diff --git a/OndselSolver/ASMTAnimationParameters.h b/OndselSolver/ASMTAnimationParameters.h
index 3d933bf..f5a1c08 100644
--- a/OndselSolver/ASMTAnimationParameters.h
+++ b/OndselSolver/ASMTAnimationParameters.h
@@ -18,7 +18,7 @@ namespace MbD {
         void parseASMT(std::vector<std::string>& lines) override;
         void storeOnLevel(std::ofstream& os, int level) override;
 
-		int nframe = 1000000, icurrent = 0, istart = 0, iend = 1000000, framesPerSecond = 30;
+		int nframe = 1000000, icurrent = 1, istart = 1, iend = 1000000, framesPerSecond = 30;
         bool isForward = true;
 
 
diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index 793f647..658dbb4 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -1212,6 +1212,7 @@ void MbD::ASMTAssembly::storeOnLevelGeneralConstraintSets(std::ofstream& os, int
 
 void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
 {
+	if (times->empty()) return;
 	os << "TimeSeries" << std::endl;
 	os << "Number\tInput\t";
 	for (int i = 1; i < times->size(); i++)
diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h
index 91b575b..061b6a9 100644
--- a/OndselSolver/ASMTAssembly.h
+++ b/OndselSolver/ASMTAssembly.h
@@ -121,7 +121,7 @@ namespace MbD {
 		void storeOnLevelGeneralConstraintSets(std::ofstream& os, int level);
 		void storeOnTimeSeries(std::ofstream& os) override;
 
-		std::string notes;
+		std::string notes = "(Text string: '' runs: (Core.RunArray runs: #() values: #()))";
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> parts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTKinematicIJ>>> kinematicIJs = std::make_shared<std::vector<std::shared_ptr<ASMTKinematicIJ>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTConstraintSet>>> constraintSets = std::make_shared<std::vector<std::shared_ptr<ASMTConstraintSet>>>();
@@ -129,11 +129,11 @@ namespace MbD {
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTMotion>>> motions = std::make_shared<std::vector<std::shared_ptr<ASMTMotion>>>();
 		std::shared_ptr<std::vector<std::shared_ptr<ASMTForceTorque>>> forcesTorques = std::make_shared<std::vector<std::shared_ptr<ASMTForceTorque>>>();
 		std::shared_ptr<ASMTConstantGravity> constantGravity = std::make_shared<ASMTConstantGravity>();
-		std::shared_ptr<ASMTSimulationParameters> simulationParameters;
-		std::shared_ptr<ASMTAnimationParameters> animationParameters;
-		std::shared_ptr<std::vector<double>> times;
+		std::shared_ptr<ASMTSimulationParameters> simulationParameters = std::make_shared<ASMTSimulationParameters>();
+		std::shared_ptr<ASMTAnimationParameters> animationParameters = std::make_shared<ASMTAnimationParameters>();
+		std::shared_ptr<std::vector<double>> times = std::make_shared<std::vector<double>>();
 		std::shared_ptr<ASMTTime> asmtTime = std::make_shared<ASMTTime>();
-		std::shared_ptr<Units> mbdUnits;
+		std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
 		MBDynSystem* mbdynItem = nullptr;
 	};
 }
diff --git a/OndselSolver/ASMTGeneralMotion.cpp b/OndselSolver/ASMTGeneralMotion.cpp
index 3ba1c77..cd14528 100644
--- a/OndselSolver/ASMTGeneralMotion.cpp
+++ b/OndselSolver/ASMTGeneralMotion.cpp
@@ -92,21 +92,21 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(0), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoX = parser->stack->top();
-	geoX = Symbolic::times(geoX, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoX = Symbolic::times(geoX, sptrConstant(1.0 / mbdUnits->length));
 	geoX->createMbD(mbdSys, mbdUnits);
 	auto xBlk = geoX->simplified(geoX);
 
 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(1), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoY = parser->stack->top();
-	geoY = Symbolic::times(geoY, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoY = Symbolic::times(geoY, sptrConstant(1.0 / mbdUnits->length));
 	geoY->createMbD(mbdSys, mbdUnits);
 	auto yBlk = geoY->simplified(geoY);
 
 	userFunc = std::make_shared<BasicUserFunction>(rIJI->at(2), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoZ = parser->stack->top();
-	geoZ = Symbolic::times(geoZ, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	geoZ = Symbolic::times(geoZ, sptrConstant(1.0 / mbdUnits->length));
 	geoZ->createMbD(mbdSys, mbdUnits);
 	auto zBlk = geoZ->simplified(geoZ);
 
@@ -117,21 +117,21 @@ void MbD::ASMTGeneralMotion::createMbD(std::shared_ptr<System> mbdSys, std::shar
 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(0), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPhi = parser->stack->top();
-	geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPhi->createMbD(mbdSys, mbdUnits);
 	auto phiBlk = geoPhi->simplified(geoPhi);
 
 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(1), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoThe = parser->stack->top();
-	geoThe = Symbolic::times(geoThe, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoThe = Symbolic::times(geoThe, sptrConstant(1.0 / mbdUnits->angle));
 	geoThe->createMbD(mbdSys, mbdUnits);
 	auto theBlk = geoThe->simplified(geoThe);
 
 	userFunc = std::make_shared<BasicUserFunction>(angIJJ->at(2), 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPsi = parser->stack->top();
-	geoPsi = Symbolic::times(geoPsi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	geoPsi = Symbolic::times(geoPsi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPsi->createMbD(mbdSys, mbdUnits);
 	auto psiBlk = geoPsi->simplified(geoPsi);
 
diff --git a/OndselSolver/ASMTPrincipalMassMarker.cpp b/OndselSolver/ASMTPrincipalMassMarker.cpp
index eaabb3f..f549de5 100644
--- a/OndselSolver/ASMTPrincipalMassMarker.cpp
+++ b/OndselSolver/ASMTPrincipalMassMarker.cpp
@@ -12,6 +12,11 @@
 
 using namespace MbD;
 
+MbD::ASMTPrincipalMassMarker::ASMTPrincipalMassMarker()
+{
+	name = "MassMarker";
+}
+
 void MbD::ASMTPrincipalMassMarker::parseASMT(std::vector<std::string>& lines)
 {
 	size_t pos = lines[0].find_first_not_of("\t");
diff --git a/OndselSolver/ASMTPrincipalMassMarker.h b/OndselSolver/ASMTPrincipalMassMarker.h
index bd02ab0..c4eed88 100644
--- a/OndselSolver/ASMTPrincipalMassMarker.h
+++ b/OndselSolver/ASMTPrincipalMassMarker.h
@@ -5,29 +5,30 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #pragma once
 
 #include "ASMTSpatialItem.h"
 
 namespace MbD {
-    class EXPORT ASMTPrincipalMassMarker : public ASMTSpatialItem
-    {
-        //
-    public:
-        void parseASMT(std::vector<std::string>& lines) override;
-        void setMass(double mass);
-        void setDensity(double density);
-        void setMomentOfInertias(DiagMatDsptr momentOfInertias);
+	class EXPORT ASMTPrincipalMassMarker : public ASMTSpatialItem
+	{
+		//
+	public:
+		ASMTPrincipalMassMarker();
+		void parseASMT(std::vector<std::string>& lines) override;
+		void setMass(double mass);
+		void setDensity(double density);
+		void setMomentOfInertias(DiagMatDsptr momentOfInertias);
 
-        // Overloads to simplify syntax.
-        void setMomentOfInertias(double a, double b, double c);
-        void storeOnLevel(std::ofstream& os, int level) override;
+		// Overloads to simplify syntax.
+		void setMomentOfInertias(double a, double b, double c);
+		void storeOnLevel(std::ofstream& os, int level) override;
 
-        double mass = 0.0;
-        double density = 0.0;
-        DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix>(ListD{ 0.,0.,0. });
+		double mass = 1.0;
+		double density = 10.0;
+		DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ 1.0, 2.0, 3.0 });
 
-    };
+	};
 }
 
diff --git a/OndselSolver/ASMTRotationalMotion.cpp b/OndselSolver/ASMTRotationalMotion.cpp
index 8283d63..b7ba0a6 100644
--- a/OndselSolver/ASMTRotationalMotion.cpp
+++ b/OndselSolver/ASMTRotationalMotion.cpp
@@ -68,9 +68,13 @@ void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::s
 	auto userFunc = std::make_shared<BasicUserFunction>(rotationZ, 1.0);
 	parser->parseUserFunction(userFunc);
 	auto geoPhi = parser->stack->top();
-	geoPhi = Symbolic::times(geoPhi, std::make_shared<Constant>(1.0 / mbdUnits->angle));
+	std::cout << *geoPhi << std::endl;
+	geoPhi = Symbolic::times(geoPhi, sptrConstant(1.0 / mbdUnits->angle));
 	geoPhi->createMbD(mbdSys, mbdUnits);
-	std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = geoPhi->simplified(geoPhi);
+	std::cout << *geoPhi << std::endl;
+	auto simple = geoPhi->simplified(geoPhi);
+	std::cout << *simple << std::endl;
+	std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = simple;
 }
 
 std::shared_ptr<Joint> MbD::ASMTRotationalMotion::mbdClassNew()
diff --git a/OndselSolver/ASMTSpatialContainer.cpp b/OndselSolver/ASMTSpatialContainer.cpp
index ba604ea..0bd509d 100644
--- a/OndselSolver/ASMTSpatialContainer.cpp
+++ b/OndselSolver/ASMTSpatialContainer.cpp
@@ -550,13 +550,25 @@ void MbD::ASMTSpatialContainer::setOmega3D(double a, double b, double c)
 void MbD::ASMTSpatialContainer::storeOnLevelVelocity(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Velocity3D");
-	storeOnLevelArray(os, level + 1, *velocity3D);
+	if (vxs == nullptr || vxs->empty()) {
+		storeOnLevelArray(os, level + 1, *velocity3D);
+	}
+	else {
+		auto array = getVelocity3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }
 
 void MbD::ASMTSpatialContainer::storeOnLevelOmega(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Omega3D");
-	storeOnLevelArray(os, level + 1, *omega3D);
+	if (omexs == nullptr || omexs->empty()) {
+		storeOnLevelArray(os, level + 1, *omega3D);
+	}
+	else {
+		auto array = getOmega3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }
 
 void MbD::ASMTSpatialContainer::storeOnLevelRefPoints(std::ofstream& os, int level)
@@ -697,3 +709,21 @@ void MbD::ASMTSpatialContainer::storeOnTimeSeries(std::ofstream& os)
 	}
 	os << std::endl;
 }
+
+FColDsptr MbD::ASMTSpatialContainer::getVelocity3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, vxs->at(i));
+	vec3->atiput(1, vys->at(i));
+	vec3->atiput(2, vzs->at(i));
+	return vec3;
+}
+
+FColDsptr MbD::ASMTSpatialContainer::getOmega3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, omexs->at(i));
+	vec3->atiput(1, omeys->at(i));
+	vec3->atiput(2, omezs->at(i));
+	return vec3;
+}
diff --git a/OndselSolver/ASMTSpatialContainer.h b/OndselSolver/ASMTSpatialContainer.h
index 73d6ddd..1f341fd 100644
--- a/OndselSolver/ASMTSpatialContainer.h
+++ b/OndselSolver/ASMTSpatialContainer.h
@@ -86,16 +86,16 @@ namespace MbD {
         void storeOnLevelRefCurves(std::ofstream& os, int level);
         void storeOnLevelRefSurfaces(std::ofstream& os, int level);
         void storeOnTimeSeries(std::ofstream& os) override;
+        FColDsptr getVelocity3D(size_t i);
+        FColDsptr getOmega3D(size_t i);
 
         FColDsptr velocity3D = std::make_shared<FullColumn<double>>(3);
         FColDsptr omega3D = std::make_shared<FullColumn<double>>(3);
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefPoint>>> refPoints;
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefCurve>>> refCurves;
         std::shared_ptr<std::vector<std::shared_ptr<ASMTRefSurface>>> refSurfaces;
-        FRowDsptr xs, ys, zs, bryxs, bryys, bryzs;
         FRowDsptr vxs, vys, vzs, omexs, omeys, omezs;
         FRowDsptr axs, ays, azs, alpxs, alpys, alpzs;
-        FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs;
         FRowDsptr invxs, invys, invzs, inomexs, inomeys, inomezs;
         FRowDsptr inaxs, inays, inazs, inalpxs, inalpys, inalpzs;
         std::shared_ptr<ASMTPrincipalMassMarker> principalMassMarker = std::make_shared<ASMTPrincipalMassMarker>();
diff --git a/OndselSolver/ASMTSpatialItem.cpp b/OndselSolver/ASMTSpatialItem.cpp
index 931787c..44e11f3 100644
--- a/OndselSolver/ASMTSpatialItem.cpp
+++ b/OndselSolver/ASMTSpatialItem.cpp
@@ -10,6 +10,7 @@
 #include "Units.h"
 #include "Part.h"
 #include "ASMTSpatialContainer.h"
+#include "EulerAngles.h"
 
 using namespace MbD;
 
@@ -102,14 +103,50 @@ void MbD::ASMTSpatialItem::storeOnLevel(std::ofstream& os, int level)
 void MbD::ASMTSpatialItem::storeOnLevelPosition(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "Position3D");
-	storeOnLevelArray(os, level + 1, *position3D);
+	if (xs == nullptr || xs->empty()) {
+		storeOnLevelArray(os, level + 1, *position3D);
+	}
+	else {
+		auto array = getPosition3D(0);
+		storeOnLevelArray(os, level + 1, *array);
+	}
 }
 
 void MbD::ASMTSpatialItem::storeOnLevelRotationMatrix(std::ofstream& os, int level)
 {
 	storeOnLevelString(os, level, "RotationMatrix");
-	for (int i = 0; i < 3; i++)
-	{
-		storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
+	if (xs == nullptr || xs->empty()) {
+		for (int i = 0; i < 3; i++)
+		{
+			storeOnLevelArray(os, level + 1, *rotationMatrix->at(i));
+		}
 	}
+	else {
+		auto rotMat = getRotationMatrix(0);
+		for (int i = 0; i < 3; i++)
+		{
+			storeOnLevelArray(os, level + 1, *rotMat->at(i));
+		}
+	}
+
+}
+
+FColDsptr MbD::ASMTSpatialItem::getPosition3D(size_t i)
+{
+	auto vec3 = std::make_shared<FullColumn<double>>(3);
+	vec3->atiput(0, xs->at(i));
+	vec3->atiput(1, ys->at(i));
+	vec3->atiput(2, zs->at(i));
+	return vec3;
+}
+
+FMatDsptr MbD::ASMTSpatialItem::getRotationMatrix(size_t i)
+{
+	auto bryantAngles = std::make_shared<EulerAngles<double>>();
+	bryantAngles->setRotOrder(1, 2, 3);
+	bryantAngles->at(0) = bryxs->at(i);
+	bryantAngles->at(1) = bryys->at(i);
+	bryantAngles->at(2) = bryzs->at(i);
+	bryantAngles->calc();
+	return bryantAngles->aA;
 }
diff --git a/OndselSolver/ASMTSpatialItem.h b/OndselSolver/ASMTSpatialItem.h
index cf556b6..73baaf9 100644
--- a/OndselSolver/ASMTSpatialItem.h
+++ b/OndselSolver/ASMTSpatialItem.h
@@ -31,6 +31,8 @@ namespace MbD {
 		void storeOnLevel(std::ofstream& os, int level) override;
 		void storeOnLevelPosition(std::ofstream& os, int level);
 		void storeOnLevelRotationMatrix(std::ofstream& os, int level);
+		FColDsptr getPosition3D(size_t i);
+		FMatDsptr getRotationMatrix(size_t i);
 
 		FColDsptr position3D = std::make_shared<FullColumn<double>>(3);
 		FMatDsptr rotationMatrix = std::make_shared<FullMatrixDouble>(ListListD{
@@ -38,6 +40,9 @@ namespace MbD {
 				{ 0, 1, 0 },
 				{ 0, 0, 1 }
 			});
+		FRowDsptr xs, ys, zs, bryxs, bryys, bryzs;
+		FRowDsptr inxs, inys, inzs, inbryxs, inbryys, inbryzs;
+
 	};
 }
 
diff --git a/OndselSolver/ASMTTime.cpp b/OndselSolver/ASMTTime.cpp
index d3421b2..52284a1 100644
--- a/OndselSolver/ASMTTime.cpp
+++ b/OndselSolver/ASMTTime.cpp
@@ -25,7 +25,27 @@ void MbD::ASMTTime::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Un
 {
 	auto mbdTime = mbdSys->time;
 	if (xx == mbdTime) return;
-	auto timeScale = std::make_shared<Constant>(mbdUnits->time);
+	auto timeScale = sptrConstant(mbdUnits->time);
 	auto geoTime = std::make_shared<Product>(timeScale, mbdTime);
 	this->xexpression(mbdTime, geoTime->simplified(geoTime));
 }
+
+Symsptr MbD::ASMTTime::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+Symsptr MbD::ASMTTime::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+bool MbD::ASMTTime::isVariable()
+{
+	return true;
+}
+
+void MbD::ASMTTime::setValue(double val)
+{
+	xx->setValue(val);
+}
diff --git a/OndselSolver/ASMTTime.h b/OndselSolver/ASMTTime.h
index cee5a2c..f0298ce 100644
--- a/OndselSolver/ASMTTime.h
+++ b/OndselSolver/ASMTTime.h
@@ -19,6 +19,10 @@ namespace MbD {
     public:
         void deleteMbD();
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        bool isVariable() override;
+        void setValue(double val) override;
 
     };
 }
diff --git a/OndselSolver/ASMTTranslationalMotion.cpp b/OndselSolver/ASMTTranslationalMotion.cpp
index 323483c..eb79467 100644
--- a/OndselSolver/ASMTTranslationalMotion.cpp
+++ b/OndselSolver/ASMTTranslationalMotion.cpp
@@ -42,7 +42,7 @@ void MbD::ASMTTranslationalMotion::createMbD(std::shared_ptr<System> mbdSys, std
 	auto userFunc = std::make_shared<BasicUserFunction>(translationZ, 1.0);
 	parser->parseUserFunction(userFunc);
 	auto zIJ = parser->stack->top();
-	zIJ = Symbolic::times(zIJ, std::make_shared<Constant>(1.0 / mbdUnits->length));
+	zIJ = Symbolic::times(zIJ, sptrConstant(1.0 / mbdUnits->length));
 	zIJ->createMbD(mbdSys, mbdUnits);
 	std::static_pointer_cast<ZTranslation>(mbdObject)->zBlk = zIJ->simplified(zIJ);
 }
diff --git a/OndselSolver/Abs.cpp b/OndselSolver/Abs.cpp
index 1ab60b9..20681f2 100644
--- a/OndselSolver/Abs.cpp
+++ b/OndselSolver/Abs.cpp
@@ -19,8 +19,13 @@ double MbD::Abs::getValue()
     return std::abs(xx->getValue());
 }
 
+Symsptr MbD::Abs::copyWith(Symsptr arg)
+{
+	return std::make_shared<Abs>(arg);
+}
+
 std::ostream& MbD::Abs::printOn(std::ostream& s) const
 {
-	s << "abs(" << xx << ")";
+	s << "abs(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Abs.h b/OndselSolver/Abs.h
index 94777b2..a586d5a 100644
--- a/OndselSolver/Abs.h
+++ b/OndselSolver/Abs.h
@@ -18,6 +18,7 @@ namespace MbD {
         Abs() = default;
         Abs(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/ArcSine.cpp b/OndselSolver/ArcSine.cpp
index 8814508..353fee5 100644
--- a/OndselSolver/ArcSine.cpp
+++ b/OndselSolver/ArcSine.cpp
@@ -19,8 +19,13 @@ double MbD::ArcSine::getValue()
 	return std::asin(xx->getValue());
 }
 
+Symsptr MbD::ArcSine::copyWith(Symsptr arg)
+{
+	return std::make_shared<ArcSine>(arg);
+}
+
 std::ostream& MbD::ArcSine::printOn(std::ostream& s) const
 {
-	s << "arcsin(" << xx << ")";
+	s << "arcsin(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/ArcSine.h b/OndselSolver/ArcSine.h
index d97372c..6abe895 100644
--- a/OndselSolver/ArcSine.h
+++ b/OndselSolver/ArcSine.h
@@ -18,6 +18,7 @@ namespace MbD {
         ArcSine() = default;
         ArcSine(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/ArcTan.cpp b/OndselSolver/ArcTan.cpp
index eb1bfe9..cc50fae 100644
--- a/OndselSolver/ArcTan.cpp
+++ b/OndselSolver/ArcTan.cpp
@@ -19,8 +19,13 @@ double MbD::ArcTan::getValue()
     return std::atan(xx->getValue());
 }
 
+Symsptr MbD::ArcTan::copyWith(Symsptr arg)
+{
+	return std::make_shared<ArcTan>(arg);
+}
+
 std::ostream& MbD::ArcTan::printOn(std::ostream& s) const
 {
-	s << "arctan(" << xx << ")";
+	s << "arctan(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/ArcTan.h b/OndselSolver/ArcTan.h
index 3e378a0..2ae8fa3 100644
--- a/OndselSolver/ArcTan.h
+++ b/OndselSolver/ArcTan.h
@@ -18,6 +18,7 @@ namespace MbD {
         ArcTan() = default;
         ArcTan(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/ArcTan2.cpp b/OndselSolver/ArcTan2.cpp
index dc0dd06..da37568 100644
--- a/OndselSolver/ArcTan2.cpp
+++ b/OndselSolver/ArcTan2.cpp
@@ -16,5 +16,5 @@ MbD::ArcTan2::ArcTan2(Symsptr arg, Symsptr arg1) : FunctionXY(arg, arg1)
 
 double MbD::ArcTan2::getValue()
 {
-    return std::atan2(y->getValue(), x->getValue());;
+    return std::atan2(y->getValue(), x->getValue());
 }
diff --git a/OndselSolver/Constant.cpp b/OndselSolver/Constant.cpp
index d770a5a..d6b44d1 100644
--- a/OndselSolver/Constant.cpp
+++ b/OndselSolver/Constant.cpp
@@ -9,6 +9,7 @@
 #include "Constant.h"
 #include "System.h"
 #include "Units.h"
+#include "Polynomial.h"
 
 using namespace MbD;
 
@@ -22,7 +23,23 @@ Constant::Constant(double val) : Variable(val)
 
 Symsptr MbD::Constant::differentiateWRT(Symsptr var)
 {
-	return std::make_shared<Constant>(0.0);
+	return sptrConstant(0.0);
+}
+
+Symsptr MbD::Constant::integrateWRT(Symsptr var)
+{
+	if (value == 0.0) return clonesptr();
+	auto slope = sptrConstant(value);
+	auto intercept = sptrConstant(0.0);
+	auto coeffs = std::make_shared<std::vector<Symsptr>>();
+	coeffs->push_back(intercept);
+	coeffs->push_back(slope);
+	return std::make_shared<Polynomial>(var, coeffs);
+}
+
+Symsptr MbD::Constant::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
 }
 
 bool Constant::isConstant()
@@ -30,11 +47,6 @@ bool Constant::isConstant()
 	return true;
 }
 
-Symsptr MbD::Constant::expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set)
-{
-	return clonesptr();
-}
-
 Symsptr MbD::Constant::clonesptr()
 {
 	return std::make_shared<Constant>(*this);
@@ -60,6 +72,11 @@ double MbD::Constant::getValue()
 	return value;
 }
 
+double MbD::Constant::getValue(double arg)
+{
+	return value;
+}
+
 std::ostream& Constant::printOn(std::ostream& s) const
 {
 	return s << this->value;
diff --git a/OndselSolver/Constant.h b/OndselSolver/Constant.h
index a3fec3d..e9a4cc9 100644
--- a/OndselSolver/Constant.h
+++ b/OndselSolver/Constant.h
@@ -17,13 +17,15 @@ namespace MbD {
         Constant();
         Constant(double val);
         Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         bool isConstant() override;
-        Symsptr expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         Symsptr clonesptr() override;
         bool isZero() override;
         bool isOne() override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         double getValue() override;
+        double getValue(double arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
     };
diff --git a/OndselSolver/Cosine.cpp b/OndselSolver/Cosine.cpp
index fc8bcb9..dd9f707 100644
--- a/OndselSolver/Cosine.cpp
+++ b/OndselSolver/Cosine.cpp
@@ -26,8 +26,13 @@ Symsptr MbD::Cosine::differentiateWRTx()
     return std::make_shared<Negative>(std::make_shared<Sine>(xx));
 }
 
+Symsptr MbD::Cosine::copyWith(Symsptr arg)
+{
+	return std::make_shared<Cosine>(arg);
+}
+
 std::ostream& MbD::Cosine::printOn(std::ostream& s) const
 {
-	s << "cos(" << xx << ")";
+	s << "cos(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Cosine.h b/OndselSolver/Cosine.h
index 567cd0d..8d8e92e 100644
--- a/OndselSolver/Cosine.h
+++ b/OndselSolver/Cosine.h
@@ -19,6 +19,7 @@ namespace MbD {
         Cosine(Symsptr arg);
         double getValue() override;
         Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/DifferentiatedGeneralSpline.cpp b/OndselSolver/DifferentiatedGeneralSpline.cpp
index 2d35aac..0d9d256 100644
--- a/OndselSolver/DifferentiatedGeneralSpline.cpp
+++ b/OndselSolver/DifferentiatedGeneralSpline.cpp
@@ -34,6 +34,6 @@ Symsptr MbD::DifferentiatedGeneralSpline::clonesptr()
 
 std::ostream& MbD::DifferentiatedGeneralSpline::printOn(std::ostream& s) const
 {
-	s << "deriv(" << generalSpline << ", " << derivativeOrder << ")";
+	s << "deriv(" << *generalSpline << ", " << derivativeOrder << ")";
 	return s;
 }
diff --git a/OndselSolver/EndFrameqct.cpp b/OndselSolver/EndFrameqct.cpp
index b0eb3f1..a55201a 100644
--- a/OndselSolver/EndFrameqct.cpp
+++ b/OndselSolver/EndFrameqct.cpp
@@ -322,3 +322,346 @@ namespace MbD {
     }
 }
 
+EndFrameqct::EndFrameqct(const char* str) : EndFrameqc(str) {
+}
+
+void EndFrameqct::initialize()
+{
+	EndFrameqc::initialize();
+	rmem = std::make_shared<FullColumn<double>>(3);
+	prmempt = std::make_shared<FullColumn<double>>(3);
+	pprmemptpt = std::make_shared<FullColumn<double>>(3);
+	aAme = FullMatrix<double>::identitysptr(3);
+	pAmept = std::make_shared<FullMatrix<double>>(3, 3);
+	ppAmeptpt = std::make_shared<FullMatrix<double>>(3, 3);
+	pprOeOpEpt = std::make_shared<FullMatrix<double>>(3, 4);
+	pprOeOptpt = std::make_shared<FullColumn<double>>(3);
+	ppAOepEpt = std::make_shared<FullColumn<FMatDsptr>>(4);
+	ppAOeptpt = std::make_shared<FullMatrix<double>>(3, 3);
+}
+
+void EndFrameqct::initializeLocally()
+{
+	if (!rmemBlks) {
+		rmem->zeroSelf();
+		prmempt->zeroSelf();
+		pprmemptpt->zeroSelf();
+	}
+	if (!phiThePsiBlks) {
+		aAme->identity();
+		pAmept->zeroSelf();
+		ppAmeptpt->zeroSelf();
+	}
+}
+
+void EndFrameqct::initializeGlobally()
+{
+	if (rmemBlks) {
+		initprmemptBlks();
+		initpprmemptptBlks();
+	}
+	if (phiThePsiBlks) {
+		initpPhiThePsiptBlks();
+		initppPhiThePsiptptBlks();
+	}
+}
+
+void EndFrameqct::initprmemptBlks()
+{
+	auto& mbdTime = this->root()->time;
+	prmemptBlks = std::make_shared< FullColumn<Symsptr>>(3);
+	for (int i = 0; i < 3; i++) {
+		auto& disp = rmemBlks->at(i);
+		auto var = disp->differentiateWRT(mbdTime);
+		auto vel = var->simplified(var);
+		prmemptBlks->at(i) = vel;
+	}
+}
+
+void EndFrameqct::initpprmemptptBlks()
+{
+	auto& mbdTime = this->root()->time;
+	pprmemptptBlks = std::make_shared< FullColumn<Symsptr>>(3);
+	for (int i = 0; i < 3; i++) {
+		auto& vel = prmemptBlks->at(i);
+		auto var = vel->differentiateWRT(mbdTime);
+		auto acc = var->simplified(var);
+		pprmemptptBlks->at(i) = acc;
+	}
+}
+
+void EndFrameqct::initpPhiThePsiptBlks()
+{
+	auto& mbdTime = this->root()->time;
+	pPhiThePsiptBlks = std::make_shared< FullColumn<Symsptr>>(3);
+	for (int i = 0; i < 3; i++) {
+		auto& angle = phiThePsiBlks->at(i);
+		auto var = angle->differentiateWRT(mbdTime);
+		//std::cout << "var " << *var << std::endl;
+		auto vel = var->simplified(var);
+		//std::cout << "vel " << *vel << std::endl;
+		pPhiThePsiptBlks->at(i) = vel;
+		//std::cout << *angle << std::endl;
+		//std::cout << *vel << std::endl;
+	}
+}
+
+void EndFrameqct::initppPhiThePsiptptBlks()
+{
+	auto& mbdTime = this->root()->time;
+	ppPhiThePsiptptBlks = std::make_shared< FullColumn<Symsptr>>(3);
+	for (int i = 0; i < 3; i++) {
+		auto& angleVel = pPhiThePsiptBlks->at(i);
+		auto var = angleVel->differentiateWRT(mbdTime);
+		auto angleAcc = var->simplified(var);
+		ppPhiThePsiptptBlks->at(i) = angleAcc;
+		//std::cout << *angleVel << std::endl;
+		//std::cout << *angleAcc << std::endl;
+	}
+}
+
+void EndFrameqct::postInput()
+{
+	this->evalrmem();
+	this->evalAme();
+	Item::postInput();
+}
+
+void EndFrameqct::calcPostDynCorrectorIteration()
+{
+	auto& rOmO = markerFrame->rOmO;
+	auto& aAOm = markerFrame->aAOm;
+	rOeO = rOmO->plusFullColumn(aAOm->timesFullColumn(rmem));
+	auto& prOmOpE = markerFrame->prOmOpE;
+	auto& pAOmpE = markerFrame->pAOmpE;
+	for (int i = 0; i < 3; i++)
+	{
+		auto& prOmOpEi = prOmOpE->at(i);
+		auto& prOeOpEi = prOeOpE->at(i);
+		for (int j = 0; j < 4; j++)
+		{
+			auto prOeOpEij = prOmOpEi->at(j) + pAOmpE->at(j)->at(i)->timesFullColumn(rmem);
+			prOeOpEi->at(j) = prOeOpEij;
+		}
+	}
+	auto rpep = markerFrame->rpmp->plusFullColumn(markerFrame->aApm->timesFullColumn(rmem));
+	pprOeOpEpE = EulerParameters<double>::ppApEpEtimesColumn(rpep);
+	aAOe = aAOm->timesFullMatrix(aAme);
+	for (int i = 0; i < 4; i++)
+	{
+		pAOepE->at(i) = pAOmpE->at(i)->timesFullMatrix(aAme);
+	}
+	auto aApe = markerFrame->aApm->timesFullMatrix(aAme);
+	ppAOepEpE = EulerParameters<double>::ppApEpEtimesMatrix(aApe);
+}
+
+void EndFrameqct::prePosIC()
+{
+	time = this->root()->mbdTimeValue();
+	this->evalrmem();
+	this->evalAme();
+	EndFrameqc::prePosIC();
+}
+
+void EndFrameqct::evalrmem()
+{
+	if (rmemBlks) {
+		for (int i = 0; i < 3; i++)
+		{
+			auto& expression = rmemBlks->at(i);
+			double value = expression->getValue();
+			rmem->at(i) = value;
+		}
+	}
+}
+
+void EndFrameqct::evalAme()
+{
+	if (phiThePsiBlks) {
+		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
+		for (int i = 0; i < 3; i++)
+		{
+			auto& expression = phiThePsiBlks->at(i);
+			auto value = expression->getValue();
+			phiThePsi->at(i) = value;
+		}
+		phiThePsi->calc();
+		aAme = phiThePsi->aA;
+	}
+}
+
+void EndFrameqct::preVelIC()
+{
+	time = this->root()->mbdTimeValue();
+	this->evalrmem();
+	this->evalAme();
+	Item::preVelIC();
+	this->evalprmempt();
+	this->evalpAmept();
+	auto& aAOm = markerFrame->aAOm;
+	prOeOpt = aAOm->timesFullColumn(prmempt);
+	pAOept = aAOm->timesFullMatrix(pAmept);
+}
+
+void EndFrameqct::postVelIC()
+{
+	auto& pAOmpE = markerFrame->pAOmpE;
+	for (int i = 0; i < 3; i++)
+	{
+		auto& pprOeOpEpti = pprOeOpEpt->at(i);
+		for (int j = 0; j < 4; j++)
+		{
+			auto pprOeOpEptij = pAOmpE->at(j)->at(i)->dot(prmempt);
+			pprOeOpEpti->atiput(j, pprOeOpEptij);
+		}
+	}
+	for (int i = 0; i < 4; i++)
+	{
+		ppAOepEpt->atiput(i, pAOmpE->at(i)->timesFullMatrix(pAmept));
+	}
+}
+
+FColDsptr EndFrameqct::pAjOept(int j)
+{
+	return pAOept->column(j);
+}
+
+FMatDsptr EndFrameqct::ppAjOepETpt(int jj)
+{
+	auto answer = std::make_shared<FullMatrix<double>>(4, 3);
+	for (int i = 0; i < 4; i++)
+	{
+		auto& answeri = answer->at(i);
+		auto& ppAOepEipt = ppAOepEpt->at(i);
+		for (int j = 0; j < 3; j++)
+		{
+			auto& answerij = ppAOepEipt->at(j)->at(jj);
+			answeri->atiput(j, answerij);
+		}
+	}
+	return answer;
+}
+
+FColDsptr EndFrameqct::ppAjOeptpt(int j)
+{
+	return ppAOeptpt->column(j);
+}
+
+double EndFrameqct::priOeOpt(int i)
+{
+	return prOeOpt->at(i);
+}
+
+FRowDsptr EndFrameqct::ppriOeOpEpt(int i)
+{
+	return pprOeOpEpt->at(i);
+}
+
+double EndFrameqct::ppriOeOptpt(int i)
+{
+	return pprOeOptpt->at(i);
+}
+
+void EndFrameqct::evalprmempt()
+{
+	if (rmemBlks) {
+		for (int i = 0; i < 3; i++)
+		{
+			auto& derivative = prmemptBlks->at(i);
+			auto value = derivative->getValue();
+			prmempt->at(i) = value;
+		}
+	}
+}
+
+void EndFrameqct::evalpAmept()
+{
+	if (phiThePsiBlks) {
+		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
+		auto phiThePsiDot = CREATE<EulerAngleszxzDot<double>>::With();
+		phiThePsiDot->phiThePsi = phiThePsi;
+		for (int i = 0; i < 3; i++)
+		{
+			auto& expression = phiThePsiBlks->at(i);
+			auto& derivative = pPhiThePsiptBlks->at(i);
+			auto value = expression->getValue();
+			auto valueDot = derivative->getValue();
+			phiThePsi->at(i) = value;
+			phiThePsiDot->at(i) = valueDot;
+		}
+		phiThePsi->calc();
+		phiThePsiDot->calc();
+		pAmept = phiThePsiDot->aAdot;
+	}
+}
+
+void EndFrameqct::evalpprmemptpt()
+{
+	if (rmemBlks) {
+		for (int i = 0; i < 3; i++)
+		{
+			auto& secondDerivative = pprmemptptBlks->at(i);
+			auto value = secondDerivative->getValue();
+			pprmemptpt->atiput(i, value);
+		}
+	}
+}
+
+void EndFrameqct::evalppAmeptpt()
+{
+	if (phiThePsiBlks) {
+		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
+		auto phiThePsiDot = CREATE<EulerAngleszxzDot<double>>::With();
+		phiThePsiDot->phiThePsi = phiThePsi;
+		auto phiThePsiDDot = CREATE<EulerAngleszxzDDot<double>>::With();
+		phiThePsiDDot->phiThePsiDot = phiThePsiDot;
+		for (int i = 0; i < 3; i++)
+		{
+			auto& expression = phiThePsiBlks->at(i);
+			auto& derivative = pPhiThePsiptBlks->at(i);
+			auto& secondDerivative = ppPhiThePsiptptBlks->at(i);
+			auto value = expression->getValue();
+			auto valueDot = derivative->getValue();
+			auto valueDDot = secondDerivative->getValue();
+			phiThePsi->atiput(i, value);
+			phiThePsiDot->atiput(i, valueDot);
+			phiThePsiDDot->atiput(i, valueDDot);
+		}
+		phiThePsi->calc();
+		phiThePsiDot->calc();
+		phiThePsiDDot->calc();
+		ppAmeptpt = phiThePsiDDot->aAddot;
+	}
+}
+
+FColDsptr EndFrameqct::rmeO()
+{
+	return markerFrame->aAOm->timesFullColumn(rmem);
+}
+
+FColDsptr EndFrameqct::rpep()
+{
+	auto& rpmp = markerFrame->rpmp;
+	auto& aApm = markerFrame->aApm;
+	auto rpep = rpmp->plusFullColumn(aApm->timesFullColumn(rmem));
+	return rpep;
+}
+
+void EndFrameqct::preAccIC()
+{
+	time = this->root()->mbdTimeValue();
+	this->evalrmem();
+	this->evalAme();
+	Item::preVelIC();
+	this->evalprmempt();
+	this->evalpAmept();
+	auto& aAOm = markerFrame->aAOm;
+	prOeOpt = aAOm->timesFullColumn(prmempt);
+	pAOept = aAOm->timesFullMatrix(pAmept);
+	Item::preAccIC();
+	this->evalpprmemptpt();
+	this->evalppAmeptpt();
+	aAOm = markerFrame->aAOm;
+	pprOeOptpt = aAOm->timesFullColumn(pprmemptpt);
+	ppAOeptpt = aAOm->timesFullMatrix(ppAmeptpt);
+}
diff --git a/OndselSolver/Exponential.cpp b/OndselSolver/Exponential.cpp
index 6fb6be3..9543289 100644
--- a/OndselSolver/Exponential.cpp
+++ b/OndselSolver/Exponential.cpp
@@ -19,8 +19,13 @@ double MbD::Exponential::getValue()
     return std::log(xx->getValue());
 }
 
+Symsptr MbD::Exponential::copyWith(Symsptr arg)
+{
+	return std::make_shared<Exponential>(arg);
+}
+
 std::ostream& MbD::Exponential::printOn(std::ostream& s) const
 {
-	s << "exp(" << xx << ")";
+	s << "exp(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Exponential.h b/OndselSolver/Exponential.h
index 824a4af..3b3c3e4 100644
--- a/OndselSolver/Exponential.h
+++ b/OndselSolver/Exponential.h
@@ -18,6 +18,7 @@ namespace MbD {
         Exponential() = default;
         Exponential(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/ExpressionX.cpp b/OndselSolver/ExpressionX.cpp
index 67dd642..2efabb7 100644
--- a/OndselSolver/ExpressionX.cpp
+++ b/OndselSolver/ExpressionX.cpp
@@ -7,6 +7,7 @@
  ***************************************************************************/
  
 #include "ExpressionX.h"
+#include "Constant.h"
 
 using namespace MbD;
 
@@ -23,8 +24,14 @@ void MbD::ExpressionX::xexpression(Symsptr arg, Symsptr func)
 	expression = func;
 }
 
