828287.83325
-29: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.089130994205828
-3: MbD: Convergence = 50810822074.576797
+29: MbD: Convergence = 1.0039320846935982e-14
+29: Time = 0.54
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 5.379035459691109e-10
 24: Time = 0.58
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074777581903297339
+3: MbD: Convergence = 1.1304406143055766e-06
 24: MbD: Convergence = 0.080909124744437275
+29: MbD: Convergence = 0.00032847894981179963
 24: MbD: Convergence = 0.0072564334310568617
-29: MbD: Convergence = 2.3094141455014154e-14
-29: Time = 0.98
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074716450866850401
-29: MbD: Convergence = 0.00031832295023375643
-3: MbD: Convergence = 199346954162.38953
-29: MbD: Convergence = 1.1334253978879283e-06
-29: MbD: Convergence = 8.5325159519048452e-12
-29: MbD: Solving for kinematic velocity.
-28: MbD: dJointE /UP165/Joint26 has the following constraint(s) removed: 
-28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-28: MbD: luteJointE /UP165/rev1 has the following constraint(s) removed: 
-28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-28: MbD: Assembling system. 
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 401148408318.94745
+29: MbD: Convergence = 1.1241535591238258e-06
 24: MbD: Convergence = 3.5435530464345568e-05
+29: MbD: Convergence = 8.4344045138627068e-12
 24: MbD: Convergence = 1.7525106878655648e-09
+29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 4.035497492973429e-07
 24: MbD: Solving for kinematic velocity.
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Solving for kinematic acceleration.
-29: MbD: Convergence = 16.089863748148183
-3: MbD: Convergence = 48311113342497.172
-29: MbD: Convergence = 6.270501049459042e-15
-29: Time = 1
-29: MbD: Solving for kinematic position.
-29: MbD: Convergence = 0.0074697813615314124
-29: MbD: Convergence = 0.00031738129166310875
-29: MbD: Convergence = 1.1223032469608896e-06
-29: MbD: Convergence = 8.3916668211080891e-12
-28: MbD: Convergence = 161698.62138412645
+29: MbD: Convergence = 17.152251237980568
 24: MbD: Convergence = 54643.38319416911
-29: MbD: Solving for kinematic velocity.
-29: MbD: Solving for kinematic acceleration.
-3: MbD: Singular Matrix Error. 
-29: MbD: Convergence = 16.089130994205831
 24: MbD: Convergence = 1.4106548828444211e-09
 24: Time = 0.6
+3: MbD: Convergence = 2270391.7933396315
+29: MbD: Convergence = 1.1491974393066379e-14
 24: MbD: Solving for kinematic position.
-29: MbD: Convergence = 5.2180467252710671e-15
-28: MbD: Convergence = 416044.11610120599
+29: Time = 0.56
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.091216064609590711
+29: MbD: Convergence = 0.0074897507118110327
 24: MbD: Convergence = 0.0075371137513197536
-29: [       OK ] OndselSolver.wobpump (800 ms)
-29: [----------] 1 test from OndselSolver (800 ms total)
-29: 
-29: [----------] Global test environment tear-down
-29: [==========] 1 test from 1 test suite ran. (800 ms total)
-29: [  PASSED  ] 1 test.
-3: MbD: Convergence = 22643828575.813168
-32/35 Test #29: OndselSolver.wobpump .............................   Passed    0.81 sec
+29: MbD: Convergence = 0.00034042886396862222
 24: MbD: Convergence = 2.3957743769526146e-05
+29: MbD: Convergence = 1.1426289367274116e-06
 24: MbD: Convergence = 8.0193576307974961e-10
-28: MbD: Convergence = 3328408.0636279723
-3: MbD: Convergence = 1042137860.5536773
+3: MbD: Convergence = 10827.611907254954
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 8.737441137797845e-12
+29: MbD: Solving for kinematic velocity.