+Symsptr MbD::ExpressionX::differentiateWRTx()
+{
+	return expression->differentiateWRT(xx);
+}
+
 Symsptr MbD::ExpressionX::differentiateWRT(Symsptr var)
 {
+	if (this == var.get()) return sptrConstant(1.0);
 	return expression->differentiateWRT(var);
 }
 
diff --git a/OndselSolver/ExpressionX.h b/OndselSolver/ExpressionX.h
index 06975de..cd8beb5 100644
--- a/OndselSolver/ExpressionX.h
+++ b/OndselSolver/ExpressionX.h
@@ -17,6 +17,7 @@ namespace MbD {
     public:
 
         void xexpression(Symsptr arg, Symsptr func);
+        Symsptr differentiateWRTx() override;
         Symsptr differentiateWRT(Symsptr var) override;
         double getValue() override;
 
diff --git a/OndselSolver/FunctionX.cpp b/OndselSolver/FunctionX.cpp
index 4ddfce8..958f514 100644
--- a/OndselSolver/FunctionX.cpp
+++ b/OndselSolver/FunctionX.cpp
@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include "FunctionX.h"
 #include "Constant.h"
 #include "Sum.h"
@@ -24,9 +24,43 @@ void MbD::FunctionX::arguments(Symsptr args)
 	xx = sum->terms->front();
 }
 
+Symsptr MbD::FunctionX::copyWith(Symsptr arg)
+{
+	assert(false);
+	return Symsptr();
+}
+
+Symsptr MbD::FunctionX::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
+	if (itr != set->end()) return sptr;
+	auto newx = xx->expandUntil(xx, set);
+	auto copy = copyWith(newx);
+	if (newx->isConstant()) {
+		return sptrConstant(copy->getValue());
+	}
+	else {
+		return copy;
+	}
+}
+
+Symsptr MbD::FunctionX::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
+	if (itr != set->end()) return sptr;
+	auto newx = xx->simplifyUntil(xx, set);
+	auto copy = copyWith(newx);
+	if (newx->isConstant()) {
+		return sptrConstant(copy->getValue());
+	}
+	else {
+		return copy;
+	}
+}
+
 Symsptr MbD::FunctionX::differentiateWRT(Symsptr var)
 {
-	if (this == var.get()) return std::make_shared<Constant>(1.0);
+	if (this == var.get()) return sptrConstant(1.0);
 	auto dfdx = differentiateWRTx();
 	auto dxdvar = xx->differentiateWRT(var);
 	return Symbolic::times(dfdx, dxdvar);
@@ -42,3 +76,24 @@ void MbD::FunctionX::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<U
 {
 	xx->createMbD(mbdSys, mbdUnits);
 }
+
+double MbD::FunctionX::getValue()
+{
+	assert(false);
+	return 0.0;
+}
+
+double MbD::FunctionX::getValue(double arg)
+{
+	double answer;
+	if (xx->isVariable()) {
+		auto oldVal = xx->getValue();
+		xx->setValue(arg);
+		answer = getValue();
+		xx->setValue(oldVal);
+	}
+	else {
+		assert(false);
+	}
+	return answer;
+}
diff --git a/OndselSolver/FunctionX.h b/OndselSolver/FunctionX.h
index 8d8bb51..c3dc00a 100644
--- a/OndselSolver/FunctionX.h
+++ b/OndselSolver/FunctionX.h
@@ -21,9 +21,14 @@ namespace MbD {
 		FunctionX() = default;
 		FunctionX(Symsptr arg);
 		void arguments(Symsptr args) override;
+		virtual Symsptr copyWith(Symsptr arg);
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
 		Symsptr differentiateWRT(Symsptr var) override;
 		virtual Symsptr differentiateWRTx();
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+		double getValue() override;
+		double getValue(double arg) override;
 
 		Symsptr xx;
 
diff --git a/OndselSolver/GeneralSpline.cpp b/OndselSolver/GeneralSpline.cpp
index ca3c2a1..15d21e8 100644
--- a/OndselSolver/GeneralSpline.cpp
+++ b/OndselSolver/GeneralSpline.cpp
@@ -249,15 +249,13 @@ std::ostream& MbD::GeneralSpline::printOn(std::ostream& s) const
 	{
 		s << ", " << xs->at(i);
 	}
-	s << "}" << std::endl;;
+	s << "}, " << std::endl;
 	s << "ys{";
 	s << ys->at(0);
 	for (int i = 1; i < ys->size(); i++)
 	{
 		s << ", " << ys->at(i);
 	}
-	s << "}";
-	s << ")";
-	s << std::endl;
+	s << "})" << std::endl;
 	return s;
 }
diff --git a/OndselSolver/IndependentVariable.cpp b/OndselSolver/IndependentVariable.cpp
index 795b844..9bd92c2 100644
--- a/OndselSolver/IndependentVariable.cpp
+++ b/OndselSolver/IndependentVariable.cpp
@@ -18,9 +18,9 @@ IndependentVariable::IndependentVariable()
 Symsptr MbD::IndependentVariable::differentiateWRT(Symsptr var)
 {
 	if (this == var.get()) {
-		return std::make_shared<Constant>(1.0);
+		return sptrConstant(1.0);
 	}
 	else {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 }
diff --git a/OndselSolver/Integral.cpp b/OndselSolver/Integral.cpp
new file mode 100644
index 0000000..0e21ab4
--- /dev/null
+++ b/OndselSolver/Integral.cpp
@@ -0,0 +1,45 @@
+#include "Integral.h"
+
+using namespace MbD;
+
+MbD::Integral::Integral(Symsptr var, Symsptr integrand)
+{
+	assert(false);
+}
+
+void MbD::Integral::arguments(Symsptr args)
+{
+	auto arguments = args->getTerms();
+	xx = arguments->at(0);
+	integrand = arguments->at(1);
+	expression = integrand->integrateWRT(xx);
+}
+
+Symsptr MbD::Integral::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expand = expression->expandUntil(expression, set);
+	auto answer = std::make_shared<Integral>();
+	answer->xx = xx;
+	answer->expression = expand;
+	answer->integrand = integrand;
+	answer->integrationConstant = integrationConstant;
+	return answer;
+}
+
+Symsptr MbD::Integral::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simple = expression->simplifyUntil(expression, set);
+	auto answer = std::make_shared<Integral>();
+	answer->xx = xx;
+	answer->expression = simple;
+	answer->integrand = integrand;
+	answer->integrationConstant = integrationConstant;
+	return answer;
+}
+
+std::ostream& MbD::Integral::printOn(std::ostream& s) const
+{
+	s << *expression << " + ";
+	s << *integrationConstant;
+	return s;
+}
diff --git a/OndselSolver/Integral.h b/OndselSolver/Integral.h
new file mode 100644
index 0000000..63a6471
--- /dev/null
+++ b/OndselSolver/Integral.h
@@ -0,0 +1,29 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "ExpressionX.h"
+#include "Constant.h"
+
+namespace MbD {
+	class Integral : public ExpressionX
+	{
+	public:
+		Integral() = default;
+		Integral(Symsptr var, Symsptr integrand);
+		void arguments(Symsptr args) override;
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+
+		std::ostream& printOn(std::ostream& s) const override;
+
+		Symsptr integrand;
+		Symsptr integrationConstant = sptrConstant(0.0);
+	};
+}
diff --git a/OndselSolver/Item.cpp b/OndselSolver/Item.cpp
index 577b404..86f4bf9 100644
--- a/OndselSolver/Item.cpp
+++ b/OndselSolver/Item.cpp
@@ -13,6 +13,7 @@
 
 #include "Item.h"
 #include "System.h"
+#include "Symbolic.h"
 
 using namespace MbD;
 
@@ -41,7 +42,7 @@ std::ostream& Item::printOn(std::ostream& s) const
 {
 	std::string str = typeid(*this).name();
 	auto classname = str.substr(11, str.size() - 11);
-	s << classname << std::endl;
+	s << classname;	//Why classname() cannot be used?
 	return s;
 }
 
diff --git a/OndselSolver/Ln.cpp b/OndselSolver/Ln.cpp
index 089ffcf..8ca35a0 100644
--- a/OndselSolver/Ln.cpp
+++ b/OndselSolver/Ln.cpp
@@ -18,3 +18,8 @@ double MbD::Ln::getValue()
 {
     return std::log(xx->getValue());
 }
+
+Symsptr MbD::Ln::copyWith(Symsptr arg)
+{
+	return std::make_shared<Ln>(arg);
+}
diff --git a/OndselSolver/Ln.h b/OndselSolver/Ln.h
index 25a89ca..f2d99c0 100644
--- a/OndselSolver/Ln.h
+++ b/OndselSolver/Ln.h
@@ -18,6 +18,7 @@ namespace MbD {
         Ln() = default;
         Ln(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
 
 
diff --git a/OndselSolver/Log10.cpp b/OndselSolver/Log10.cpp
index 767aab8..687340e 100644
--- a/OndselSolver/Log10.cpp
+++ b/OndselSolver/Log10.cpp
@@ -19,8 +19,13 @@ double MbD::Log10::getValue()
     return std::log(xx->getValue());
 }
 
+Symsptr MbD::Log10::copyWith(Symsptr arg)
+{
+	return std::make_shared<Log10>(arg);
+}
+
 std::ostream& MbD::Log10::printOn(std::ostream& s) const
 {
-	s << "lg(" << xx << ")";
+	s << "lg(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Log10.h b/OndselSolver/Log10.h
index 3230564..31717ce 100644
--- a/OndselSolver/Log10.h
+++ b/OndselSolver/Log10.h
@@ -18,6 +18,7 @@ namespace MbD {
         Log10() = default;
         Log10(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/LogN.cpp b/OndselSolver/LogN.cpp
index c2700ed..27a5dc9 100644
--- a/OndselSolver/LogN.cpp
+++ b/OndselSolver/LogN.cpp
@@ -19,8 +19,13 @@ double MbD::LogN::getValue()
     return std::log(xx->getValue());
 }
 
+Symsptr MbD::LogN::copyWith(Symsptr arg)
+{
+	return std::make_shared<LogN>(arg);
+}
+
 std::ostream& MbD::LogN::printOn(std::ostream& s) const
 {
-	s << "ln(" << xx << ")";
+	s << "ln(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/LogN.h b/OndselSolver/LogN.h
index 97e545e..e05dd0a 100644
--- a/OndselSolver/LogN.h
+++ b/OndselSolver/LogN.h
@@ -18,6 +18,7 @@ namespace MbD {
         LogN() = default;
         LogN(Symsptr arg);
         double getValue() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/MBDynBody.h b/OndselSolver/MBDynBody.h
index 99afed4..82e4283 100644
--- a/OndselSolver/MBDynBody.h
+++ b/OndselSolver/MBDynBody.h
@@ -19,7 +19,7 @@ namespace MbD {
         void readInertiaMatrix(std::vector<std::string>& args);
         void createASMT() override;
 
-        std::string bodyString, name, nodeName;
+        std::string bodyString, nodeName;
         double mass;
         FColDsptr rPcmP;
         FMatDsptr aJmat;
diff --git a/OndselSolver/MBDynCase.mov b/OndselSolver/MBDynCase.mov
index 4766ac4..afdeeb0 100644
--- a/OndselSolver/MBDynCase.mov
+++ b/OndselSolver/MBDynCase.mov
@@ -1,324 +1,324 @@
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749178 -0.09687939551894122 -3.252606517456513e-19 0.9999846242181696 -0.005545387925678226 0.09688088513829464 0.005519302327492587 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051885 0.9952948074630237 -0.001621407113303408 -0.09687939551894119 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.09688683977859862 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981437 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894122 -6.505213034913027e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749175 -0.09687939551894111 0 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123015 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894122 -4.336808689942018e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829464 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
-4 0.4640248981573186 -7.44074583944898e-17 0.1600000000000001 1 0 0 0 1 0 0 0 1 0 0 -0 0 0 0 
-1 0.121 8.796847998598882e-19 0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
-2 0.1853423520676719 -0.0003049963359123014 0.1415220993435272 0.9952959831601956 -0.0005372420906749176 -0.09687939551894111 2.168404344971009e-19 0.9999846242181696 -0.005545387925678225 0.09688088513829453 0.005519302327492586 0.995280679706302 0 -0 -0 0 0 0 
-3 0.3222616402245218 -0.0002911328660981436 0.1799682739051886 0.9952948074630237 -0.001621407113303408 -0.09687939551894117 0.001089272628257954 0.9999840309514423 -0.005545387925678226 0.0968868397785986 0.005413767734014727 0.995280679706302 0 0 0 0 0 0 
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+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202728 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975217 0.04313916854059258 2.168404344971009e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322783 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059258 0.00709068175216623 0.9993230986318842 -0.03609801619284766 -0.04291032831253397 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.04869259570202727 -0.001985390890606624 -0.02810879162419694 0.9990678575462876 0.00155825398997522 0.04313916854059252 -1.951563910473908e-18 0.9993482542271943 -0.03609801619284769 -0.04316730264761653 0.03606436769945954 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.09225341065322781 -0.001895145850124542 -0.009155819605617049 0.9990537652981445 -0.005530477486285024 0.04313916854059253 0.007090681752166232 0.9993230986318842 -0.03609801619284766 -0.04291032831253393 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
+1 -0.121 -8.796847998598882e-19 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 0 -0 0 0 
+2 -0.0486925957020273 -0.001985390890606622 -0.02810879162419696 0.9990678575462876 0.001558253989975216 0.04313916854059258 3.903127820947816e-18 0.9993482542271943 -0.03609801619284767 -0.04316730264761659 0.03606436769945952 0.9984167192933857 0 -0 -0 0 0 0 
+3 0.0922534106532278 -0.001895145850124542 -0.009155819605617063 0.9990537652981445 -0.005530477486285022 0.04313916854059255 0.007090681752166229 0.9993230986318842 -0.03609801619284766 -0.04291032831253394 0.03636974511243225 0.9984167192933857 0 0 0 0 0 -0 
+4 0.2310424585814533 -7.816912863716824e-17 7.816912871471643e-17 1 0 0 0 1 0 0 0 1 0 0 0 0 0 0 
diff --git a/OndselSolver/MBDynCase2.mbd b/OndselSolver/MBDynCase2.mbd
new file mode 100644
index 0000000..4fcc7ef
--- /dev/null
+++ b/OndselSolver/MBDynCase2.mbd
@@ -0,0 +1,297 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 3.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.121; #X component of the absolute position [m]
+             set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
+             set: real Pz_1 = -0.08; #Z component of the absolute position [m]
+
+             set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 2
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
+
+             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 3
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
+
+             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 4
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
+
+             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+ #-----------------------------------------------------------------------------
+ # [Intermediate Variables]
+
+     #Moments of inertia and relative center of mass
+
+         #body 2: 
+             set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+ end: nodes;
+
+ #-----------------------------------------------------------------------------
+ # [Elements Block]
+
+ begin: elements;
+
+     #-----------------------------------------------------------------------------
+     # [Bodies]
+
+         body: body_2,
+               structural_node_2, #<node_label> 
+               mass_2, #<mass> [kg]
+               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 
+
+         body: body_3,
+               structural_node_3, #<node_label> 
+               mass_3, #<mass> [kg]
+               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         structural_node_1, #<node_1_label>
+             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+            revolute hinge,
+             structural_node_2, #<node_1_label>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
+             structural_node_3, #<node_2_label>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
+         prismatic,
+         structural_node_1, #<node_1_label>
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
+
+ end: elements;
+
diff --git a/OndselSolver/MBDynCase2.mov b/OndselSolver/MBDynCase2.mov
new file mode 100644
index 0000000..cb0b9d7
--- /dev/null
+++ b/OndselSolver/MBDynCase2.mov
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+2 -0.1496337501114854 0.02405740246449749 -0.03328676225522106 -0.7656383268276241 -0.6432712899645034 3.984512878381808e-18 0.6432712899645034 -0.7656383268276241 -3.347693773509686e-18 5.20417106551908e-18 7.967563089540657e-26 1 -0.1510804874770458 -0.1798199507001317 -2.038300084272748e-17 1.251137043811907e-17 -1.051175844882057e-17 6.280000000000095 
+3 -0.0364169078625617 0.0225144951487566 -0.004999999999998042 0.9869841072525993 0.1608178224911329 6.441324348880855e-17 -0.1608178224911329 0.9869841072525993 5.014180335326852e-17 -5.551115198899478e-17 -5.984796057612246e-17 1 -0.2553615589596527 -0.1682873042367044 -2.567595822425464e-17 3.922458261710111e-17 3.053395857239262e-17 1.217904284665192 
+4 0.1473417017869131 2.029934907364071e-10 -1.256225159123916e-08 1 0 0 0 1 0 0 0 1 -0.2279410588509083 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1510871172098918 0.02221296100892527 -0.03328676225522106 -0.8044999341671328 -0.5939527387975233 4.186755326928157e-18 0.5939527387975233 -0.8044999341671328 -3.091031593436843e-18 5.20417106551908e-18 7.967563128059256e-26 1 -0.139497395136052 -0.1889470960781238 -1.777646325713128e-42 1.314641172655461e-17 -9.705839203391832e-18 6.280000000000094 
+3 -0.03886700993689401 0.02078834585791241 -0.004999999999998042 0.98891418181998 0.1484881846993879 6.378248040538443e-17 -0.1484881846993879 0.98891418181998 5.094174661940912e-17 -5.551115194360742e-17 -5.984796040963351e-17 1 -0.2345502503627014 -0.176829085529928 -7.80625564189563e-18 4.073225639891234e-17 3.253200991122057e-17 1.277223969341706 
+4 0.145161810152014 2.029934912204407e-10 -1.25622515917232e-08 1 0 0 0 1 0 0 0 1 -0.2079988767500102 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 1.387778780781446e-17 -0 -0 0 0 0 
+2 -0.1524218645244372 0.02028094397688921 -0.03328676225522106 -0.8401897651067505 -0.5422925028154673 4.372491308321321e-18 0.5422925028154673 -0.8401897651067505 -2.82218288525753e-18 5.204171065519082e-18 7.967563089540657e-26 1 -0.1273643281748653 -0.1973293092134688 1.387778780781446e-17 1.372962270812915e-17 -8.861654259708777e-18 6.280000000000095 
+3 -0.04110585556349264 0.01898023759854056 -0.004999999999998042 0.9907673428140845 0.1355731257038738 6.311241149442747e-17 -0.1355731257038738 0.9907673428140845 5.176958419032933e-17 -5.551115188985019e-17 -5.984796026385125e-17 1 -0.2131216818954478 -0.1846737103704556 -5.637851296924622e-18 4.2013623097424e-17 3.446275853799219e-17 1.331390200519706 
+4 0.14318240706459 2.029934916599569e-10 -1.256225159216271e-08 1 0 0 0 1 0 0 0 1 -0.1878515795532152 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.153632729755086 0.01826896843057444 -0.03328676225522106 -0.8725671109171356 -0.4884942547724827 4.540988550279624e-18 0.4884942547724827 -0.8725671109171356 -2.542207596836926e-18 5.204171065519082e-18 7.967563089540657e-26 1 -0.1147291217440084 -0.2049335428619436 -1.777646347095246e-42 1.425870404787823e-17 -7.982531854068067e-18 6.280000000000094 
+3 -0.04312761116689898 0.01709729891703621 -0.004999999999998043 0.9925149042663746 0.1221235636931276 6.240449171495194e-17 -0.1221235636931276 0.9925149042663746 5.262077274326066e-17 -5.55111518285641e-17 -5.984796014038819e-17 1 -0.1911433265801495 -0.1917902509795779 -5.637851296924622e-18 4.306726664332644e-17 3.631522008164852e-17 1.380261755517436 
+4 0.1414053100645042 2.029934920545522e-10 -1.256225159255731e-08 1 0 0 0 1 0 0 0 1 -0.1675445787623147 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1547149390123714 0.01618496667212763 -0.03328676225522106 -0.9015043224873709 -0.432770096629361 4.691582745010389e-18 0.432770096629361 -0.9015043224873709 -2.252209543072492e-18 5.204171065519082e-18 7.967563051022058e-26 1 -0.1016415907009622 -0.2117298169976955 -1.777646331058657e-42 1.473156981933285e-17 -7.071937965247731e-18 6.280000000000095 
+3 -0.04492710814968436 0.01514695338202708 -0.004999999999998049 0.9941299601744542 0.1081925241573472 6.166040095174073e-17 -0.1081925241573472 0.9941299601744542 5.3490758503338e-17 -5.551115176092767e-17 -5.984796004014768e-17 1 -0.1686807280357448 -0.1981506500827153 -5.854691731421722e-18 4.389354447180909e-17 3.807790658115698e-17 1.423719073969788 
+4 0.1398319209088499 2.029934924039151e-10 -1.256225159290667e-08 1 0 0 0 1 0 0 0 1 -0.1471157215932216 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -6.938893903907228e-18 -0 -0 0 0 0 
+2 -0.1556642256386637 0.01403715497020727 -0.03328676225522106 -0.9268873135871899 -0.3753397233322397 4.823680168272593e-18 0.3753397233322397 -0.9268873135871899 -1.953332054055247e-18 5.20417106551908e-18 7.967563128059256e-26 1 -0.08815333321290215 -0.2176913370108114 1.062518129035794e-17 1.514635572837618e-17 -6.133462649733571e-18 6.280000000000096 
+3 -0.04649982429298268 0.01313689031662796 -0.004999999999998044 0.9955877689865186 0.09383493083306682 6.08820528470121e-17 -0.09383493083306682 0.9955877689865186 5.437501185918828e-17 -5.551115168842197e-17 -5.984795996337925e-17 1 -0.145797645404042 -0.2037298315264554 4.621553852369863e-18 4.449449990350102e-17 3.973895174003246e-17 1.461662273948264 
+4 0.1384632979992406 2.029934927078108e-10 -1.256225159321057e-08 1 0 0 0 1 0 0 0 1 -0.1265959484312306 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1564768470296567 0.01183400116698243 -0.03328676225522106 -0.9486160106569692 -0.3164295566555959 4.936760020160863e-18 0.3164295566555959 -0.9486160106569692 -1.646753467440504e-18 5.20417106551908e-18 7.967563070281358e-26 1 -0.07431752732864995 -0.2227945993462476 -3.035766082959412e-18 1.550142646330535e-17 -5.17080588776326e-18 6.280000000000096 
+3 -0.04784186677052454 0.01107503448294555 -0.004999999999998043 0.9968660998246808 0.07910738916390578 6.007160106026525e-17 -0.07910738916390578 0.9968660998246808 5.526906010412471e-17 -5.551115161279049e-17 -5.984795990974796e-17 1 -0.1225562295599198 -0.2085057991423926 5.982718157498325e-18 4.487376269575942e-17 4.128624247990379e-17 1.494009212464339 
+4 0.1373002218390414 2.029934929660658e-10 -1.256225159346882e-08 1 0 0 0 1 0 0 0 1 -0.1060100260140389 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -3.469446951953614e-18 -0 -0 0 0 0 
+2 -0.1571495993897495 0.009584191293292434 -0.03328676225522106 -0.9666047473521393 -0.2562718525244371 5.030376478382007e-18 0.2562718525244371 -0.9666047473521393 -1.333682482799805e-18 5.204171065519081e-18 7.967563128059256e-26 1 -0.06018872132187654 -0.2270194841676306 5.421010862427522e-18 1.579538214211974e-17 -4.187762995991452e-18 6.280000000000095 
+3 -0.04894995704471621 0.008969514838355125 -0.004999999999998043 0.9979455376423254 0.06406796313111604 5.923144285169705e-17 -0.06406796313111604 0.9979455376423254 5.616851808768283e-17 -5.55111515359964e-17 -5.984795987841066e-17 1 -0.09901722201077122 -0.2124597234679909 -8.87008573922698e-19 4.503643984496528e-17 4.27075547082388e-17 1.520693661227432 
+4 0.13634325285932 2.029934931785559e-10 -1.256225159368131e-08 1 0 0 0 1 0 0 0 1 -0.08537733765179907 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1576798303631518 0.007296595323588055 -0.03328676225522106 -0.9807826022865188 -0.1951037853350985 5.104160455929028e-18 0.1951037853350985 -0.9807826022865188 -1.015353396269693e-18 5.204171065519081e-18 7.967563128059256e-26 1 -0.04582261863213281 -0.230349334680597 -1.777646323040363e-42 1.602706383161739e-17 -3.188209664286885e-18 6.280000000000095 
+3 -0.04982141783535943 0.006828632486728404 -0.00499999999999805 0.9988097451763495 0.04877594633378133 5.836421992309918e-17 -0.04877594633378133 0.9988097451763495 5.706911660062811e-17 -5.551115146017857e-17 -5.984795986809483e-17 1 -0.07524016949334784 -0.2155760159825673 -6.613633252161576e-18 4.498899839718517e-17 4.399069153425424e-17 1.541663658195476 
+4 0.1355927811234401 2.029934933451942e-10 -1.256225159384795e-08 1 0 0 0 1 0 0 0 1 -0.06471271495338553 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1580654494909133 0.00498023220566635 -0.03328676225522106 -0.9910936786430032 -0.1331665128847319 5.157821056222911e-18 0.1331665128847319 -0.9910936786430032 -6.930212342847814e-19 5.204171065519082e-18 7.967563089540657e-26 1 -0.03127585825158426 -0.232771022802939 -5.421010862427522e-18 1.619555811654018e-17 -2.176086675654246e-18 6.280000000000094 
+3 -0.0504541622896134 0.004660827950965701 -0.004999999999998045 0.9994456801099207 0.03329162822118961 5.747281648229941e-17 -0.03329162822118961 0.9994456801099207 5.796672834850967e-17 -5.551115138760711e-17 -5.984795987717664e-17 1 -0.05128364884734586 -0.2178423905657224 -1.194010296334386e-17 4.473914170700588e-17 4.512362248114642e-17 1.556880085067163 
+4 0.1350490675598861 2.02993493465923e-10 -1.256225159396868e-08 1 0 0 0 1 0 0 0 1 -0.04402729863056289 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.15830493645265 0.002644234303072767 -0.03328676225522106 -0.9974973245492221 -0.07070422559609696 5.191146719985161e-18 0.07070422559609696 -0.9974973245492221 -3.679568055809125e-19 5.20417106551908e-18 7.967563108799957e-26 1 -0.01660579142329634 -0.2342750009226455 1.355252715606881e-18 1.630020070075366e-17 -1.155384369524083e-18 6.280000000000096 
+3 -0.05084668543495274 0.002474647895863612 -0.004999999999998043 0.9998437663106063 0.01767605639903085 5.656035452329112e-17 -0.01767605639903085 0.9998437663106063 5.885739139465758e-17 -5.551115132063874e-17 -5.984795990375478e-17 1 -0.02720549818900162 -0.2192499119359094 -5.252727599759062e-18 4.429568029289978e-17 4.60946225331425e-17 1.566315510793312 
+4 0.1347122764826428 2.029934935407057e-10 -1.256225159404346e-08 1 0 0 0 1 0 0 0 1 -0.02332941880595835 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1583973470604745 0.0002978113903554085 -0.03328676225522106 -0.9999682933493389 -0.007963183786058085 5.204006059319596e-18 0.007963183786058085 -0.9999682933493389 -4.144169097570936e-20 5.20417106551908e-18 7.967563105790691e-26 1 -0.001870255531431112 -0.234855339539783 2.168404344971009e-19 1.634057902626378e-17 -1.301269096637294e-19 6.280000000000096 
+3 -0.05099805796351577 0.0002787114325123807 -0.004999999999998045 0.9999980183637862 0.001990795946521073 5.563018633483155e-17 -0.001990795946521073 0.9999980183637862 5.973732997391631e-17 -5.551115126167166e-17 -5.984795994571952e-17 1 -0.003063051650314241 -0.219793030878175 -6.572975670693368e-18 4.366839818791859e-17 4.689241010776064e-17 1.569953331634866 
+4 0.1345824992415249 2.029934935695221e-10 -1.256225159407228e-08 1 0 0 0 1 0 0 0 1 -0.002625487708276635 0 0 0 0 0 
diff --git a/OndselSolver/MBDynCaseJose.mbd b/OndselSolver/MBDynCase2orig.mbd
similarity index 67%
rename from OndselSolver/MBDynCaseJose.mbd
rename to OndselSolver/MBDynCase2orig.mbd
index 35c1d1f..dd3512d 100644
--- a/OndselSolver/MBDynCaseJose.mbd
+++ b/OndselSolver/MBDynCase2orig.mbd
@@ -40,18 +40,18 @@
 
          #body: 2
              set: integer body_2 = 2; #body label
-             set: real mass_2 = 1.4486361883511718; #mass [kg]
-             set: real volume_2 = 0.00018337166941154073; #volume [m^3]
+             set: real mass_2 = 1.448636188351172; #mass [kg]
+             set: real volume_2 = 0.00018337166941154076; #volume [m^3]
 
          #body: 3
              set: integer body_3 = 3; #body label
-             set: real mass_3 = 2.852948655706769; #mass [kg]
-             set: real volume_3 = 0.00036113274122870494; #volume [m^3]
+             set: real mass_3 = 2.8529486557067685; #mass [kg]
+             set: real volume_3 = 0.0003611327412287049; #volume [m^3]
 
          #body: 4
              set: integer body_4 = 4; #body label
-             set: real mass_4 = 10.859427202622149; #mass [kg]
-             set: real volume_4 = 0.001374611038306601; #volume [m^3]
+             set: real mass_4 = 10.859427202622141; #mass [kg]
+             set: real volume_4 = 0.0013746110383066003; #volume [m^3]
 
      #Nodes
 
@@ -103,9 +103,9 @@
              set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
 
          #node: 2
-             set: real Px_2 = -0.04942161873703145; #X component of the absolute position [m]
-             set: real Py_2 = 0.10494947176309491; #Y component of the absolute position [m]
-             set: real Pz_2 = -0.03019496284287986; #Z component of the absolute position [m]
+             set: real Px_2 = -0.047537048944738425; #X component of the absolute position [m]
+             set: real Py_2 = 0.09742200410568831; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.030293476812230588; #Z component of the absolute position [m]
 
              set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
              set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
@@ -116,9 +116,9 @@
              set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
 
          #node: 3
-             set: real Px_3 = 0.0745132790133479; #X component of the absolute position [m]
-             set: real Py_3 = -0.07931074487337057; #Y component of the absolute position [m]
-             set: real Pz_3 = 0.047693362858105263; #Z component of the absolute position [m]
+             set: real Px_3 = 0.07099630277370235; #X component of the absolute position [m]
+             set: real Py_3 = -0.07364765799707981; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.058407900823760565; #Z component of the absolute position [m]
 
              set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
              set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
@@ -129,9 +129,9 @@
              set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
 
          #node: 4
-             set: real Px_4 = 0.3575148357029521; #X component of the absolute position [m]
-             set: real Py_4 = 0.043331500350960436; #Y component of the absolute position [m]
-             set: real Pz_4 = 0.10422397969746418; #Z component of the absolute position [m]
+             set: real Px_4 = 0.3723079639890564; #X component of the absolute position [m]
+             set: real Py_4 = 0.04333150035096042; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.008140985321785409; #Z component of the absolute position [m]
 
              set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
              set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
@@ -151,17 +151,17 @@
              set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
              set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
 
-             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Rx_2 = 7.105427357601002e-18; #X component of the relative center of mass [m]
              set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
-             set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
+             set: real Rz_2 = 7.105427357601002e-18; #Z component of the relative center of mass [m]
 
          #body 3: 
              set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
              set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
              set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
 
-             set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
-             set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rx_3 = 2.842170943040401e-17; #X component of the relative center of mass [m]
+             set: real Ry_3 = -1.4210854715202004e-17; #Y component of the relative center of mass [m]
              set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
 
          #body 4: 
@@ -169,9 +169,9 @@
              set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
              set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
 
-             set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
-             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
-             set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
+             set: real Rx_4 = 2.842170943040401e-16; #X component of the relative center of mass [m]
+             set: real Ry_4 = 2.1316282072803006e-17; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 2.2737367544323206e-16; #Z component of the relative center of mass [m]
 
  #-----------------------------------------------------------------------------
  # [Nodes Block]
@@ -188,21 +188,21 @@
      structural: structural_node_2,
                  dynamic,
                  Px_2, Py_2, Pz_2, #<absolute_position> [m]
-                 3, 0.24321034680169393, 0.08852132690137694, 0.9659258262890683, 2, -0.3420201433256683, 0.9396926207859085, -1.8041124150158794e-16, #<absolute_orientation_matrix>
+                 3, 0.28116838555915347, -0.12674940821214617, 0.9512512425641977, 2, -0.12674940821214617, 0.9776506595433675, 0.16773125949652098, #<absolute_orientation_matrix>
                  Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
                  Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
 
      structural: structural_node_3,
                  dynamic,
                  Px_3, Py_3, Pz_3, #<absolute_position> [m]
-                 3, -0.17364817766693005, -3.122502256758253e-16, 0.9848077530122081, 2, 0.17101007166283402, 0.9848077530122081, 0.030153689607046008, #<absolute_orientation_matrix>
+                 3, -0.27178893568691503, -0.25783416049630004, 0.9271743741709766, 2, 0.014330116918634624, 0.9622501868990581, 0.271788935686915, #<absolute_orientation_matrix>
                  Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
                  Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
 
      structural: structural_node_4,
                  dynamic,
                  Px_4, Py_4, Pz_4, #<absolute_position> [m]
-                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 3, 0.2588190451025211, 0.0, 0.9659258262890682, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
                  Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
                  Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
 
@@ -220,22 +220,22 @@
                structural_node_2, #<node_label> 
                mass_2, #<mass> [kg]
                Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
-               diag, Ixx_2, Iyy_2, Izz_2, #<inertia_matrix> [kg*m^2]
-               orientation, 3, -6.071532165918825e-17, -2.775557561562891e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.775557561562892e-17; 
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia matrix> [kg*m^2]
+               orientation, 3, -0.0054384608129255385, 0.8559103374577453, 0.5150405937686557, 2, 0.9969290667160357, -0.0024978913689130133, 0.0023196850194898005; 
 
          body: body_3,
                structural_node_3, #<node_label> 
                mass_3, #<mass> [kg]
                Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
-               diag, Ixx_3, Iyy_3, Izz_3, #<inertia_matrix> [kg*m^2]
-               orientation, 3, -4.119968255444917e-18, -1.734723475976807e-18, 1.0, 2, -3.573502826499754e-36, 1.0, 1.734723475976807e-18; 
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia matrix> [kg*m^2]
+               orientation, 3, 0.9973238325492868, 0.0012847690482160057, -0.002629529780301787, 2, -0.00011328308715380375, 1.0027304733964244, 0.004450235157436283; 
 
          body: body_4,
                structural_node_4, #<node_label> 
                mass_4, #<mass> [kg]
                Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
-               diag, Ixx_4, Iyy_4, Izz_4, #<inertia_matrix> [kg*m^2]
-               orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; 
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia matrix> [kg*m^2]
+               orientation, 3, -8.551421488581235e-05, 0.0, 0.9957768995806164, 2, 0.0, 1.0, 0.0; 
 
      #-----------------------------------------------------------------------------
      # [Joints]
@@ -248,50 +248,50 @@
 
      joint: joint_2,
          axial rotation,
-         1,#<node_1>
+         structural_node_1, #<node_1_label>
              0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
              orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
-         2, #<node_2>
-             -0.03739853284269052, 0.0, 0.0032867622552210526, #<relative_offset_2> [m]
-             orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         structural_node_2, #<node_2_label>
+             -0.03739853284269051, 0.0, 0.0032867622552210634, #<relative_offset_2> [m]
+             orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, guess, #<relative_orientation_matrix_2>
          string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
 
      joint: joint_3,
             revolute hinge,
              structural_node_2, #<node_1_label>
-                 0.03260146715730951, 0.0, 0.05328676225522103, #<relative_position_1> [m]
-                 orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.0816681711721688e-17, #<relative_pin_orientation_matrix_1>
+                 0.03260146715730949, 1.4210854715202004e-17, 0.05328676225522106, #<relative_position_1> [m]
+                 orientation, 3, 5.204170427930421e-18, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_pin_orientation_matrix_1>
              structural_node_3, #<node_2_label>
-                -0.14000000000000795, -1.0302869668521452e-15, 0.024999999999998076, #<relative_position_2> [m]
-                orientation, 3, -4.119968255444917e-18, -0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+                -0.1400000000000079, -1.0444978215673472e-15, 0.024999999999998038, #<relative_position_2> [m]
+                orientation, 3, -5.551115123125784e-17, -5.984795992119986e-17, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
 
      joint: joint_4,
          in line,
          structural_node_3, #<node_1_label>
-             0.13999999999999274, -9.25814980234918e-16, 4.0323300254385686e-15, #<relative_line_position> [m]
-             3, -5.818367705906288e-15, -7.134403807651544e-16, 1.0, 2, 0.9848077530122082, 0.1736481776669303, 5.853861248646238e-15, #<relative_orientation>
+             0.13999999999999133, 4.4231285301066236e-16, 9.79127889877418e-15, #<relative_line_position> [m]
+             3, 2.7195091690402506e-15, 1.2586758486779817e-14, 1.0, 2, 0.6882367162699149, 0.7254861972346578, -1.1003185610451133e-14, #<relative_orientation>
          structural_node_4, #<node_2_label>
-             offset, -0.045580834634119466, -2.0299355441011357e-10, 1.2562251569647742e-08; #<relative_offset> [m]
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
 
      joint: joint_5,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.2181806978377854e-18, 0.08, #<relative_line_position> [m]
+             3, 1.0, -2.220446049250313e-16, 2.220446049250313e-16, 2, -2.220446049250313e-16, 0.0, 1.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119244, -2.0299354019925886e-10, 1.2562251640702015e-08; #<relative_offset> [m]
+
+     joint: joint_6,
          prismatic,
          structural_node_1, #<node_1_label>
              orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
          structural_node_4, #<node_2_label>
              orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
 
-     joint: joint_6,
-         in line,
-         structural_node_1, #<node_1_label>
-             0.0, 1.218180697837851e-18, 0.071, #<relative_line_position> [m]
-             3, 1.0, 0.0, 2.220446049250313e-16, 2, 0.0, 1.0, 0.0, #<relative_orientation>
-         structural_node_4, #<node_2_label>
-             offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
-
      #-----------------------------------------------------------------------------
      # [Drive callers]
 
-     drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
+     drive caller: 1, name,"drive:1", ramp, 6.28, 0.0, 1.0, 0.0;
 
  end: elements;
 
diff --git a/OndselSolver/MBDynCase2orig.mov b/OndselSolver/MBDynCase2orig.mov
new file mode 100644
index 0000000..25786b9
--- /dev/null
+++ b/OndselSolver/MBDynCase2orig.mov
@@ -0,0 +1,3208 @@
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.404604e-02 5.749318e-03 -3.328676e-02 8.843217e+00 1.800193e-06 -2.655126e-06 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       3 8.806447e-02 5.380640e-03 -5.000024e-03 -2.202577e+00 4.159900e-06 -1.973874e-05 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       4 2.735418e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.404784e-02 5.760924e-03 -3.328676e-02 8.861208e+00 -4.459784e-14 6.556782e-14 -3.605737e-04 2.321250e-03 1.372452e-10 1.012474e-05 -4.782769e-06 6.280000e-02
+       3 8.806066e-02 5.391451e-03 -5.000000e-03 -2.207027e+00 -7.443362e-14 1.601887e-13 -7.632290e-04 2.162212e-03 4.815134e-06 6.829157e-05 -1.716078e-05 -1.553244e-02
+       4 2.735376e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -8.384017e-04 1.860513e-19 -1.861626e-19 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.405328e-02 5.795731e-03 -3.328676e-02 8.915180e+00 -1.988097e-16 1.882578e-16 -7.263344e-04 4.640644e-03 -3.430323e-11 -2.527252e-06 1.204042e-06 1.256000e-01
+       3 8.804921e-02 5.424025e-03 -5.000000e-03 -2.220368e+00 2.484761e-15 -4.623481e-15 -1.526295e-03 4.345560e-03 -1.203783e-06 -1.707639e-05 4.276282e-06 -3.104377e-02
+       4 2.735249e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -1.696377e-03 3.767590e-19 -3.772576e-19 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.406243e-02 5.853730e-03 -3.328676e-02 9.005135e+00 -1.987149e-16 1.885157e-16 -1.099565e-03 6.959560e-03 -3.531611e-15 8.923877e-09 1.911585e-08 1.884000e-01
+       3 8.802998e-02 5.478304e-03 -5.000000e-03 -2.242599e+00 2.482230e-15 -4.623095e-15 -2.312394e-03 6.513213e-03 5.753859e-15 -8.025424e-09 -3.178652e-08 -4.655840e-02
+       4 2.735036e-01 2.029935e-10 -1.256225e-08 0.000000e+00 4.310455e-34 0.000000e+00 -2.566697e-03 5.699175e-19 -6.382740e-19 0.000000e+00 9.629650e-34 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.407539e-02 5.934904e-03 -3.328676e-02 9.131071e+00 -1.987790e-16 1.882752e-16 -1.486117e-03 9.276234e-03 -1.002634e-15 -5.137519e-09 -1.053626e-08 2.512000e-01
+       3 8.800273e-02 5.554273e-03 -5.000000e-03 -2.273714e+00 2.492366e-15 -4.619314e-15 -3.125204e-03 8.681308e-03 2.614884e-16 4.383374e-09 1.767213e-08 -6.205789e-02
+       4 2.734733e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -3.468797e-03 7.702395e-19 -7.737531e-19 0.000000e+00 -1.504633e-33 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.409230e-02 6.039230e-03 -3.328676e-02 9.292989e+00 -2.056530e-16 2.277811e-15 -1.890136e-03 1.159005e-02 -4.121548e-13 -1.187201e-11 3.540819e-12 3.140000e-01
+       3 8.796715e-02 5.651907e-03 -5.000000e-03 -2.313703e+00 2.252693e-15 2.193658e-17 -3.974644e-03 1.084673e-02 -4.122315e-13 -4.521658e-12 1.321066e-12 -7.753945e-02
+       4 2.734339e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -4.411461e-03 9.778578e-19 -1.140266e-18 0.000000e+00 3.761582e-34 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.411338e-02 6.166673e-03 -3.328676e-02 9.490889e+00 -4.603124e-16 1.291978e-15 -2.315973e-03 1.390020e-02 2.396147e-12 6.628461e-11 -3.206207e-11 3.768000e-01
+       3 8.792283e-02 5.771177e-03 -5.000000e-03 -2.362556e+00 8.115858e-15 -2.063851e-14 -4.869826e-03 1.300872e-02 2.395152e-12 2.732884e-11 -6.797853e-12 -9.299796e-02
+       4 2.733847e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -5.404773e-03 1.201337e-18 -1.148695e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.413886e-02 6.317192e-03 -3.328676e-02 9.724771e+00 -4.672761e-16 1.762489e-15 -2.767967e-03 1.620580e-02 -1.574185e-12 3.492575e-13 6.920029e-13 4.396000e-01
+       3 8.786925e-02 5.912043e-03 -5.000000e-03 -2.420256e+00 2.484219e-15 -3.058458e-15 -5.819829e-03 1.516645e-02 -1.572815e-12 4.579019e-14 -9.347779e-14 -1.084279e-01
+       4 2.733252e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -6.458767e-03 1.435455e-18 -1.788787e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.416903e-02 6.490738e-03 -3.328676e-02 9.994635e+00 -2.734768e-14 -7.910839e-15 -3.250441e-03 1.850588e-02 -2.498763e-12 2.420429e-13 4.877220e-13 5.024000e-01
+       3 8.780584e-02 6.074459e-03 -5.000000e-03 -2.486787e+00 -2.582830e-14 -6.680089e-15 -6.833690e-03 1.731902e-02 -2.485525e-12 -4.212733e-14 -1.244757e-13 -1.238231e-01
+       4 2.732548e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -7.583429e-03 1.681992e-18 -1.414213e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.420420e-02 6.687249e-03 -3.328676e-02 1.030048e+01 -2.006537e-16 1.879153e-16 -3.767700e-03 2.079938e-02 2.671343e-12 -2.315865e-15 1.052809e-13 5.652000e-01
+       3 8.773189e-02 6.258367e-03 -5.000000e-03 -2.562125e+00 2.503191e-15 -4.602141e-15 -7.920398e-03 1.946543e-02 2.653621e-12 1.249497e-14 9.841406e-14 -1.391769e-01
+       4 2.731728e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -8.788674e-03 1.952750e-18 -2.775528e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.424475e-02 6.906654e-03 -3.328676e-02 1.064231e+01 -1.976388e-16 1.889563e-16 -4.324028e-03 2.308513e-02 -5.834314e-13 -8.415857e-15 -2.225178e-14 6.280000e-01
+       3 8.764666e-02 6.463700e-03 -5.000000e-03 -2.646246e+00 2.510483e-15 -4.596797e-15 -9.088879e-03 2.160458e-02 -5.786655e-13 -3.111625e-15 -2.450840e-14 -1.544820e-01
+       4 2.730782e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -0.000000e+00 0.000000e+00 -1.008434e-02 2.238905e-18 -1.293836e-18 0.000000e+00 3.761582e-37 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.429109e-02 7.148868e-03 -3.328676e-02 1.102012e+01 -2.010955e-16 1.883372e-16 -4.923681e-03 2.536184e-02 -5.471518e-16 -8.028105e-16 -2.040255e-16 6.908000e-01
+       3 8.754926e-02 6.690379e-03 -5.000000e-03 -2.739118e+00 2.511574e-15 -4.591091e-15 -1.034799e-02 2.373527e-02 -2.505076e-16 1.758844e-16 -2.664134e-17 -1.697302e-01
+       4 2.729701e-01 2.029935e-10 -1.256225e-08 0.000000e+00 -2.918537e-38 -0.000000e+00 -1.148017e-02 2.549116e-18 -4.607668e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.434368e-02 7.413793e-03 -3.328676e-02 1.143391e+01 -1.983627e-16 1.888450e-16 -5.570885e-03 2.762807e-02 -5.864845e-16 2.825895e-16 -1.101622e-16 7.536000e-01
+       3 8.743875e-02 6.938314e-03 -5.000000e-03 -2.840707e+00 2.519432e-15 -4.585277e-15 -1.170649e-02 2.585616e-02 9.370407e-16 -6.618585e-17 2.700802e-17 -1.849125e-01
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diff --git a/OndselSolver/MBDynCaseJose.mov b/OndselSolver/MBDynCaseJose.mov
deleted file mode 100644
index 2d4c5c2..0000000
--- a/OndselSolver/MBDynCaseJose.mov
+++ /dev/null
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-       4 2.688155e-01 1.553062e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 1.051239e-06 2.329593e-22 -5.368727e-21 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.694850e-12 -7.342887e-13 2.097191e-13 -3.723773e-12 -5.614510e-13 -4.102057e-13 1.242255e-12 -1.569694e-11
-       4 2.688155e-01 -5.176874e-25 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -2.255647e-12 -3.882656e-22 -4.481720e-20 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 2.955958e-13 -1.285035e-13 -7.739849e-13 1.336589e-11 2.016371e-12 1.472540e-12 -4.459422e-12 5.634516e-11
-       4 2.688155e-01 4.437321e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 8.098069e-12 8.467887e-22 -3.865484e-19 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826555e-15 -1.611226e-15 -3.360647e-15 1.575643e-15 -1.504539e-15 1.126754e-19 -3.448704e-20 -7.048013e-18
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641377e-15 -1.243369e-15 8.089436e-14 -1.399676e-12 -2.115149e-13 -1.542789e-13 4.671943e-13 -5.891975e-12
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826596e-15 -1.611282e-15 7.367794e-16 5.629873e-16 -1.264452e-15 -2.596778e-19 4.733635e-20 -1.685019e-20
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641390e-15 -1.243440e-15 5.117439e-14 -7.961533e-13 -1.197490e-13 -8.764677e-14 2.654351e-13 -3.360131e-12
-       4 2.688155e-01 1.616061e-25 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -4.690886e-13 8.656884e-22 -2.846453e-17 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826561e-15 -1.611365e-15 -1.090900e-14 1.238211e-14 -1.053288e-14 -1.106556e-19 -1.779142e-19 -3.537487e-17
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826702e-15 -1.611674e-15 1.677047e-15 5.948586e-15 -5.320155e-15 -8.305924e-19 1.086251e-19 -2.830832e-16
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 2.686493e-12 -1.163613e-12 2.724466e-13 -3.976045e-12 -5.992867e-13 -4.382334e-13 1.327175e-12 -1.678858e-11
-       4 2.688155e-01 -1.267954e-23 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -2.361614e-12 3.024637e-21 -3.203543e-16 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826600e-15 -1.611876e-15 -4.112861e-14 3.133956e-14 -3.127679e-14 -1.022643e-19 -4.578188e-19 -2.441540e-15
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 6.873835e-12 -2.976472e-12 1.843543e-12 -3.118213e-11 -4.706036e-12 -3.435990e-12 1.040539e-11 -1.313826e-10
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826952e-15 -1.612526e-15 2.041688e-14 6.900486e-15 -6.808824e-15 -1.787711e-18 3.973761e-19 -2.094773e-14
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 7.949487e-12 -3.442147e-12 -6.137805e-14 2.601663e-12 3.935588e-13 2.864041e-13 -8.672148e-13 1.088801e-11
-       4 2.688155e-01 -2.258736e-23 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 1.756875e-12 1.035802e-20 -1.678326e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826596e-15 -1.612700e-15 -9.915144e-14 6.624044e-14 -6.164055e-14 5.498004e-19 -1.116827e-18 -4.656281e-14
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.634741e-11 -7.077931e-12 3.809733e-12 -6.526342e-11 -9.850580e-12 -7.191453e-12 2.177821e-11 -2.749448e-10
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.827469e-15 -1.613939e-15 9.046987e-14 -1.466635e-14 1.284400e-14 -3.817618e-18 1.317967e-18 -7.756089e-14
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.467767e-11 -6.355002e-12 -1.931345e-12 3.628689e-11 5.478639e-12 3.997775e-12 -1.210641e-11 1.527273e-10
-       4 2.688155e-01 2.379136e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 2.255474e-11 3.206486e-20 -2.500449e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826342e-15 -1.613672e-15 -2.267456e-13 1.392644e-13 -1.201856e-13 2.989846e-18 -2.828901e-18 -8.724732e-14
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 3.192349e-11 -1.382140e-11 8.344331e-12 -1.445237e-10 -2.181513e-11 -1.592480e-11 4.822571e-11 -6.087658e-10
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.828598e-15 -1.616186e-15 3.010548e-13 -9.608465e-14 8.328390e-14 -8.827495e-18 3.993667e-18 -1.198890e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.977949e-11 -8.563720e-12 -8.073058e-12 1.452682e-10 2.192895e-11 1.600563e-11 -4.847007e-11 6.116774e-10
-       4 2.688155e-01 1.509449e-22 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 8.961788e-11 9.369792e-20 8.098313e-16 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.825266e-15 -1.614337e-15 -6.011223e-13 3.184435e-13 -2.757175e-13 1.039651e-17 -7.466158e-18 -1.296943e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 5.875464e-11 -2.543763e-11 1.999712e-11 -3.492766e-10 -5.272388e-11 -3.848563e-11 1.165473e-10 -1.471112e-09
-       4 2.688155e-01 -7.912736e-22 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -2.138524e-10 -1.666143e-19 -2.294888e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.831297e-15 -1.620029e-15 9.027089e-13 -3.487205e-13 3.067804e-13 -2.211506e-17 1.154467e-17 -2.048114e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.466733e-11 -6.350364e-12 -2.604955e-11 4.634063e-10 6.995160e-11 5.105926e-11 -1.546239e-10 1.951487e-09
-       4 2.688155e-01 6.695682e-22 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 2.850599e-10 2.662372e-19 1.408098e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.821771e-15 -1.613423e-15 -1.610391e-12 7.848678e-13 -6.793846e-13 3.159932e-17 -2.022892e-17 -1.553343e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.111536e-10 -4.812320e-11 5.143289e-11 -9.026214e-10 -1.362537e-10 -9.945609e-11 3.011859e-10 -3.801573e-09
-       4 2.688155e-01 -1.884713e-21 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -5.532594e-10 -4.561842e-19 -5.005824e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.838223e-15 -1.627584e-15 2.572776e-12 -1.081501e-12 9.447272e-13 -5.839622e-17 3.263819e-17 -3.682498e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 -2.451331e-11 1.061267e-11 -7.698347e-11 1.362534e-09 2.056754e-10 1.501290e-10 -4.546394e-10 5.738127e-09
-       4 2.688155e-01 2.242855e-21 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 8.370647e-10 7.468492e-19 5.363206e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826605e-15 -1.611289e-15 -1.578745e-12 6.525343e-14 -1.132087e-13 6.740242e-17 -2.210375e-17 2.671842e-21
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641392e-15 -1.243456e-15 2.963414e-11 -5.663178e-10 -8.548517e-11 -6.238343e-11 1.889144e-10 -2.382577e-09
-       4 2.688155e-01 -3.061357e-28 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -3.537917e-10 -5.428067e-19 4.748145e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826605e-15 -1.611289e-15 2.948305e-13 7.096891e-14 -4.386350e-14 -1.690812e-17 4.375003e-18 1.458685e-20
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641384e-15 -1.243475e-15 -2.977997e-12 6.639018e-11 1.002160e-11 7.310153e-12 -2.213658e-11 2.788268e-10
-       4 2.688155e-01 -1.497778e-27 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 4.268226e-11 1.121426e-19 -1.895457e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.772077e-15 -1.549665e-15 -5.563504e-12 9.082293e-13 -9.240571e-13 2.017499e-16 -7.552248e-17 3.996804e-13
-       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 2.833147e-10 -1.226602e-10 1.243325e-10 -2.300457e-09 -3.472540e-10 -2.534359e-10 7.674795e-10 -9.682371e-09
-       4 2.688155e-01 -1.211261e-20 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -1.427387e-09 -1.816891e-18 7.688890e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.773264e-15 -1.556282e-15 1.474520e-12 3.589321e-13 -2.150243e-13 -8.453969e-17 2.187377e-17 1.665346e-13
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-       4 2.688155e-01 1.179398e-26 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 1.777223e-09 1.876783e-18 1.880126e-14 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 8.081905e-02 1.557412e-02 -5.000000e-03 -6.387017e+00 1.497215e-15 -1.399337e-15 -5.379990e-02 4.883382e-02 -1.159193e-16 -4.494174e-17 -3.900458e-17 -3.509776e-01
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-       3 8.023972e-02 1.608764e-02 -5.000000e-03 -6.598534e+00 1.470036e-15 -1.424242e-15 -6.168085e-02 5.379867e-02 2.605265e-16 -4.873171e-17 -4.554159e-17 -3.868220e-01
-       4 2.648932e-01 -2.932233e-25 -9.000000e-03 -8.567459e-34 -2.392132e-39 -3.837286e-41 -6.788624e-02 -1.733875e-23 -4.099851e-16 -1.289592e-40 -2.842966e-38 -4.374952e-32
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-       4 2.641641e-01 1.983360e-25 -9.000000e-03 8.708621e-80 2.488252e-40 3.781997e-121 -7.747663e-02 8.030565e-23 -1.419023e-15 1.041441e-40 9.561844e-39 1.037255e-32
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-       3 7.882152e-02 1.726543e-02 -5.000000e-03 -7.084008e+00 1.406185e-15 -1.480282e-15 -8.017858e-02 6.396038e-02 4.124972e-16 -5.586899e-17 -5.924290e-17 -4.603508e-01
-       4 2.633337e-01 1.038158e-25 -9.000000e-03 -3.253818e-33 3.065945e-40 -2.174625e-42 -8.810473e-02 -3.875599e-23 1.723842e-15 -3.917979e-41 -1.946800e-39 -5.799453e-33
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-       3 6.807114e-02 2.390606e-02 -5.000000e-03 -9.831869e+00 9.694518e-16 -1.753088e-15 -2.019004e-01 9.922875e-02 -2.366380e-16 -7.751684e-17 -1.239339e-16 -7.192944e-01
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-       3 6.358953e-02 2.593192e-02 -5.000000e-03 -1.067443e+01 8.049361e-16 -1.816179e-15 -2.462463e-01 1.032950e-01 1.290113e-15 -7.437608e-17 -1.409530e-16 -7.507719e-01
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-       2 -9.715880e-02 2.881402e-02 -3.328676e-02 5.039508e+01 3.826634e-15 -1.611072e-15 -1.335866e-01 1.110974e-01 -1.267085e-15 -1.120094e-18 3.471392e-17 4.641752e+00
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-       3 5.171443e-02 3.002506e-02 -5.000000e-03 -1.238412e+01 4.022105e-16 -1.900025e-15 -3.494626e-01 9.876702e-02 -2.702511e-16 -5.632331e-17 -1.881338e-16 -7.222907e-01
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-       3 3.997710e-02 3.271952e-02 -5.000000e-03 -1.351564e+01 4.646229e-17 -1.897193e-15 -4.328408e-01 7.924371e-02 1.041012e-15 -2.325607e-17 -2.146946e-16 -5.822148e-01
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-       4 1.347180e-01 -3.033118e-26 -9.000000e-03 -1.393211e-27 1.493191e-32 -3.630862e-61 4.662215e-02 -8.420149e-24 2.362946e-16 -9.141929e-27 -2.531979e-27 1.035797e-21
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-       3 -4.975286e-02 -7.022191e-03 -5.000000e-03 2.875077e+00 -1.450399e-15 5.945272e-16 1.596137e-01 -4.526488e-01 2.945616e-18 2.726766e-16 1.261170e-16 3.235533e+00
-       4 1.356518e-01 7.219336e-28 -9.000000e-03 2.109387e-19 -0.000000e+00 0.000000e+00 1.370969e-01 7.064003e-24 -1.212141e-15 2.285482e-27 1.699326e-27 5.522362e-19
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-       3 -4.758766e-02 -1.149837e-02 -5.000000e-03 4.711079e+00 -1.375509e-15 7.554195e-16 2.704207e-01 -4.466947e-01 3.096163e-16 2.440974e-16 1.608528e-16 3.199788e+00
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-       3 -4.429717e-02 -1.586525e-02 -5.000000e-03 6.506920e+00 -1.276544e-15 9.225521e-16 3.853132e-01 -4.312230e-01 -1.466118e-16 2.570059e-16 2.191676e-16 3.098698e+00
-       4 1.403818e-01 1.235595e-26 -9.000000e-03 -5.690673e-19 -0.000000e+00 -0.000000e+00 3.358211e-01 3.041454e-24 -1.001671e-15 -2.223356e-27 -1.434930e-42 -1.305736e-18
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-       3 -3.985036e-02 -2.002497e-02 -5.000000e-03 8.223535e+00 -1.158102e-15 1.080204e-15 5.024965e-01 -4.056137e-01 1.095589e-16 2.162222e-16 2.528356e-16 2.926393e+00
-       4 1.442909e-01 -2.991264e-26 -9.000000e-03 -2.671772e-26 1.470126e-47 1.133372e-28 4.432870e-01 -7.246078e-24 1.259975e-15 8.525551e-28 -6.998829e-44 1.986420e-18
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-       3 -3.423645e-02 -2.387480e-02 -5.000000e-03 9.818886e+00 -1.017343e-15 1.230324e-15 6.197464e-01 -3.694889e-01 -3.120466e-16 1.909353e-16 2.990915e-16 2.678152e+00
-       4 1.492936e-01 -2.797962e-26 -9.000000e-03 -3.440833e-18 5.366629e-47 -5.007070e-29 5.549485e-01 2.403383e-24 -1.418812e-15 -5.267062e-28 3.094768e-46 -9.504683e-18
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-       4 1.554218e-01 -1.180523e-25 -9.000000e-03 1.583350e-18 2.449345e-31 6.768684e-51 6.690895e-01 -1.360755e-23 1.753115e-15 2.736851e-28 6.412371e-31 1.615597e-17
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-       3 -1.959394e-02 -3.022610e-02 -5.000000e-03 1.246838e+01 -6.586871e-16 1.495220e-15 8.429955e-01 -2.656888e-01 2.846926e-16 1.100001e-16 3.857776e-16 1.944703e+00
-       4 1.626850e-01 -1.024650e-25 -9.000000e-03 3.074704e-18 -3.920336e-47 1.431771e-27 7.830797e-01 6.841732e-24 7.434598e-16 3.704673e-27 -8.549828e-31 -4.800693e-19
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-       4 1.710606e-01 -1.122617e-26 -9.000000e-03 6.420575e-18 -1.288906e-31 -4.671583e-29 8.931746e-01 1.290646e-23 -1.084475e-16 -5.120125e-27 -1.236892e-31 7.458016e-18
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-       3 -8.794149e-04 -3.411294e-02 -5.000000e-03 1.410289e+01 -1.949927e-16 1.679167e-15 1.026367e+00 -1.234148e-01 2.098869e-16 -1.007301e-17 4.624194e-16 9.104262e-01
-       4 1.804818e-01 -3.366979e-26 -9.000000e-03 3.713601e-18 -4.980013e-31 -3.853847e-42 9.943952e-01 -7.928484e-24 -7.064814e-16 1.412525e-27 -8.538512e-31 -1.000666e-17
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.679021e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.236223e-01 -3.730649e-02 -3.328676e-02 -9.402071e+01 3.825295e-15 -1.611768e-15 5.891596e-01 -4.348699e-02 -1.371470e-15 1.512451e-16 -2.145275e-18 1.562088e+01
-       3 9.668432e-03 -3.491386e-02 -5.000000e-03 1.444110e+01 7.385411e-17 1.722823e-15 1.091654e+00 -4.069797e-02 -2.133585e-16 -8.503771e-17 4.848616e-16 3.012305e-01
-       4 1.908259e-01 -2.782613e-26 -9.000000e-03 4.448924e-27 -5.670571e-32 -1.825222e-29 1.080559e+00 1.998730e-24 1.208861e-15 -8.855144e-29 1.477419e-30 -7.359905e-18
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.448446e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.177170e-01 -3.725416e-02 -3.328676e-02 -8.496392e+01 3.825322e-15 -1.611265e-15 5.985758e-01 5.063898e-02 -1.133013e-15 1.565130e-16 2.122469e-17 1.587789e+01
-       3 2.073405e-02 -3.486489e-02 -5.000000e-03 1.442041e+01 3.605805e-16 1.725010e-15 1.132450e+00 4.739128e-02 -1.855178e-16 -1.643031e-16 4.911238e-16 -3.493290e-01
-       4 2.019041e-01 1.042468e-25 -9.000000e-03 -8.911480e-18 -7.596009e-31 3.211541e-43 1.144527e+00 1.951876e-23 -9.800462e-16 6.371225e-29 -2.225278e-30 -2.008947e-17
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-       2 -1.118005e-01 -3.624941e-02 -3.328676e-02 -7.575995e+01 3.826993e-15 -1.611098e-15 5.922162e-01 1.480959e-01 -1.989284e-17 1.565596e-16 5.128675e-17 1.612911e+01
-       3 3.204650e-02 -3.392458e-02 -5.000000e-03 1.402342e+01 6.612005e-16 1.680751e-15 1.143587e+00 1.385979e-01 -3.757391e-16 -2.453596e-16 4.917297e-16 -1.021266e+00
-       4 2.134549e-01 2.825157e-26 -9.000000e-03 1.853379e-20 1.004161e-35 -4.871277e-28 1.178705e+00 -1.800294e-23 -3.442157e-16 -1.291225e-27 2.602064e-30 3.115545e-17
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-       2 -1.060348e-01 -3.427381e-02 -3.328676e-02 -6.641219e+01 3.826298e-15 -1.611007e-15 5.690284e-01 2.461034e-01 -9.603782e-17 1.410702e-16 7.819936e-17 1.637428e+01
-       3 4.328679e-02 -3.207568e-02 -5.000000e-03 1.324480e+01 9.653555e-16 1.577910e-15 1.120422e+00 2.303197e-01 1.989062e-16 -3.438982e-16 4.655875e-16 -1.691937e+00
-       4 2.251436e-01 6.021240e-26 -9.000000e-03 1.163754e-29 7.453567e-32 1.016784e-28 1.175775e+00 8.593887e-24 2.118099e-15 1.966590e-27 -4.677779e-31 -7.841428e-18
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-       2 -1.005898e-01 -3.133807e-02 -3.328676e-02 -5.692418e+01 3.826368e-15 -1.611299e-15 5.284677e-01 3.415809e-01 -1.519239e-16 1.296102e-16 1.069170e-16 1.661316e+01
-       3 5.409598e-02 -2.932822e-02 -5.000000e-03 1.209231e+01 1.260867e-15 1.414608e-15 1.059364e+00 3.196738e-01 -3.976523e-17 -4.294118e-16 4.234697e-16 -2.337591e+00
-       4 2.365704e-01 -3.641012e-26 -9.000000e-03 4.616337e-59 -0.000000e+00 1.516141e-105 1.129578e+00 -1.609142e-23 -1.100701e-15 -7.800238e-28 -2.601698e-31 1.617378e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.817867e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.563762e-02 -2.748454e-02 -3.328676e-02 -4.729957e+01 3.827846e-15 -1.611702e-15 4.705776e-01 4.312419e-01 -6.430953e-17 1.129689e-16 1.313958e-16 1.684551e+01
-       3 6.408837e-02 -2.572183e-02 -5.000000e-03 1.058695e+01 1.532916e-15 1.189665e-15 9.583988e-01 4.035845e-01 1.311781e-16 -5.105497e-16 3.602200e-16 -2.934953e+00
-       4 2.472860e-01 -7.762714e-26 -9.000000e-03 4.195025e-59 2.335612e-30 1.710065e-90 1.036003e+00 -1.351427e-24 1.442411e-15 8.873117e-29 6.179662e-30 1.015658e-29
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.927736e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.134652e-02 -2.278863e-02 -3.328676e-02 -3.754220e+01 3.825034e-15 -1.611170e-15 3.960548e-01 5.117102e-01 -1.338914e-15 8.170576e-17 1.422781e-16 1.707111e+01
-       3 7.286935e-02 -2.132709e-02 -5.000000e-03 8.762348e+00 1.759542e-15 9.010086e-16 8.175278e-01 4.788919e-01 -1.482855e-17 -5.905977e-16 2.595603e-16 -3.462492e+00
-       4 2.568162e-01 4.922720e-26 -9.000000e-03 -7.313136e-18 4.698345e-30 -3.405445e-27 8.937476e-01 2.108900e-23 -4.997526e-16 -8.915434e-27 4.147415e-30 -1.914575e-17
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-       2 -8.787423e-02 -1.735897e-02 -3.328676e-02 -2.765599e+01 3.828139e-15 -1.610343e-15 3.062890e-01 5.796536e-01 -5.541035e-16 6.592805e-17 1.735670e-16 1.728972e+01
-       3 8.005676e-02 -1.624566e-02 -5.000000e-03 6.663640e+00 1.935791e-15 5.671174e-16 6.390619e-01 5.424779e-01 -1.987886e-16 -6.289448e-16 1.808454e-16 -3.901185e+00
-       4 2.646918e-01 -4.216559e-25 -9.000000e-03 -1.487889e-26 -3.901519e-43 3.650211e-27 7.048331e-01 -7.697518e-23 -9.912544e-16 2.144347e-26 -1.436211e-29 2.552766e-17
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.724934e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.536096e-02 -1.133619e-02 -3.328676e-02 -1.764502e+01 3.826603e-15 -1.611292e-15 2.033759e-01 6.319331e-01 -1.325819e-15 2.280681e-17 1.715435e-16 1.750115e+01
-       3 8.530414e-02 -1.060915e-02 -5.000000e-03 4.346022e+00 2.034353e-15 1.865206e-16 4.277365e-01 5.914045e-01 1.015355e-16 -6.878076e-16 3.919463e-17 -4.234729e+00
-       4 2.704824e-01 -2.277027e-28 -9.000000e-03 1.608983e-26 -2.294798e-33 -6.277211e-31 4.748080e-01 8.675838e-23 4.942742e-16 -1.571509e-26 4.094072e-30 -6.381915e-18
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-       2 -8.392257e-02 -4.890216e-03 -3.328676e-02 -7.513487e+00 3.826600e-15 -1.611276e-15 9.009595e-02 6.657581e-01 -3.575160e-16 -6.777909e-18 1.835812e-16 1.770517e+01
-       3 8.832416e-02 -4.576585e-03 -5.000000e-03 1.873326e+00 2.050971e-15 -2.124904e-16 1.906348e-01 6.230601e-01 -9.129287e-17 -6.849429e-16 -7.879609e-17 -4.449384e+00
-       4 2.738302e-01 2.193974e-28 -9.000000e-03 4.517327e-26 1.639426e-31 -5.480695e-29 2.126342e-01 -2.100434e-23 -7.325795e-16 3.044117e-27 4.372110e-31 4.911634e-26
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.430035e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.364404e-02 1.784062e-03 -3.328676e-02 2.734279e+00 3.826603e-15 -1.611288e-15 -3.014152e-02 6.788427e-01 -5.670668e-16 -4.028393e-17 1.781097e-16 1.790159e+01
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-       3 1.519016e-03 -3.437248e-02 -5.000000e-03 1.421243e+01 -1.352156e-16 1.692609e-15 1.364093e+00 -1.359076e-01 2.612864e-16 -3.426113e-17 6.096702e-16 1.005045e+00
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-       3 1.536214e-02 -3.499767e-02 -5.000000e-03 1.447653e+01 2.197559e-16 1.730811e-15 1.427624e+00 6.801541e-03 -3.931770e-16 -1.596199e-16 6.285651e-16 -4.836413e-02
-       4 1.964980e-01 -3.394905e-28 -9.000000e-03 1.921662e-20 3.965482e-32 -4.368718e-30 1.428326e+00 1.039267e-25 4.806559e-16 4.202496e-29 -8.759145e-33 -2.779724e-19
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-       3 2.953325e-02 -3.421119e-02 -5.000000e-03 1.414435e+01 5.939302e-16 1.695341e-15 1.433510e+00 1.492321e-01 4.414502e-16 -2.912442e-16 6.177382e-16 -1.100112e+00
-       4 2.108697e-01 -2.508320e-28 -9.000000e-03 1.936199e-22 -1.616079e-37 3.266310e-29 1.471598e+00 1.691273e-26 1.216518e-15 8.082028e-29 -1.384210e-31 -1.628720e-20
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-       3 4.343531e-02 -3.204475e-02 -5.000000e-03 1.323179e+01 9.697277e-16 1.576386e-15 1.376754e+00 2.856423e-01 -4.689311e-16 -4.221827e-16 5.734021e-16 -2.099103e+00
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-       3 5.644145e-02 -2.858573e-02 -5.000000e-03 1.178172e+01 1.324800e-15 1.369112e-15 1.255818e+00 4.105304e-01 -2.209653e-16 -5.439843e-16 4.945005e-16 -2.999574e+00
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-       3 6.793262e-02 -2.397367e-02 -5.000000e-03 9.859951e+00 1.633828e-15 1.075947e-15 1.073369e+00 5.188591e-01 -6.682024e-17 -6.478933e-16 3.831697e-16 -3.764949e+00
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-       3 7.733928e-02 -1.839459e-02 -5.000000e-03 7.549916e+00 1.871749e-15 7.078504e-16 8.364409e-01 6.062588e-01 2.590767e-16 -7.263430e-16 2.455992e-16 -4.369157e+00
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-       2 -8.589706e-02 -1.290092e-02 -3.328676e-02 -2.017923e+01 3.826617e-15 -1.611304e-15 2.644189e-01 7.150644e-01 -1.566830e-15 1.403641e-17 2.124520e-16 2.000000e+01
-       3 8.418169e-02 -1.207353e-02 -5.000000e-03 4.947305e+00 2.016661e-15 2.844648e-16 5.560276e-01 6.692041e-01 -5.898795e-17 -7.725811e-16 8.895618e-17 -4.795678e+00
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-       3 8.810426e-02 -5.265472e-03 -5.000000e-03 2.155432e+00 2.053545e-15 -1.675072e-16 2.462661e-01 7.051561e-01 -4.319413e-16 -7.827240e-16 -7.642486e-17 -5.035361e+00
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-       2 -8.477655e-02 9.301163e-03 -3.328676e-02 1.440083e+01 3.826619e-15 -1.611278e-15 -1.881349e-01 7.388096e-01 -2.736231e-16 -1.089464e-16 1.828906e-16 2.000000e+01
-       3 8.652970e-02 8.704638e-03 -5.000000e-03 -3.564721e+00 1.791016e-15 -1.032504e-15 -3.955214e-01 6.914265e-01 3.055493e-16 -6.908093e-16 -3.906306e-16 -4.941566e+00
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-       2 -9.645495e-02 2.821685e-02 -3.328676e-02 4.898090e+01 3.826558e-15 -1.611314e-15 -5.742147e-01 5.015097e-01 2.473889e-16 -1.935163e-16 8.843357e-17 2.000000e+01
-       3 6.242869e-02 2.640718e-02 -5.000000e-03 -1.087242e+01 7.631228e-16 -1.829361e-15 -1.168195e+00 4.693456e-01 2.239313e-16 -3.324862e-16 -6.857177e-16 -3.414345e+00
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-       3 8.284444e-02 -1.359226e-02 -5.000000e-03 5.571486e+00 1.992309e-15 3.862211e-16 6.242185e-01 6.569372e-01 -3.655944e-16 -7.649853e-16 1.262595e-16 -4.713183e+00
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-       4 1.650602e-01 -1.772929e-27 -9.000000e-03 2.266899e-27 -2.696159e-31 -1.066731e-59 1.103677e+00 -4.444083e-25 3.167112e-16 -8.180179e-26 -5.176653e-28 4.326717e-20
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-       4 1.768504e-01 2.632731e-27 -9.000000e-03 9.585876e-28 -0.000000e+00 3.713695e-29 1.264645e+00 7.524542e-25 4.400300e-16 2.054193e-26 1.301647e-28 -1.195535e-20
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-       4 1.900329e-01 2.249901e-27 -9.000000e-03 -1.531474e-20 -2.879753e-34 -3.340207e-29 1.387863e+00 -2.777075e-25 5.796229e-17 -2.170788e-28 -2.360381e-31 -4.009389e-20
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-       3 2.295776e-02 -3.475075e-02 -5.000000e-03 1.437218e+01 4.190349e-16 1.721679e-15 1.438334e+00 8.358591e-02 1.424573e-16 -2.298353e-16 6.267838e-16 -6.159100e-01
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-       3 3.706152e-02 -3.321669e-02 -5.000000e-03 1.372500e+01 7.965311e-16 1.642335e-15 1.411052e+00 2.234915e-01 -9.400244e-16 -3.622195e-16 5.980416e-16 -1.645492e+00
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-       3 5.056153e-02 -3.034279e-02 -5.000000e-03 1.251729e+01 1.164374e-15 1.476225e-15 1.319813e+00 3.543822e-01 5.249777e-16 -4.891790e-16 5.357603e-16 -2.596816e+00
-       4 2.328147e-01 -3.862180e-28 -9.000000e-03 2.671697e-23 6.330487e-32 5.959437e-28 1.401104e+00 -4.857878e-26 1.765272e-15 1.538331e-27 7.224800e-31 -1.788786e-20
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-       3 6.283005e-02 -2.624497e-02 -5.000000e-03 1.080483e+01 1.497917e-15 1.222096e-15 1.165277e+00 4.709784e-01 -4.065332e-16 -6.023324e-16 4.382915e-16 -3.428719e+00
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-       2 -9.115235e-02 -2.253370e-02 -3.328676e-02 -3.705125e+01 3.826595e-15 -1.611327e-15 4.605737e-01 6.075412e-01 1.462694e-15 7.492010e-17 1.993009e-16 2.000000e+01
-       3 7.326936e-02 -2.108852e-02 -5.000000e-03 8.663570e+00 1.771864e-15 8.867472e-16 9.524710e-01 5.685769e-01 6.206170e-17 -6.938229e-16 3.123904e-16 -4.110257e+00
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-       3 8.135336e-02 -1.508143e-02 -5.000000e-03 6.184159e+00 1.962166e-15 4.860487e-16 6.906333e-01 6.432410e-01 4.151189e-16 -7.553787e-16 1.630410e-16 -4.620705e+00
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-       2 -8.471203e-02 -9.046176e-03 -3.328676e-02 -1.399787e+01 3.826597e-15 -1.611286e-15 1.858864e-01 7.393786e-01 -5.305687e-16 -8.930960e-18 2.126512e-16 2.000000e+01
-       3 8.666512e-02 -8.466005e-03 -5.000000e-03 3.466875e+00 2.050417e-15 4.376185e-17 3.925648e-01 6.919590e-01 -2.871770e-16 -7.823968e-16 6.831355e-19 -4.947797e+00
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-       2 -8.363625e-02 -1.612509e-03 -3.328676e-02 -2.471183e+00 3.826563e-15 -1.611260e-15 3.439152e-02 7.616112e-01 1.779233e-15 -5.128446e-17 2.064505e-16 2.000000e+01
-       3 8.892677e-02 -1.509092e-03 -5.000000e-03 6.176162e-01 2.026323e-15 -4.108024e-16 7.365920e-02 7.127657e-01 5.485446e-16 -7.724508e-16 -1.650910e-16 -5.085365e+00
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-       3 8.399007e-02 1.230428e-02 -5.000000e-03 -5.042099e+00 1.651239e-15 -1.231288e-15 -5.589753e-01 6.684482e-01 -2.566057e-16 -6.426203e-16 -4.635520e-16 -4.787065e+00
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-       2 -9.393305e-02 2.580757e-02 -3.328676e-02 4.363557e+01 3.826634e-15 -1.611361e-15 -5.249978e-01 5.528216e-01 -2.224904e-15 -1.848004e-16 1.062307e-16 2.000000e+01
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-       3 5.600881e-02 2.872706e-02 -5.000000e-03 -1.184081e+01 5.423875e-16 -1.881490e-15 -1.258710e+00 4.087531e-01 3.164559e-16 -2.534202e-16 -7.052805e-16 -2.985177e+00
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-       4 2.103624e-01 -1.467425e-28 -9.000000e-03 -1.780776e-21 -2.424623e-33 2.805985e-31 -1.475461e+00 9.254856e-25 -2.441617e-15 1.653600e-28 -1.762566e-30 2.443439e-19
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-       2 -1.208318e-01 3.739815e-02 -3.328676e-02 8.974232e+01 3.826613e-15 -1.611306e-15 -7.623713e-01 4.949875e-03 -7.377823e-16 -2.044719e-16 -5.928090e-17 2.000000e+01
-       3 1.486932e-02 3.499965e-02 -5.000000e-03 -1.447736e+01 -6.046043e-16 -1.701574e-15 -1.429320e+00 4.632418e-03 -5.526558e-17 1.575517e-16 -6.348591e-16 -3.617478e-02
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.317318e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 -3.239460e-02 -2.491659e-02 -5.000000e-03 1.025187e+01 -9.708112e-16 1.272894e-15 9.199438e-01 -5.020825e-01 -4.692411e-16 2.552057e-16 4.383462e-16 3.644154e+00
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-       4 1.601590e-01 -1.664840e-27 -9.000000e-03 -1.059728e-19 1.378309e-31 4.934736e-29 1.019863e+00 -1.172069e-25 2.446012e-15 1.292437e-28 3.608404e-31 4.610642e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -3.024837e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       4 1.711874e-01 1.559684e-27 -9.000000e-03 9.473706e-21 2.015249e-42 3.117289e-29 1.193871e+00 5.100909e-25 7.407264e-16 -9.064434e-29 -4.811206e-31 3.129274e-19
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-       2 -1.275135e-01 -3.682696e-02 -3.328676e-02 -1.000300e+02 3.826626e-15 -1.611283e-15 7.504691e-01 -1.342782e-01 -1.851705e-15 2.118905e-16 2.303063e-17 2.000000e+01
-       3 2.499923e-03 -3.446508e-02 -5.000000e-03 1.425153e+01 -1.104311e-16 1.697632e-15 1.370486e+00 -1.256663e-01 4.824511e-16 -4.259183e-17 6.118661e-16 9.296622e-01
-       4 1.837722e-01 -3.458774e-27 -9.000000e-03 1.282993e-26 5.346396e-32 1.189693e-29 1.336296e+00 -9.139950e-25 -5.413690e-16 -3.460414e-29 2.602485e-31 -1.255481e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.473188e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.200232e-01 -3.738577e-02 -3.328676e-02 -8.850333e+01 3.826626e-15 -1.611292e-15 7.621655e-01 1.839198e-02 -5.870472e-16 2.030716e-16 6.538983e-17 2.000000e+01
-       3 1.638582e-02 -3.498806e-02 -5.000000e-03 1.447247e+01 2.464350e-16 1.730885e-15 1.430064e+00 1.721242e-02 -7.620049e-17 -1.691770e-16 6.288967e-16 -1.253409e-01
-       4 1.975242e-01 9.647932e-28 -9.000000e-03 -6.108489e-20 1.915213e-32 -7.774987e-30 1.433560e+00 9.144580e-25 -6.549490e-16 -3.467951e-29 -1.364843e-31 -1.516525e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.952590e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.125723e-01 -3.643658e-02 -3.328676e-02 -7.697664e+01 3.826606e-15 -1.611283e-15 7.431187e-01 1.703203e-01 -4.510525e-16 1.854724e-16 1.050563e-16 2.000000e+01
-       3 3.055806e-02 -3.409974e-02 -5.000000e-03 1.409732e+01 6.213713e-16 1.689618e-15 1.431541e+00 1.593969e-01 1.448687e-16 -3.009179e-16 6.156075e-16 -1.174939e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.169976e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.054614e-01 -3.401766e-02 -3.328676e-02 -6.544995e+01 3.826615e-15 -1.611323e-15 6.940972e-01 3.153784e-01 -7.481839e-16 1.604284e-16 1.398801e-16 2.000000e+01
-       3 4.441637e-02 -3.183595e-02 -5.000000e-03 1.314403e+01 9.965494e-16 1.564345e-15 1.370134e+00 2.951518e-01 -7.859585e-16 -4.314603e-16 5.690665e-16 -2.168227e+00
-       4 2.263294e-01 -4.989342e-30 -9.000000e-03 -1.035131e-61 -0.000000e+00 -0.000000e+00 1.441105e+00 1.543769e-25 1.931161e-15 4.065683e-29 8.697341e-32 -5.330662e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.142734e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.897719e-02 -3.022658e-02 -3.328676e-02 -5.392326e+01 3.826606e-15 -1.611306e-15 6.170781e-01 4.477153e-01 -7.982368e-16 1.293500e-16 1.685872e-16 2.000000e+01
-       3 5.733310e-02 -2.828802e-02 -5.000000e-03 1.165729e+01 1.349115e-15 1.350652e-15 1.244594e+00 4.190014e-01 3.763219e-16 -5.522103e-16 4.872956e-16 -3.060005e+00
-       4 2.400263e-01 -1.305806e-27 -9.000000e-03 -1.188271e-20 -1.827170e-32 1.248182e-29 1.334183e+00 -2.215944e-25 4.430374e-16 2.081687e-29 -6.540020e-32 -3.110887e-20
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-       2 -9.338135e-02 -2.521627e-02 -3.328676e-02 -4.239657e+01 3.826600e-15 -1.611267e-15 5.151683e-01 5.619929e-01 7.690052e-17 9.334240e-17 1.910287e-16 2.000000e+01
-       3 6.869138e-02 -2.359904e-02 -5.000000e-03 9.704370e+00 1.653803e-15 1.051598e-15 1.057906e+00 5.259498e-01 -1.870739e-16 -6.544613e-16 3.740250e-16 -3.814443e+00
-       4 2.522689e-01 -1.246931e-27 -9.000000e-03 -2.702970e-20 7.323021e-32 3.687282e-29 1.151556e+00 7.387206e-26 -1.686042e-15 5.296304e-29 2.554965e-31 -2.928509e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.500838e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.889954e-02 -1.918882e-02 -3.328676e-02 -3.086989e+01 3.826594e-15 -1.611236e-15 3.924784e-01 6.536017e-01 -5.146513e-16 5.337443e-17 2.060679e-16 2.000000e+01
-       3 7.792688e-02 -1.795816e-02 -5.000000e-03 7.369781e+00 1.885560e-15 6.787852e-16 8.174108e-01 6.116833e-01 -2.638691e-16 -7.306975e-16 2.345540e-16 -4.406216e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.085346e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.571256e-02 -1.238736e-02 -3.328676e-02 -1.934320e+01 3.826607e-15 -1.611253e-15 2.539572e-01 7.188464e-01 9.750513e-16 1.087713e-17 2.127941e-16 2.000000e+01
-       3 8.456780e-02 -1.159291e-02 -5.000000e-03 4.749900e+00 2.023043e-15 2.523566e-16 5.343619e-01 6.727436e-01 4.120762e-16 -7.746221e-16 7.720053e-17 -4.819420e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.288607e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.394895e-02 -5.086239e-03 -3.328676e-02 -7.816509e+00 3.826590e-15 -1.611261e-15 1.051923e-01 7.550954e-01 -1.048841e-15 -3.196042e-17 2.104820e-16 2.000000e+01
-       3 8.826866e-02 -4.760036e-03 -5.000000e-03 1.948447e+00 2.051739e-15 -2.004918e-16 2.230847e-01 7.066678e-01 -1.105470e-16 -7.819456e-16 -8.849987e-17 -5.045344e+00
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-       2 -8.367985e-02 2.420044e-03 -3.328676e-02 3.710179e+00 3.826650e-15 -1.611280e-15 -4.781565e-02 7.608864e-01 -9.495143e-16 -7.337186e-17 1.999378e-16 2.000000e+01
-       3 8.883497e-02 2.264836e-03 -5.000000e-03 -9.269372e-01 1.966848e-15 -6.486006e-16 -1.000977e-01 7.120874e-01 -3.438846e-16 -7.516083e-16 -2.510497e-16 -5.080233e+00
-       4 2.743975e-01 -3.612080e-27 -9.000000e-03 -1.034614e-19 -1.100274e-32 4.796836e-30 -1.106974e-01 -2.081119e-24 1.816177e-16 -8.233979e-29 -7.707454e-33 -4.431797e-19
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-       2 -8.491612e-02 9.828711e-03 -3.328676e-02 1.523687e+01 3.826628e-15 -1.611244e-15 -1.988949e-01 7.359859e-01 -5.498284e-16 -1.115311e-16 1.809978e-16 2.000000e+01
-       3 8.623683e-02 9.198352e-03 -5.000000e-03 -3.767191e+00 1.773678e-15 -1.060472e-15 -4.180366e-01 6.887839e-01 4.231900e-16 -6.847891e-16 -4.011898e-16 -4.923831e+00
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-       2 -8.760788e-02 1.684092e-02 -3.328676e-02 2.676356e+01 3.826641e-15 -1.611324e-15 -3.419515e-01 6.813983e-01 -6.600211e-16 -1.458408e-16 1.551761e-16 2.000000e+01
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.041464e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.164657e-02 2.317383e-02 -3.328676e-02 3.829024e+01 3.826607e-15 -1.611260e-15 -4.712149e-01 5.993254e-01 1.130847e-16 -1.734329e-16 1.230698e-16 2.000000e+01
-       3 7.225170e-02 2.168759e-02 -5.000000e-03 -8.911655e+00 1.131771e-15 -1.671643e-15 -9.726197e-01 5.608881e-01 -2.757539e-16 -4.619700e-16 -6.260911e-16 -4.053049e+00
-       4 2.561425e-01 -9.170475e-27 -9.000000e-03 -1.025542e-19 1.529575e-31 -3.392505e-29 -1.063252e+00 -3.445919e-24 1.849500e-15 -4.215919e-28 -2.223266e-31 -2.067367e-19
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-       2 -9.686927e-02 2.857198e-02 -3.328676e-02 4.981693e+01 3.826623e-15 -1.611232e-15 -5.814711e-01 4.930779e-01 -4.139050e-16 -1.948519e-16 8.583743e-17 2.000000e+01
-       3 6.158893e-02 2.673954e-02 -5.000000e-03 -1.101096e+01 7.335921e-16 -1.838091e-15 -1.181447e+00 4.614546e-01 1.070361e-16 -3.220477e-16 -6.887005e-16 -3.358728e+00
-       4 2.445925e-01 1.143628e-28 -9.000000e-03 5.995180e-20 -1.480381e-28 -2.408656e-43 -1.274537e+00 2.433967e-24 -1.763628e-15 1.759294e-28 -3.880969e-28 4.994976e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.989129e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.030653e-01 3.281764e-02 -3.328676e-02 6.134362e+01 3.826541e-15 -1.611262e-15 -6.682728e-01 3.669412e-01 -9.075500e-16 -2.079220e-16 4.494659e-17 2.000000e+01
-       3 4.915849e-02 3.071290e-02 -5.000000e-03 -1.267250e+01 3.211673e-16 -1.905357e-15 -1.331428e+00 3.434077e-01 4.847894e-16 -1.744835e-16 -7.149649e-16 -2.517296e+00
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-       2 -1.099848e-01 3.573955e-02 -3.328676e-02 7.287031e+01 3.826610e-15 -1.611633e-15 -7.281187e-01 2.260035e-01 -9.835968e-16 -2.134541e-16 1.838370e-18 2.000000e+01
-       3 3.556333e-02 3.344742e-02 -5.000000e-03 -1.382222e+01 -8.018076e-17 -1.879899e-15 -1.417751e+00 2.115089e-01 -4.660972e-16 -3.113547e-17 -7.058193e-16 -1.559781e+00
-       4 2.170900e-01 -1.673494e-27 -9.000000e-03 -1.214772e-19 -2.043585e-31 3.069798e-29 -1.472660e+00 -4.710322e-25 -3.783517e-15 2.233315e-30 -1.292483e-28 -6.681580e-20
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-       4 1.684801e-01 9.021917e-28 -9.000000e-03 1.166958e-26 6.823362e-32 1.461046e-29 1.155868e+00 6.258459e-26 6.465720e-16 8.257673e-31 -3.664303e-31 5.433716e-20
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-       3 1.311968e-02 -3.499263e-02 -5.000000e-03 1.447440e+01 1.615861e-16 1.729362e-15 1.421191e+00 -1.606665e-02 -2.792246e-16 -1.390956e-16 6.275668e-16 1.207082e-01
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-       3 2.727730e-02 -3.443043e-02 -5.000000e-03 1.423690e+01 5.336878e-16 1.706388e-15 1.436674e+00 1.267943e-01 -7.937868e-17 -2.700813e-16 6.214515e-16 -9.347810e-01
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-       3 4.126386e-02 -3.247942e-02 -5.000000e-03 1.341460e+01 9.106424e-16 1.601201e-15 1.390103e+00 2.645409e-01 -5.727181e-16 -4.017791e-16 5.828939e-16 -1.945436e+00
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-       3 5.445490e-02 -2.921831e-02 -5.000000e-03 1.204631e+01 1.270620e-15 1.408062e-15 1.279329e+00 3.916167e-01 3.922226e-16 -5.254725e-16 5.092115e-16 -2.864322e+00
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-       2 -9.458722e-02 -2.647669e-02 -3.328676e-02 -4.506924e+01 3.826631e-15 -1.611287e-15 5.408136e-01 5.373594e-01 4.420030e-18 1.020990e-16 1.868408e-16 2.000000e+01
-       3 6.622739e-02 -2.477863e-02 -5.000000e-03 1.019450e+01 1.588817e-15 1.128110e-15 1.106321e+00 5.028962e-01 -4.259368e-16 -6.328517e-16 4.031945e-16 -3.653239e+00
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-       3 7.600110e-02 -1.933946e-02 -5.000000e-03 7.940174e+00 1.839579e-15 7.708218e-16 8.774316e-01 5.938905e-01 2.136650e-16 -7.159065e-16 2.686866e-16 -4.284458e+00
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-       3 -4.350758e-02 -1.671017e-02 -5.000000e-03 6.855072e+00 -1.254769e-15 9.542663e-16 6.014997e-01 -6.276011e-01 -4.825777e-16 3.501337e-16 3.183708e-16 4.510476e+00
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-       3 -2.721897e-02 -2.741837e-02 -5.000000e-03 1.129412e+01 -8.439552e-16 1.375493e-15 1.023964e+00 -4.445786e-01 1.540618e-16 2.123583e-16 4.779808e-16 3.239504e+00
-       4 1.556507e-01 -3.946282e-28 -9.000000e-03 -1.128509e-19 1.088019e-31 1.132636e-29 9.318255e-01 -5.759357e-25 1.017370e-15 9.451666e-29 2.148685e-31 -1.607474e-20
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-       4 1.658609e-01 -4.820270e-27 -9.000000e-03 1.128263e-26 -1.338428e-31 -1.376078e-29 1.116333e+00 -4.565465e-25 2.577643e-15 -9.400676e-29 -7.292263e-31 3.240819e-19
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-       3 -3.688188e-03 -3.374734e-02 -5.000000e-03 1.394866e+01 -2.660286e-16 1.660060e-15 1.325085e+00 -1.905485e-01 -2.782906e-16 1.105997e-17 5.954115e-16 1.406327e+00
-       4 1.777643e-01 -4.452608e-27 -9.000000e-03 -1.898786e-25 -2.331005e-31 -7.667027e-29 1.275017e+00 2.764315e-25 -1.561891e-15 -1.428040e-28 -4.810857e-32 -9.848151e-20
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-       3 9.876291e-03 -3.492107e-02 -5.000000e-03 1.444415e+01 7.781995e-17 1.724023e-15 1.409266e+00 -4.931077e-02 4.766716e-16 -1.087565e-16 6.245654e-16 3.663950e-01
-       4 1.910319e-01 -1.368228e-27 -9.000000e-03 -1.469733e-25 -2.486355e-33 -3.551444e-29 1.394959e+00 4.442739e-25 -5.456394e-16 1.626446e-28 6.903650e-31 2.878661e-25
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-       2 -1.160033e-01 -3.706324e-02 -3.328676e-02 -8.232196e+01 3.826602e-15 -1.611283e-15 7.557539e-01 1.003519e-01 -8.870729e-16 1.942001e-16 8.676618e-17 2.000000e+01
-       3 2.398749e-02 -3.468621e-02 -5.000000e-03 1.434492e+01 4.462629e-16 1.718702e-15 1.438456e+00 9.391593e-02 -1.902453e-16 -2.396499e-16 6.257017e-16 -6.921928e-01
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-       3 3.806857e-02 -3.305222e-02 -5.000000e-03 1.365572e+01 8.238846e-16 1.633286e-15 1.406603e+00 2.333544e-01 -5.102098e-16 -3.716306e-16 5.949491e-16 -1.717673e+00
-       4 2.196919e-01 3.262759e-29 -9.000000e-03 5.791632e-24 3.020556e-31 1.586236e-27 1.464700e+00 1.912012e-25 -1.850876e-15 4.121763e-27 8.200127e-31 1.647365e-23
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-       2 -1.018888e-01 -3.214674e-02 -3.328676e-02 -5.926859e+01 3.826599e-15 -1.611304e-15 6.561030e-01 3.882824e-01 -1.259051e-15 1.447836e-16 1.559972e-16 2.000000e+01
-       3 5.150026e-02 -3.008503e-02 -5.000000e-03 1.240925e+01 1.189973e-15 1.460732e-15 1.310699e+00 3.633801e-01 -2.995741e-17 -4.979267e-16 5.294239e-16 -2.661605e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.363247e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.585055e-02 -2.767952e-02 -3.328676e-02 -4.774190e+01 3.826567e-15 -1.611307e-15 5.652823e-01 5.115568e-01 -7.579808e-16 1.105718e-16 1.817518e-16 2.000000e+01
-       3 6.365558e-02 -2.590431e-02 -5.000000e-03 1.066293e+01 1.520102e-15 1.200281e-15 1.151714e+00 4.787484e-01 1.694828e-16 -6.100783e-16 4.302550e-16 -3.483514e+00
-       4 2.468190e-01 -1.663429e-28 -9.000000e-03 -3.094320e-20 -1.240898e-28 6.701603e-50 1.245372e+00 -7.610682e-26 -2.507296e-15 1.280106e-27 -3.245159e-28 -1.719996e-20
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-       2 -9.082673e-02 -2.209580e-02 -3.328676e-02 -3.621521e+01 3.826594e-15 -1.611297e-15 4.516600e-01 6.141968e-01 6.602802e-16 7.220513e-17 2.003185e-16 2.000000e+01
-       3 7.394065e-02 -2.067870e-02 -5.000000e-03 8.493950e+00 1.788703e-15 8.596780e-16 9.349936e-01 5.748056e-01 -4.531427e-16 -6.989554e-16 3.021561e-16 -4.153225e+00
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-       2 -8.702000e-02 -1.562081e-02 -3.328676e-02 -2.468852e+01 3.826599e-15 -1.611318e-15 3.198194e-01 6.920622e-01 -1.123942e-15 3.057339e-17 2.106577e-16 2.000000e+01
-       3 8.183607e-02 -1.461898e-02 -5.000000e-03 5.993825e+00 1.972199e-15 4.550634e-16 6.700602e-01 6.476772e-01 2.787948e-16 -7.587095e-16 1.517689e-16 -4.650700e+00
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-       2 -8.458390e-02 -8.515733e-03 -3.328676e-02 -1.316184e+01 3.826627e-15 -1.611262e-15 1.750783e-01 7.420122e-01 -7.768946e-16 -1.193033e-17 2.125316e-16 2.000000e+01
-       3 8.693413e-02 -7.969581e-03 -5.000000e-03 3.263360e+00 2.052546e-15 1.086628e-17 3.699383e-01 6.944236e-01 -4.495613e-16 -7.828825e-16 -1.139097e-17 -4.964194e+00
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-       2 -8.361670e-02 -1.067161e-03 -3.328676e-02 -1.635147e+00 3.826806e-15 -1.611290e-15 2.327514e-02 7.620320e-01 1.272132e-15 -5.436144e-17 2.062413e-16 2.000000e+01
-       3 8.896793e-02 -9.987189e-04 -5.000000e-03 4.087347e-01 2.020569e-15 -4.434311e-16 5.016667e-02 7.131595e-01 3.003802e-16 -7.704985e-16 -1.759129e-16 -5.087896e+00
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-       2 -8.415741e-02 6.424457e-03 -3.328676e-02 9.891541e+00 3.826613e-15 -1.611271e-15 -1.294668e-01 7.513140e-01 -1.910818e-15 -9.425637e-17 1.901647e-16 2.000000e+01
-       3 8.783026e-02 6.012428e-03 -5.000000e-03 -2.461377e+00 1.875903e-15 -8.758818e-16 -2.723403e-01 7.031290e-01 -3.843773e-16 -7.201029e-16 -3.350299e-16 -5.020038e+00
-       4 2.732819e-01 7.829207e-27 -9.000000e-03 7.273296e-20 5.561257e-33 2.416882e-29 -3.023535e-01 1.619658e-24 2.224099e-16 -6.199305e-29 -4.131827e-30 2.202419e-19
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-       2 -8.618422e-02 1.365693e-02 -3.328676e-02 2.141823e+01 3.826622e-15 -1.611287e-15 -2.769866e-01 7.102907e-01 -5.509826e-16 -1.307022e-16 1.682142e-16 2.000000e+01
-       3 8.358114e-02 1.278105e-02 -5.000000e-03 -5.238011e+00 1.630481e-15 -1.256630e-15 -5.804845e-01 6.647366e-01 3.161742e-16 -6.357178e-16 -4.724483e-16 -4.762040e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.978329e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.961538e-02 2.033854e-02 -3.328676e-02 3.294492e+01 3.826615e-15 -1.611345e-15 -4.133336e-01 6.406167e-01 -1.361220e-15 -1.614747e-16 1.385565e-16 2.000000e+01
-       3 7.644361e-02 1.903414e-02 -5.000000e-03 -7.814028e+00 1.303711e-15 -1.561257e-15 -8.581748e-01 5.995311e-01 -6.599947e-16 -5.227519e-16 -5.851150e-16 -4.318869e+00
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-       2 -9.431249e-02 2.619976e-02 -3.328676e-02 4.447161e+01 3.826688e-15 -1.611261e-15 -5.330082e-01 5.451025e-01 -1.172583e-15 -1.859061e-16 1.038914e-16 2.000000e+01
-       3 6.678796e-02 2.451945e-02 -5.000000e-03 -1.008674e+01 9.217393e-16 -1.773430e-15 -1.091470e+00 5.101426e-01 4.416286e-17 -3.884286e-16 -6.638165e-16 -3.700501e+00
-       4 2.502049e-01 2.948425e-27 -9.000000e-03 4.318655e-26 -4.014424e-42 -3.512621e-43 -1.185291e+00 9.167896e-25 1.111011e-15 9.865141e-43 -2.699465e-28 3.787228e-19
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-       2 -1.000861e-01 3.100417e-02 -3.328676e-02 5.599829e+01 3.826646e-15 -1.611277e-15 -6.311831e-01 4.276007e-01 1.946130e-15 -2.028640e-16 6.412007e-17 2.000000e+01
-       3 5.510540e-02 2.901573e-02 -5.000000e-03 -1.196155e+01 5.124390e-16 -1.886360e-15 -1.269602e+00 4.001768e-01 4.830778e-16 -2.429989e-16 -7.076765e-16 -2.924055e+00
-       4 2.376464e-01 1.502189e-27 -9.000000e-03 4.791295e-20 4.406457e-33 -1.051103e-30 -1.357800e+00 -4.427928e-25 -1.001981e-15 -2.751781e-30 6.751468e-29 7.951818e-20
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-       2 -1.067033e-01 3.455798e-02 -3.328676e-02 6.752498e+01 3.826629e-15 -1.611405e-15 -7.038983e-01 2.928509e-01 -4.995413e-16 -2.118697e-16 2.215546e-17 2.000000e+01
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-       3 2.069625e-02 -3.486653e-02 -5.000000e-03 1.442110e+01 3.593796e-16 1.726724e-15 1.436943e+00 6.083322e-02 2.981830e-16 -2.088220e-16 6.282683e-16 -4.478099e-01
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-       3 4.847686e-02 -3.088630e-02 -5.000000e-03 1.274524e+01 1.107341e-15 1.508663e-15 1.338658e+00 3.343530e-01 8.106827e-17 -4.696139e-16 5.475887e-16 -2.452283e+00
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-       3 6.098291e-02 -2.697363e-02 -5.000000e-03 1.110857e+01 1.448105e-15 1.268291e-15 1.193985e+00 4.535591e-01 7.698651e-17 -5.856792e-16 4.561468e-16 -3.305563e+00
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-       3 8.024168e-02 -1.608594e-02 -5.000000e-03 6.597832e+00 1.938343e-15 5.534928e-16 7.351479e-01 6.330160e-01 -7.749627e-17 -7.476578e-16 1.882578e-16 -4.551419e+00
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-       3 8.601766e-02 -9.550085e-03 -5.000000e-03 3.911463e+00 2.043731e-15 1.157752e-16 4.418756e-01 6.860280e-01 -2.618795e-18 -7.811104e-16 2.676044e-17 -4.908270e+00
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-       3 8.877756e-02 -2.629013e-03 -5.000000e-03 1.076001e+00 2.037755e-15 -3.389068e-16 1.251850e-01 7.113680e-01 2.763217e-16 -7.762844e-16 -1.390203e-16 -5.076262e+00
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-       4 1.388700e-01 3.379526e-27 -9.000000e-03 8.728433e-20 3.029445e-31 8.128984e-29 4.265291e-01 4.421586e-25 -1.434244e-16 1.902148e-26 -2.162646e-27 1.915872e-19
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-       3 3.485298e-03 -3.455036e-02 -5.000000e-03 1.428754e+01 -8.545984e-17 1.702281e-15 1.376616e+00 -1.154051e-01 1.014285e-16 -5.141716e-17 6.141182e-16 8.540850e-01
-       4 1.847359e-01 1.497111e-27 -9.000000e-03 8.737985e-20 1.304654e-33 1.989684e-54 1.345038e+00 -4.799243e-25 2.721938e-16 -3.579346e-31 3.489538e-31 2.109158e-19
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-       3 1.741106e-02 -3.497100e-02 -5.000000e-03 1.446525e+01 2.732333e-16 1.730530e-15 1.432200e+00 2.761817e-02 -3.655983e-16 -1.785927e-16 6.290820e-16 -2.022784e-01
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-       3 3.158124e-02 -3.398103e-02 -5.000000e-03 1.404723e+01 6.487953e-16 1.683437e-15 1.429240e+00 1.695274e-01 1.224323e-16 -3.105013e-16 6.132120e-16 -1.249464e+00
-       4 2.129755e-01 -1.494536e-28 -9.000000e-03 6.794578e-22 9.920929e-32 -3.061792e-30 1.472361e+00 2.017951e-25 -1.053208e-15 6.503886e-28 3.332076e-27 -6.417945e-20
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-       3 4.539247e-02 -3.162038e-02 -5.000000e-03 1.305345e+01 1.022970e-15 1.551893e-15 1.363175e+00 3.045985e-01 -2.667230e-16 -4.403644e-16 5.639459e-16 -2.236814e+00
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-       2 -9.853850e-02 -2.990203e-02 -3.328676e-02 -5.308723e+01 3.826620e-15 -1.611299e-15 6.104798e-01 4.566715e-01 -1.359050e-15 1.269999e-16 1.709279e-16 2.000000e+01
-       3 5.821653e-02 -2.798428e-02 -5.000000e-03 1.153039e+01 1.373139e-15 1.331776e-15 1.233047e+00 4.273831e-01 -6.559447e-17 -5.606529e-16 4.807456e-16 -3.119709e+00
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-       2 -9.301635e-02 -2.481060e-02 -3.328676e-02 -4.156054e+01 3.826609e-15 -1.611308e-15 5.069134e-01 5.694499e-01 -4.843232e-16 9.045683e-17 1.926555e-16 2.000000e+01
-       3 6.943894e-02 -2.321939e-02 -5.000000e-03 9.546776e+00 1.673422e-15 1.026800e-15 1.042159e+00 5.329286e-01 -2.347734e-16 -6.611204e-16 3.646530e-16 -3.863077e+00
-       4 2.530808e-01 -1.587398e-27 -9.000000e-03 1.559822e-20 1.771598e-33 9.353518e-31 1.135511e+00 -3.857817e-25 -8.756232e-16 -9.804558e-27 -1.407322e-30 -5.374311e-20
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-       3 7.850078e-02 -1.751790e-02 -5.000000e-03 7.188141e+00 1.898979e-15 6.493376e-16 7.981556e-01 6.169776e-01 1.873523e-16 -7.348914e-16 2.235677e-16 -4.442333e+00
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-       3 8.493837e-02 -1.110981e-02 -5.000000e-03 4.551538e+00 2.028847e-15 2.200138e-16 5.125468e-01 6.761399e-01 -2.501472e-16 -7.763942e-16 6.506423e-17 -4.842175e+00
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-       3 8.841650e-02 -4.253587e-03 -5.000000e-03 1.741072e+00 2.049436e-15 -2.335744e-16 1.998402e-01 7.080290e-01 2.638600e-16 -7.810696e-16 -1.001946e-16 -5.054321e+00
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-       3 4.820409e-02 3.095454e-02 -5.000000e-03 -1.277387e+01 2.915521e-16 -1.906538e-15 -1.339861e+00 3.342457e-01 4.370061e-16 -1.635935e-16 -7.150585e-16 -2.451314e+00
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-       4 2.015693e-01 -9.125772e-28 -9.000000e-03 -1.795836e-24 -9.345122e-32 3.221222e-29 -1.456467e+00 1.541840e-25 1.009493e-15 -4.910969e-28 4.488549e-31 1.909849e-19
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-       4 1.875754e-01 5.820116e-28 -9.000000e-03 -1.277596e-25 1.215623e-31 -4.760844e-29 -1.375581e+00 2.314346e-25 1.346502e-16 -9.286897e-29 4.131135e-31 5.934175e-24
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-       4 1.746142e-01 3.283359e-28 -9.000000e-03 1.857374e-23 2.211073e-32 -1.270244e-29 -1.244492e+00 -1.127808e-25 2.404484e-16 1.610404e-28 -4.479982e-31 4.750473e-23
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-       4 1.379385e-01 -1.242404e-26 -9.000000e-03 2.492790e-22 -0.000000e+00 -1.624912e-28 3.775112e-01 -2.705738e-24 -1.006755e-15 -4.248572e-28 -8.452357e-27 2.765589e-19
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-       3 -4.158198e-02 -1.856095e-02 -5.000000e-03 7.618605e+00 -1.203117e-15 1.024426e-15 6.711526e-01 -6.056537e-01 -2.810971e-16 3.324019e-16 3.431915e-16 4.360770e+00
-       4 1.427630e-01 -4.329095e-27 -9.000000e-03 7.485700e-21 3.998274e-34 -2.055300e-29 5.879725e-01 2.077237e-24 -2.139499e-16 5.133813e-28 -2.588610e-31 -5.916832e-20
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-       4 1.585646e-01 4.240808e-27 -9.000000e-03 1.174247e-19 1.547457e-31 2.462323e-26 9.900384e-01 5.685677e-25 -1.232160e-16 2.184461e-25 1.061013e-27 5.954132e-19
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-       4 1.693177e-01 -1.192039e-27 -9.000000e-03 1.118296e-25 -1.356875e-41 -5.901644e-29 1.167927e+00 -1.064193e-24 3.294424e-15 -1.246060e-25 -2.656920e-28 -4.802552e-19
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-       3 3.509367e-04 -3.425201e-02 -5.000000e-03 1.416158e+01 -1.646942e-16 1.686173e-15 1.356082e+00 -1.481115e-01 5.322164e-17 -2.381749e-17 6.068637e-16 1.094811e+00
-       4 1.816771e-01 -1.821216e-27 -9.000000e-03 5.758361e-20 1.226805e-32 6.129846e-30 1.316265e+00 1.772658e-25 -9.224034e-16 2.170988e-26 1.671588e-31 2.532255e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.647323e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 1.413925e-02 -3.499938e-02 -5.000000e-03 1.447725e+01 1.879242e-16 1.730249e-15 1.424299e+00 -5.656973e-03 -3.108153e-16 -1.482858e-16 6.279556e-16 4.374971e-02
-       4 1.952747e-01 -7.706872e-28 -9.000000e-03 -1.018424e-19 8.055679e-34 -2.331685e-31 1.421658e+00 1.890382e-25 -7.307518e-16 -7.350919e-29 -4.071459e-32 -4.676275e-19
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-       3 2.830489e-02 -3.433500e-02 -5.000000e-03 1.419661e+01 5.611398e-16 1.701597e-15 1.435431e+00 1.370257e-01 1.658729e-16 -2.798783e-16 6.201979e-16 -1.010196e+00
-       4 2.096101e-01 -4.826932e-28 -9.000000e-03 -2.725585e-22 -2.974789e-31 -1.709745e-28 1.470440e+00 -9.327355e-27 -6.974176e-16 -4.414469e-28 -7.709041e-31 4.050348e-19
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-       2 -1.065596e-01 -3.449819e-02 -3.328676e-02 -6.728658e+01 3.827284e-15 -1.610686e-15 7.038484e-01 2.929708e-01 -3.264579e-16 1.673386e-16 1.331981e-16 2.000000e+01
-       3 4.225496e-02 -3.228567e-02 -5.000000e-03 1.333310e+01 9.366176e-16 1.591721e-15 1.384230e+00 2.741813e-01 -1.000409e-16 -4.064367e-16 5.769924e-16 -2.015687e+00
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-       4 1.347992e-01 2.847853e-27 -9.000000e-03 -5.185944e-20 -5.242636e-34 4.307603e-29 -9.666731e-02 2.041284e-25 1.825532e-15 -5.489056e-28 -1.805974e-30 -1.346640e-20
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-       3 -5.062989e-02 -3.841044e-03 -5.000000e-03 1.572166e+00 -1.493713e-15 4.748873e-16 1.349298e-01 -7.093373e-01 -1.525509e-16 4.300406e-16 1.476738e-16 5.061697e+00
-       4 1.348982e-01 -8.849438e-27 -9.000000e-03 1.314850e-21 -2.725986e-34 4.143197e-29 1.160869e-01 -1.818019e-24 -1.009400e-15 1.237652e-28 4.492459e-31 1.483315e-19
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-       3 -4.804953e-02 -1.071519e-02 -5.000000e-03 4.389542e+00 -1.388378e-15 7.302322e-16 3.812837e-01 -6.796674e-01 -1.440639e-16 3.941494e-16 2.375153e-16 4.862588e+00
-       4 1.371206e-01 -3.303909e-28 -9.000000e-03 8.728545e-20 -1.207804e-30 3.252954e-28 3.284104e-01 1.862722e-24 4.422522e-16 7.445875e-28 -3.161529e-30 1.786672e-19
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-       2 -1.535969e-01 -1.833288e-02 -3.328676e-02 -1.506461e+02 3.826662e-15 -1.611341e-15 3.723981e-01 -6.652474e-01 -1.705518e-15 1.527720e-16 -1.489688e-16 2.000000e+01
-       3 -4.306786e-02 -1.715711e-02 -5.000000e-03 7.039340e+00 -1.242855e-15 9.712360e-16 6.182324e-01 -6.225821e-01 4.392958e-16 3.469288e-16 3.234135e-16 4.476309e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.687227e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.492761e-01 -2.447679e-02 -3.328676e-02 -1.391194e+02 3.826615e-15 -1.611352e-15 4.978201e-01 -5.774163e-01 -3.305792e-16 1.789713e-16 -1.148668e-16 2.000000e+01
-       3 -3.581198e-02 -2.290698e-02 -5.000000e-03 9.417153e+00 -1.055523e-15 1.192903e-15 8.392975e-01 -5.403840e-01 -1.381383e-16 2.840230e-16 4.074536e-16 3.911066e+00
-       4 1.478821e-01 2.891753e-27 -9.000000e-03 2.559784e-27 -2.985961e-31 -4.244960e-29 7.468096e-01 1.201205e-24 1.459805e-15 3.153997e-28 -2.498926e-31 3.826993e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.542484e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       4 1.563291e-01 -1.727168e-27 -9.000000e-03 -2.787983e-20 1.248741e-33 2.908636e-30 9.458327e-01 -1.033416e-24 -1.145246e-15 1.201272e-28 6.491068e-31 -1.496213e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.040994e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 -1.533438e-02 -3.144010e-02 -5.000000e-03 1.297772e+01 -5.540318e-16 1.550324e-15 1.204722e+00 -3.147910e-01 -4.268519e-16 1.129217e-16 5.489924e-16 2.310919e+00
-       4 1.666705e-01 -1.375434e-27 -9.000000e-03 6.016504e-20 3.440317e-33 3.652328e-31 1.128855e+00 2.837062e-25 1.376591e-15 -4.624115e-29 -2.559265e-31 2.548307e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.142021e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 -2.734200e-03 -3.387915e-02 -5.000000e-03 1.400425e+01 -2.421705e-16 1.666897e-15 1.332877e+00 -1.804957e-01 3.402775e-16 3.422743e-18 5.982955e-16 1.332629e+00