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 28304756231.631435
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 13.865447865983375
 24: MbD: Convergence = 65117.86282618827
-28: MbD: Convergence = 196021097.81680506
+29: MbD: Convergence = 17.186610420113375
 24: MbD: Convergence = 3.4990397729040855e-09
 24: Time = 0.62
 24: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.10179167696838677
+29: MbD: Convergence = 1.7905807285468753e-14
+29: Time = 0.58
+3: MbD: Convergence = 0.00087774311923351201
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.0078639099807387893
-3: MbD: Convergence = 180104605731.76324
 24: MbD: Convergence = 1.5035074923952863e-05
-3: MbD: Convergence = 856218962968.06445
-28: MbD: Convergence = 88625427343912.453
+29: MbD: Convergence = 0.0075104385728312984
 24: MbD: Convergence = 3.6684323931757548e-10
+29: MbD: Convergence = 0.00035591199627258016
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 1.1772692354555145e-06
+3: MbD: Convergence = 1.9314431155117257e-06
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 1277663570945.4563
-3: MbD: Convergence = 1439576723350.8716
+29: MbD: Convergence = 9.2962776942600818e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 71059.746057286888
+3: MbD: Convergence = 4.6605745994215128e-07
 24: MbD: Convergence = 5.7627447613440091e-08
+3: MbD: Assembling system with limits. 
 24: Time = 0.64
 24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 4668755498394.7949
+3: MbD: No limits reached. 
+3: Time = 0
+29: MbD: Convergence = 17.221622484807817
 24: MbD: Convergence = 0.11239807674251255
 24: MbD: Convergence = 0.0082540617372433324
+29: MbD: Convergence = 9.3088222183011258e-15
+29: Time = 0.6
 24: MbD: Convergence = 9.2075438917019942e-06
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 1.9171222185014342e-10
 24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 10020254424114.828
+3: MbD: Convergence = 55479911.769908883
+29: MbD: Convergence = 0.0075436104873196352
+29: MbD: Convergence = 0.0003733913940544689
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 1.2279339223257728e-06
+29: MbD: Convergence = 1.0080230926768745e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 73495.183334314468
+3: MbD: Convergence = 8289968.5130914664
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 7.1837275556756609e-09
 24: Time = 0.66
 24: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.12256699113086776
+3: MbD: Convergence = 410952.39537710277
 24: MbD: Convergence = 0.0086679039710056589
+29: MbD: Convergence = 17.248636902836093
 24: MbD: Convergence = 7.8190246887060602e-06
 24: MbD: Convergence = 1.3825626330929569e-10
+29: MbD: Convergence = 2.146614115649564e-14
+29: Time = 0.62
 24: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic position.
 24: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 11470.959471684915
+29: MbD: Convergence = 0.0075931679587694654
+29: MbD: Convergence = 0.00039057921170486686
+29: MbD: Convergence = 1.2884825586979707e-06
 24: MbD: Convergence = 73074.321029079263
+29: MbD: Convergence = 1.1003890331443485e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 3.5635340598546109e-09
 24: Time = 0.68
+3: MbD: Convergence = 16.991956245294272
 24: MbD: Solving for kinematic position.
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 0.13178174968363843
 24: MbD: Convergence = 0.0090473852170458776
 24: MbD: Convergence = 1.0103806530255554e-05
+3: MbD: Convergence = 0.016466494109520835
+29: MbD: Convergence = 17.256375779210817
 24: MbD: Convergence = 1.5616817244138938e-10
-3: MbD: Singular Matrix Error. 
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 2.0903477763006055e-14
+29: Time = 0.64
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0076614558424186333
+3: MbD: Convergence = 1.0866597907214391e-05
 24: MbD: Convergence = 70200.667257528097
+29: MbD: Convergence = 0.00040493029019598255
+29: MbD: Convergence = 1.3482689018774224e-06
 24: MbD: Convergence = 1.3997157848458534e-09
 24: Time = 0.7
+29: MbD: Convergence = 1.1982374460761852e-11
 24: MbD: Solving for kinematic position.
-3: MbD: Convergence = 16358819777.787582
+29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 2.4172531377341386e-06
 24: MbD: Convergence = 0.13955375051688806
 24: MbD: Convergence = 0.0093325970861566545
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 1.2995523135955347e-05
 24: MbD: Convergence = 2.1548661092137833e-10
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 17.232505673156229
+3: MbD: Convergence = 1.4904962411120436e-06
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 27626913660.293594
+29: MbD: Convergence = 2.4420341814232584e-14
+29: Time = 0.66
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 65252.953591624617
+29: MbD: Convergence = 0.0077470919209501601
+3: MbD: Convergence = 2.6360335887606069e-06
+29: MbD: Convergence = 0.00041441067826355772
+3: MbD: Assembling system with limits. 
 24: MbD: Convergence = 2.3449179864512721e-09
 24: Time = 0.72
 24: MbD: Solving for kinematic position.
+3: MbD: No limits reached. 
+3: Time = 0
+29: MbD: Convergence = 1.3974923123041494e-06
 24: MbD: Convergence = 0.1454558777035681
-3: MbD: Convergence = 10301297131.812576
+29: MbD: Convergence = 1.2917886336405946e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 0.0094702303346688096
 24: MbD: Convergence = 1.5149658054670891e-05
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 2.7580478615401186e-10
 24: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 2237439.7227442758
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 7323413217.1134377
-28: MbD: Checking for redundant constraints.
+29: MbD: Convergence = 17.167067213940786
+29: MbD: Convergence = 1.965759345214663e-14
 24: MbD: Convergence = 58738.444746447378
+29: Time = 0.68
+3: MbD: Convergence = 13008.407477362496
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 4.3173157278265002e-09
+29: MbD: Convergence = 0.0078431868564357889
 24: Time = 0.74
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.00041833251683846736
 24: MbD: Convergence = 0.14913937180169981
-3: MbD: Convergence = 101799233503.1073
+29: MbD: Convergence = 1.4323749505668599e-06
 24: MbD: Convergence = 0.009418849502066607
+3: MbD: Convergence = 23.210687933836976
+29: MbD: Convergence = 1.3639608184593386e-11
 24: MbD: Convergence = 1.61678415265907e-05
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 3.086224137544465e-10
 24: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 34743621827084.219
+3: MbD: Convergence = 0.0015287141659443403
+29: MbD: Convergence = 17.057219821990433
 24: MbD: Convergence = 51421.936220965261
+29: MbD: Convergence = 2.3430540096028017e-14
+29: Time = 0.7
 24: MbD: Convergence = 5.8957329161776142e-09
 24: Time = 0.76
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 2.1206036295278138e-06
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0079371547765552976
 24: MbD: Convergence = 0.1503436547458018
-3: MbD: Convergence = 1369052678667843
+29: MbD: Convergence = 0.00041792545334508796
 24: MbD: Convergence = 0.0091524790359831
+29: MbD: Convergence = 1.4561740816759395e-06
 24: MbD: Convergence = 1.5995194248394759e-05
+3: MbD: Convergence = 1.2719419230636234e-06
+29: MbD: Convergence = 1.3977513714048209e-11
 24: MbD: Convergence = 3.0217890272837248e-10
 24: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic velocity.
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 1.2306432085199439e-06
 24: MbD: Convergence = 44466.10911410932
+3: MbD: Assembling system with limits. 
+29: MbD: Convergence = 16.910996522440897
+3: MbD: No limits reached. 
+3: Time = 0
 24: MbD: Convergence = 6.5266931323622215e-10
 24: Time = 0.78
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 2.1595191840960321e-13
+29: Time = 0.72
 24: MbD: Convergence = 0.14890169875399001
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.0086628103177655985
-3: MbD: Singular Matrix Error. 
+29: MbD: Convergence = 0.0080129477614537224
 24: MbD: Convergence = 1.4772323846360586e-05
+29: MbD: Convergence = 0.00041612454723349656
+3: MbD: Convergence = 61590759.150620729
 24: MbD: Convergence = 2.6026757106945386e-10
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 1.475414862137087e-06
+29: MbD: Convergence = 1.4034753153550268e-11
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 9079944.0096197613
 24: MbD: Convergence = 39506.742637912204
-3: MbD: Convergence = 4874101342.1916561
 24: MbD: Convergence = 2.7021302825843518e-09
 24: Time = 0.8
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 16.746695163519764
 24: MbD: Convergence = 0.14474120300240184
 24: MbD: Convergence = 0.007959984950734942
+29: MbD: Convergence = 1.2435769956394962e-14
+29: Time = 0.74
+3: MbD: Convergence = 773059.75746756443
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 1.2764369036773032e-05
-3: MbD: Convergence = 4581100014.6469212
 24: MbD: Convergence = 1.9732222391523714e-10
+29: MbD: Convergence = 0.0080554498682496537
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 0.00041615422014765392
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 398516763.65179467
+29: MbD: Convergence = 1.4947453347407563e-06
+3: MbD: Convergence = 22083.183824179068
+29: MbD: Convergence = 1.4275622676856464e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 38222.074927362621
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 1.5105844696290338e-08
 24: Time = 0.82
 24: MbD: Solving for kinematic position.
+3: MbD: Convergence = 71.546941314435614
 24: MbD: Convergence = 0.1378814262057739
+29: MbD: Convergence = 16.586464463229987
 24: MbD: Convergence = 0.0070718957814799258
-3: MbD: Convergence = 3655451.0540601271
 24: MbD: Convergence = 1.0298770468205107e-05
+29: MbD: Convergence = 1.6091999445447325e-14
 24: MbD: Convergence = 1.3100078408831482e-10
+3: MbD: Convergence = 0.04683726124403139
+29: Time = 0.76
+29: MbD: Solving for kinematic position.