-       4 1.786855e-01 -1.578694e-28 -9.000000e-03 1.683601e-19 -1.150716e-31 3.962588e-29 1.285185e+00 1.650480e-25 8.588915e-16 1.050037e-28 -3.121760e-31 2.064204e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.687796e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.229655e-01 -3.734685e-02 -3.328676e-02 -9.301262e+01 3.826599e-15 -1.611318e-15 7.612522e-01 -4.158696e-02 1.074811e-16 2.070230e-16 4.942910e-17 2.000000e+01
-       3 1.088799e-02 -3.495163e-02 -5.000000e-03 1.445707e+01 1.039314e-16 1.726097e-15 1.413319e+00 -3.891981e-02 -1.747330e-16 -1.186639e-16 6.257019e-16 2.896201e-01
-       4 1.920357e-01 -1.149321e-27 -9.000000e-03 -4.061268e-20 -0.000000e+00 7.564725e-29 1.401778e+00 -2.095960e-25 -1.090913e-15 6.004235e-29 4.046779e-31 -6.415075e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.232458e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.154631e-01 -3.698638e-02 -3.328676e-02 -8.148593e+01 3.826627e-15 -1.611288e-15 7.542092e-01 1.113685e-01 -1.428603e-15 1.930829e-16 8.960873e-17 2.000000e+01
-       3 2.501708e-02 -3.461428e-02 -5.000000e-03 1.431454e+01 4.735817e-16 1.715349e-15 1.438255e+00 1.042260e-01 1.977327e-16 -2.489495e-16 6.244898e-16 -7.682999e-01
-       4 2.062513e-01 5.667100e-28 -9.000000e-03 -3.077648e-22 -1.379710e-32 6.747756e-30 1.464834e+00 3.069773e-25 -9.145699e-16 -2.118130e-28 -1.365397e-31 2.878812e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.155294e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.081840e-01 -3.513402e-02 -3.328676e-02 -6.995924e+01 3.826620e-15 -1.611338e-15 7.167440e-01 2.598318e-01 -9.323834e-16 1.711086e-16 1.266108e-16 2.000000e+01
-       3 3.907221e-02 -3.288072e-02 -5.000000e-03 1.358350e+01 8.511810e-16 1.623795e-15 1.401814e+00 2.431676e-01 -1.036915e-15 -3.811561e-16 5.915722e-16 -1.789421e+00
-       4 2.207371e-01 4.901742e-29 -9.000000e-03 7.755816e-60 1.627411e-30 9.951392e-28 1.462076e+00 -1.634554e-25 5.334017e-16 2.647729e-27 4.308714e-30 -3.436695e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.342954e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.014218e-01 -3.186447e-02 -3.328676e-02 -5.843255e+01 3.826603e-15 -1.611276e-15 6.503677e-01 3.978143e-01 3.052250e-16 1.425282e-16 1.579451e-16 2.000000e+01
-       3 5.243226e-02 -2.982086e-02 -5.000000e-03 1.229858e+01 1.215388e-15 1.444779e-15 1.301250e+00 3.723007e-01 6.162857e-16 -5.066151e-16 5.229276e-16 -2.725747e+00
-       4 2.348002e-01 -2.345827e-28 -9.000000e-03 -1.532470e-20 -2.589452e-32 1.326750e-29 1.385187e+00 -1.665538e-26 2.330537e-15 -3.433068e-27 -5.760569e-30 -4.038856e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.785090e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.544936e-02 -2.730961e-02 -3.328676e-02 -4.690586e+01 3.826594e-15 -1.611291e-15 5.577580e-01 5.197504e-01 -4.893538e-16 1.079115e-16 1.834627e-16 2.000000e+01
-       3 6.447124e-02 -2.555813e-02 -5.000000e-03 1.051879e+01 1.541961e-15 1.178187e-15 1.137846e+00 4.864165e-01 -3.746073e-16 -6.173317e-16 4.221371e-16 -3.537505e+00
-       4 2.476994e-01 -9.944637e-28 -9.000000e-03 2.882802e-20 2.420492e-35 2.683844e-29 1.231719e+00 -9.980216e-26 -6.787407e-16 8.923733e-28 1.510637e-30 1.289649e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.933809e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.050754e-02 -2.165318e-02 -3.328676e-02 -3.537918e+01 3.826615e-15 -1.611309e-15 4.426502e-01 6.207216e-01 -2.008975e-15 6.921808e-17 2.013754e-16 2.000000e+01
-       3 7.459931e-02 -2.026447e-02 -5.000000e-03 8.322583e+00 1.805171e-15 8.322474e-16 9.172611e-01 5.809120e-01 2.388088e-16 -7.045189e-16 2.919143e-16 -4.195284e+00
-       4 2.587058e-01 -5.040334e-28 -9.000000e-03 1.434415e-25 1.736459e-31 -5.225895e-29 1.006000e+00 1.115586e-25 2.176374e-16 -2.189193e-28 4.319222e-31 -1.140017e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.334237e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.679569e-02 -1.512334e-02 -3.328676e-02 -2.385249e+01 3.826615e-15 -1.611313e-15 3.096874e-01 6.966550e-01 3.246116e-16 2.751539e-17 2.110298e-16 2.000000e+01
-       3 8.230401e-02 -1.415342e-02 -5.000000e-03 5.802276e+00 1.981683e-15 4.238672e-16 6.493008e-01 6.519754e-01 -1.217461e-16 -7.616124e-16 1.401643e-16 -4.679725e+00
-       4 2.671676e-01 3.331033e-27 -9.000000e-03 7.393583e-20 -3.838793e-43 6.885818e-29 7.189502e-01 5.507384e-25 -1.409460e-15 3.861094e-28 -6.061175e-31 2.187202e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.281256e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.446352e-02 -7.983476e-03 -3.328676e-02 -1.232580e+01 3.826597e-15 -1.611266e-15 1.642329e-01 7.444877e-01 -1.959667e-15 -1.509542e-17 2.122134e-16 2.000000e+01
-       3 8.718696e-02 -7.471461e-03 -5.000000e-03 3.059190e+00 2.054003e-15 -2.214493e-17 3.472078e-01 6.967405e-01 -7.771555e-17 -7.833405e-16 -2.358365e-17 -4.979591e+00
-       4 2.725683e-01 8.490490e-27 -9.000000e-03 -2.450125e-20 1.950860e-32 3.951420e-30 3.870157e-01 5.821653e-25 1.027887e-15 -2.756201e-28 2.026080e-31 -3.222287e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.104551e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.360510e-02 -5.215847e-04 -3.328676e-02 -7.991108e-01 3.826606e-15 -1.611681e-15 1.215381e-02 7.622904e-01 1.316740e-16 -5.840251e-17 2.051711e-16 2.000000e+01
-       3 8.899234e-02 -4.881333e-04 -5.000000e-03 1.997716e-01 2.013512e-15 -4.764933e-16 2.665967e-02 7.134014e-01 5.395471e-17 -7.695108e-16 -1.883501e-16 -5.089418e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.752682e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.425507e-02 6.961346e-03 -3.328676e-02 1.072758e+01 3.826577e-15 -1.611320e-15 -1.404155e-01 7.493450e-01 -1.578662e-15 -9.580897e-17 1.893645e-16 2.000000e+01
-       3 8.762497e-02 6.514884e-03 -5.000000e-03 -2.667216e+00 1.861242e-15 -9.056371e-16 -2.953754e-01 7.012862e-01 3.353049e-16 -7.132506e-16 -3.450541e-16 -5.007684e+00
-       4 2.730541e-01 8.500582e-27 -9.000000e-03 6.812167e-27 7.558375e-33 3.028369e-30 -3.279307e-01 2.374404e-25 -1.061373e-15 6.936952e-28 3.566229e-25 8.876728e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.564196e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.638720e-02 1.416348e-02 -3.328676e-02 2.225427e+01 3.826603e-15 -1.611238e-15 -2.873210e-01 7.061736e-01 -3.375983e-16 -1.330655e-16 1.661017e-16 2.000000e+01
-       3 8.315696e-02 1.325511e-02 -5.000000e-03 -5.432867e+00 1.609249e-15 -1.281447e-15 -6.018326e-01 6.608835e-01 -6.576572e-16 -6.284535e-16 -4.815040e-16 -4.736038e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -3.051955e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.991549e-02 2.079431e-02 -3.328676e-02 3.378095e+01 3.826614e-15 -1.611283e-15 -4.226369e-01 6.345175e-01 1.587080e-16 -1.636770e-16 1.364843e-16 2.000000e+01
-       3 7.582269e-02 1.946068e-02 -5.000000e-03 -7.990265e+00 1.277587e-15 -1.579791e-15 -8.767391e-01 5.938231e-01 1.833331e-16 -5.136708e-16 -5.920474e-16 -4.279753e+00
-       4 2.600444e-01 -1.291126e-27 -9.000000e-03 1.344088e-19 1.179385e-33 2.766690e-54 -9.624156e-01 1.349416e-24 3.323989e-16 3.066517e-30 1.090090e-32 1.022535e-18
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.848258e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.469762e-02 2.658637e-02 -3.328676e-02 4.530764e+01 3.826629e-15 -1.611275e-15 -5.409051e-01 5.372673e-01 -7.729526e-16 -1.875205e-16 1.008133e-16 2.000000e+01
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-       3 3.585211e-02 -3.340423e-02 -5.000000e-03 1.380402e+01 7.638828e-16 1.652635e-15 1.415934e+00 2.116249e-01 -4.429531e-16 -3.506552e-16 6.018870e-16 -1.558559e+00
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-       2 -1.029289e-01 -3.274273e-02 -3.328676e-02 -6.110522e+01 3.826608e-15 -1.611281e-15 6.682103e-01 3.670550e-01 -1.188509e-15 1.496652e-16 1.513031e-16 2.000000e+01
-       3 4.942953e-02 -3.064280e-02 -5.000000e-03 1.264309e+01 1.133348e-15 1.494208e-15 1.330281e+00 3.435142e-01 1.880227e-16 -4.785352e-16 5.421891e-16 -2.518444e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.513944e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.675059e-02 -2.847133e-02 -3.328676e-02 -4.957853e+01 3.826612e-15 -1.611312e-15 5.813871e-01 4.931769e-01 -1.435993e-16 1.164017e-16 1.782391e-16 2.000000e+01
-       3 6.182936e-02 -2.664534e-02 -5.000000e-03 1.097168e+01 1.471014e-15 1.247521e-15 1.181104e+00 4.615473e-01 3.754634e-16 -5.934934e-16 4.484193e-16 -3.362093e+00
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-       2 -9.155040e-02 -2.305149e-02 -3.328676e-02 -3.805184e+01 3.826588e-15 -1.611251e-15 4.711128e-01 5.994057e-01 -8.212277e-16 7.856465e-17 1.976685e-16 2.000000e+01
-       3 7.244962e-02 -2.157310e-02 -5.000000e-03 8.864229e+00 1.750982e-15 9.188133e-16 9.730469e-01 5.609631e-01 -3.280575e-16 -6.866066e-16 3.238978e-16 -4.057643e+00
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-       3 8.075639e-02 -1.563067e-02 -5.000000e-03 6.410304e+00 1.949444e-15 5.229088e-16 7.150032e-01 6.377517e-01 3.163216e-16 -7.515548e-16 1.769622e-16 -4.583535e+00
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-       2 -8.487553e-02 -9.678483e-03 -3.328676e-02 -1.499846e+01 3.826595e-15 -1.611306e-15 1.987696e-01 7.360198e-01 -1.785377e-15 -5.218943e-18 2.128393e-16 2.000000e+01
-       3 8.632198e-02 -9.057759e-03 -5.000000e-03 3.709529e+00 2.047135e-15 8.305218e-17 4.194994e-01 6.888156e-01 -1.923402e-16 -7.816932e-16 1.506843e-17 -4.926860e+00
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-       3 8.885549e-02 -2.119489e-03 -5.000000e-03 8.674455e-01 2.032973e-15 -3.718330e-16 1.017474e-01 7.120950e-01 2.186362e-16 -7.750876e-16 -1.508240e-16 -5.081009e+00
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-       4 2.397551e-01 3.133919e-27 -9.000000e-03 1.438020e-19 5.767678e-31 2.977843e-30 -1.335342e+00 5.786916e-25 2.196059e-15 1.436156e-28 1.260199e-30 2.618150e-19
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-       3 4.474874e-03 -3.462828e-02 -5.000000e-03 1.432045e+01 -6.031109e-17 1.706567e-15 1.382474e+00 -1.051193e-01 5.447024e-17 -6.030902e-17 6.160063e-16 7.782837e-01
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-       3 1.843760e-02 -3.494649e-02 -5.000000e-03 1.445489e+01 3.000784e-16 1.729767e-15 1.434027e+00 3.801803e-02 1.150159e-16 -1.879695e-16 6.289779e-16 -2.791673e-01
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-       3 4.636338e-02 -3.139807e-02 -5.000000e-03 1.296007e+01 1.049628e-15 1.538856e-15 1.355878e+00 3.139803e-01 -2.108589e-16 -4.497064e-16 5.593768e-16 -2.304846e+00
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-       3 5.909151e-02 -2.767458e-02 -5.000000e-03 1.140107e+01 1.396800e-15 1.312364e-15 1.221178e+00 4.356739e-01 1.544348e-16 -5.684766e-16 4.725918e-16 -3.178675e+00
-       4 2.419098e-01 -1.086134e-27 -9.000000e-03 3.501663e-20 2.074125e-31 9.039230e-29 1.312295e+00 -1.416717e-25 3.771517e-16 -2.169325e-27 5.430046e-31 9.170486e-20
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-       3 7.017508e-02 -2.283479e-02 -5.000000e-03 9.387205e+00 1.692537e-15 1.001605e-15 1.026130e+00 5.397939e-01 1.234678e-16 -6.675359e-16 3.555677e-16 -3.910844e+00
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-       3 7.906081e-02 -1.707392e-02 -5.000000e-03 7.005036e+00 1.911902e-15 6.196470e-16 7.786801e-01 6.221405e-01 1.391547e-16 -7.389680e-16 2.127926e-16 -4.477503e+00
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-       3 8.529331e-02 -1.062435e-02 -5.000000e-03 4.352260e+00 2.034160e-15 1.875988e-16 4.905883e-01 6.793921e-01 -1.627212e-16 -7.779264e-16 5.299327e-17 -4.863940e+00
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-       4 1.962964e-01 -1.999599e-29 -9.000000e-03 -5.515047e-20 -1.589100e-31 4.374253e-30 1.427258e+00 2.306126e-25 -2.467940e-16 1.145177e-29 -5.403127e-31 -1.443835e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.055354e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 2.933136e-02 -3.423227e-02 -5.000000e-03 1.415325e+01 5.884297e-16 1.696348e-15 1.433858e+00 1.472280e-01 -2.239460e-16 -2.896388e-16 6.179206e-16 -1.085353e+00
-       4 2.106625e-01 1.242185e-28 -9.000000e-03 -3.014764e-24 8.951186e-32 -1.613355e-28 1.471443e+00 -7.313892e-26 -1.286620e-15 -4.376444e-28 7.915716e-31 1.925036e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.304193e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.060578e-01 -3.428382e-02 -3.328676e-02 -6.645054e+01 3.826596e-15 -1.611286e-15 6.994987e-01 3.032095e-01 -1.088425e-16 1.632297e-16 1.369546e-16 2.000000e+01
-       3 4.324164e-02 -3.208504e-02 -5.000000e-03 1.324873e+01 9.644488e-16 1.578684e-15 1.378016e+00 2.837634e-01 -6.957767e-16 -4.202073e-16 5.746377e-16 -2.085435e+00
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-       2 -9.950839e-02 -3.060655e-02 -3.328676e-02 -5.492385e+01 3.826616e-15 -1.611284e-15 6.248024e-01 4.368712e-01 -1.049758e-15 1.326061e-16 1.665234e-16 2.000000e+01
-       3 5.626500e-02 -2.864362e-02 -5.000000e-03 1.180592e+01 1.320000e-15 1.372719e-15 1.257989e+00 4.088527e-01 3.853262e-16 -5.422664e-16 4.958287e-16 -2.987595e+00
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-       2 -9.382590e-02 -2.569472e-02 -3.328676e-02 -4.339716e+01 3.826571e-15 -1.611286e-15 5.249037e-01 5.529110e-01 7.713102e-17 9.639078e-17 1.896360e-16 2.000000e+01
-       3 6.778197e-02 -2.404680e-02 -5.000000e-03 9.890333e+00 1.629891e-15 1.080643e-15 1.076379e+00 5.174504e-01 -1.748127e-16 -6.468190e-16 3.849605e-16 -3.755107e+00
-       4 2.512822e-01 5.118062e-28 -9.000000e-03 -1.248472e-20 -5.200348e-33 -5.813703e-30 1.170279e+00 1.508051e-25 9.301511e-17 -1.163869e-28 -3.219397e-34 -2.578891e-20
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-       2 -8.923953e-02 -1.974646e-02 -3.328676e-02 -3.187048e+01 3.826573e-15 -1.611300e-15 4.038322e-01 6.466483e-01 -3.272720e-17 5.671074e-17 2.051833e-16 2.000000e+01
-       3 7.722203e-02 -1.848003e-02 -5.000000e-03 7.585192e+00 1.868950e-15 7.134975e-16 8.401595e-01 6.051759e-01 -1.240101e-16 -7.253486e-16 2.475932e-16 -4.361752e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.868089e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 8.410387e-02 -1.216783e-02 -5.000000e-03 4.986044e+00 2.015232e-15 2.908297e-16 5.602739e-01 6.684907e-01 5.363894e-16 -7.718826e-16 9.114264e-17 -4.790889e+00
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-       2 -8.404342e-02 -5.732476e-03 -3.328676e-02 -8.817100e+00 3.826606e-15 -1.611248e-15 1.183623e-01 7.531433e-01 6.085876e-16 -2.814443e-17 2.110661e-16 2.000000e+01
-       3 8.806996e-02 -5.364827e-03 -5.000000e-03 2.196123e+00 2.053763e-15 -1.608792e-16 2.508209e-01 7.048409e-01 -2.718027e-16 -7.827769e-16 -7.387438e-17 -5.033277e+00
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-       2 -8.364328e-02 1.767964e-03 -3.328676e-02 2.709588e+00 3.826565e-15 -1.611276e-15 -3.452121e-02 7.616054e-01 4.220800e-16 -6.982447e-17 2.010130e-16 2.000000e+01
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-       2 -8.474998e-02 9.197090e-03 -3.328676e-02 1.423628e+01 3.826589e-15 -1.611258e-15 -1.860123e-01 7.393469e-01 8.209630e-17 -1.084916e-16 1.831874e-16 2.000000e+01
-       3 8.658545e-02 8.607240e-03 -5.000000e-03 -3.524784e+00 1.794333e-15 -1.026912e-15 -3.910766e-01 6.919293e-01 3.804672e-17 -6.919851e-16 -3.886953e-16 -4.944939e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.499771e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.731888e-02 1.625524e-02 -3.328676e-02 2.576296e+01 3.826561e-15 -1.611309e-15 -3.300003e-01 6.872658e-01 -8.043261e-16 -1.430041e-16 1.575601e-16 2.000000e+01
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-       4 2.659649e-01 -5.974391e-28 -9.000000e-03 -1.176495e-19 3.528303e-46 5.478482e-29 -7.614078e-01 1.607449e-24 6.363648e-16 2.145834e-28 1.475561e-31 -1.123089e-19
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-       2 -9.124637e-02 2.265770e-02 -3.328676e-02 3.728965e+01 3.826600e-15 -1.611323e-15 -4.606772e-01 6.074627e-01 4.049256e-16 -1.716059e-16 1.261033e-16 2.000000e+01
-       3 7.307565e-02 2.120457e-02 -5.000000e-03 -8.711614e+00 1.164675e-15 -1.652607e-15 -9.519827e-01 5.685035e-01 -4.692321e-17 -4.740850e-16 -6.187977e-16 -4.105619e+00
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-       2 -9.637401e-02 2.814624e-02 -3.328676e-02 4.881634e+01 3.826471e-15 -1.611310e-15 -5.727720e-01 5.031567e-01 -3.436061e-16 -1.929537e-16 8.890948e-17 2.000000e+01
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-       3 5.029265e-02 3.041512e-02 -5.000000e-03 -1.254761e+01 3.568540e-16 -1.903439e-15 -1.320893e+00 3.542767e-01 6.437056e-16 -1.879842e-16 -7.132851e-16 -2.595455e+00
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-       3 3.677376e-02 3.326230e-02 -5.000000e-03 -1.374422e+01 -4.587643e-17 -1.885663e-15 -1.412822e+00 2.233761e-01 -2.348460e-16 -4.291572e-17 -7.069392e-16 -1.646528e+00
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-       3 3.686293e-02 -3.324823e-02 -5.000000e-03 1.373829e+01 7.911318e-16 1.644094e-15 1.411888e+00 2.215445e-01 -5.024062e-16 -3.602302e-16 5.986825e-16 -1.631235e+00
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-       3 5.037599e-02 -3.039277e-02 -5.000000e-03 1.253824e+01 1.159261e-15 1.479240e-15 1.321568e+00 3.526022e-01 1.357580e-16 -4.874907e-16 5.368627e-16 -2.583988e+00
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-       3 6.266642e-02 -2.631137e-02 -5.000000e-03 1.083249e+01 1.493536e-15 1.226268e-15 1.167910e+00 4.694371e-01 -6.064875e-17 -6.010618e-16 4.400367e-16 -3.417840e+00
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-       3 7.313577e-02 -2.116866e-02 -5.000000e-03 8.696747e+00 1.768496e-15 8.920557e-16 9.558806e-01 5.673366e-01 1.960612e-16 -6.924617e-16 3.143227e-16 -4.101693e+00
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-       3 8.125662e-02 -1.517208e-02 -5.000000e-03 6.221475e+00 1.960192e-15 4.922748e-16 6.946602e-01 6.423517e-01 -1.608274e-16 -7.544566e-16 1.654907e-16 -4.614687e+00
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-       4 1.353386e-01 2.237034e-27 -9.000000e-03 -1.308925e-26 5.515712e-31 -8.865892e-29 -1.799456e-01 4.817554e-25 2.194462e-16 -2.321085e-28 2.277897e-30 -8.166206e-20
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-       4 1.346065e-01 -3.128650e-27 -9.000000e-03 -4.876435e-20 -7.298288e-32 8.028849e-44 3.288772e-02 -9.716060e-25 -9.569151e-17 3.094780e-28 -2.335924e-30 -1.121807e-19
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-       4 1.395104e-01 -1.166261e-27 -9.000000e-03 8.632681e-20 7.576072e-32 -1.505514e-32 4.571429e-01 2.606155e-24 -7.051685e-16 -1.425565e-28 1.346515e-31 1.827260e-19
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-       3 -3.891043e-02 -2.075557e-02 -5.000000e-03 8.525760e+00 -1.133837e-15 1.108627e-15 7.551443e-01 -5.753402e-01 2.216942e-16 3.099970e-16 3.754218e-16 4.152737e+00
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-       4 1.527902e-01 -3.730245e-28 -9.000000e-03 -1.313015e-20 1.604675e-31 2.276515e-26 8.693873e-01 -1.628150e-24 -1.171223e-16 5.974397e-26 1.011449e-30 -2.710855e-19
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-       3 -1.988835e-02 -3.013365e-02 -5.000000e-03 1.242963e+01 -6.653007e-16 1.491992e-15 1.143454e+00 -3.641570e-01 -1.845058e-16 1.518054e-16 5.253630e-16 2.666392e+00
-       4 1.624110e-01 1.484520e-27 -9.000000e-03 1.389707e-20 1.378198e-31 2.527241e-29 1.059780e+00 6.757539e-25 1.251582e-15 -7.943545e-26 -3.306342e-31 1.602266e-19
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-       3 -7.811036e-03 -3.308347e-02 -5.000000e-03 1.366889e+01 -3.686504e-16 1.627400e-15 1.287958e+00 -2.342076e-01 1.721894e-16 4.722707e-17 5.809152e-16 1.725614e+00
-       4 1.738047e-01 -3.276290e-27 -9.000000e-03 -1.382235e-19 -6.145341e-32 -9.644168e-32 1.228002e+00 -8.069987e-25 -1.242684e-15 1.977787e-26 -5.019320e-31 -4.218364e-19
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-       2 -1.258957e-01 -3.707671e-02 -3.328676e-02 -9.752191e+01 3.826639e-15 -1.611282e-15 7.556263e-01 -1.013084e-01 3.275356e-16 2.104258e-16 3.295701e-17 2.000000e+01
-       3 5.468456e-03 -3.469882e-02 -5.000000e-03 1.435025e+01 -3.505712e-17 1.710603e-15 1.388058e+00 -9.481109e-02 -3.169955e-16 -6.929190e-17 6.179151e-16 7.022773e-01
-       4 1.866811e-01 -1.366197e-27 -9.000000e-03 2.807215e-20 1.003556e-31 -5.578246e-29 1.361787e+00 5.245544e-25 1.625793e-15 -1.236471e-28 5.975135e-31 5.681112e-19
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-       2 -1.183881e-01 -3.730721e-02 -3.328676e-02 -8.599522e+01 3.826603e-15 -1.611291e-15 7.606305e-01 5.172731e-02 -7.869410e-16 1.993562e-16 7.420892e-17 2.000000e+01
-       3 1.946523e-02 -3.491454e-02 -5.000000e-03 1.444139e+01 3.270200e-16 1.728617e-15 1.435542e+00 4.840981e-02 1.965258e-16 -1.975655e-16 6.288020e-16 -3.559875e-01
-       4 2.006225e-01 -1.296652e-27 -9.000000e-03 9.387591e-20 4.244607e-28 -1.108069e-30 1.447389e+00 -8.507278e-26 -2.118871e-15 1.917324e-28 1.110832e-27 2.715350e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.162356e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.109859e-01 -3.603287e-02 -3.328676e-02 -7.446853e+01 3.826606e-15 -1.611294e-15 7.349535e-01 2.026766e-01 -3.289102e-16 1.806531e-16 1.126687e-16 2.000000e+01
-       3 3.362174e-02 -3.372192e-02 -5.000000e-03 1.393795e+01 7.037170e-16 1.669758e-15 1.423636e+00 1.896780e-01 8.398929e-17 -3.296642e-16 6.084114e-16 -1.397545e+00
-       4 2.150806e-01 -2.316386e-28 -9.000000e-03 -1.123948e-24 -2.541647e-31 -1.998648e-28 1.471637e+00 1.562747e-25 1.489368e-15 -5.680564e-28 -1.482225e-27 -3.031941e-19
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-       2 -1.039876e-01 -3.330509e-02 -3.328676e-02 -6.294184e+01 3.826612e-15 -1.611300e-15 6.796311e-01 3.454505e-01 -2.068279e-15 1.544678e-16 1.464531e-16 2.000000e+01
-       3 4.732885e-02 -3.116908e-02 -5.000000e-03 1.286392e+01 1.075994e-15 1.525400e-15 1.348242e+00 3.232953e-01 -8.669448e-16 -4.588336e-16 5.540792e-16 -2.372310e+00
-       4 2.293959e-01 -1.292459e-28 -9.000000e-03 1.682704e-23 1.451957e-31 -4.314882e-28 1.424397e+00 -3.789174e-26 1.018392e-15 -4.329405e-28 3.716791e-28 8.197016e-20
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-       2 -9.767555e-02 -2.923389e-02 -3.328676e-02 -5.141515e+01 3.826639e-15 -1.611287e-15 5.968946e-01 4.742902e-01 -1.809109e-15 1.221412e-16 1.743694e-16 2.000000e+01
-       3 5.995781e-02 -2.735899e-02 -5.000000e-03 1.126934e+01 1.420392e-15 1.292653e-15 1.208989e+00 4.438719e-01 5.843351e-16 -5.762003e-16 4.654086e-16 -3.236890e+00
-       4 2.428394e-01 1.382619e-28 -9.000000e-03 -2.209771e-20 -4.883320e-32 1.255691e-30 1.300752e+00 3.500654e-26 -1.064743e-15 1.335050e-27 -8.564740e-31 -5.791138e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.176751e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.230432e-02 -2.398350e-02 -3.328676e-02 -3.988847e+01 3.826601e-15 -1.611258e-15 4.900816e-01 5.839987e-01 -2.729567e-16 8.472102e-17 1.950949e-16 2.000000e+01
-       3 7.089963e-02 -2.244533e-02 -5.000000e-03 9.225691e+00 1.711263e-15 9.761918e-16 1.009823e+00 5.465443e-01 -3.911692e-16 -6.737185e-16 3.455439e-16 -3.957736e+00
-       4 2.546695e-01 6.541395e-28 -9.000000e-03 -3.266640e-26 3.365822e-31 -6.506514e-29 1.102346e+00 6.400624e-26 6.156102e-17 -5.512678e-28 1.178337e-30 7.715015e-20
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-       2 -8.809057e-02 -1.776570e-02 -3.328676e-02 -2.836178e+01 3.826583e-15 -1.611320e-15 3.635003e-01 6.701507e-01 -1.559210e-15 4.389301e-17 2.083317e-16 2.000000e+01
-       3 7.960683e-02 -1.662630e-02 -5.000000e-03 6.820505e+00 1.924195e-15 5.895828e-16 7.589896e-01 6.271710e-01 4.133718e-16 -7.435082e-16 2.016421e-16 -4.511721e+00
-       4 2.641969e-01 4.228911e-28 -9.000000e-03 2.289166e-20 -2.392189e-43 9.872416e-30 8.376044e-01 -6.048113e-26 1.349658e-15 2.540619e-28 -1.217508e-30 4.064646e-20
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-       2 -8.520428e-02 -1.083129e-02 -3.328676e-02 -1.683509e+01 3.826587e-15 -1.611264e-15 2.222567e-01 7.292711e-01 -6.383239e-16 1.768108e-18 2.127626e-16 2.000000e+01
-       3 8.563251e-02 -1.013663e-02 -5.000000e-03 4.152106e+00 2.038846e-15 1.550074e-16 4.684925e-01 6.824998e-01 -3.211723e-16 -7.789875e-16 4.123484e-17 -4.884714e+00
-       4 2.708459e-01 1.674293e-27 -9.000000e-03 -2.766404e-20 -2.771940e-31 -5.864449e-29 5.209802e-01 1.992727e-25 -1.692182e-15 -2.447722e-28 -4.319688e-31 -1.523313e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.383497e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.376186e-02 -3.459984e-03 -3.328676e-02 -5.308401e+00 3.826580e-15 -1.611293e-15 7.204802e-02 7.589753e-01 6.811909e-16 -4.113748e-17 2.088469e-16 2.000000e+01
-       3 8.866233e-02 -3.238080e-03 -5.000000e-03 1.325321e+00 2.042872e-15 -2.995585e-16 1.531884e-01 7.102989e-01 -3.366226e-16 -7.787074e-16 -1.244418e-16 -5.069254e+00
-       4 2.742057e-01 2.622531e-27 -9.000000e-03 -3.788634e-20 -7.206790e-29 1.288112e-26 1.715223e-01 7.966547e-26 -3.400007e-16 3.393603e-26 -1.877057e-28 1.735624e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.176955e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.382150e-02 4.050884e-03 -3.328676e-02 6.218288e+00 3.826594e-15 -1.611241e-15 -8.106682e-02 7.580650e-01 -4.204701e-17 -8.174284e-17 1.965311e-16 2.000000e+01
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-       3 -1.073451e-02 -3.251484e-02 -5.000000e-03 1.342951e+01 -4.408773e-16 1.600137e-15 1.258092e+00 -2.653794e-01 -7.055617e-16 7.282965e-17 5.697094e-16 1.952697e+00
-       4 1.710182e-01 3.203504e-28 -9.000000e-03 5.730748e-20 -2.585585e-31 6.233782e-29 1.191579e+00 1.203287e-25 4.590150e-16 1.801517e-28 3.068679e-31 7.918957e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.600876e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.276192e-01 -3.680810e-02 -3.328676e-02 -1.001946e+02 3.826602e-15 -1.611288e-15 7.500803e-01 -1.364330e-01 -5.267822e-16 2.117245e-16 2.303786e-17 2.000000e+01
-       3 2.306486e-03 -3.444743e-02 -5.000000e-03 1.424408e+01 -1.152859e-16 1.696638e-15 1.369248e+00 -1.276829e-01 -2.208924e-16 -4.093454e-17 6.113972e-16 9.445098e-01
-       4 1.835832e-01 -2.615575e-28 -9.000000e-03 -5.175326e-20 2.120586e-31 -3.412261e-43 1.334547e+00 -1.488665e-25 -5.141910e-16 -2.172407e-28 1.212832e-30 -3.355305e-19
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-       3 1.618420e-02 -3.499054e-02 -5.000000e-03 1.447351e+01 2.411509e-16 1.730867e-15 1.429608e+00 1.516378e-02 3.752902e-16 -1.672436e-16 6.287156e-16 -1.101935e-01
-       4 1.973219e-01 -1.221666e-27 -9.000000e-03 5.660499e-20 -4.208704e-32 -1.140694e-29 1.432554e+00 -1.149209e-25 -3.748817e-16 2.453672e-29 -1.076043e-30 3.788547e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.675666e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.126770e-01 -3.646063e-02 -3.328676e-02 -7.714119e+01 3.826605e-15 -1.611293e-15 7.436048e-01 1.681853e-01 -8.107030e-17 1.857857e-16 1.041208e-16 2.000000e+01
-       3 3.035647e-02 -3.412225e-02 -5.000000e-03 1.410681e+01 6.159886e-16 1.690778e-15 1.431955e+00 1.573988e-01 -2.095504e-16 -2.989717e-16 6.162257e-16 -1.160234e+00
-       4 2.117153e-01 9.566923e-29 -9.000000e-03 2.737167e-22 2.694871e-32 3.612982e-43 1.472081e+00 2.456058e-25 3.309021e-16 3.981772e-29 4.025191e-31 -2.420353e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.199664e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.055591e-01 -3.406214e-02 -3.328676e-02 -6.561451e+01 3.826590e-15 -1.611281e-15 6.950001e-01 3.133837e-01 -1.658611e-15 1.611203e-16 1.390048e-16 2.000000e+01
-       3 4.422365e-02 -3.187759e-02 -5.000000e-03 1.316153e+01 9.912016e-16 1.566721e-15 1.371464e+00 2.932850e-01 -5.374426e-16 -4.296708e-16 5.696253e-16 -2.154664e+00
-       4 2.261270e-01 5.984516e-30 -9.000000e-03 1.878489e-60 -0.000000e+00 1.052930e-104 1.442074e+00 -7.931949e-26 3.109779e-15 -9.954430e-30 -1.307966e-31 4.844172e-20
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-       2 -9.906409e-02 -3.028971e-02 -3.328676e-02 -5.408782e+01 3.826617e-15 -1.611308e-15 6.183614e-01 4.459412e-01 -6.770491e-16 1.300977e-16 1.686387e-16 2.000000e+01
-       3 5.715824e-02 -2.834709e-02 -5.000000e-03 1.168198e+01 1.344369e-15 1.354338e-15 1.246829e+00 4.173410e-01 2.629151e-16 -5.505238e-16 4.890909e-16 -3.048168e+00
-       4 2.398392e-01 -9.092461e-28 -9.000000e-03 -8.202330e-21 8.454901e-32 6.606348e-30 1.336251e+00 -1.328004e-25 -1.948206e-15 1.729538e-29 2.448660e-31 -2.123479e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.758240e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.345388e-02 -2.529549e-02 -3.328676e-02 -4.256113e+01 3.826622e-15 -1.611283e-15 5.167803e-01 5.605110e-01 -1.017446e-15 9.381942e-17 1.909933e-16 2.000000e+01
-       3 6.854292e-02 -2.367317e-02 -5.000000e-03 9.735153e+00 1.649959e-15 1.056439e-15 1.060972e+00 5.245630e-01 2.218342e-16 -6.532307e-16 3.758421e-16 -3.804769e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.083982e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.895478e-02 -1.928093e-02 -3.328676e-02 -3.103444e+01 3.826599e-15 -1.611298e-15 3.943539e-01 6.524718e-01 1.606720e-16 5.358914e-17 2.059249e-16 2.000000e+01
-       3 7.781231e-02 -1.804436e-02 -5.000000e-03 7.405356e+00 1.882945e-15 6.844625e-16 8.211744e-01 6.106259e-01 -2.467343e-16 -7.300500e-16 2.366818e-16 -4.398996e+00
-       4 2.622254e-01 2.348570e-27 -9.000000e-03 1.177964e-25 -9.397122e-32 2.173760e-29 9.042243e-01 7.427263e-25 -1.041286e-15 1.986784e-28 -7.033789e-31 1.388746e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.319701e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.574828e-02 -1.248866e-02 -3.328676e-02 -1.950775e+01 3.826630e-15 -1.611274e-15 2.560207e-01 7.181141e-01 -8.575376e-16 1.161879e-17 2.125746e-16 2.000000e+01
-       3 8.449302e-02 -1.168770e-02 -5.000000e-03 4.788831e+00 2.021866e-15 2.586875e-16 5.386383e-01 6.720583e-01 -2.382459e-16 -7.739864e-16 7.946649e-17 -4.814825e+00
-       4 2.695851e-01 1.333837e-28 -9.000000e-03 3.621800e-26 8.528674e-33 6.402306e-29 5.980745e-01 -5.586823e-25 7.345084e-16 5.773234e-29 4.831359e-31 -3.650837e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.242506e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.396371e-02 -5.192630e-03 -3.328676e-02 -7.981064e+00 3.826556e-15 -1.611283e-15 1.073606e-01 7.547901e-01 2.785882e-16 -3.130655e-17 2.103295e-16 2.000000e+01
-       3 8.823761e-02 -4.859603e-03 -5.000000e-03 1.989219e+00 2.052081e-15 -1.940281e-16 2.276526e-01 7.063821e-01 3.589013e-17 -7.822291e-16 -8.634852e-17 -5.043459e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.640208e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.367305e-02 2.312850e-03 -3.328676e-02 3.545624e+00 3.826529e-15 -1.611292e-15 -4.563017e-02 7.610206e-01 -8.046708e-16 -7.268586e-17 2.000776e-16 2.000000e+01
-       3 8.884928e-02 2.164517e-03 -5.000000e-03 -8.858758e-01 1.968662e-15 -6.424094e-16 -9.547993e-02 7.122130e-01 4.278017e-16 -7.522236e-16 -2.490811e-16 -5.081084e+00
-       4 2.744134e-01 6.244899e-28 -9.000000e-03 -3.641069e-27 7.517944e-29 5.800032e-29 -1.055524e-01 -2.494229e-24 -1.025557e-15 2.077151e-28 1.968268e-28 5.731909e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.435845e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.488804e-02 9.725037e-03 -3.328676e-02 1.507231e+01 3.826600e-15 -1.611258e-15 -1.967803e-01 7.365541e-01 -1.938129e-16 -1.110759e-16 1.817062e-16 2.000000e+01
-       3 8.629574e-02 9.101327e-03 -5.000000e-03 -3.727398e+00 1.777088e-15 -1.054997e-15 -4.136140e-01 6.893156e-01 -4.860191e-17 -6.859720e-16 -3.987045e-16 -4.927400e+00
-       4 2.715804e-01 -9.514939e-27 -9.000000e-03 -7.456477e-20 1.545553e-42 1.605770e-43 -4.589081e-01 -9.034958e-25 2.405794e-15 -2.024593e-28 -2.624258e-28 -2.095399e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -3.034451e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.755965e-02 1.674495e-02 -3.328676e-02 2.659900e+01 3.826556e-15 -1.611334e-15 -3.399931e-01 6.823776e-01 2.211357e-15 -1.453842e-16 1.553951e-16 2.000000e+01
-       3 8.071150e-02 1.567102e-02 -5.000000e-03 -6.426922e+00 1.492136e-15 -1.404120e-15 -7.099583e-01 6.386137e-01 -1.104984e-16 -5.881690e-16 -5.272908e-16 -4.585305e+00
-       4 2.654125e-01 -4.083494e-27 -9.000000e-03 -1.366529e-19 -1.403546e-31 -2.770855e-29 -7.835410e-01 1.321688e-24 -1.865105e-15 -2.192600e-29 6.523899e-29 -9.747631e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.311475e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.158013e-02 2.308943e-02 -3.328676e-02 3.812569e+01 3.826636e-15 -1.611278e-15 -4.694917e-01 6.006763e-01 1.211934e-15 -1.733490e-16 1.237803e-16 2.000000e+01
-       3 7.238841e-02 2.160860e-02 -5.000000e-03 -8.878936e+00 1.137226e-15 -1.668607e-15 -9.692516e-01 5.621523e-01 1.082118e-16 -4.642461e-16 -6.245084e-16 -4.061783e+00
-       4 2.562916e-01 -2.877669e-27 -9.000000e-03 2.289590e-20 2.165336e-32 -4.306988e-30 -1.059741e+00 -9.069855e-26 -2.325239e-16 8.544543e-29 5.466185e-31 4.718799e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.439030e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.678731e-02 2.850256e-02 -3.328676e-02 4.965238e+01 3.826594e-15 -1.611325e-15 -5.800526e-01 4.947458e-01 2.354389e-16 -1.945047e-16 8.605149e-17 2.000000e+01
-       3 6.175496e-02 2.667457e-02 -5.000000e-03 -1.098387e+01 7.392999e-16 -1.836462e-15 -1.178863e+00 4.630156e-01 1.756473e-16 -3.240684e-16 -6.885871e-16 -3.369737e+00
-       4 2.447711e-01 1.747164e-27 -9.000000e-03 4.736681e-21 -2.909385e-31 2.484946e-29 -1.272024e+00 6.334337e-25 4.279979e-16 5.590968e-29 -9.597421e-31 -1.867733e-19
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-       2 -1.029711e-01 3.276600e-02 -3.328676e-02 6.117907e+01 3.826596e-15 -1.611254e-15 -6.672162e-01 3.688590e-01 -2.174396e-16 -2.078065e-16 4.594355e-17 2.000000e+01
-       3 4.934562e-02 3.066457e-02 -5.000000e-03 -1.265222e+01 3.270634e-16 -1.905160e-15 -1.329729e+00 3.452025e-01 5.804662e-16 -1.765821e-16 -7.142380e-16 -2.530211e+00
-       4 2.315269e-01 1.673030e-27 -9.000000e-03 2.919565e-19 3.381183e-31 5.754087e-30 -1.410608e+00 -2.423617e-25 2.329265e-16 -7.543537e-29 1.919655e-30 7.677866e-19
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-       2 -1.098822e-01 3.570777e-02 -3.328676e-02 7.270575e+01 3.826536e-15 -1.611264e-15 -7.274666e-01 2.280937e-01 4.359630e-16 -2.126580e-16 3.134527e-18 2.000000e+01
-       3 3.576268e-02 3.341767e-02 -5.000000e-03 -1.380969e+01 -7.410379e-17 -1.880722e-15 -1.416974e+00 2.134651e-01 -1.280708e-16 -3.224483e-17 -7.052113e-16 -1.574087e+00
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-       2 -1.172417e-01 3.720921e-02 -3.328676e-02 8.423244e+01 3.826610e-15 -1.611300e-15 -7.583736e-01 7.812792e-02 -1.146128e-16 -2.094923e-16 -3.933981e-17 2.000000e+01
-       3 2.163455e-02 3.482282e-02 -5.000000e-03 -1.440264e+01 -4.435972e-16 -1.775727e-15 -1.440073e+00 7.311723e-02 -4.156423e-16 1.000054e-16 -6.639751e-16 -5.422046e-01
-       4 2.028154e-01 4.555372e-28 -9.000000e-03 7.735471e-21 -9.310020e-32 1.040149e-30 -1.460674e+00 7.571069e-26 7.525776e-16 -9.922747e-30 7.152907e-32 -5.157550e-19
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-       2 -1.247528e-01 3.720977e-02 -3.328676e-02 9.575913e+01 3.826617e-15 -1.611330e-15 -7.586904e-01 -7.498930e-02 -1.478556e-15 -1.970413e-16 -8.039095e-17 2.000000e+01
-       3 7.575645e-03 3.482334e-02 -5.000000e-03 -1.440285e+01 -7.671524e-16 -1.605883e-15 -1.402429e+00 -7.017991e-02 1.058705e-15 2.147399e-16 -5.974184e-16 5.168765e-01
-       4 1.887564e-01 1.794792e-27 -9.000000e-03 -4.153345e-20 -1.058473e-32 3.921412e-30 -1.384793e+00 1.971792e-25 -9.002084e-16 1.105224e-29 2.922200e-31 6.196043e-20
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-       3 -5.846925e-03 3.341920e-02 -5.000000e-03 -1.381033e+01 -1.036696e-15 -1.388040e-15 -1.310440e+00 -2.106462e-01 -6.670731e-16 3.070963e-16 -5.124599e-16 1.551386e+00
-       4 1.756867e-01 -1.396158e-28 -9.000000e-03 -5.572975e-21 6.863561e-33 2.076103e-29 -1.257504e+00 -3.571239e-25 -1.351175e-16 4.157164e-29 -2.632882e-32 1.371395e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.508529e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.390240e-01 3.276865e-02 -3.328676e-02 1.188125e+02 3.826623e-15 -1.611290e-15 -6.687367e-01 -3.660951e-01 -2.667125e-16 -1.499527e-16 -1.511587e-16 2.000000e+01
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-       3 1.291926e-02 -3.499042e-02 -5.000000e-03 1.447346e+01 1.563540e-16 1.729144e-15 1.420544e+00 -1.811523e-02 4.452023e-17 -1.371378e-16 6.273331e-16 1.358521e-01
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-       3 2.707493e-02 -3.444834e-02 -5.000000e-03 1.424446e+01 5.283060e-16 1.707260e-15 1.436880e+00 1.247773e-01 3.586301e-17 -2.682787e-16 6.219206e-16 -9.199087e-01
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-       3 4.106828e-02 -3.251674e-02 -5.000000e-03 1.343031e+01 9.052895e-16 1.603312e-15 1.391219e+00 2.626367e-01 -6.417517e-16 -3.998537e-16 5.835402e-16 -1.931551e+00
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-       3 5.427512e-02 -2.927353e-02 -5.000000e-03 1.206942e+01 1.265732e-15 1.411430e-15 1.281358e+00 3.899022e-01 6.555973e-17 -5.238710e-16 5.106678e-16 -2.852039e+00
-       4 2.367612e-01 -1.529124e-28 -9.000000e-03 7.286002e-21 2.486446e-32 2.520006e-29 1.367647e+00 -4.780746e-26 -1.896530e-16 -3.214245e-29 6.570958e-32 1.925842e-20
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-       3 6.607209e-02 -2.484952e-02 -5.000000e-03 1.022397e+01 1.584710e-15 1.132637e-15 1.109204e+00 5.014405e-01 3.892227e-16 -6.315481e-16 4.048627e-16 -3.643033e+00
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-       3 8.319504e-02 -1.321335e-02 -5.000000e-03 5.415698e+00 1.998917e-15 3.608638e-16 6.072460e-01 6.601547e-01 -3.957774e-16 -7.670808e-16 1.170487e-16 -4.734852e+00
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-       3 8.764376e-02 -6.470554e-03 -5.000000e-03 2.649054e+00 2.055234e-15 -8.832490e-17 3.014601e-01 7.009286e-01 6.381709e-16 -7.837592e-16 -4.756460e-17 -5.007380e+00
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-       4 2.745707e-01 -2.230250e-27 -9.000000e-03 3.136307e-20 4.356083e-32 7.302145e-30 -2.184888e-02 9.396260e-25 -7.849415e-16 1.911697e-29 -3.653964e-31 2.023257e-19
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-       3 8.716528e-02 7.515527e-03 -5.000000e-03 -3.077251e+00 1.830516e-15 -9.639896e-16 -3.411919e-01 6.971532e-01 4.479177e-16 -7.040534e-16 -3.662933e-16 -4.979975e+00
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-       3 8.226327e-02 1.419466e-02 -5.000000e-03 -5.819245e+00 1.565470e-15 -1.330031e-15 -6.440221e-01 6.527561e-01 -3.883824e-16 -6.135672e-16 -4.995667e-16 -4.681118e+00
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-       3 7.454164e-02 2.030124e-02 -5.000000e-03 -8.337790e+00 1.224339e-15 -1.615526e-15 -9.131440e-01 5.820291e-01 -7.610865e-17 -4.947510e-16 -6.052737e-16 -4.198765e+00
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-       3 6.439960e-02 2.558893e-02 -5.000000e-03 -1.053162e+01 8.339319e-16 -1.806480e-15 -1.135226e+00 4.878250e-01 1.984600e-18 -3.578516e-16 -6.765980e-16 -3.544253e+00
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-       3 5.235021e-02 2.984445e-02 -5.000000e-03 -1.230846e+01 4.226534e-16 -1.897800e-15 -1.300306e+00 3.739438e-01 6.425167e-16 -2.104535e-16 -7.115474e-16 -2.736550e+00
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-       4 1.657025e-01 -7.693985e-28 -9.000000e-03 1.048314e-19 1.344940e-31 -5.480830e-29 1.113853e+00 3.122724e-25 2.158161e-15 -1.438384e-28 3.522416e-31 2.388193e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.509566e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 -3.875306e-03 -3.372054e-02 -5.000000e-03 1.393736e+01 -2.707479e-16 1.659053e-15 1.323522e+00 -1.925224e-01 9.784260e-17 1.354809e-17 5.948139e-16 1.420791e+00
-       4 1.775839e-01 -4.251073e-28 -9.000000e-03 8.069040e-20 1.168718e-31 3.809497e-29 1.272991e+00 -4.504888e-26 -1.220164e-15 2.911371e-28 -1.637771e-31 -1.667312e-19
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-       3 9.677497e-03 -3.491418e-02 -5.000000e-03 1.444124e+01 7.268976e-17 1.723542e-15 1.408434e+00 -5.135483e-02 3.317438e-16 -1.081952e-16 6.241414e-16 3.814954e-01
-       4 1.908349e-01 7.918124e-28 -9.000000e-03 -7.535594e-20 1.825242e-31 -2.338322e-31 1.393584e+00 1.653234e-25 3.962243e-16 -1.814180e-28 1.872561e-31 -3.874614e-19
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-       3 2.378481e-02 -3.469949e-02 -5.000000e-03 1.435053e+01 4.408618e-16 1.719320e-15 1.438457e+00 9.188421e-02 -3.086452e-16 -2.373577e-16 6.259339e-16 -6.771915e-01
-       4 2.049973e-01 3.790200e-28 -9.000000e-03 1.078948e-20 1.618417e-31 5.620194e-43 1.461813e+00 -1.227648e-25 -2.721747e-16 3.406036e-29 -1.114394e-31 3.617043e-19
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-       3 3.787062e-02 -3.308515e-02 -5.000000e-03 1.366959e+01 8.184050e-16 1.635148e-15 1.407505e+00 2.314170e-01 -2.509222e-16 -3.696472e-16 5.954756e-16 -1.703499e+00
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-       3 5.131602e-02 -3.013627e-02 -5.000000e-03 1.243073e+01 1.184928e-15 1.463827e-15 1.312519e+00 3.616152e-01 4.461927e-16 -4.963990e-16 5.308913e-16 -2.648903e+00
-       4 2.336148e-01 1.246624e-28 -9.000000e-03 1.896793e-20 -3.797872e-33 1.806491e-42 1.394907e+00 3.074433e-26 2.593837e-15 7.782432e-28 4.478656e-30 5.914690e-20
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-       3 6.349387e-02 -2.597180e-02 -5.000000e-03 1.069103e+01 1.515761e-15 1.204709e-15 1.154408e+00 4.772271e-01 -2.520391e-16 -6.082980e-16 4.318931e-16 -3.472792e+00
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-       3 7.380951e-02 -2.075971e-02 -5.000000e-03 8.527475e+00 1.785430e-15 8.651174e-16 9.384540e-01 5.735893e-01 2.295912e-16 -6.980670e-16 3.041627e-16 -4.144839e+00
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-       3 8.174222e-02 -1.471025e-02 -5.000000e-03 6.031385e+00 1.970226e-15 4.612896e-16 6.741244e-01 6.468149e-01 -3.167027e-16 -7.579704e-16 1.538629e-16 -4.644873e+00
-       4 2.665481e-01 2.284723e-27 -9.000000e-03 1.330583e-19 2.194629e-32 2.211910e-30 7.459152e-01 4.304877e-25 3.298165e-16 -2.031113e-28 3.207862e-31 4.386608e-19
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-       2 -8.460850e-02 -8.620285e-03 -3.328676e-02 -1.332639e+01 3.826612e-15 -1.611280e-15 1.772086e-01 7.415063e-01 -2.048288e-15 -1.155270e-17 2.125754e-16 2.000000e+01
-       3 8.688246e-02 -8.067428e-03 -5.000000e-03 3.303470e+00 2.052167e-15 1.732011e-17 3.744002e-01 6.939502e-01 -2.162283e-16 -7.831955e-16 -8.913324e-18 -4.961046e+00
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-       2 -8.361991e-02 -1.174522e-03 -3.328676e-02 -1.799702e+00 3.826641e-15 -1.611311e-15 2.546362e-02 7.619620e-01 -1.863255e-15 -5.374310e-17 2.060493e-16 2.000000e+01
-       3 8.896116e-02 -1.099194e-03 -5.000000e-03 4.498560e-01 2.021555e-15 -4.370883e-16 5.479199e-02 7.130940e-01 2.196524e-16 -7.708813e-16 -1.743013e-16 -5.087478e+00
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-       3 8.366284e-02 1.268742e-02 -5.000000e-03 -5.199533e+00 1.634596e-15 -1.251729e-15 -5.762635e-01 6.654784e-01 3.423179e-17 -6.372940e-16 -4.709409e-16 -4.767043e+00
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-       2 -8.955710e-02 2.024832e-02 -3.328676e-02 3.278036e+01 3.826640e-15 -1.611313e-15 -4.114920e-01 6.418012e-01 -1.484764e-15 -1.610917e-16 1.391633e-16 2.000000e+01
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-       2 -9.423736e-02 2.612300e-02 -3.328676e-02 4.430705e+01 3.826623e-15 -1.611250e-15 -5.314405e-01 5.466310e-01 -1.449006e-15 -1.854842e-16 1.041190e-16 2.000000e+01
-       3 6.694136e-02 2.444762e-02 -5.000000e-03 -1.005689e+01 9.274004e-16 -1.770989e-15 -1.088506e+00 5.115732e-01 -5.167995e-16 -3.903533e-16 -6.633677e-16 -3.710492e+00
-       4 2.503711e-01 -8.915887e-27 -9.000000e-03 -1.442476e-20 6.119092e-32 6.717072e-30 -1.182299e+00 2.866236e-25 -4.275555e-16 1.733591e-29 1.214662e-30 -7.342644e-19
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-       2 -9.999712e-02 3.094397e-02 -3.328676e-02 5.583374e+01 3.826610e-15 -1.611314e-15 -6.299524e-01 4.294117e-01 4.740160e-16 -2.028569e-16 6.472351e-17 2.000000e+01
-       3 5.528383e-02 2.895940e-02 -5.000000e-03 -1.193799e+01 5.182782e-16 -1.885459e-15 -1.267484e+00 4.018716e-01 9.598242e-16 -2.454762e-16 -7.071770e-16 -2.936141e+00
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-       2 -1.287376e-01 3.658934e-02 -3.328676e-02 1.019405e+02 3.826617e-15 -1.611308e-15 -7.462048e-01 -1.562460e-01 -1.331981e-15 -1.863048e-16 -9.996656e-17 2.000000e+01
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-       4 1.815935e-01 1.876696e-28 -9.000000e-03 1.199122e-20 -2.007212e-44 6.301231e-65 -1.322030e+00 -2.885160e-25 7.098671e-16 2.223331e-27 2.411439e-29 -3.010035e-20
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-       4 1.379144e-01 -8.661387e-27 -9.000000e-03 -2.627656e-20 1.030490e-32 1.023353e-30 -3.772579e-01 -1.916060e-24 -1.107558e-15 4.005732e-29 -6.925113e-31 -5.399517e-20
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-       4 1.398471e-01 -9.994093e-27 -9.000000e-03 1.135614e-21 1.894864e-32 6.423079e-43 4.724319e-01 -5.696454e-25 -4.442871e-16 1.087031e-28 1.215382e-30 4.158875e-20
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-       4 1.456111e-01 2.104098e-27 -9.000000e-03 9.666730e-21 -7.508049e-32 -1.758368e-32 6.813522e-01 2.084820e-24 1.303211e-15 -8.945519e-30 -4.267136e-31 2.147717e-20
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-       3 -2.966288e-02 -2.630797e-02 -5.000000e-03 1.083108e+01 -9.036407e-16 1.329501e-15 9.772200e-01 -4.716564e-01 -3.343690e-16 2.322808e-16 4.599566e-16 3.430615e+00
-       4 1.534239e-01 1.743837e-27 -9.000000e-03 -1.096064e-19 -0.000000e+00 -6.143653e-64 8.837183e-01 -6.589487e-25 -3.749896e-16 6.137861e-32 2.786162e-31 -3.197012e-19
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-       4 1.631806e-01 -7.983718e-28 -9.000000e-03 1.541070e-19 8.371307e-33 2.251610e-53 1.072861e+00 -3.633183e-25 1.733497e-15 -1.534465e-32 -4.360406e-32 7.944857e-19
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-       3 -6.882940e-03 -3.324662e-02 -5.000000e-03 1.373761e+01 -3.456650e-16 1.635433e-15 1.296814e+00 -2.243489e-01 -5.935775e-17 3.958993e-17 5.842532e-16 1.653635e+00
-       4 1.746930e-01 3.235408e-27 -9.000000e-03 -1.519199e-25 2.430650e-31 3.510661e-44 1.239024e+00 7.321774e-25 -2.229920e-15 9.189453e-44 6.071214e-31 -6.335851e-19
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-       3 6.465844e-03 -3.476198e-02 -5.000000e-03 1.437693e+01 -9.541371e-18 1.714197e-15 1.393365e+00 -8.448271e-02 1.329321e-16 -7.884125e-17 6.199155e-16 6.260854e-01
-       4 1.876623e-01 -1.143664e-27 -9.000000e-03 6.299619e-20 -1.982042e-31 1.105126e-30 1.369784e+00 -8.585498e-25 1.160560e-15 2.893213e-30 -1.360049e-30 2.994079e-19
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-       2 -1.178440e-01 -3.726513e-02 -3.328676e-02 -8.515918e+01 3.826588e-15 -1.611268e-15 7.597948e-01 6.282021e-02 -1.931776e-15 1.984576e-16 7.705183e-17 2.000000e+01
-       3 2.049373e-02 -3.487515e-02 -5.000000e-03 1.442475e+01 3.540011e-16 1.727038e-15 1.436744e+00 5.879127e-02 -3.266349e-16 -2.067787e-16 6.280553e-16 -4.327192e-01
-       4 2.016612e-01 -1.053834e-27 -9.000000e-03 -4.697124e-20 5.253532e-31 1.765671e-28 1.451356e+00 2.324281e-25 -3.693851e-16 4.583939e-28 2.279349e-30 -3.428687e-19
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-       3 3.463857e-02 -3.358159e-02 -5.000000e-03 1.387878e+01 7.311690e-16 1.662274e-15 1.420331e+00 1.996938e-01 -3.536654e-16 -3.391890e-16 6.060080e-16 -1.471063e+00
-       4 2.161322e-01 -1.340771e-29 -9.000000e-03 2.199103e-25 -4.615275e-31 2.014547e-29 1.470709e+00 1.515725e-25 7.237576e-16 -5.626302e-28 -3.215071e-30 2.189357e-19
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-       2 -1.035035e-01 -3.305331e-02 -3.328676e-02 -6.210581e+01 3.826613e-15 -1.611302e-15 6.745182e-01 3.553303e-01 -8.477424e-16 1.522923e-16 1.486045e-16 2.000000e+01
-       3 4.828863e-02 -3.093346e-02 -5.000000e-03 1.276503e+01 1.102215e-15 1.511480e-15 1.340268e+00 3.325414e-01 1.418880e-16 -4.679663e-16 5.485605e-16 -2.439189e+00
-       4 2.304093e-01 -1.902752e-28 -9.000000e-03 3.213166e-23 1.206031e-32 -1.900952e-29 1.418019e+00 -7.855145e-26 9.479237e-16 3.399605e-29 2.101066e-30 -4.090679e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.911414e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.725148e-02 -2.889045e-02 -3.328676e-02 -5.057912e+01 3.826610e-15 -1.611296e-15 5.899107e-01 4.829491e-01 -3.969943e-16 1.194979e-16 1.761158e-16 2.000000e+01
-       3 6.081521e-02 -2.703758e-02 -5.000000e-03 1.113524e+01 1.443591e-15 1.272344e-15 1.196484e+00 4.519754e-01 1.342771e-16 -5.841421e-16 4.576873e-16 -3.294345e+00
-       4 2.437604e-01 1.196543e-27 -9.000000e-03 1.027590e-20 6.215621e-31 2.272643e-28 1.288814e+00 2.168660e-25 1.773679e-16 6.789125e-28 1.182389e-30 2.679027e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.960106e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -9.195743e-02 -2.356225e-02 -3.328676e-02 -3.905243e+01 3.826599e-15 -1.611287e-15 4.815082e-01 5.910874e-01 -1.049029e-15 8.193305e-17 1.964057e-16 2.000000e+01
-       3 7.161237e-02 -2.205109e-02 -5.000000e-03 9.062270e+00 1.729638e-15 9.502574e-16 9.932438e-01 5.531783e-01 -4.356193e-16 -6.797118e-16 3.359656e-16 -4.003746e+00
-       4 2.554457e-01 2.411371e-28 -9.000000e-03 1.758837e-26 -2.854999e-33 -1.050644e-30 1.085234e+00 -2.126517e-25 -1.012149e-15 -8.126415e-28 -2.166611e-30 -3.584156e-20
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-       2 -8.783486e-02 -1.728362e-02 -3.328676e-02 -2.752574e+01 3.826600e-15 -1.611235e-15 3.536834e-01 6.753832e-01 1.736065e-16 4.112333e-17 2.087907e-16 2.000000e+01
-       3 8.013868e-02 -1.617515e-02 -5.000000e-03 6.634586e+00 1.935960e-15 5.595075e-16 7.390892e-01 6.320679e-01 -9.096441e-17 -7.468138e-16 1.902422e-16 -4.544985e+00
-       4 2.647820e-01 1.892545e-27 -9.000000e-03 -2.184119e-20 4.209499e-31 1.445584e-28 8.161781e-01 2.954814e-25 4.418735e-16 5.804460e-28 1.654425e-30 -4.821275e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.903672e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.505005e-02 -1.030784e-02 -3.328676e-02 -1.599905e+01 3.826569e-15 -1.611282e-15 2.115922e-01 7.324365e-01 -6.986159e-16 -1.725960e-18 2.128401e-16 2.000000e+01
-       3 8.595589e-02 -9.646751e-03 -5.000000e-03 3.951117e+00 2.042941e-15 1.222995e-16 4.462654e-01 6.854621e-01 7.137536e-16 -7.808373e-16 2.939091e-17 -4.904494e+00
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-       4 1.514343e-01 -2.288149e-27 -9.000000e-03 5.227009e-28 -0.000000e+00 2.245631e-26 8.376802e-01 -9.820756e-25 4.981840e-16 -1.525549e-26 -5.381203e-28 7.616541e-20
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-       4 1.607535e-01 -2.016635e-27 -9.000000e-03 -1.410517e-20 -1.744523e-32 4.105138e-31 1.030646e+00 2.618769e-25 3.022149e-15 -5.987030e-26 1.345175e-28 -3.692726e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.902218e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 -9.827332e-03 -3.270038e-02 -5.000000e-03 1.350759e+01 -4.185383e-16 1.609098e-15 1.267684e+00 -2.556874e-01 -1.793013e-16 6.540442e-17 5.735501e-16 1.882177e+00
-       4 1.718810e-01 -7.087247e-28 -9.000000e-03 8.074941e-26 9.970367e-34 -2.563478e-31 1.203160e+00 1.826108e-25 -2.930774e-16 1.959472e-26 6.350559e-32 4.923656e-20
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.313507e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 3.291011e-03 -3.453415e-02 -5.000000e-03 1.428070e+01 -9.032275e-17 1.701395e-15 1.375431e+00 -1.174268e-01 4.081401e-17 -5.022446e-17 6.136339e-16 8.689790e-01
-       4 1.845457e-01 2.153241e-28 -9.000000e-03 5.404758e-20 1.585419e-34 1.495539e-55 1.343336e+00 7.321182e-26 -9.078756e-16 1.253063e-30 -1.828909e-32 1.291869e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -3.039133e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 1.720915e-02 -3.497494e-02 -5.000000e-03 1.446692e+01 2.679869e-16 1.730629e-15 1.431804e+00 2.557043e-02 -1.314454e-17 -1.765854e-16 6.289677e-16 -1.871382e-01
-       4 1.983509e-01 2.473705e-28 -9.000000e-03 -3.847576e-20 1.117009e-27 7.928997e-31 1.437541e+00 -4.139547e-26 -1.040602e-15 1.852101e-30 2.924322e-27 -2.893909e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.573912e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 3.137999e-02 -3.400497e-02 -5.000000e-03 1.405733e+01 6.434530e-16 1.684684e-15 1.429719e+00 1.675362e-01 -3.364754e-16 -3.086419e-16 6.137774e-16 -1.234820e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.480271e-15 0.000000e+00 0.000000e+00 0.000000e+00
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-       3 4.520075e-02 -3.166334e-02 -5.000000e-03 1.307150e+01 1.017881e-15 1.554332e-15 1.364572e+00 3.027442e-01 1.430311e-16 -4.387505e-16 5.650371e-16 -2.223357e+00
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-       2 -9.862447e-02 -2.996641e-02 -3.328676e-02 -5.325178e+01 3.826616e-15 -1.611285e-15 6.117889e-01 4.549163e-01 -1.494628e-15 1.276330e-16 1.703518e-16 2.000000e+01
-       3 5.804331e-02 -2.804453e-02 -5.000000e-03 1.155556e+01 1.368404e-15 1.335533e-15 1.235345e+00 4.257405e-01 -1.525459e-16 -5.587354e-16 4.817209e-16 -3.108016e+00
-       4 2.407865e-01 -1.426663e-28 -9.000000e-03 2.832921e-21 -0.000000e+00 -3.612982e-42 1.325585e+00 -2.445355e-26 -1.725767e-15 -2.806928e-28 6.306761e-31 6.945736e-21
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-       2 -9.308773e-02 -2.489087e-02 -3.328676e-02 -4.172509e+01 3.826590e-15 -1.611267e-15 5.085468e-01 5.679917e-01 1.177922e-15 9.095952e-17 1.923405e-16 2.000000e+01
-       3 6.929269e-02 -2.329450e-02 -5.000000e-03 9.577952e+00 1.669529e-15 1.031728e-15 1.045280e+00 5.315639e-01 -5.326224e-16 -6.598459e-16 3.665262e-16 -3.853573e+00
-       4 2.529219e-01 1.813832e-27 -9.000000e-03 5.501329e-20 -0.000000e+00 -3.870675e-29 1.138698e+00 2.984516e-25 2.344472e-16 -2.186395e-30 -1.069375e-33 1.341357e-19
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-       2 -8.867687e-02 -1.881131e-02 -3.328676e-02 -3.019840e+01 3.826649e-15 -1.611316e-15 3.847917e-01 6.581564e-01 -9.008928e-16 5.069128e-17 2.069479e-16 2.000000e+01
-       3 7.838891e-02 -1.760486e-02 -5.000000e-03 7.224010e+00 1.896488e-15 6.551256e-16 8.019631e-01 6.159459e-01 6.189307e-16 -7.342977e-16 2.261837e-16 -4.435299e+00
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-       2 -8.556981e-02 -1.197297e-02 -3.328676e-02 -1.867172e+01 3.826647e-15 -1.611300e-15 2.455154e-01 7.217732e-01 -1.934193e-15 8.429148e-18 2.125864e-16 2.000000e+01
-       3 8.486666e-02 -1.120509e-02 -5.000000e-03 4.590655e+00 2.027880e-15 2.263694e-16 5.168521e-01 6.754827e-01 -4.039143e-16 -7.759771e-16 6.737154e-17 -4.837774e+00
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-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.194531e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -8.389189e-02 -4.651678e-03 -3.328676e-02 -7.145028e+00 3.826652e-15 -1.611349e-15 9.633594e-02 7.562763e-01 -1.780889e-15 -3.446586e-17 2.100996e-16 2.000000e+01
-       3 8.838871e-02 -4.353345e-03 -5.000000e-03 1.781918e+00 2.050016e-15 -2.271717e-16 2.044200e-01 7.077730e-01 -2.199946e-16 -7.814587e-16 -9.805035e-17 -5.052634e+00
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-       2 -8.371077e-02 2.857244e-03 -3.328676e-02 4.381661e+00 3.826570e-15 -1.611282e-15 -5.672942e-02 7.602738e-01 6.019635e-16 -7.534163e-17 1.987363e-16 2.000000e+01
-       3 8.876987e-02 2.673996e-03 -5.000000e-03 -1.094414e+00 1.958336e-15 -6.738797e-16 -1.189293e-01 7.115141e-01 2.157525e-16 -7.482560e-16 -2.608647e-16 -5.076356e+00
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-       2 -8.503378e-02 1.025091e-02 -3.328676e-02 1.590835e+01 3.826591e-15 -1.611288e-15 -2.075065e-01 7.336045e-01 2.708543e-16 -1.138844e-16 1.799514e-16 2.000000e+01
-       3 8.599001e-02 9.593477e-03 -5.000000e-03 -3.929263e+00 1.759297e-15 -1.082795e-15 -4.360360e-01 6.865552e-01 1.825720e-16 -6.801334e-16 -4.089672e-16 -4.908868e+00
-       4 2.712418e-01 -9.045149e-27 -9.000000e-03 -1.067015e-19 7.534771e-32 2.484338e-29 -4.836756e-01 -1.006614e-24 -8.110573e-16 2.016931e-28 7.496167e-31 -3.736238e-19
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-       2 -8.780754e-02 1.723110e-02 -3.328676e-02 2.743504e+01 3.826536e-15 -1.611229e-15 -3.499135e-01 6.773441e-01 -6.592963e-16 -1.472140e-16 1.534579e-16 2.000000e+01
-       3 8.019552e-02 1.612599e-02 -5.000000e-03 -6.614333e+00 1.468503e-15 -1.426185e-15 -7.301808e-01 6.339030e-01 -4.809063e-16 -5.793660e-16 -5.352162e-16 -4.553321e+00
-       4 2.648445e-01 2.493645e-27 -9.000000e-03 -3.575472e-20 -5.752172e-32 5.018030e-44 -8.054177e-01 2.013992e-24 6.179218e-16 -1.287255e-28 -5.516938e-31 3.059851e-19
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-       2 -9.192017e-02 2.351624e-02 -3.328676e-02 3.896173e+01 3.826593e-15 -1.611351e-15 -4.782062e-01 5.937620e-01 -1.466455e-15 -1.756198e-16 1.208948e-16 2.000000e+01
-       3 7.168898e-02 2.200804e-02 -5.000000e-03 -9.044427e+00 1.109340e-15 -1.684146e-15 -9.862574e-01 5.556814e-01 3.116334e-16 -4.552651e-16 -6.308048e-16 -4.017056e+00
-       4 2.555292e-01 4.210006e-27 -9.000000e-03 -1.275720e-19 3.747297e-32 4.397319e-30 -1.077441e+00 -3.194856e-25 -8.643822e-16 3.319210e-29 3.646460e-31 -3.022899e-19
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-       2 -9.720577e-02 2.885282e-02 -3.328676e-02 5.048841e+01 3.826566e-15 -1.611274e-15 -5.872097e-01 4.862296e-01 -6.931748e-16 -1.954882e-16 8.361015e-17 2.000000e+01
-       3 6.090769e-02 2.700236e-02 -5.000000e-03 -1.112055e+01 7.095898e-16 -1.844661e-15 -1.191865e+00 4.550455e-01 3.997800e-16 -3.129131e-16 -6.912422e-16 -3.313494e+00
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-       2 -1.034512e-01 3.302557e-02 -3.328676e-02 6.201510e+01 3.826591e-15 -1.611303e-15 -6.725272e-01 3.590844e-01 3.139804e-16 -2.086462e-16 4.252905e-17 2.000000e+01
-       3 4.839241e-02 3.090750e-02 -5.000000e-03 -1.275414e+01 2.972443e-16 -1.906414e-15 -1.338228e+00 3.360547e-01 6.134818e-17 -1.663569e-16 -7.150435e-16 -2.464349e+00
-       4 2.305189e-01 6.322051e-27 -9.000000e-03 2.132058e-19 2.533577e-31 -3.182905e-30 -1.417665e+00 4.997384e-26 -4.893063e-16 -1.841077e-28 7.413556e-31 7.890950e-19
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-       2 -1.104044e-01 3.586619e-02 -3.328676e-02 7.354179e+01 3.826717e-15 -1.611418e-15 -7.307173e-01 2.174549e-01 -9.689199e-16 -2.132361e-16 1.015897e-19 2.000000e+01
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-       4 2.162462e-01 -1.982540e-27 -9.000000e-03 2.538307e-21 -5.210127e-44 7.352448e-29 -1.473868e+00 -1.284583e-24 -2.375041e-15 2.485001e-28 -8.957267e-31 -8.231461e-19
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-       2 -1.177850e-01 3.726009e-02 -3.328676e-02 8.506848e+01 3.826625e-15 -1.611287e-15 -7.594328e-01 6.705412e-02 -1.349106e-15 -2.081336e-16 -4.206731e-17 2.000000e+01
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-       4 2.017740e-01 1.777102e-29 -9.000000e-03 2.118955e-19 -1.181287e-32 1.214134e-29 -1.457192e+00 7.152761e-25 2.401866e-16 -2.276405e-28 1.901703e-31 7.319380e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.131765e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.252953e-01 3.715105e-02 -3.328676e-02 9.659517e+01 3.826600e-15 -1.611269e-15 -7.575154e-01 -8.605142e-02 -7.499486e-16 -1.959003e-16 -8.329731e-17 2.000000e+01
-       3 6.574274e-03 3.476839e-02 -5.000000e-03 -1.437964e+01 -7.884676e-16 -1.591510e-15 -1.397494e+00 -8.053256e-02 4.696829e-16 2.220569e-16 -5.917052e-16 5.933575e-01
-       4 1.877691e-01 1.209724e-27 -9.000000e-03 -2.551079e-20 -2.791311e-32 -1.187938e-29 -1.377122e+00 7.877738e-26 -9.313006e-17 -9.319176e-30 -3.184164e-32 -8.042269e-19
-       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.514502e-15 0.000000e+00 0.000000e+00 0.000000e+00
-       2 -1.326324e-01 3.554346e-02 -3.328676e-02 1.081219e+02 3.826613e-15 -1.611299e-15 -7.250425e-01 -2.356859e-01 -1.302859e-15 -1.754274e-16 -1.206784e-16 2.000000e+01
-       3 -6.781872e-03 3.326390e-02 -5.000000e-03 -1.374489e+01 -1.054114e-15 -1.370823e-15 -1.301868e+00 -2.205704e-01 -1.970296e-16 3.127105e-16 -5.063081e-16 1.624101e+00
-       4 1.747898e-01 2.028907e-28 -9.000000e-03 1.068134e-25 1.560294e-44 -1.219782e-30 -1.246651e+00 -2.106226e-25 1.677234e-15 4.886878e-29 8.712644e-32 2.739635e-19
diff --git a/OndselSolver/MBDynDrive.cpp b/OndselSolver/MBDynDrive.cpp
new file mode 100644
index 0000000..f116f54
--- /dev/null
+++ b/OndselSolver/MBDynDrive.cpp
@@ -0,0 +1,78 @@
+#include <regex>
+
+#include "MBDynDrive.h"
+
+using namespace MbD;
+
+void MbD::MBDynDrive::parseMBDyn(std::string line)
+{
+	driveString = line;
+	size_t previousPos = 0;
+	auto pos = line.find(":");
+	auto front = line.substr(previousPos, pos - previousPos);
+	assert(front.find("drive caller") != std::string::npos);
+	auto arguments = std::vector<std::string>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = line.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = line.substr(previousPos + 1, pos - previousPos - 1);
+			arguments.push_back(argument);
+		}
+		else {
+			argument = line.substr(previousPos + 1);
+			arguments.push_back(argument);
+			break;
+		}
+	}
+	auto iss = std::istringstream(arguments.at(0));
+	iss >> name;
+	arguments.erase(arguments.begin());
+	assert(arguments.at(0).find("name") != std::string::npos);
+	arguments.erase(arguments.begin());
+	iss = std::istringstream(arguments.at(0));
+	iss >> driveName;
+	driveName = std::regex_replace(driveName, std::regex("\""), "");
+	arguments.erase(arguments.begin());
+	readFunction(arguments);
+}
+
+void MbD::MBDynDrive::readFunction(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	std::string str;
+	auto iss = std::istringstream(args.at(0));
+	iss >> str;
+	if (str.find("ramp") != std::string::npos) {
+		args.erase(args.begin());
+		std::string slope, initValue, initTime, finalTime;
+		slope = popOffTop(args);
+		initTime = popOffTop(args);
+		finalTime = popOffTop(args);
+		initValue = popOffTop(args);
+		slope.erase(remove_if(slope.begin(), slope.end(), isspace), slope.end());
+		initTime.erase(remove_if(initTime.begin(), initTime.end(), isspace), initTime.end());
+		finalTime.erase(remove_if(finalTime.begin(), finalTime.end(), isspace), finalTime.end());
+		initValue.erase(remove_if(initValue.begin(), initValue.end(), isspace), initValue.end());
+
+		//f = slope*(time - t0) + f0
+		//rampstep(time, t0, f0, t1, f1)
+		//t0 = initTime
+		//f0 = initValue
+		//t1 = finalTime
+		//f1 = initValue + slope * (finalTime - initTime)
+		auto ss = std::stringstream();
+		ss << "rampstep(time, " << initTime << ", " << initValue << ", " << finalTime << ", "
+			<< initValue << " + " << slope << "*(" << finalTime << " - " << initTime << "))";
+		formula = ss.str();
+	}
+	else {
+		assert(false);
+	}
+}
+
+void MbD::MBDynDrive::createASMT()
+{
+	assert(false);
+}
diff --git a/OndselSolver/MBDynDrive.h b/OndselSolver/MBDynDrive.h
new file mode 100644
index 0000000..a4dad0a
--- /dev/null
+++ b/OndselSolver/MBDynDrive.h
@@ -0,0 +1,24 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+#include "MBDynElement.h"
+
+namespace MbD {
+	class MBDynDrive : public MBDynElement
+	{
+	public:
+        void parseMBDyn(std::string line);
+		void readFunction(std::vector<std::string>& args);
+		void createASMT() override;
+
+        std::string driveString, driveName, formula;
+
+	};
+}
+
diff --git a/OndselSolver/MBDynItem.cpp b/OndselSolver/MBDynItem.cpp
index aae8444..401dd5a 100644
--- a/OndselSolver/MBDynItem.cpp
+++ b/OndselSolver/MBDynItem.cpp
@@ -32,6 +32,55 @@ void MbD::MBDynItem::parseMBDyn(std::vector<std::string>& lines)
 	assert(false);
 }
 