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 0.0080554498682496433
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 52691.282773324732
+29: MbD: Convergence = 0.00041941746641956709
+29: MbD: Convergence = 1.5143386278703245e-06
+3: MbD: Convergence = 1.8355956817110083e-05
 24: MbD: Convergence = 41087.181010300279
+29: MbD: Convergence = 1.4952863856620241e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 9.1963373586821184e-09
 24: Time = 0.84
 24: MbD: Solving for kinematic position.
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 0.1284258234213706
-3: MbD: Convergence = 16.208855740995279
+3: MbD: Convergence = 7.7583375582038063e-07
 24: MbD: Convergence = 0.0060420746890745888
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
 24: MbD: Convergence = 7.7098939001905934e-06
+29: MbD: Convergence = 16.447451086962257
 24: MbD: Convergence = 7.537953471749524e-11
 24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 0.015650398223795887
+29: MbD: Convergence = 7.6384883461191243e-14
+29: Time = 0.78
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0080129477614537415
+3: MbD: Convergence = 464312.05264373502
+29: MbD: Convergence = 0.00042437537520841734
 24: MbD: Convergence = 46895.353358168708
-3: MbD: Convergence = 1.2255976558505894e-05
+29: MbD: Convergence = 1.5298061603635216e-06
 24: MbD: Convergence = 8.1585509535890593e-09
 24: Time = 0.86
+29: MbD: Convergence = 1.5621995121847612e-11
 24: MbD: Solving for kinematic position.
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 0.11655112819283388
 24: MbD: Convergence = 0.0049263934647644511
+3: MbD: Convergence = 518.57584383153858
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 5.2942787347342416e-06
 24: MbD: Convergence = 3.7202939451779027e-11
-3: MbD: Convergence = 1.031687988334891e-06
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 16.336721868704451
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 7.9418343822402858e-07
+3: MbD: Convergence = 0.28859887637497228
+29: MbD: Convergence = 6.8591128031700255e-14
+29: Time = 0.8
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 53937.322049653638
-3: MbD: Assembling system with limits. 
-3: MbD: No limits reached. 
-3: Time = 0
+29: MbD: Convergence = 0.0079371547765552646
 24: MbD: Convergence = 2.2595086123695708e-08
 24: Time = 0.88
+29: MbD: Convergence = 0.00042755043709920466
 24: MbD: Solving for kinematic position.
+3: MbD: Convergence = 1.7926544457871562e-06
+29: MbD: Convergence = 1.5330470010779265e-06
 24: MbD: Convergence = 0.102493974932634
+29: MbD: Convergence = 1.5706422231547472e-11
 24: MbD: Convergence = 0.0037889220608302134
+28: MbD: dJointE /UP165/Joint26 has the following constraint(s) removed: 
+28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+28: MbD: luteJointE /UP165/rev1 has the following constraint(s) removed: 
+28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+28: MbD: Assembling system. 
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 3.2752784060972415e-06
 24: MbD: Convergence = 1.5841330872463816e-11
-3: MbD: Assembling system. 
+3: MbD: Convergence = 7.9463527093380705e-08
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Solving for kinematic velocity.
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.252821924136828
 24: MbD: Convergence = 60917.777766050465
-3: MbD: Checking for redundant constraints.
+29: MbD: Convergence = 2.5330330301933613e-14
+29: Time = 0.82
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 5.3621605826336761e-08
 24: Time = 0.9
 24: MbD: Solving for kinematic position.
+3: MbD: Convergence = 617006076.50123894
+29: MbD: Convergence = 0.007843186856435775
 24: MbD: Convergence = 0.086536470983608449
+29: MbD: Convergence = 0.00042567637305773254
+28: MbD: Convergence = 161698.62138412645
 24: MbD: Convergence = 0.0026973520458428088
+29: MbD: Convergence = 1.5152200967361934e-06
 24: MbD: Convergence = 1.7750187915904925e-06
+3: MbD: Convergence = 670794494.67435324
+29: MbD: Convergence = 1.5106982506776212e-11
 24: MbD: Convergence = 6.0158544198906792e-12
+29: MbD: Solving for kinematic velocity.
 24: MbD: Solving for kinematic velocity.
 24: MbD: Solving for kinematic acceleration.
-3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute has the following constraint(s) removed: 
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute006 has the following constraint(s) removed: 
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD: slationalJointE /OndselAssembly/AssemblyExample#Slider002 has the following constraint(s) removed: 
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
-3: MbD: Assembling system. 
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 4058258969.9759574
 24: MbD: Convergence = 67044.854493506966
+28: MbD: Convergence = 416044.11610120599
+29: MbD: Convergence = 16.1908627947026
 24: MbD: Convergence = 9.0375440538558617e-08
 24: Time = 0.92
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 1.0942667491537376e-14
+29: Time = 0.84
+3: MbD: Convergence = 3990924472.2703657
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 0.068992279466727965
 24: MbD: Convergence = 0.0017184668696385154
+29: MbD: Convergence = 0.0077470919209500959
 24: MbD: Convergence = 8.0025312748383729e-07
+29: MbD: Convergence = 0.00041725486880502574
 24: MbD: Solving for kinematic velocity.
-3: MbD: Convergence = 0.0014214000429053361
+29: MbD: Convergence = 1.4721914169556125e-06
 24: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 2435566325.0890222
+29: MbD: Convergence = 1.4077322540832482e-11
+28: MbD: Convergence = 3328408.0636279723
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 71893.222447996173
-3: MbD: Convergence = 0.0003036845401436378
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 405731927.20480198
 24: MbD: Convergence = 5.4313058865155398e-07
 24: Time = 0.94
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 16.146385321704305
 24: MbD: Convergence = 0.050194801667701461
 24: MbD: Convergence = 0.00091429965690994076
 24: MbD: Convergence = 2.6381441454769399e-07
+29: MbD: Convergence = 1.8111577208507954e-14
+29: Time = 0.86
+28: MbD: Convergence = 196021097.81680506
 24: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 89972083.218579635
+29: MbD: Convergence = 0.0076614558424186185
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 0.00058236501550187642
+29: MbD: Convergence = 0.00040287408916853454
+29: MbD: Convergence = 1.4086143175501652e-06
 24: MbD: Convergence = 75297.670249824718
+29: MbD: Convergence = 1.2868138982175747e-11
+29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 7255535.2019442674
 24: MbD: Convergence = 2.2634300336732941e-08
 24: Time = 0.96
 24: MbD: Solving for kinematic position.
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Convergence = 0.03048894582350186
-3: MbD: Convergence = 0.00056896504601909126
 24: MbD: Convergence = 0.00033947159407774803
+28: MbD: Convergence = 88625427343912.453
+3: MbD: Convergence = 208333.50308243383
 24: MbD: Convergence = 4.3136992578045798e-08
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 16.116297534392249
 24: MbD: Solving for kinematic acceleration.
-3: MbD: Convergence = 0.00030370013803813394
+29: MbD: Convergence = 1.2201444292615369e-14
+29: Time = 0.88
+3: MbD: Convergence = 2123.9580052220545
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075931679587695105
 24: MbD: Convergence = 77273.98058333245
-3: Time = 0
+29: MbD: Convergence = 0.00038466030116208344
 24: MbD: Convergence = 3.0753684112690866e-07
 24: Time = 0.98
 24: MbD: Solving for kinematic position.
-3: [       OK ] OndselSolver.runPreDragBackhoe1 (1135 ms)
-3: [----------] 1 test from OndselSolver (1135 ms total)
-3: 
-3: [----------] Global test environment tear-down
-3: [==========] 1 test from 1 test suite ran. (1135 ms total)
-3: [  PASSED  ] 1 test.
+29: MbD: Convergence = 1.3366857058316519e-06
+3: MbD: Convergence = 3.9773763013978254
+29: MbD: Convergence = 1.1636629887416616e-11
 24: MbD: Convergence = 0.010227264091343537
-33/35 Test  #3: OndselSolver.runPreDragBackhoe1 ..................   Passed    1.15 sec
+29: MbD: Solving for kinematic velocity.
 24: MbD: Convergence = 3.8381130889102783e-05
 24: MbD: Convergence = 6.2009153868304111e-10
+29: MbD: Solving for kinematic acceleration.
 24: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 0.0054344464859331053
 24: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.098132352816616
 24: MbD: Convergence = 77915.91800111864
+3: MbD: Convergence = 1.2671969269734276e-05
+29: MbD: Convergence = 1.4915659317800741e-14
+29: Time = 0.9
+29: MbD: Solving for kinematic position.