+std::vector<std::string> MbD::MBDynItem::collectArgumentsFor(std::string title, std::string& statement)
+{
+	size_t previousPos = 0;
+	auto pos = statement.find(":");
+	auto front = statement.substr(previousPos, pos - previousPos);
+	assert(front.find(title) != std::string::npos);
+	auto arguments = std::vector<std::string>();
+	std::string argument;
+	while (true) {
+		previousPos = pos;
+		pos = statement.find(",", pos + 1);
+		if (pos != std::string::npos) {
+			argument = statement.substr(previousPos + 1, pos - previousPos - 1);
+			arguments.push_back(argument);
+		}
+		else {
+			argument = statement.substr(previousPos + 1);
+			arguments.push_back(argument);
+			break;
+		}
+	}
+	auto arguments2 = std::vector<std::string>();
+	while (!arguments.empty()) {
+		argument = arguments[0];
+		auto n = std::count(argument.begin(), argument.end(), '"');
+		if ((n % 2) == 0) {
+			arguments2.push_back(argument);
+			arguments.erase(arguments.begin());
+		}
+		else {
+			//Need to find matching '"'
+			auto it = std::find_if(arguments.begin() + 1, arguments.end(), [](const std::string& s) {
+				auto nn = std::count(s.begin(), s.end(), '"');
+				if ((nn % 2) == 1) return true;
+				});
+			std::vector<std::string> needToCombineArgs(arguments.begin(), it + 1);
+			arguments.erase(arguments.begin(), it + 1);
+			std::stringstream ss;
+			ss << needToCombineArgs[0];
+			needToCombineArgs.erase(needToCombineArgs.begin());
+			for (auto& arg : needToCombineArgs) {
+				ss << ',' << arg;
+			}
+			arguments2.push_back(ss.str());
+		}
+	}
+	return arguments2;
+}
+
 std::vector<std::string>::iterator MbD::MBDynItem::findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens)
 {
 	auto it = std::find_if(lines.begin(), lines.end(), [&](const std::string& line) {
@@ -56,6 +105,21 @@ std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynItem::mbdynNo
 	return owner->mbdynNodes();
 }
 