 24: MbD: Convergence = 4.1987600374318059e-09
 24: Time = 1
 24: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0075436104873196396
 24: MbD: Convergence = 0.010231129330390699
+29: MbD: Convergence = 0.00036540757235921167
 24: MbD: Convergence = 3.8432717555469321e-05
+3: MbD: Convergence = 1.1061626356613072e-06
+29: MbD: Convergence = 1.2699488456123434e-06
 24: MbD: Convergence = 6.2312029575873957e-10
 24: MbD: Solving for kinematic velocity.
+29: MbD: Convergence = 1.0529895460836986e-11
+29: MbD: Solving for kinematic velocity.
 24: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 7.2210743092895966e-07
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
 24: MbD: Convergence = 77273.980583475772
+29: MbD: Convergence = 16.089260906642348
 24: MbD: Convergence = 2.4883402546245042e-07
-24: [       OK ] OndselSolver.00backhoe (1061 ms)
-24: [----------] 1 test from OndselSolver (1061 ms total)
+24: [       OK ] OndselSolver.00backhoe (407 ms)
+24: [----------] 1 test from OndselSolver (407 ms total)
 24: 
 24: [----------] Global test environment tear-down
-24: [==========] 1 test from 1 test suite ran. (1069 ms total)
+24: [==========] 1 test from 1 test suite ran. (407 ms total)
 24: [  PASSED  ] 1 test.
-34/35 Test #24: OndselSolver.00backhoe ...........................   Passed    1.08 sec
+29: MbD: Convergence = 1.7346435121124614e-14
+29: Time = 0.92
+29: MbD: Solving for kinematic position.
+32/35 Test #24: OndselSolver.00backhoe ...........................   Passed    0.41 sec
+3: MbD: Convergence = 245107.47971715109
+29: MbD: Convergence = 0.0075104385728312914
+29: MbD: Convergence = 0.0003477398466775736
+29: MbD: Convergence = 1.2167527407991667e-06
+29: MbD: Convergence = 9.6781997339427186e-12
+3: MbD: Convergence = 41.979654287744381
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 0.028158669594858309
+29: MbD: Convergence = 16.086719053721989
+29: MbD: Convergence = 2.3562423391405709e-14
+29: Time = 0.94
+29: MbD: Solving for kinematic position.
+3: MbD: Convergence = 2.0897180176153988e-06
+29: MbD: Convergence = 0.0074897507118110353
+29: MbD: Convergence = 0.00033352064367224367
+29: MbD: Convergence = 1.1782903134871855e-06
+3: MbD: Convergence = 2.1315267524842995e-06
+29: MbD: Convergence = 9.1114437756262633e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+3: MbD: Convergence = 9.1766339419321944e-07
+3: MbD: Assembling system with limits. 
+29: MbD: Convergence = 16.087521109401287
+3: MbD: No limits reached. 
+3: Time = 0
+29: MbD: Convergence = 1.4076516789046172e-14
+29: Time = 0.96
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074777581903297322
+3: MbD: Convergence = 2238435039.6987281
+29: MbD: Convergence = 0.00032365849704796019
+29: MbD: Convergence = 1.1515807534034008e-06
+29: MbD: Convergence = 8.7583681699980886e-12
+29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 283223887698.41516
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.089130994205828
+3: MbD: Convergence = 326114828287.83325
+29: MbD: Convergence = 2.3094141455014154e-14
+29: Time = 0.98
+28: MbD: Checking for redundant constraints.
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074716450866850401
+3: MbD: Convergence = 50810822074.576797
+29: MbD: Convergence = 0.00031832295023375643
+29: MbD: Convergence = 1.1334253978879283e-06
+29: MbD: Convergence = 8.5325159519048452e-12
+29: MbD: Solving for kinematic velocity.
+3: MbD: Convergence = 199346954162.38953
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.089863748148183
+3: MbD: Convergence = 401148408318.94745
+29: MbD: Convergence = 6.270501049459042e-15
+29: Time = 1
+29: MbD: Solving for kinematic position.
+29: MbD: Convergence = 0.0074697813615314124
+29: MbD: Convergence = 0.00031738129166310875
+3: MbD: Convergence = 48311113342497.172
+29: MbD: Convergence = 1.1223032469608896e-06
+29: MbD: Convergence = 8.3916668211080891e-12
+29: MbD: Solving for kinematic velocity.
+29: MbD: Solving for kinematic acceleration.
+29: MbD: Convergence = 16.089130994205831
+3: MbD: Singular Matrix Error. 