+std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynItem::mbdynBodies()
+{
+	return owner->mbdynBodies();
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynItem::mbdynJoints()
+{
+	return owner->mbdynJoints();
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynItem::mbdynDrives()
+{
+	return owner->mbdynDrives();
+}
+
 std::vector<std::string> MbD::MBDynItem::nodeNames()
 {
 	return owner->nodeNames();
@@ -96,6 +160,18 @@ std::shared_ptr<ASMTAssembly> MbD::MBDynItem::asmtAssembly()
 	return owner->asmtAssembly();
 }
 
+std::string MbD::MBDynItem::formulaFromDrive(std::string driveName, std::string varName)
+{
+	std::vector<std::string> tokens{ "drive:", driveName };
+	auto drives = mbdynDrives();
+	auto it = std::find_if(drives->begin(), drives->end(), [&](auto& drive) {
+		return lineHasTokens(drive->driveName, tokens);
+		});
+	auto formula = (*it)->formula;
+	assert(varName == "Time");
+	return formula;
+}
+
 FColDsptr MbD::MBDynItem::readVector3(std::vector<std::string>& args)
 {
 	auto parser = std::make_shared<SymbolicParser>();
@@ -336,3 +412,11 @@ std::string MbD::MBDynItem::readStringOffTop(std::vector<std::string>& args)
 	iss >> str;
 	return str;
 }
+
+std::string MbD::MBDynItem::readToken(std::string& line)
+{
+	auto iss = std::istringstream(line);
+	std::string str;
+	iss >> str;
+	return str;
+}
diff --git a/OndselSolver/MBDynItem.h b/OndselSolver/MBDynItem.h
index cc403b0..b4d8745 100644
--- a/OndselSolver/MBDynItem.h
+++ b/OndselSolver/MBDynItem.h
@@ -16,6 +16,8 @@ namespace MbD {
 	class MBDynNode;
 	class ASMTItem;
 	class MBDynBody;
+	class MBDynJoint;
+	class MBDynDrive;
 	class ASMTAssembly;
 
 	class MBDynItem
@@ -28,9 +30,13 @@ namespace MbD {
 		void noop();
 		//void setName(std::string str);
 		virtual void parseMBDyn(std::vector<std::string>& lines);
+		static std::vector<std::string> collectArgumentsFor(std::string title, std::string& statement);
 		std::vector<std::string>::iterator findLineWith(std::vector<std::string>& lines, std::vector<std::string>& tokens);
 		bool lineHasTokens(const std::string& line, std::vector<std::string>& tokens);
 		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints();
+		virtual std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives();
 		virtual std::vector<std::string> nodeNames();
 		virtual std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables();
 		virtual std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences();
@@ -39,6 +45,7 @@ namespace MbD {
 		virtual int nodeidAt(std::string nodeName);
 		virtual std::shared_ptr<MBDynBody> bodyWithNode(std::string nodeName);
 		virtual std::shared_ptr<ASMTAssembly> asmtAssembly();
+		virtual std::string formulaFromDrive(std::string driveName, std::string varName);
 
 		FColDsptr readVector3(std::vector<std::string>& args);
 		FColDsptr readPosition(std::vector<std::string>& args);
@@ -47,6 +54,7 @@ namespace MbD {
 		FMatDsptr readBasicOrientation(std::vector<std::string>& args);
 		std::string popOffTop(std::vector<std::string>& args);
 		std::string readStringOffTop(std::vector<std::string>& args);
+		std::string readToken(std::string& line);
 
 		std::string name;
 		MBDynItem* owner;
diff --git a/OndselSolver/MBDynJoint.cpp b/OndselSolver/MBDynJoint.cpp
index 02b0a45..158c696 100644
--- a/OndselSolver/MBDynJoint.cpp
+++ b/OndselSolver/MBDynJoint.cpp
@@ -20,25 +20,26 @@ void MbD::MBDynJoint::initialize()
 void MbD::MBDynJoint::parseMBDyn(std::string line)
 {
 	jointString = line;
-	size_t previousPos = 0;
-	auto pos = line.find(":");
-	auto front = line.substr(previousPos, pos - previousPos);
-	assert(front.find("joint") != std::string::npos);
-	auto arguments = std::vector<std::string>();
-	std::string argument;
-	while (true) {
-		previousPos = pos;
-		pos = line.find(",", pos + 1);
-		if (pos != std::string::npos) {
-			argument = line.substr(previousPos + 1, pos - previousPos - 1);
-			arguments.push_back(argument);
-		}
-		else {
-			argument = line.substr(previousPos + 1);
-			arguments.push_back(argument);
-			break;
-		}
-	}
+	auto arguments = collectArgumentsFor("joint", line);
+	//size_t previousPos = 0;
+	//auto pos = line.find(":");
+	//auto front = line.substr(previousPos, pos - previousPos);
+	//assert(front.find("joint") != std::string::npos);
+	//auto arguments = std::vector<std::string>();
+	//std::string argument;
+	//while (true) {
+	//	previousPos = pos;
+	//	pos = line.find(",", pos + 1);
+	//	if (pos != std::string::npos) {
+	//		argument = line.substr(previousPos + 1, pos - previousPos - 1);
+	//		arguments.push_back(argument);
+	//	}
+	//	else {
+	//		argument = line.substr(previousPos + 1);
+	//		arguments.push_back(argument);
+	//		break;
+	//	}
+	//}
 	auto ss = std::stringstream();
 	auto iss = std::istringstream(arguments.at(0));
 	iss >> name;
@@ -119,7 +120,7 @@ void MbD::MBDynJoint::parseMBDyn(std::string line)
 		mkr1->nodeStr = "Assembly";
 		mkr1->rPmP = std::make_shared<FullColumn<double>>(3);
 		mkr1->aAPm = FullMatrixDouble::identitysptr(3);
-		readMarkerJ(arguments);
+		readClampMarkerJ(arguments);
 		return;
 	}
 	else if (joint_type == "prismatic") {
@@ -160,6 +161,15 @@ void MbD::MBDynJoint::readMarkerJ(std::vector<std::string>& args)
 	mkr2->parseMBDyn(args);
 }
 
+void MbD::MBDynJoint::readClampMarkerJ(std::vector<std::string>& args)
+{
+	if (args.empty()) return;
+	mkr2 = std::make_shared<MBDynMarker>();
+	mkr2->owner = this;
+	mkr2->nodeStr = readStringOffTop(args);
+	mkr2->parseMBDynClamp(args);
+}
+
 void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 {
 	if (args.empty()) return;
@@ -177,7 +187,8 @@ void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 		auto ss = std::stringstream();
 		ss << slope << "*(time - " << initTime << ") + " << initValue;
 		formula = ss.str();
-	} else if (str.find("single") != std::string::npos) {
+	}
+	else if (str.find("single") != std::string::npos) {
 		args.erase(args.begin());
 		auto vec3 = readVector3(args);
 		assert(vec3->at(0) == 0 && vec3->at(1) == 0 && vec3->at(2) == 1);
@@ -185,6 +196,11 @@ void MbD::MBDynJoint::readFunction(std::vector<std::string>& args)
 		formula = popOffTop(args);
 		formula = std::regex_replace(formula, std::regex("\""), "");
 	}
+	else if (str.find("string") != std::string::npos) {
+		args.erase(args.begin());
+		formula = popOffTop(args);
+		formula = std::regex_replace(formula, std::regex("\""), "");
+	}
 	else {
 		assert(false);
 	}
@@ -216,7 +232,7 @@ void MbD::MBDynJoint::createASMT()
 		asmtItem = asmtMotion;
 		asmtMotion->setName(name.append("Motion"));
 		asmtMotion->setMotionJoint(asmtJoint->fullName(""));
-		asmtMotion->setRotationZ(formula);
+		asmtMotion->setRotationZ(asmtFormulaIntegral());
 		asmtAsm->addMotion(asmtMotion);
 		return;
 	}
@@ -252,3 +268,37 @@ void MbD::MBDynJoint::createASMT()
 	asmtJoint->setMarkerJ(mkr2->asmtItem->fullName(""));
 	asmtAssembly()->addJoint(asmtJoint);
 }
+
+std::string MbD::MBDynJoint::asmtFormula()
+{
+	auto ss = std::stringstream();
+	std::string drivestr = "model::drive";
+	size_t previousPos = 0;
+	auto pos = formula.find(drivestr);
+	ss << formula.substr(previousPos, pos - previousPos);
+	while (pos != std::string::npos) {
+		previousPos = pos;
+		pos = formula.find('(', pos + 1);
+		previousPos = pos;
+		pos = formula.find(',', pos + 1);
+		auto driveName = formula.substr(previousPos + 1, pos - previousPos - 1);
+		driveName = readToken(driveName);
+		previousPos = pos;
+		pos = formula.find(')', pos + 1);
+		auto varName = formula.substr(previousPos + 1, pos - previousPos - 1);
+		varName = readToken(varName);
+		//Insert drive formula
+		ss << formulaFromDrive(driveName, varName);
+		previousPos = pos;
+		pos = formula.find(drivestr, pos + 1);
+		ss << formula.substr(previousPos + 1, pos - previousPos);
+	}
+	return ss.str();
+}
+
+std::string MbD::MBDynJoint::asmtFormulaIntegral()
+{
+	auto ss = std::stringstream();
+	ss << "integral(time, " << asmtFormula() << ")";
+	return ss.str();
+}
diff --git a/OndselSolver/MBDynJoint.h b/OndselSolver/MBDynJoint.h
index 09dc0fb..be2f68e 100644
--- a/OndselSolver/MBDynJoint.h
+++ b/OndselSolver/MBDynJoint.h
@@ -18,8 +18,11 @@ namespace MbD {
         void parseMBDyn(std::string line);
         void readMarkerI(std::vector<std::string>& args);
         void readMarkerJ(std::vector<std::string>& args);
+        void readClampMarkerJ(std::vector<std::string>& args);
         void readFunction(std::vector<std::string>& args);
         void createASMT() override;
+        std::string asmtFormula();
+        std::string asmtFormulaIntegral();
 
         std::string jointString, joint_type, node_1_label, node_2_label;
         std::shared_ptr<MBDynMarker> mkr1, mkr2;
diff --git a/OndselSolver/MBDynMarker.cpp b/OndselSolver/MBDynMarker.cpp
index 37fd175..642c60e 100644
--- a/OndselSolver/MBDynMarker.cpp
+++ b/OndselSolver/MBDynMarker.cpp
@@ -32,6 +32,18 @@ void MbD::MBDynMarker::parseMBDyn(std::vector<std::string>& args)
 	}
 }
 
+void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
+{
+	//rOmO = rOPO + aAOP*rPmP
+	//aAOm = aAOP * aAPm
+	auto rOmO = std::make_shared<FullColumn<double>>(3);
+	auto aAOm = FullMatrix<double>::identitysptr(3);
+	auto rOPO = readPosition(args);
+	auto aAOP = readOrientation(args);
+	rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
+	aAPm = aAOP->transposeTimesFullMatrix(aAOm);
+}
+
 void MbD::MBDynMarker::createASMT()
 {
 	auto asmtAsm = asmtAssembly();
diff --git a/OndselSolver/MBDynMarker.h b/OndselSolver/MBDynMarker.h
index 0d3d95d..34dbf85 100644
--- a/OndselSolver/MBDynMarker.h
+++ b/OndselSolver/MBDynMarker.h
@@ -14,7 +14,8 @@ namespace MbD {
 	class MBDynMarker : public MBDynItem
 	{
 	public:
-		void parseMBDyn(std::vector<std::string>& args) override;
+		void parseMBDyn(std::vector<std::string>& args);
+		void parseMBDynClamp(std::vector<std::string>& args);
 		void createASMT() override;
 
 		std::string nodeStr;
diff --git a/OndselSolver/MBDynNode.cpp b/OndselSolver/MBDynNode.cpp
index 675f5fa..dfea1af 100644
--- a/OndselSolver/MBDynNode.cpp
+++ b/OndselSolver/MBDynNode.cpp
@@ -20,13 +20,7 @@ void MbD::MBDynNode::outputLine(int i, std::ostream& os)
 	auto x = asmtPart->xs->at(i);
 	auto y = asmtPart->ys->at(i);
 	auto z = asmtPart->zs->at(i);
-	auto bryantAngles = std::make_shared<EulerAngles<double>>();
-	bryantAngles->setRotOrder(1, 2, 3);
-	bryantAngles->at(0) = asmtPart->bryxs->at(i);
-	bryantAngles->at(1) = asmtPart->bryys->at(i);
-	bryantAngles->at(2) = asmtPart->bryzs->at(i);
-	bryantAngles->calc();
-	auto aA = bryantAngles->aA;
+	auto aA = asmtPart->getRotationMatrix(i);
 	auto vx = asmtPart->vxs->at(i);
 	auto vy = asmtPart->vys->at(i);
 	auto vz = asmtPart->vzs->at(i);
diff --git a/OndselSolver/MBDynSystem.cpp b/OndselSolver/MBDynSystem.cpp
index 0c24a3b..fd55db7 100644
--- a/OndselSolver/MBDynSystem.cpp
+++ b/OndselSolver/MBDynSystem.cpp
@@ -3,6 +3,7 @@
 #include <fstream>	
 #include <algorithm>
 #include <numeric>
+#include <iomanip>
 
 #include "MBDynSystem.h"
 #include "CREATE.h"
@@ -14,12 +15,12 @@
 #include "ASMTConstantGravity.h"
 #include "ASMTTime.h"
 #include "MBDynBody.h"
+#include "MBDynJoint.h"
 #include "MBDynStructural.h"
 #include "SymbolicParser.h"
 #include "BasicUserFunction.h"
-#include "MBDynJoint.h"
 #include "MBDynReference.h"
-#include <iomanip>
+#include "MBDynDrive.h"
 
 using namespace MbD;
 
@@ -38,7 +39,6 @@ void MbD::MBDynSystem::runFile(const char* filename)
 	system->setFilename(filename);
 	system->parseMBDyn(statements);
 	system->runKINEMATIC();
-	system->outputFiles();
 }
 
 void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)
@@ -51,7 +51,7 @@ void MbD::MBDynSystem::parseMBDyn(std::vector<std::string>& lines)
 	readReferences(lines);
 	readNodesBlock(lines);
 	readElementsBlock(lines);
-
+	assert(lines.empty());
 }
 
 std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynSystem::mbdynNodes()
@@ -59,6 +59,21 @@ std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> MbD::MBDynSystem::mbdyn
 	return nodes;
 }
 
+std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> MbD::MBDynSystem::mbdynBodies()
+{
+	return bodies;
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> MbD::MBDynSystem::mbdynJoints()
+{
+	return joints;
+}
+
+std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> MbD::MBDynSystem::mbdynDrives()
+{
+	return drives;
+}
+
 std::shared_ptr<std::map<std::string, Symsptr>> MbD::MBDynSystem::mbdynVariables()
 {
 	return variables;
@@ -77,7 +92,8 @@ void MbD::MBDynSystem::createASMT()
 	asmtItem->setName("Assembly");
 	initialValue->createASMT();
 	for (auto& node : *nodes) node->createASMT();
-	for (auto& element : *elements) element->createASMT();
+	for (auto& body : *bodies) body->createASMT();
+	for (auto& joint : *joints) joint->createASMT();
 }
 
 std::shared_ptr<MBDynNode> MbD::MBDynSystem::nodeAt(std::string nodeName)
@@ -95,12 +111,8 @@ int MbD::MBDynSystem::nodeidAt(std::string nodeName)
 
 std::shared_ptr<MBDynBody> MbD::MBDynSystem::bodyWithNode(std::string nodeName)
 {
-	for (auto& element : *elements) {
-		std::string str = typeid(element).name();
-		if (str.find("MBDynBody") != std::string::npos) {
-			auto body = std::static_pointer_cast<MBDynBody>(element);
-			if (body->nodeName == nodeName) return body;
-		}
+	for (auto& body : *bodies) {
+		if (body->nodeName == nodeName) return body;
 	}
 	return nullptr;
 }
@@ -122,8 +134,10 @@ std::vector<std::string> MbD::MBDynSystem::nodeNames()
 void MbD::MBDynSystem::runKINEMATIC()
 {
 	createASMT();
+	asmtAssembly()->outputFile("assembly.asmt");
 	std::static_pointer_cast<ASMTAssembly>(asmtItem)->runKINEMATIC();
 	outputFiles();
+	asmtAssembly()->outputFile("assembly2.asmt");
 }
 
 void MbD::MBDynSystem::outputFiles()
@@ -302,31 +316,47 @@ void MbD::MBDynSystem::parseMBDynNodes(std::vector<std::string>& lines)
 
 void MbD::MBDynSystem::parseMBDynElements(std::vector<std::string>& lines)
 {
-	elements = std::make_shared<std::vector<std::shared_ptr<MBDynElement>>>();
-	std::vector<std::string> bodyToken{ "body:" };
-	std::vector<std::string> jointToken{ "joint:" };
+	assert(lines[0].find("begin: elements") != std::string::npos);
+	lines.erase(lines.begin());
+	bodies = std::make_shared<std::vector<std::shared_ptr<MBDynBody>>>();
+	joints = std::make_shared<std::vector<std::shared_ptr<MBDynJoint>>>();
+	drives = std::make_shared<std::vector<std::shared_ptr<MBDynDrive>>>();
+	std::vector<std::string> bodyTokens{ "body:" };
+	std::vector<std::string> jointTokens{ "joint:" };
+	std::vector<std::string> driveTokens{ "drive", "caller:" };
 	std::vector<std::string>::iterator it;
 	while (true) {
-		it = findLineWith(lines, bodyToken);
+		it = findLineWith(lines, bodyTokens);
 		if (it != lines.end()) {
 			auto body = std::make_shared<MBDynBody>();
 			body->owner = this;
 			body->parseMBDyn(*it);
-			elements->push_back(body);
+			bodies->push_back(body);
 			lines.erase(it);
 			continue;
 		}
-		it = findLineWith(lines, jointToken);
+		it = findLineWith(lines, jointTokens);
 		if (it != lines.end()) {
 			auto joint = std::make_shared<MBDynJoint>();
 			joint->owner = this;
 			joint->parseMBDyn(*it);
-			elements->push_back(joint);
+			joints->push_back(joint);
+			lines.erase(it);
+			continue;
+		}
+		it = findLineWith(lines, driveTokens);
+		if (it != lines.end()) {
+			auto drive = std::make_shared<MBDynDrive>();
+			drive->owner = this;
+			drive->parseMBDyn(*it);
+			drives->push_back(drive);
 			lines.erase(it);
 			continue;
 		}
 		break;
 	}
+	assert(lines[0].find("end: elements") != std::string::npos);
+	lines.erase(lines.begin());
 }
 
 void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
@@ -349,6 +379,7 @@ void MbD::MBDynSystem::parseMBDynVariables(std::vector<std::string>& lines)
 			auto userFunc = std::make_shared<BasicUserFunction>(str, 1.0);
 			parser->parseUserFunction(userFunc);
 			auto sym = parser->stack->top();
+			auto val = sym->getValue();
 			variables->insert(std::make_pair(variable, sym));
 			lines.erase(it);
 		}
diff --git a/OndselSolver/MBDynSystem.h b/OndselSolver/MBDynSystem.h
index cbfb812..17f2e75 100644
--- a/OndselSolver/MBDynSystem.h
+++ b/OndselSolver/MBDynSystem.h
@@ -11,6 +11,7 @@
 #include <string>
 
 #include "MBDynItem.h"
+#include "MBDynDrive.h"
 
 namespace MbD {
     class MBDynData;
@@ -37,6 +38,9 @@ namespace MbD {
         void parseMBDynLabels(std::vector<std::string>& lines);
         void parseMBDynReferences(std::vector<std::string>& lines);
         std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> mbdynNodes() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> mbdynBodies() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> mbdynJoints() override;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> mbdynDrives() override;
         std::shared_ptr<std::map<std::string, Symsptr>> mbdynVariables() override;
         std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> mbdynReferences() override;
         void createASMT() override;
@@ -63,7 +67,9 @@ namespace MbD {
         std::shared_ptr<MBDynInitialValue> initialValue;
         std::shared_ptr<MBDynControlData> controlData;
         std::shared_ptr<std::vector<std::shared_ptr<MBDynNode>>> nodes;
-        std::shared_ptr<std::vector<std::shared_ptr<MBDynElement>>> elements;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynBody>>> bodies;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynJoint>>> joints;
+        std::shared_ptr<std::vector<std::shared_ptr<MBDynDrive>>> drives;
         std::shared_ptr<std::map<std::string, Symsptr>> variables;
         std::shared_ptr<std::map<std::string, int>> labels;
         std::shared_ptr<std::map<std::string, std::shared_ptr<MBDynReference>>> references;
diff --git a/OndselSolver/MbdMath.cpp b/OndselSolver/MbdMath.cpp
index 993d98c..632aaa5 100644
--- a/OndselSolver/MbdMath.cpp
+++ b/OndselSolver/MbdMath.cpp
@@ -6,4 +6,9 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "MbdMath.h"
+#include "MbDMath.h"
+
+void MbD::MbDMath::noop()
+{
+	//No Operations
+}
diff --git a/OndselSolver/MbdMath.h b/OndselSolver/MbdMath.h
index fe2abce..8abf4d2 100644
--- a/OndselSolver/MbdMath.h
+++ b/OndselSolver/MbdMath.h
@@ -9,8 +9,11 @@
 #pragma once
 
 namespace MbD {
-	class MbdMath
+	class MbDMath
 	{
+	public:
+		void noop();
+
 	};
 }
 
diff --git a/OndselSolver/Negative.cpp b/OndselSolver/Negative.cpp
index b6d5c11..e26c41e 100644
--- a/OndselSolver/Negative.cpp
+++ b/OndselSolver/Negative.cpp
@@ -22,11 +22,31 @@ double MbD::Negative::getValue()
 
 Symsptr MbD::Negative::differentiateWRTx()
 {
-	return std::make_shared<Constant>(-1);
+	return sptrConstant(-1);
+}
+
+Symsptr MbD::Negative::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expand = xx->expandUntil(xx, set);
+	return std::make_shared<Negative>(expand);
+}
+
+Symsptr MbD::Negative::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simple = xx->simplifyUntil(xx, set);
+	if (simple->isConstant()) {
+		return sptrConstant(-simple->getValue());
+	}
+	return std::make_shared<Negative>(simple);
+}
+
+Symsptr MbD::Negative::copyWith(Symsptr arg)
+{
+	return std::make_shared<Negative>(arg);
 }
 
 std::ostream& MbD::Negative::printOn(std::ostream& s) const
 {
-	s << "-(" << xx << ")";
+	s << "-(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Negative.h b/OndselSolver/Negative.h
index dd31296..9a736b8 100644
--- a/OndselSolver/Negative.h
+++ b/OndselSolver/Negative.h
@@ -19,6 +19,9 @@ namespace MbD {
         Negative(Symsptr arg);
         double getValue() override;
         Symsptr differentiateWRTx() override;
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/Numeric.h b/OndselSolver/Numeric.h
index 5f5686d..d4bd4e9 100644
--- a/OndselSolver/Numeric.h
+++ b/OndselSolver/Numeric.h
@@ -9,10 +9,10 @@
 #pragma once
 #include <vector>
 
-#include "MbdMath.h"
+#include "MbDMath.h"
 
 namespace MbD {
-    class Numeric : public MbdMath
+    class Numeric : public MbDMath
     {
         //
     public:
diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj
index da879e1..d328b2c 100644
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -219,6 +219,7 @@
     <ClCompile Include="FunctionXcParameter.cpp" />
     <ClCompile Include="FunctionXY.cpp" />
     <ClCompile Include="GeneralSpline.cpp" />
+    <ClCompile Include="Integral.cpp" />
     <ClCompile Include="Ln.cpp" />
     <ClCompile Include="Log10.cpp" />
     <ClCompile Include="LogN.cpp" />
@@ -226,6 +227,7 @@
     <ClCompile Include="MBDynBody.cpp" />
     <ClCompile Include="MBDynControlData.cpp" />
     <ClCompile Include="MBDynData.cpp" />
+    <ClCompile Include="MBDynDrive.cpp" />
     <ClCompile Include="MBDynElement.cpp" />
     <ClCompile Include="MBDynInitialValue.cpp" />
     <ClCompile Include="MBDynItem.cpp" />
@@ -237,6 +239,8 @@
     <ClCompile Include="MBDynSystem.cpp" />
     <ClCompile Include="MomentOfInertiaSolver.cpp" />
     <ClCompile Include="Negative.cpp" />
+    <ClCompile Include="PiecewiseFunction.cpp" />
+    <ClCompile Include="Polynomial.cpp" />
     <ClCompile Include="PosVelAccData.cpp" />
     <ClCompile Include="DiagonalMatrix.cpp" />
     <ClCompile Include="DifferenceOperator.cpp" />
@@ -337,7 +341,7 @@
     <ClCompile Include="MatrixLDU.cpp" />
     <ClCompile Include="MatrixSolver.cpp" />
     <ClCompile Include="MaximumIterationError.cpp" />
-    <ClCompile Include="MbdMath.cpp" />
+    <ClCompile Include="MbDMath.cpp" />
     <ClCompile Include="NewtonRaphson.cpp" />
     <ClCompile Include="NewtonRaphsonError.cpp" />
     <ClCompile Include="NoRotationJoint.cpp" />
@@ -367,6 +371,7 @@
     <ClCompile Include="RackPinConstraintIqcJc.cpp" />
     <ClCompile Include="RackPinConstraintIqcJqc.cpp" />
     <ClCompile Include="RackPinJoint.cpp" />
+    <ClCompile Include="RampStepFunction.cpp" />
     <ClCompile Include="Reciprocal.cpp" />
     <ClCompile Include="RedundantConstraint.cpp" />
     <ClCompile Include="RevCylJoint.cpp" />
@@ -390,6 +395,7 @@
     <ClCompile Include="StableBackwardDifference.cpp" />
     <ClCompile Include="LDUFullMat.cpp" />
     <ClCompile Include="StateData.cpp" />
+    <ClCompile Include="StepFunction.cpp" />
     <ClCompile Include="Sum.cpp" />
     <ClCompile Include="Symbolic.cpp" />
     <ClCompile Include="SymbolicParser.cpp" />
@@ -505,6 +511,7 @@
     <ClInclude Include="FunctionXcParameter.h" />
     <ClInclude Include="FunctionXY.h" />
     <ClInclude Include="GeneralSpline.h" />
+    <ClInclude Include="Integral.h" />
     <ClInclude Include="Ln.h" />
     <ClInclude Include="Log10.h" />
     <ClInclude Include="LogN.h" />
@@ -512,6 +519,7 @@
     <ClInclude Include="MBDynBody.h" />
     <ClInclude Include="MBDynControlData.h" />
     <ClInclude Include="MBDynData.h" />
+    <ClInclude Include="MBDynDrive.h" />
     <ClInclude Include="MBDynElement.h" />
     <ClInclude Include="MBDynInitialValue.h" />
     <ClInclude Include="MBDynItem.h" />
@@ -523,6 +531,8 @@
     <ClInclude Include="MBDynSystem.h" />
     <ClInclude Include="MomentOfInertiaSolver.h" />
     <ClInclude Include="Negative.h" />
+    <ClInclude Include="PiecewiseFunction.h" />
+    <ClInclude Include="Polynomial.h" />
     <ClInclude Include="PosVelAccData.h" />
     <ClInclude Include="DiagonalMatrix.h" />
     <ClInclude Include="DifferenceOperator.h" />
@@ -624,7 +634,7 @@
     <ClInclude Include="MatrixLDU.h" />
     <ClInclude Include="MatrixSolver.h" />
     <ClInclude Include="MaximumIterationError.h" />
-    <ClInclude Include="MbdMath.h" />
+    <ClInclude Include="MbDMath.h" />
     <ClInclude Include="NewtonRaphson.h" />
     <ClInclude Include="NewtonRaphsonError.h" />
     <ClInclude Include="NoRotationJoint.h" />
@@ -654,6 +664,7 @@
     <ClInclude Include="RackPinConstraintIqcJc.h" />
     <ClInclude Include="RackPinConstraintIqcJqc.h" />
     <ClInclude Include="RackPinJoint.h" />
+    <ClInclude Include="RampStepFunction.h" />
     <ClInclude Include="Reciprocal.h" />
     <ClInclude Include="RedundantConstraint.h" />
     <ClInclude Include="resource.h" />
@@ -678,6 +689,7 @@
     <ClInclude Include="StableBackwardDifference.h" />
     <ClInclude Include="LDUFullMat.h" />
     <ClInclude Include="StateData.h" />
+    <ClInclude Include="StepFunction.h" />
     <ClInclude Include="Sum.h" />
     <ClInclude Include="Symbolic.h" />
     <ClInclude Include="SymbolicParser.h" />
diff --git a/OndselSolver/OndselSolver.vcxproj.filters b/OndselSolver/OndselSolver.vcxproj.filters
index b5257f6..24c6279 100644
--- a/OndselSolver/OndselSolver.vcxproj.filters
+++ b/OndselSolver/OndselSolver.vcxproj.filters
@@ -867,6 +867,24 @@
     <ClCompile Include="MomentOfInertiaSolver.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="MBDynDrive.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PiecewiseFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Polynomial.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RampStepFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="StepFunction.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="Integral.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Array.h">
@@ -1727,6 +1745,24 @@
     <ClInclude Include="MomentOfInertiaSolver.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="MBDynDrive.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="PiecewiseFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Polynomial.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RampStepFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="StepFunction.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="Integral.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="OndselSolver.rc">
diff --git a/OndselSolver/PiecewiseFunction.cpp b/OndselSolver/PiecewiseFunction.cpp
new file mode 100644
index 0000000..5e88f89
--- /dev/null
+++ b/OndselSolver/PiecewiseFunction.cpp
@@ -0,0 +1,115 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "PiecewiseFunction.h"
+
+using namespace MbD;
+
+MbD::PiecewiseFunction::PiecewiseFunction()
+{
+	noop();
+}
+
+MbD::PiecewiseFunction::PiecewiseFunction(Symsptr var, std::shared_ptr<std::vector<Symsptr>> funcs, std::shared_ptr<std::vector<Symsptr>> trans)
+{
+	assert(var);
+	assert(functions->empty());
+	xx = var;
+	functions->clear();
+	functions->insert(functions->end(), funcs->begin(), funcs->end());
+	transitions->clear();
+	transitions->insert(transitions->end(), trans->begin(), trans->end());
+}
+
+Symsptr MbD::PiecewiseFunction::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto expansions = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*expansions),
+		[&](auto& func) { return func->expandUntil(func, set); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, expansions, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto simplifications = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*simplifications),
+		[&](auto& func) { return func->simplifyUntil(func, set); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, simplifications, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::differentiateWRTx()
+{
+	auto derivatives = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*derivatives),
+		[&](auto& func) { return func->differentiateWRT(xx); }
+	);
+	return std::make_shared<PiecewiseFunction>(xx, derivatives, transitions);
+}
+
+Symsptr MbD::PiecewiseFunction::integrateWRT(Symsptr var)
+{
+	assert(xx == var);
+	auto integrals = std::make_shared<std::vector<Symsptr>>();
+	std::transform(functions->begin(),
+		functions->end(),
+		std::back_inserter(*integrals),
+		[var](auto& func) { return func->integrateWRT(var); }
+	);
+	for (int i = 0; i < transitions->size(); i++)
+	{
+		auto x = transitions->at(i)->getValue();
+		auto fi = integrals->at(i)->getValue(x);
+		auto fi1 = integrals->at(i + 1)->getValue(x);
+		auto integConstant = fi - fi1;
+		integrals->at(i + 1)->integrationConstant(integConstant);
+		noop();
+	}
+	return std::make_shared<PiecewiseFunction>(var, integrals, transitions);
+}
+
+double MbD::PiecewiseFunction::getValue()
+{
+	auto xval = xx->getValue();
+	for (int i = 0; i < transitions->size(); i++)
+	{
+		if (xval < transitions->at(i)->getValue()) {
+			return functions->at(i)->getValue();
+		}
+	}
+	return functions->back()->getValue();
+}
+
+std::ostream& MbD::PiecewiseFunction::printOn(std::ostream& s) const
+{
+	s << "PiecewiseFunction(" << *xx << ", " << std::endl;
+	s << "functions{" << std::endl;
+	s << *functions->at(0) << std::endl;
+	for (int i = 1; i < functions->size(); i++)
+	{
+		s << *functions->at(i) << std::endl;
+	}
+	s << "}, " << std::endl;
+	s << "transitions{" << std::endl;
+	s << *transitions->at(0) << std::endl;
+	for (int i = 1; i < transitions->size(); i++)
+	{
+		s << *transitions->at(i) << std::endl;
+	}
+	s << "})" << std::endl;
+	return s;
+}
diff --git a/OndselSolver/PiecewiseFunction.h b/OndselSolver/PiecewiseFunction.h
new file mode 100644
index 0000000..06a02cb
--- /dev/null
+++ b/OndselSolver/PiecewiseFunction.h
@@ -0,0 +1,36 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "FunctionXcParameter.h"
+
+namespace MbD {
+    class Symbolic;
+    using Symsptr = std::shared_ptr<Symbolic>;
+    
+    class PiecewiseFunction : public FunctionXcParameter
+    {
+        //functions transitions 
+        //func0 tran0 func1 tran1 func2
+    public:
+        PiecewiseFunction();
+        PiecewiseFunction(Symsptr var, std::shared_ptr<std::vector<Symsptr>> funcs, std::shared_ptr<std::vector<Symsptr>> trans);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr differentiateWRTx() override;
+        Symsptr integrateWRT(Symsptr var) override;
+        double getValue() override;
+
+        std::ostream& printOn(std::ostream& s) const override;
+
+        std::shared_ptr<std::vector<Symsptr>> functions = std::make_shared<std::vector<Symsptr>>();
+        std::shared_ptr<std::vector<Symsptr>> transitions = std::make_shared<std::vector<Symsptr>>();
+
+    };
+}
diff --git a/OndselSolver/Polynomial.cpp b/OndselSolver/Polynomial.cpp
new file mode 100644
index 0000000..d402249
--- /dev/null
+++ b/OndselSolver/Polynomial.cpp
@@ -0,0 +1,122 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "Polynomial.h"
+#include "Constant.h"
+#include "Sum.h"
+
+using namespace MbD;
+
+MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr<std::vector<double>> coefficients)
+{
+	assert(!coefficients->empty());
+	xx = var;
+	std::transform(coefficients->begin(), coefficients->end(), coeffs->begin(),
+		[&](auto& coeff) { return sptrConstant(coeff); }
+	);
+}
+MbD::Polynomial::Polynomial(Symsptr var, std::shared_ptr<std::vector<Symsptr>> coefficients)
+{
+	assert(!coefficients->empty());
+	xx = var;
+	coeffs->insert(coeffs->end(), coefficients->begin(), coefficients->end());
+}
+
+Symsptr MbD::Polynomial::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto coeff = coeffs->at(i);
+		auto newCoeff = coeff->expandUntil(coeff, set);
+		newCoeffs->push_back(newCoeff);
+	}
+	return std::make_shared<Polynomial>(xx, newCoeffs);
+}
+
+Symsptr MbD::Polynomial::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto coeff = coeffs->at(i);
+		auto newCoeff = coeff->simplifyUntil(coeff, set);
+		newCoeffs->push_back(newCoeff);
+	}
+	return std::make_shared<Polynomial>(xx, newCoeffs);
+}
+
+Symsptr MbD::Polynomial::differentiateWRTx()
+{
+	//Differentiate powers
+	if (coeffs->size() == 1) return sptrConstant(0.0);
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	for (int i = 1; i < coeffs->size(); i++)
+	{
+		auto newCoeff = i * coeffs->at(i)->getValue();
+		newCoeffs->push_back(sptrConstant(newCoeff));
+	}
+	auto poly1 = std::make_shared<Polynomial>(xx, newCoeffs);
+	//Differentiate coeffs
+	auto coeffDerivs = std::make_shared<std::vector<Symsptr>>();
+	std::transform(coeffs->begin(),
+		coeffs->end(),
+		std::back_inserter(*coeffDerivs),
+		[&](auto& coeff) { return coeff->differentiateWRT(xx); }
+	);
+	auto poly2 = std::make_shared<Polynomial>(xx, coeffDerivs);
+	return std::make_shared<Sum>(poly1, poly2);
+}
+
+Symsptr MbD::Polynomial::integrateWRT(Symsptr var)
+{
+	assert(xx == var);
+	auto newCoeffs = std::make_shared<std::vector<Symsptr>>();
+	newCoeffs->push_back(sptrConstant(0.0));
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		auto newCoeff = coeffs->at(i)->getValue() / (i + 1);
+		newCoeffs->push_back(sptrConstant(newCoeff));
+	}
+	return std::make_shared<Polynomial>(var, newCoeffs);
+}
+
+double MbD::Polynomial::getValue()
+{
+	auto xvalue = xx->getValue();
+	auto xpower = 1.0;
+	auto answer = 0.0;
+	for (int i = 0; i < coeffs->size(); i++)
+	{
+		answer += coeffs->at(i)->getValue() * xpower;
+		xpower *= xvalue;
+	}
+	return answer;
+}
+
+void MbD::Polynomial::integrationConstant(double integConstant)
+{
+	auto coeff0 = coeffs->at(0);
+	coeff0->setValue(coeff0->getValue() + integConstant);
+}
+
+std::ostream& MbD::Polynomial::printOn(std::ostream& s) const
+{
+	s << "Polynomial(";
+	s << *xx << ", ";
+	s << "coeffs{";
+	s << *coeffs->at(0);
+	for (int i = 1; i < coeffs->size(); i++)
+	{
+		s << ", " << *coeffs->at(i);
+	}
+	s << "})";
+	return s;
+}
diff --git a/OndselSolver/Polynomial.h b/OndselSolver/Polynomial.h
new file mode 100644
index 0000000..e9c092e
--- /dev/null
+++ b/OndselSolver/Polynomial.h
@@ -0,0 +1,33 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "FunctionXcParameter.h"
+
+namespace MbD {
+    class Polynomial : public FunctionXcParameter
+    {
+        //pn = a0*x^0 + a1*x^1 ... an*x^n
+    public:
+        Polynomial(Symsptr var, std::shared_ptr<std::vector<double>> coeffs);
+        Polynomial(Symsptr var, std::shared_ptr<std::vector<Symsptr>> coeffs);
+        Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+        Symsptr differentiateWRTx() override;
+        Symsptr integrateWRT(Symsptr var) override;
+        double getValue() override;
+        void integrationConstant(double integConstant) override;
+
+        std::ostream& printOn(std::ostream& s) const override;
+
+        std::shared_ptr<std::vector<Symsptr>> coeffs = std::make_shared<std::vector<Symsptr>>();
+
+    };
+}
+
diff --git a/OndselSolver/Power.cpp b/OndselSolver/Power.cpp
index 9f978aa..75c1708 100644
--- a/OndselSolver/Power.cpp
+++ b/OndselSolver/Power.cpp
@@ -22,7 +22,7 @@ MbD::Power::Power(Symsptr bse, Symsptr ex) : FunctionXY(bse, ex)
 
 Symsptr MbD::Power::differentiateWRTx()
 {
-	auto yminus1 = Symbolic::sum(y, std::make_shared<Constant>(-1.0));
+	auto yminus1 = Symbolic::sum(y, sptrConstant(-1.0));
 	auto power = Symbolic::raisedTo(x, yminus1);
 	auto deriv = Symbolic::times(y, power);
 	return deriv->simplified(deriv);
@@ -37,6 +37,7 @@ Symsptr MbD::Power::differentiateWRTy()
 
 Symsptr MbD::Power::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return Symsptr();
 }
 
diff --git a/OndselSolver/Product.cpp b/OndselSolver/Product.cpp
index 7241b80..93b495f 100644
--- a/OndselSolver/Product.cpp
+++ b/OndselSolver/Product.cpp
@@ -43,6 +43,13 @@ Symsptr MbD::Product::differentiateWRT(Symsptr var)
 	return answer;
 }
 
+Symsptr MbD::Product::integrateWRT(Symsptr var)
+{
+	//ToDo: Integration by parts
+	assert(false);
+	return Symsptr();
+}
+
 Symsptr Product::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
 	auto itr = std::find_if(set->begin(), set->end(), [sptr](Symsptr sym) {return sptr.get() == sym.get(); });
@@ -67,7 +74,8 @@ Symsptr Product::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Sy
 	}
 	auto factor = std::make_shared<Product>();
 	factor->terms = productTerms;
-	auto sumOfProductsOfSums = std::make_shared<Sum>(std::make_shared<Constant>(1));
+	//sumOfProductsOfSums = (a + b + ...)*(c + d + ...)
+	auto sumOfProductsOfSums = std::make_shared<Sum>(sptrConstant(1));
 	for (const auto& term : *sumTerms) {
 		sumOfProductsOfSums = std::static_pointer_cast<Sum>(Symbolic::times(sumOfProductsOfSums, term));
 	}
@@ -94,14 +102,14 @@ Symsptr Product::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<
 		}
 	}
 	if (factor == 0.0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	if (factor != 1.0) {
-		newTerms->insert(newTerms->begin(), std::make_shared<Constant>(factor));
+		newTerms->insert(newTerms->begin(), sptrConstant(factor));
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(1.0);
+		return sptrConstant(1.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
diff --git a/OndselSolver/Product.h b/OndselSolver/Product.h
index b28579e..08af0c3 100644
--- a/OndselSolver/Product.h
+++ b/OndselSolver/Product.h
@@ -24,6 +24,7 @@ namespace MbD {
         Product(Symsptr term, Symsptr term1, Symsptr term2) : FunctionWithManyArgs(term, term1, term2) {}
         Product(std::shared_ptr<std::vector<Symsptr>> _terms) : FunctionWithManyArgs(_terms) {}
         Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;
         Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
         bool isProduct() override;
diff --git a/OndselSolver/RampStepFunction.cpp b/OndselSolver/RampStepFunction.cpp
new file mode 100644
index 0000000..2c0bff3
--- /dev/null
+++ b/OndselSolver/RampStepFunction.cpp
@@ -0,0 +1,62 @@
+#include <algorithm>
+
+#include "RampStepFunction.h"
+#include "Constant.h"
+#include "Polynomial.h"
+
+using namespace MbD;
+
+MbD::RampStepFunction::RampStepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans)
+{
+
+	double x0 = trans->at(0);
+	double x1 = trans->at(1);
+	double y0 = consts->at(0);
+	double y1 = consts->at(1);
+	initFunctionsTransitions(var, x0, y0, x1, y1);
+}
+
+void MbD::RampStepFunction::arguments(Symsptr args)
+{
+	auto arguments = args->getTerms();
+	auto var = arguments->at(0);
+	auto symx0 = arguments->at(1);
+	auto symy0 = arguments->at(2);
+	auto symx1 = arguments->at(3);
+	auto symy1 = arguments->at(4);
+	double x0 = symx0->getValue();
+	double y0 = symy0->getValue();
+	double x1 = symx1->getValue();
+	double y1 = symy1->getValue();
+	initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1);
+}
+
+void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1)
+{
+	auto symx0 = sptrConstant(x0);
+	auto symy0 = sptrConstant(y0);
+	auto symx1 = sptrConstant(x1);
+	auto symy1 = sptrConstant(y1);
+	initFunctionsTransitions(var, x0, y0, x1, y1, symx0, symy0, symx1, symy1);
+}
+
+void MbD::RampStepFunction::initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1)
+{
+	//(y - y0)/(x - x0) = (y1 - y0)/(x1 - x0)
+	//y = (x - x0)(y1 - y0)/(x1 - x0)  + y0
+	//y = (y1 - y0)*x/(x1 - x0) + y0 - (y1 - y0)*x0/(x1 - x0)
+	xx = var;
+	auto func0 = symy0;
+	auto slope = sptrConstant((y1 - y0) / (x1 - x0));
+	auto intercept = sptrConstant(y0 - (y1 - y0) * x0 / (x1 - x0));
+	auto coeffs = std::make_shared<std::vector<Symsptr>>();
+	coeffs->push_back(intercept);
+	coeffs->push_back(slope);
+	auto func1 = std::make_shared<Polynomial>(var, coeffs);
+	auto func2 = symy1;
+	functions->push_back(func0);
+	functions->push_back(func1);
+	functions->push_back(func2);
+	transitions->push_back(symx0);
+	transitions->push_back(symx1);
+}
diff --git a/OndselSolver/RampStepFunction.h b/OndselSolver/RampStepFunction.h
new file mode 100644
index 0000000..cf79b5f
--- /dev/null
+++ b/OndselSolver/RampStepFunction.h
@@ -0,0 +1,25 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "PiecewiseFunction.h"
+
+namespace MbD {
+    class RampStepFunction : public PiecewiseFunction
+    {
+    public:
+        RampStepFunction() = default;
+        RampStepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans);
+        void arguments(Symsptr args) override;
+        void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1);
+        void initFunctionsTransitions(Symsptr var, double x0, double y0, double x1, double y1, Symsptr symx0, Symsptr symy0, Symsptr symx1, Symsptr symy1);
+
+    };
+}
+
diff --git a/OndselSolver/Reciprocal.cpp b/OndselSolver/Reciprocal.cpp
index 6f9f3dd..5e31e23 100644
--- a/OndselSolver/Reciprocal.cpp
+++ b/OndselSolver/Reciprocal.cpp
@@ -24,13 +24,18 @@ double MbD::Reciprocal::getValue()
 