+29: MbD: Convergence = 5.2180467252710671e-15
+29: [       OK ] OndselSolver.wobpump (442 ms)
+29: [----------] 1 test from OndselSolver (442 ms total)
+29: 
+29: [----------] Global test environment tear-down
+29: [==========] 1 test from 1 test suite ran. (442 ms total)
+29: [  PASSED  ] 1 test.
+33/35 Test #29: OndselSolver.wobpump .............................   Passed    0.45 sec
+3: MbD: Convergence = 22643828575.813168
+3: MbD: Convergence = 1042137860.5536773
+3: MbD: Convergence = 28304756231.631435
+3: MbD: Convergence = 180104605731.76324
+3: MbD: Convergence = 856218962968.06445
+3: MbD: Convergence = 1277663570945.4563
+3: MbD: Convergence = 1439576723350.8716
+3: MbD: Convergence = 4668755498394.7949
+3: MbD: Convergence = 10020254424114.828
+3: MbD: Singular Matrix Error. 
+3: MbD: Convergence = 16358819777.787582
+3: MbD: Convergence = 27626913660.293594
+3: MbD: Convergence = 10301297131.812576
+3: MbD: Convergence = 7323413217.1134377
+3: MbD: Convergence = 101799233503.1073
+3: MbD: Convergence = 34743621827084.219
+3: MbD: Convergence = 1369052678667843
+3: MbD: Singular Matrix Error. 
+3: MbD: Convergence = 4874101342.1916561
 28: MbD:  /UP165 has the following constraint(s) removed: 
 28: MbD:     N3MbD19RedundantConstraintE
 28: MbD:     N3MbD19RedundantConstraintE
@@ -20377,12 +22915,52 @@
 28: MbD: luteJointE /UP165/rev53 has the following constraint(s) removed: 
 28: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
 28: MbD: Assembling system. 
+3: MbD: Convergence = 4581100014.6469212
+3: MbD: Convergence = 398516763.65179467
+3: MbD: Convergence = 3655451.0540601271
 28: MbD: Convergence = 128508.69018356087
+3: MbD: Convergence = 52691.282773324732
+3: MbD: Convergence = 16.208855740995279
+3: MbD: Convergence = 0.015650398223795887
 28: MbD: Convergence = 143218.61574256493
+3: MbD: Convergence = 1.2255976558505894e-05
+3: MbD: Convergence = 1.031687988334891e-06
+3: MbD: Convergence = 7.9418343822402858e-07
+3: MbD: Assembling system with limits. 
+3: MbD: No limits reached. 
+3: Time = 0
 28: MbD: Convergence = 3006696.4765627338
+3: MbD: Assembling system. 
+3: MbD: Checking for redundant constraints.
 28: MbD: Convergence = 147072831.77058965
+3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute has the following constraint(s) removed: 
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute004 has the following constraint(s) removed: 
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD: luteJointE /OndselAssembly/AssemblyExample#Revolute006 has the following constraint(s) removed: 
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD: slationalJointE /OndselAssembly/AssemblyExample#Slider002 has the following constraint(s) removed: 
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD:     ndantConstraintE->ctionCosineConstraintIqcJqcE
+3: MbD: Assembling system. 
+3: MbD: Convergence = 0.0014214000429053361
 28: MbD: Convergence = 461071008178.19556
+3: MbD: Convergence = 0.0003036845401436378
+3: MbD: Convergence = 0.00058236501550187642
 28: MbD: Convergence = 3069549467124721.5
+3: MbD: Convergence = 0.00056896504601909126
+3: MbD: Convergence = 0.00030370013803813394
+3: Time = 0
+3: [       OK ] OndselSolver.runPreDragBackhoe1 (604 ms)
+3: [----------] 1 test from OndselSolver (604 ms total)
+3: 
+3: [----------] Global test environment tear-down
+3: [==========] 1 test from 1 test suite ran. (604 ms total)
+3: [  PASSED  ] 1 test.
+34/35 Test  #3: OndselSolver.runPreDragBackhoe1 ..................   Passed    0.61 sec
 28: MbD: Checking for redundant constraints.
 28: MbD:  /UP165 has the following constraint(s) removed: 
 28: MbD:     N3MbD19RedundantConstraintE
@@ -21901,17 +24479,17 @@
 28: MbD: No convergence after 101 iterations.
 28: MbD: A geometrically incompatible system has been specified.
 28: MbD: Or the system parts are distributed too far apart from the assembled positions.
-28: [       OK ] OndselSolver.fourbot (5699 ms)
-28: [----------] 1 test from OndselSolver (5699 ms total)
+28: [       OK ] OndselSolver.fourbot (1958 ms)
+28: [----------] 1 test from OndselSolver (1958 ms total)
 28: 
 28: [----------] Global test environment tear-down
-28: [==========] 1 test from 1 test suite ran. (5699 ms total)
+28: [==========] 1 test from 1 test suite ran. (1959 ms total)
 28: [  PASSED  ] 1 test.
-35/35 Test #28: OndselSolver.fourbot .............................   Passed    5.71 sec
+35/35 Test #28: OndselSolver.fourbot .............................   Passed    1.96 sec
 
 83% tests passed, 6 tests failed out of 35
 
-Total Test time (real) =   5.89 sec
+Total Test time (real) =   2.02 sec
 
 The following tests FAILED:
 	 11 - OndselSolver.Gears (Subprocess aborted)
@@ -21923,13 +24501,13 @@
 Errors while running CTest
 make[2]: *** [Makefile:74: test] Error 8
 make[2]: Leaving directory '/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu'
-dh_auto_test: error: cd obj-x86_64-linux-gnu && make -j40 test ARGS\+=--verbose ARGS\+=-j40 returned exit code 2
+dh_auto_test: error: cd obj-x86_64-linux-gnu && make -j42 test ARGS\+=--verbose ARGS\+=-j42 returned exit code 2
 make[1]: [debian/rules:14: override_dh_auto_test] Error 25 (ignored)
 make[1]: Leaving directory '/build/reproducible-path/ondselsolver-0~2024.11.27'
    create-stamp debian/debhelper-build-stamp
    dh_prep
    dh_auto_install
-	cd obj-x86_64-linux-gnu && make -j40 install DESTDIR=/build/reproducible-path/ondselsolver-0\~2024.11.27/debian/tmp AM_UPDATE_INFO_DIR=no INSTALL="install --strip-program=true"
+	cd obj-x86_64-linux-gnu && make -j42 install DESTDIR=/build/reproducible-path/ondselsolver-0\~2024.11.27/debian/tmp AM_UPDATE_INFO_DIR=no INSTALL="install --strip-program=true"
 make[1]: Entering directory '/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu'
 /usr/bin/cmake -S"/build/reproducible-path/ondselsolver-0~2024.11.27" -B"/build/reproducible-path/ondselsolver-0~2024.11.27/obj-x86_64-linux-gnu" --check-build-system CMakeFiles/Makefile.cmake 0
 make  -f CMakeFiles/Makefile2 preinstall
@@ -22273,9 +24851,9 @@
    dh_gencontrol
    dh_md5sums
    dh_builddeb
+dpkg-deb: building package 'libondselsolver1' in '../libondselsolver1_0~2024.11.27-1_amd64.deb'.
 dpkg-deb: building package 'libondselsolver-dev' in '../libondselsolver-dev_0~2024.11.27-1_amd64.deb'.
 dpkg-deb: building package 'libondselsolver1-dbgsym' in '../libondselsolver1-dbgsym_0~2024.11.27-1_amd64.deb'.
-dpkg-deb: building package 'libondselsolver1' in '../libondselsolver1_0~2024.11.27-1_amd64.deb'.
  dpkg-genbuildinfo --build=binary -O../ondselsolver_0~2024.11.27-1_amd64.buildinfo
  dpkg-genchanges --build=binary -O../ondselsolver_0~2024.11.27-1_amd64.changes
 dpkg-genchanges: info: binary-only upload (no source code included)
@@ -22283,12 +24861,14 @@
 dpkg-buildpackage: info: binary-only upload (no source included)
 dpkg-genchanges: info: including full source code in upload
 I: copying local configuration
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/B01_cleanup starting
+I: user script /srv/workspace/pbuilder/2404977/tmp/hooks/B01_cleanup finished
 I: unmounting dev/ptmx filesystem
 I: unmounting dev/pts filesystem
 I: unmounting dev/shm filesystem
 I: unmounting proc filesystem
 I: unmounting sys filesystem
 I: cleaning the build env 
-I: removing directory /srv/workspace/pbuilder/731538 and its subdirectories
-I: Current time: Thu Oct 30 07:09:26 -12 2025
-I: pbuilder-time-stamp: 1761851366
+I: removing directory /srv/workspace/pbuilder/2404977 and its subdirectories
+I: Current time: Fri Oct 31 09:11:49 +14 2025
+I: pbuilder-time-stamp: 1761851509