 Symsptr MbD::Reciprocal::differentiateWRTx()
 {
-	auto two = std::make_shared<Constant>(2);
+	auto two = sptrConstant(2);
 	auto sq = std::make_shared<Power>(xx, two);
 	return std::make_shared<Negative>(sq);
 }
 
+Symsptr MbD::Reciprocal::copyWith(Symsptr arg)
+{
+	return std::make_shared<Reciprocal>(arg);
+}
+
 std::ostream& MbD::Reciprocal::printOn(std::ostream& s) const
 {
-	s << "/(" << xx << ")";
+	s << "/(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Reciprocal.h b/OndselSolver/Reciprocal.h
index 0232dce..6be923d 100644
--- a/OndselSolver/Reciprocal.h
+++ b/OndselSolver/Reciprocal.h
@@ -19,6 +19,7 @@ namespace MbD {
         Reciprocal(Symsptr arg);
         double getValue() override;
         Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/Sine.cpp b/OndselSolver/Sine.cpp
index f8c3440..de190a1 100644
--- a/OndselSolver/Sine.cpp
+++ b/OndselSolver/Sine.cpp
@@ -25,8 +25,13 @@ Symsptr MbD::Sine::differentiateWRTx()
     return std::make_shared<Cosine>(xx);
 }
 
+Symsptr MbD::Sine::copyWith(Symsptr arg)
+{
+	return std::make_shared<Sine>(arg);
+}
+
 std::ostream& MbD::Sine::printOn(std::ostream& s) const
 {
-	s << "sin(" << xx << ")";
+	s << "sin(" << *xx << ")";
 	return s;
 }
diff --git a/OndselSolver/Sine.h b/OndselSolver/Sine.h
index e278ffd..6b16fba 100644
--- a/OndselSolver/Sine.h
+++ b/OndselSolver/Sine.h
@@ -19,6 +19,7 @@ namespace MbD {
         Sine(Symsptr arg);
         double getValue() override;
         Symsptr differentiateWRTx() override;
+        Symsptr copyWith(Symsptr arg) override;
 
         std::ostream& printOn(std::ostream& s) const override;
 
diff --git a/OndselSolver/StepFunction.cpp b/OndselSolver/StepFunction.cpp
new file mode 100644
index 0000000..48c0e46
--- /dev/null
+++ b/OndselSolver/StepFunction.cpp
@@ -0,0 +1,25 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include <algorithm>
+
+#include "StepFunction.h"
+#include "Constant.h"
+
+using namespace MbD;
+
+MbD::StepFunction::StepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans)
+{
+	xx = var;
+	std::transform(consts->begin(), consts->end(), functions->begin(),
+		[&](auto& constant) { return sptrConstant(constant); }
+	);
+	std::transform(trans->begin(), trans->end(), transitions->begin(),
+		[&](auto& constant) { return sptrConstant(constant); }
+	);
+}
diff --git a/OndselSolver/StepFunction.h b/OndselSolver/StepFunction.h
new file mode 100644
index 0000000..c50d163
--- /dev/null
+++ b/OndselSolver/StepFunction.h
@@ -0,0 +1,21 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "PiecewiseFunction.h"
+
+namespace MbD {
+    class StepFunction : public PiecewiseFunction
+    {
+    public:
+        StepFunction(Symsptr var, std::shared_ptr<std::vector<double>> consts, std::shared_ptr<std::vector<double>> trans);
+
+    };
+}
+
diff --git a/OndselSolver/Sum.cpp b/OndselSolver/Sum.cpp
index 1c5533a..1ebbd6b 100644
--- a/OndselSolver/Sum.cpp
+++ b/OndselSolver/Sum.cpp
@@ -5,7 +5,7 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include <sstream>
 #include <string>
 
@@ -72,7 +72,7 @@ Symsptr Sum::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symspt
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
@@ -104,11 +104,11 @@ Symsptr Sum::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Syms
 		}
 	}
 	if (constant != 0.0) {
-		newTerms->insert(newTerms->begin(), std::make_shared<Constant>(constant));
+		newTerms->insert(newTerms->begin(), sptrConstant(constant));
 	}
 	auto newSize = newTerms->size();
 	if (newSize == 0) {
-		return std::make_shared<Constant>(0.0);
+		return sptrConstant(0.0);
 	}
 	else if (newSize == 1) {
 		return newTerms->at(0);
@@ -140,7 +140,8 @@ Symsptr MbD::Sum::clonesptr()
 Symsptr MbD::Sum::differentiateWRT(Symsptr var)
 {
 	auto derivatives = std::make_shared<std::vector<Symsptr>>();
-	std::transform(terms->begin(), terms->end(), 
+	std::transform(terms->begin(),
+		terms->end(),
 		std::back_inserter(*derivatives),
 		[var](Symsptr term) { return term->differentiateWRT(var); }
 	);
@@ -149,6 +150,26 @@ Symsptr MbD::Sum::differentiateWRT(Symsptr var)
 	return answer;
 }
 
+Symsptr MbD::Sum::integrateWRT(Symsptr var)
+{
+	auto simple = simplified();
+	if (simple->isSum()) {
+		auto newTerms = simple->getTerms();
+		auto integrals = std::make_shared<std::vector<Symsptr>>();
+		std::transform(newTerms->begin(),
+			newTerms->end(),
+			std::back_inserter(*integrals),
+			[var](Symsptr term) { return term->integrateWRT(var); }
+		);
+		auto answer = std::make_shared<Sum>();
+		answer->terms = integrals;
+		return answer;
+	}
+	else {
+		return simple->integrateWRT(var);
+	}
+}
+
 std::ostream& Sum::printOn(std::ostream& s) const
 {
 	s << "(";
diff --git a/OndselSolver/Sum.h b/OndselSolver/Sum.h
index a40de7f..49b168e 100644
--- a/OndselSolver/Sum.h
+++ b/OndselSolver/Sum.h
@@ -31,6 +31,7 @@ namespace MbD {
         double getValue() override;
         Symsptr clonesptr() override;
         Symsptr differentiateWRT(Symsptr var) override;
+        Symsptr integrateWRT(Symsptr var) override;
 
         std::ostream& printOn(std::ostream& s) const override;
     
diff --git a/OndselSolver/Symbolic.cpp b/OndselSolver/Symbolic.cpp
index 14ad524..a4e711c 100644
--- a/OndselSolver/Symbolic.cpp
+++ b/OndselSolver/Symbolic.cpp
@@ -86,6 +86,12 @@ Symsptr MbD::Symbolic::differentiateWRT(Symsptr var)
 	return Symsptr();
 }
 
+Symsptr MbD::Symbolic::integrateWRT(Symsptr var)
+{
+	assert(false);
+	return Symsptr();
+}
+
 Symsptr MbD::Symbolic::simplified()
 {
 	//std::cout << "sptr " << *sptr << std::endl;
@@ -112,17 +118,18 @@ Symsptr Symbolic::simplified(Symsptr sptr)
 
 Symsptr MbD::Symbolic::expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
-	assert(false);
-	return clonesptr();
+	return expandUntil(clonesptr(), set);
 }
 
 Symsptr Symbolic::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return sptr;
 }
 
 Symsptr Symbolic::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
 {
+	assert(false);
 	return sptr;
 }
 
@@ -153,7 +160,10 @@ bool Symbolic::isConstant()
 
 std::ostream& Symbolic::printOn(std::ostream& s) const
 {
-	return s << "(" << typeid(*this).name() << ")";
+	std::string str = typeid(*this).name();
+	auto classname = str.substr(11, str.size() - 11);
+	s << classname;
+	return s;
 }
 
 std::shared_ptr<std::vector<Symsptr>> Symbolic::getTerms()
@@ -173,6 +183,17 @@ double Symbolic::getValue()
 	return 0.0;
 }
 
+double MbD::Symbolic::getValue(double arg)
+{
+	assert(false);
+	return 0.0;
+}
+
+void MbD::Symbolic::setValue(double val)
+{
+	assert(false);
+}
+
 void MbD::Symbolic::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits)
 {
 	assert(false);
@@ -191,6 +212,16 @@ std::shared_ptr<Constant> MbD::Symbolic::sptrConstant(double value)
 	return std::make_shared<Constant>(value);
 }
 
+bool MbD::Symbolic::isVariable()
+{
+	return false;
+}
+
+void MbD::Symbolic::integrationConstant(double integConstant)
+{
+	assert(false);
+}
+
 Symsptr MbD::Symbolic::raisedTo(Symsptr x, Symsptr y)
 {
 	return std::make_shared<Power>(x, y);
diff --git a/OndselSolver/Symbolic.h b/OndselSolver/Symbolic.h
index 7f08b1b..9dea365 100644
--- a/OndselSolver/Symbolic.h
+++ b/OndselSolver/Symbolic.h
@@ -13,7 +13,7 @@
 #include <memory>
 #include <ostream>
 
-#include "MbdMath.h"
+#include "MbDMath.h"
 #include "System.h"
 #include "Units.h"
 //#include "Constant.h"
@@ -23,7 +23,7 @@ namespace MbD {
 	class Symbolic;
 	using Symsptr = std::shared_ptr<Symbolic>;
 
-	class Symbolic : public MbdMath
+	class Symbolic : public MbDMath
 	{
 	public:
 		Symbolic();
@@ -33,6 +33,7 @@ namespace MbD {
 
 		virtual void initialize();
 		virtual Symsptr differentiateWRT(Symsptr var);
+		virtual Symsptr integrateWRT(Symsptr var);
 		virtual Symsptr simplified();
 		virtual Symsptr simplified(Symsptr sptr);
 		virtual Symsptr expandUntil(std::shared_ptr<std::unordered_set<Symsptr>> set);
@@ -46,9 +47,13 @@ namespace MbD {
 		virtual std::shared_ptr<std::vector<Symsptr>> getTerms();
 		virtual void addTerm(Symsptr trm);
 		virtual double getValue();
+		virtual double getValue(double arg);
+		virtual void setValue(double val);
 		virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
 		virtual Symsptr clonesptr();
 		std::shared_ptr<Constant> sptrConstant(double value);
+		virtual bool isVariable();
+		virtual void integrationConstant(double integConstant);
 
 		virtual std::ostream& printOn(std::ostream& s) const;
 		friend std::ostream& operator<<(std::ostream& s, const Symbolic& sym)
diff --git a/OndselSolver/SymbolicParser.cpp b/OndselSolver/SymbolicParser.cpp
index 42f68d3..2cd960a 100644
--- a/OndselSolver/SymbolicParser.cpp
+++ b/OndselSolver/SymbolicParser.cpp
@@ -25,6 +25,8 @@
 #include "Reciprocal.h"
 #include "GeneralSpline.h"
 #include "ArcSine.h"
+#include "Integral.h"
+#include "RampStepFunction.h"
 
 MbD::SymbolicParser::SymbolicParser()
 {
@@ -361,6 +363,12 @@ bool MbD::SymbolicParser::intrinsic()
 	else if (peekForTypevalue("word", "spline")) {
 		symfunc = std::make_shared<GeneralSpline>();
 	}
+	else if (peekForTypevalue("word", "integral")) {
+		symfunc = std::make_shared<Integral>();
+	}
+	else if (peekForTypevalue("word", "rampstep")) {
+		symfunc = std::make_shared<RampStepFunction>();
+	}
 	if (symfunc != nullptr) {
 		stack->push(symfunc);
 		if (peekForTypeNoPush("(")) {
diff --git a/OndselSolver/Variable.cpp b/OndselSolver/Variable.cpp
index 9f32024..771fc3a 100644
--- a/OndselSolver/Variable.cpp
+++ b/OndselSolver/Variable.cpp
@@ -52,3 +52,18 @@ void Variable::setValue(double val)
 {
 	value = val;
 }
+
+Symsptr MbD::Variable::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+Symsptr MbD::Variable::simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
+{
+	return sptr;
+}
+
+bool MbD::Variable::isVariable()
+{
+	return true;
+}
diff --git a/OndselSolver/Variable.h b/OndselSolver/Variable.h
index 4f289c7..a5b8851 100644
--- a/OndselSolver/Variable.h
+++ b/OndselSolver/Variable.h
@@ -24,7 +24,10 @@ namespace MbD {
 		const std::string& getName() const;
 		double getValue() override;
 		std::ostream& printOn(std::ostream& s) const override;
-		virtual void setValue(double val);
+		void setValue(double val) override;
+		Symsptr expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		Symsptr simplifyUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set) override;
+		bool isVariable() override;
 
 		std::string name;
 		double value;
diff --git a/OndselSolver/assembly2.asmt b/OndselSolver/assembly2.asmt
new file mode 100644
index 0000000..48ff113
--- /dev/null
+++ b/OndselSolver/assembly2.asmt
@@ -0,0 +1,620 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		Assembly
+	Position3D
+		0	0	0	
+	RotationMatrix
+		1	0	0	
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+		0	0	1	
+	Velocity3D
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+	Omega3D
+		0	0	0	
+	RefPoints
+		RefPoint
+			Position3D
+				0	0	0	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Markers
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+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				structural_node_1
+			Position3D
+				-0.121	-8.796847998598882e-19	-0.08	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
+				0	0	0	
+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
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+				RotationMatrix
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+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	2	3	
+				Density
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+					Markers
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+			RefCurves
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diff --git a/OndselSolver/assemblyDebug.asmt b/OndselSolver/assemblyDebug.asmt
new file mode 100644
index 0000000..3a82a8e
--- /dev/null
+++ b/OndselSolver/assemblyDebug.asmt
@@ -0,0 +1,435 @@
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+				RotationZ
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+		GeneralConstraintSets
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diff --git a/OndselSolver/assemblyDebug2.asmt b/OndselSolver/assemblyDebug2.asmt
new file mode 100644
index 0000000..9d34a18
--- /dev/null
+++ b/OndselSolver/assemblyDebug2.asmt
@@ -0,0 +1,582 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
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diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index af17270..9f158a3 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -22,13 +22,14 @@
 
 using namespace MbD;
 void runSpMat();
+void sharedptrTest();
 
 int main()
 {
-	////ASMTAssembly::readWriteFile("piston.asmt");
-	//MBDynSystem::runFile("MBDynCaseJose.mbd");
-	//MBDynSystem::runFile("MBDynCase.mbd");
-	//MBDynSystem::runFile("crank_slider.mbd");
+	ASMTAssembly::readWriteFile("piston.asmt");
+	MBDynSystem::runFile("MBDynCase2.mbd");
+	MBDynSystem::runFile("MBDynCase.mbd");
+	//MBDynSystem::runFile("crank_slider.mbd");	//Needs integration of product
 	////ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
 	////ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
 	ASMTAssembly::runSinglePendulumSimplified();
@@ -49,8 +50,25 @@ int main()
 	cadSystem->runPiston();
 	runSpMat();
 	MomentOfInertiaSolver::example1();
+	sharedptrTest();
 }
+void sharedptrTest() {
+	auto assm = std::make_shared<ASMTAssembly>();
 
+	auto assm1 = assm;	//New shared_ptr to old object. Reference count incremented.
+	assert(assm == assm1);
+	assert(assm.get() == assm1.get());
+	assert(&assm != &assm1);
+	assert(assm->constantGravity == assm1->constantGravity);
+	assert(&(assm->constantGravity) == &(assm1->constantGravity));
+
+	auto assm2 = std::make_shared<ASMTAssembly>(*assm);	//New shared_ptr to new object. Member variables copy old member variables
+	assert(assm != assm2);
+	assert(assm.get() != assm2.get());
+	assert(&assm != &assm2);
+	assert(assm->constantGravity == assm2->constantGravity);	//constantGravity is same object pointed to
+	assert(&(assm->constantGravity) != &(assm2->constantGravity)); //Different shared_ptrs of same reference counter
+}
 void runSpMat() {
 	auto spMat = std::make_shared<SparseMatrix<double>>(3, 3);
 	spMat->atijput(0, 0, 1.0);
diff --git a/testapp/assembly.asmt b/testapp/assembly.asmt
index 367dd3c..f70be55 100644
--- a/testapp/assembly.asmt
+++ b/testapp/assembly.asmt
@@ -1,9 +1,9 @@
 OndselSolver
 Assembly
 	Notes
-		(Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.<n><n>The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.<n><n>If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.<n><n>To load the example for a quick look:<n>Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. <n><n>To create the assembly from scratch:<n>To create crank, connection rod and piston:<n>Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have  dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. <n><n>To mark joint attachment points:<n>On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). <n>On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. <n>On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. <n>On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.<n>Tilt the cylinder upright to help the solver assemble the system later.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).<n>Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).<n>Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).<n>The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.<n><n>To apply motion to the crank:<n>Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.<n><n>The assembly is now ready for simulation, animation and plotting.<n>' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil)))
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
 	Name
-		Assembly1
+		Assembly
 	Position3D
 		0	0	0	
 	RotationMatrix
@@ -11,9 +11,9 @@ Assembly
 		0	1	0	
 		0	0	1	
 	Velocity3D
-		0	-0	-0	
+		0	0	0	
 	Omega3D
-		-2.280759219278673e-49	-5.777789833161707e-33	0	
+		0	0	0	
 	RefPoints
 		RefPoint
 			Position3D
@@ -25,24 +25,7 @@ Assembly
 			Markers
 				Marker
 					Name
-						Marker1
-					Position3D
-						0	3	0	
-					RotationMatrix
-						1	0	0	
-						0	0	1	
-						0	-1	0	
-		RefPoint
-			Position3D
-				0	0	0	
-			RotationMatrix
-				1	0	0	
-				0	1	0	
-				0	0	1	
-			Markers
-				Marker
-					Name
-						Marker2
+						Marker0
 					Position3D
 						0	0	0	
 					RotationMatrix
@@ -54,163 +37,31 @@ Assembly
 	Parts
 		Part
 			Name
-				Part1
+				structural_node_1
 			Position3D
-				-0.09999999999999981	-0.1000000000000002	-0.1	
+				-0.121	-8.796847998598882e-19	-0.08	
 			RotationMatrix
-				1	-1.532316259975744e-15	0	
-				1.532316259975744e-15	1	0	
+				1	0	0	
+				0	1	0	
 				0	0	1	
 			Velocity3D
-				0.6283185307179635	-0.6283185307179577	-5.200010849845535e-33	
+				0	0	0	
 			Omega3D
-				-5.152488066932315e-48	-5.777789833161708e-33	6.283185307179586	
+				0	0	0	
 			FeatureOrder
 			PrincipalMassMarker
 				Name
 					MassMarker
 				Position3D
-					0.5	0.1	0.05	
+					0	0	0	
 				RotationMatrix
 					1	0	0	
 					0	1	0	
 					0	0	1	
 				Mass
-					0.2
+					1
 				MomentOfInertias
-					0.00083333333333333	0.016833333333333	0.017333333333333	
-				Density
-					10
-			RefPoints
-				RefPoint
-					Position3D
-						0	0	0.1	
-					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
-					Markers
-						Marker
-							Name
-								Marker1
-							Position3D
-								0.1	0.1	0	
-							RotationMatrix
-								1	0	0	
-								0	1	0	
-								0	0	1	
-				RefPoint
-					Position3D
-						0	0	0.1	
-					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
-					Markers
-						Marker
-							Name
-								Marker2
-							Position3D
-								0.9	0.1	0	
-							RotationMatrix
-								1	0	0	
-								0	1	0	
-								0	0	1	
-			RefCurves
-			RefSurfaces
-		Part
-			Name
-				Part2
-			Position3D
-				0.9403611597381507	-0.01728423666122669	-1.387778780781446e-17	
-			RotationMatrix
-				-0.6153846153846151	-0.7882269819968931	-2.044836650113954e-17	
-				0.7882269819968931	-0.6153846153846151	2.619167663271714e-17	
-				-3.322859638019256e-17	6.369432708140223e-25	1	
-			Velocity3D
-				1.04429255306657e-16	5.026548245743669	-1.454113460077919e-17	
-			Omega3D
-				2.185438651973779e-34	-1.417654624416976e-32	-6.884782783766256e-16	
-			FeatureOrder
-			PrincipalMassMarker
-				Name
-					MassMarker
-				Position3D
-					0.75	0.1	0.05	
-				RotationMatrix
-					1	-2.7755575615629e-16	0	
-					2.7755575615629e-16	1	0	
-					0	0	1	
-				Mass
-					0.3
-				MomentOfInertias
-					0.00125	0.0565	0.05725	
-				Density
-					10
-			RefPoints
-				RefPoint
-					Position3D
-						0	0	0.1	
-					RotationMatrix
-						1	0	0	
-						0	1	0	
-						0	0	1	
-					Markers
-						Marker
-							Name
-								Marker1
-							Position3D
-								0.1	0.1	-0.1	
-							RotationMatrix
-								1	3.5771870615405e-50	3.0814879110196e-33	
-								3.5771870615405e-50	1	1.755680013548e-33	
-								3.0814879110196e-33	1.755680013548e-33	1	
-				RefPoint
-					Position3D
-						-7.0256300777061e-17	-1.0408340855861e-17	0.1	
-					RotationMatrix
-						1	1.7347234759768e-18	-6.9388939039072e-18	
-						1.7347234759768e-18	1	0	
-						-6.9388939039072e-18	0	1	
-					Markers
-						Marker
-							Name
-								Marker2
-							Position3D
-								1.4	0.1	-0.1	
-							RotationMatrix
-								1	-5.5511151231258e-17	2.1510571102112e-16	
-								3.4181598826109e-49	1	4.1633363423443e-17	
-								-2.2898349882894e-16	-4.1633363423443e-17	1	
-			RefCurves
-			RefSurfaces
-		Part
-			Name
-				Part3
-			Position3D
-				-7.041707996051818e-17	1.024695076595962	-5.785307988423487e-17	
-			RotationMatrix
-				1	1.813675575821913e-16	2.220446049250313e-16	
-				-2.220446049250313e-16	5.739075131385976e-17	1	
-				1.813675575821913e-16	-1	5.739075131385978e-17	
-			Velocity3D
-				9.381384558082582e-16	5.026548245743669	3.98141370334613e-33	
-			Omega3D
-				-2.015594481729419e-33	-5.048654922470436e-33	-3.27654773676201e-49	
-			FeatureOrder
-			PrincipalMassMarker
-				Name
-					MassMarker
-				Position3D
-					-7.9328390680452e-18	2.9323172983667e-17	0.5	
-				RotationMatrix
-					9.244463733058701e-33	1	-1.0785207688569e-32	
-					9.9703461330478e-65	1.0785207688569e-32	1	
-					1	-9.244463733058701e-33	0	
-				Mass
-					7.6536686473018
-				MomentOfInertias
-					0.93243354610288	1.1040224936599	1.1040224936599	
+					1	2	3	
 				Density
 					10
 			RefPoints
@@ -219,8 +70,25 @@ Assembly
 						0	0	0	
 					RotationMatrix
 						1	0	0	
-						0	-1	0	
-						0	0	-1	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker0
+							Position3D
+								0.121	8.796847998598882e-19	0.08	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
 					Markers
 						Marker
 							Name
@@ -228,16 +96,16 @@ Assembly
 							Position3D
 								0	0	0	
 							RotationMatrix
-								1	9.559235592913599e-33	0	
-								0	-2.2204460492503e-16	1	
-								-9.559235592913599e-33	-1	-2.2204460492503e-16	
+								1	0	0	
+								0	1	0	
+								0	0	1	
 				RefPoint
 					Position3D
-						1.0408340855861e-17	5.5511151231258e-17	1	
+						0	0	0	
 					RotationMatrix
-						1	-6.9388939039072e-18	6.9388939039072e-18	
-						-6.9388939039072e-18	1	0	
-						6.9388939039072e-18	0	1	
+						1	0	0	
+						0	1	0	
+						0	0	1	
 					Markers
 						Marker
 							Name
@@ -245,195 +113,361 @@ Assembly
 							Position3D
 								0	0	0	
 							RotationMatrix
-								1	-1.3877787807814e-17	1.3877787807814e-17	
-								-1.3877787807814e-17	1	0	
-								1.3877787807814e-17	0	1	
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-VZ	0	-3.017870931829451e-33	-1.387778780781446e-17	2.775557561562891e-17	2.775557561562891e-17	5.551115123125783e-17	-2.233466491649814e-17	-2.775557561562891e-17	-1.110223024625157e-16	1.583115290621954e-17	4.317042711097386e-17	1.387778780781446e-17	1.875877488744077e-17	5.789755778960671e-17	-2.42861286636753e-17	-1.420481781239377e-17	2.595041677762626e-17	3.958604911635814e-17	3.380324590738706e-18	-1.110223024625157e-16	0	-8.328274724744728e-18	1.908195823574488e-17	2.775557561562891e-17	-4.336808689942017e-18	3.341757513205361e-35	-5.200010849845535e-33	
-OmegaX	0	-6.361697919012615e-34	7.591463691480879e-34	8.904787357271287e-35	-2.373898912810666e-34	-6.822053795685427e-35	-1.428710476264353e-17	0	0	2.090222117213549e-17	-1.136191134057863e-17	1.742019999686053e-34	4.982976297435501e-18	3.52409946535767e-19	1.918336677957794e-34	-1.673814286729189e-18	-6.877847605861998e-18	2.00131729612741e-17	9.62623795101104e-19	0	0	-1.666166896306082e-17	-1.464675473791141e-17	1.029992007540376e-35	-4.178547040511614e-18	-2.832766873546822e-34	-5.152488066932315e-48	
-OmegaY	0	0	1.861804551072494e-34	5.29562632980658e-35	-2.44452583868873e-34	-2.180604904031775e-34	-3.054579528615144e-17	0	0	1.106873584132126e-17	5.346509643176714e-18	-5.660166091296401e-35	1.702793760795528e-17	2.154815688559504e-18	1.206915137741857e-35	-3.192971518127856e-19	-2.234748154832902e-18	-1.177096148803234e-17	-2.372278912204797e-17	0	0	-3.685905609489211e-18	-9.295113203074784e-18	2.601462853482028e-35	-7.600748850136941e-18	8.092515091336505e-35	-5.777789833161708e-33	
-OmegaZ	6.2831853071796	6.283185307179586	6.283185307179585	6.283185307179585	6.283185307179587	6.283185307179586	6.283185307179584	6.283185307179586	6.283185307179588	6.283185307179586	6.283185307179588	6.283185307179588	6.283185307179586	6.283185307179585	6.283185307179585	6.283185307179585	6.283185307179585	6.283185307179585	6.283185307179584	6.283185307179586	6.283185307179586	6.283185307179586	6.283185307179585	6.283185307179588	6.283185307179587	6.283185307179584	6.283185307179586	
-AX	19.7392088021788	3.947841760435743	2.842024730011005	1.557632833563869	0.1753691376110691	-1.217913646220408	-2.534670436486791	-3.692164561362915	-4.617666408017215	-5.253023291666671	-5.558313402632471	-5.514354240464117	-5.123907920991138	-4.411507622427125	-3.421916075555918	-2.217312956730531	-0.8733879101271427	0.5254153109655828	1.891204755728	3.138162850323466	4.18793863167747	4.974570826642302	5.448632441377459	5.580336441152483	5.361407379288071	4.805601373905919	3.94784176043574	
-AY	3.947841760435761	3.947841760435743	4.805601373905938	5.361407379288073	5.580336441152484	5.448632441377462	4.974570826642283	4.187938631677472	3.138162850323466	1.891204755727991	0.5254153109655846	-0.8733879101271391	-2.217312956730529	-3.421916075555917	-4.411507622427133	-5.12390792099113	-5.514354240464108	-5.558313402632463	-5.253023291666661	-4.617666408017195	-3.69216456136291	-2.534670436486792	-1.217913646220406	0.1753691376110726	1.557632833563876	2.842024730011016	3.947841760435759	
-AZ	0	3.997172689345502e-33	-6.66133814775094e-17	6.661338147750938e-17	-1.110223024625157e-16	-4.440892098500625e-17	2.664535259100375e-16	6.66133814775094e-17	-1.048374749378204e-17	1.776356839400251e-16	-1.848892746611746e-32	4.440892098500628e-17	-6.661338147750941e-17	-1.110223024625157e-16	3.900741356895414e-34	4.440892098500625e-17	-1.110223024625157e-16	1.110223024625157e-16	-7.484488415731522e-17	2.220446049250313e-16	-1.110223024625156e-16	1.232595164407831e-32	1.554312234475219e-16	2.220446049250313e-16	4.440892098500625e-17	-6.661338147750943e-17	7.260584837538701e-33	
-AlphaX	0	-3.920699046199156e-65	-1.169806300013878e-33	-3.327340154775405e-34	1.53594088326699e-33	1.37011446937762e-33	1.919248921380622e-16	3.789031390812581e-35	2.219226412272245e-17	-6.954691840724179e-17	-3.35931108347019e-17	3.556387242102966e-34	-1.069896873898753e-16	-1.353910627403714e-17	-7.583271460472264e-35	2.006203172894386e-18	1.404133677169277e-17	7.395913227298154e-17	-9.186625674683388e-17	5.473822126268817e-48	-3.031225112650068e-34	2.315922796919343e-17	5.840291870613044e-17	-1.634547317817177e-34	4.775691349874256e-17	-5.084677192001458e-34	-3.630292418769323e-32	
-AlphaY	0	3.997172689345503e-33	-3.297459173524057e-33	5.595042908676548e-34	4.962288511953085e-33	6.025210907184846e-33	-8.97685267267773e-17	6.050487364615537e-34	7.703719777548943e-33	1.313325289561798e-16	-7.138899439660076e-17	-2.132383147777581e-33	3.130896345807087e-17	2.21425699817748e-18	3.985948343014056e-34	-1.051688533332411e-17	-4.321479102217239e-17	1.257464743003211e-16	6.048343685720677e-18	-1.290770637784648e-32	3.22692659446162e-33	-1.046883536217938e-16	-9.202827416710794e-17	-7.420153421325042e-34	-2.625458537030131e-17	-1.664166226226343e-34	-5.732173126314459e-47	
-AlphaZ	0	3.872311913353945e-31	3.108624468950438e-15	-7.105427357601002e-15	-2.664535259100376e-15	0	7.105427357601002e-15	5.329070518200751e-15	5.329070518200751e-15	-8.881784197001252e-15	-7.105427357601002e-15	0	-7.993605777301127e-15	-6.439293542825908e-15	2.442490654175344e-15	3.108624468950438e-15	2.664535259100376e-15	-8.881784197001252e-15	-5.329070518200751e-15	1.953992523340276e-14	5.329070518200751e-15	-1.77635683940025e-15	-1.77635683940025e-15	4.440892098500626e-15	0	-4.440892098500626e-16	3.024671060663479e-14	
-PartSeries	/Assembly1/Part2
-X	0.9403611597381493	0.9403611597381509	0.914766291132654	0.8391854802858385	0.7174079710761005	0.556042586100814	0.3644052538268385	0.154021765992411	-0.06210327235701261	-0.270318937866617	-0.4571798839182563	-0.6102733208965323	-0.7190247089112134	-0.775545824094768	-0.7755458240947679	-0.7190247089112135	-0.6102733208965327	-0.4571798839182558	-0.2703189378666166	-0.06210327235701221	0.1540217659924113	0.364405253826839	0.5560425861008149	0.7174079710761014	0.8391854802858392	0.9147662911326546	0.9403611597381507	
-Y	-0.0172842366612278	-0.01728423666122769	0.1782623827179662	0.3551159328821772	0.5031238312866151	0.6140291035121795	0.6816864155553899	0.7023600963157265	0.6749657056300636	0.6011535414716734	0.4851991029862507	0.3337166048459443	0.1552691333159549	-0.03998577488253652	-0.2405189485854234	-0.4337301509795298	-0.6067397988220129	-0.7476220854550122	-0.8465697424739582	-0.8966938955358382	-0.8944826691695082	-0.8400040105168556	-0.7368955772910444	-0.5921515381992861	-0.4156899456805661	-0.2196414367457998	-0.01728423666122669	
-Z	-4.85722573273506e-17	6.938893903907228e-18	-2.081668171172169e-17	-6.938893903907228e-18	0	1.387778780781446e-17	0	-2.081668171172169e-17	-6.938893903907228e-18	0	-1.387778780781446e-17	-6.938893903907228e-18	0	-2.081668171172169e-17	-4.163336342344337e-17	-1.387778780781446e-17	-6.938893903907228e-18	0	-1.387778780781446e-17	0	0	6.938893903907228e-18	-1.387778780781446e-17	0	0	-1.387778780781446e-17	-1.387778780781446e-17	
-Bryantx	-0	-2.737647592764244e-17	-2.245003982853705e-17	-1.21163464130855e-17	-1.593533568407878e-18	1.091632589510396e-17	1.861263384373932e-17	2.820386111760164e-17	2.883955006042913e-17	2.629293639173309e-17	2.104885501412867e-17	1.515015045559582e-17	6.803545223698929e-18	4.29566864480917e-18	1.37547491417885e-18	3.267956425393566e-18	6.989563988574559e-18	8.950570620072511e-18	1.20712446161005e-17	1.179430127930618e-17	6.759222141647515e-18	2.030541118218165e-18	-5.434884749832413e-18	-1.416610337193271e-17	-2.49481707944768e-17	-2.721568521261597e-17	-2.619167663271713e-17	
-Bryanty	0	-2.137336388388802e-17	-1.666533581023199e-17	-7.758760537183257e-18	-7.998491929460336e-19	3.812786327322522e-18	3.605246090794164e-18	1.090620703964344e-18	-3.347866407657844e-18	-7.138625592830996e-18	-8.976036641281893e-18	-8.697055272708893e-18	-4.746518192658685e-18	-3.311454286418882e-18	-1.060329046242655e-18	-2.279901709350672e-18	-4.012410588691088e-18	-3.816865561731789e-18	-3.277385776107684e-18	-1.369152603475808e-18	2.613737027764124e-19	3.933135144209822e-19	-1.898262700006055e-18	-7.110453515535771e-18	-1.597568096506204e-17	-2.020301725568919e-17	-2.044836650113953e-17	
-Bryantz	2.233670150445037	2.233670150445032	2.209370488787084	2.140361182509803	2.035990197028543	1.906824026350293	1.762125828749485	1.609446268449569	1.455227662246161	1.305683633874584	1.167708110101882	1.049670759329176	0.9616468233703962	0.9140640289170913	0.9140640289170918	0.9616468233703964	1.049670759329175	1.167708110101882	1.305683633874584	1.455227662246162	1.609446268449569	1.762125828749485	1.906824026350293	2.035990197028544	2.140361182509803	2.209370488787086	2.233670150445032	
-VX	-3.316411840237801e-34	-4.144919830384479e-17	-1.274828709759882	-2.488550526455364	-3.572739723337833	-4.456494893866715	-5.077035150887552	-5.387601843992237	-5.361413507940203	-4.993002799636938	-4.297993270341443	-3.312269477625019	-2.092036689495353	-0.7158123405996735	0.7158123405996653	2.092036689495346	3.312269477625017	4.297993270341443	4.993002799636939	5.361413507940201	5.387601843992235	5.077035150887554	4.456494893866711	3.572739723337829	2.488550526455356	1.274828709759872	1.04429255306657e-16	
-VY	5.0265482457437	5.026548245743669	4.701091334500139	4.099242848567291	3.266656020511151	2.252867530847137	1.114326139268133	-0.08519723520269296	-1.277599545137349	-2.395070620616329	-3.37492069265966	-4.163367624824957	-4.716601779786501	-4.998015700068393	-4.975809122869192	-4.630530948364106	-3.96975828287946	-3.033164182272753	-1.885329681564466	-0.606162891094686	0.7164363867815016	1.992251522692617	3.133850941801124	4.061735930223389	4.710352762048595	5.036168644355818	5.026548245743669	
-VZ	-3.974830726464196e-33	7.705381834576423e-18	4.279324382588806e-18	1.921584583027033e-17	2.659742912515388e-17	6.45246691989675e-18	2.333257211113835e-17	8.630531901473238e-18	-3.053910038261469e-17	9.521240931480956e-18	-5.023347950920435e-18	9.601278311273218e-18	2.357937107474973e-17	5.320648350292709e-18	-1.310031222049693e-17	2.149177244168219e-17	1.163321049163123e-17	-1.045901945793489e-17	4.341758509857014e-17	-3.036673805027917e-17	2.629359157163507e-18	-6.092571989685439e-18	1.104523791023485e-17	-1.740445996583321e-17	-5.388822421028883e-18	-9.540137396614631e-18	-1.454113460077919e-17	
-OmegaX	4.177425103292601e-33	-8.969120650030006e-33	1.081632668291512e-17	1.168081089073292e-17	3.776605853310244e-19	-1.163368230904207e-17	-1.197924635859316e-17	-2.378780772416525e-18	1.310199900732063e-17	2.07367674918833e-17	1.589194637490073e-17	1.341949545869414e-17	4.516641210396458e-18	5.306339757550669e-19	-3.509834153257269e-19	-4.196018118171287e-18	-4.624544168790445e-18	-1.076280136437402e-17	-1.481315597714609e-17	-5.430569894664151e-18	2.752095101650789e-19	2.765345019504176e-18	-2.163182078554213e-18	-9.785435447432254e-18	-1.699181093713169e-17	-1.111889295360563e-17	2.185438651973779e-34	
-OmegaY	3.2613995704322e-33	1.915189848417104e-32	-8.876712215776529e-18	-2.017386747557449e-17	4.610037375407426e-18	2.028812161854959e-17	1.732173082890348e-17	5.637545591883054e-17	4.395595133268684e-17	5.283080959219327e-17	4.042524945718039e-17	2.776173341906112e-17	1.858564163629445e-17	3.423482030702383e-18	1.300561314445268e-18	-4.280027269595594e-19	-1.395404751321328e-17	-8.116748416461529e-18	-3.478502857318765e-17	-1.098449586749414e-17	-1.753986438625035e-17	-3.868476961652391e-18	4.546051953118793e-18	1.848859036267753e-17	2.794280037779489e-17	1.237561613817536e-17	-1.417654624416976e-32	
-OmegaZ	-3.182800078699101e-34	1.168339497344748e-15	-1.19756211345592	-2.211920192303964	-2.961564966115344	-3.458060357205636	-3.745682056037213	-3.861829846388225	-3.823593663518196	-3.625237164830134	-3.238826702955576	-2.620572586749856	-1.735545370123934	-0.6118884148019538	0.6118884148019472	1.735545370123922	2.62057258674985	3.238826702955576	3.625237164830135	3.823593663518191	3.861829846388222	3.745682056037215	3.458060357205632	2.961564966115346	2.21192019230396	1.197562113455914	-6.884782783766256e-16	
-AX	-1.295177143359768e-65	-32.11546178246253	-31.37544345857777	-29.02279642555415	-24.88626246965602	-19.03662429882354	-11.79401399087025	-3.622230912495755	4.954287402443036	13.40071256071963	21.20015363832115	27.85286312878128	32.83233574939136	35.55474996755233	35.55474996755235	32.83233574939138	27.85286312878127	21.20015363832111	13.40071256071959	4.954287402443068	-3.62223091249577	-11.79401399087026	-19.03662429882359	-24.88626246965606	-29.02279642555419	-31.37544345857777	-32.11546178246254	
-AY	1.671011241673164e-65	-4.326154467713573	-11.77559898123401	-18.12633350896699	-23.29840172341832	-27.1559544907543	-29.50402978544076	-30.18636987650221	-29.14912647721922	-26.46153919981208	-22.3063080696354	-16.93484160124645	-10.57615770925685	-3.358852933576924	4.557879441392765	12.67660200482793	20.1928890414493	26.363521639149	30.69228517934528	32.89750758950612	32.85445566782087	30.56990031959193	26.17641421002862	19.94133670491298	12.30386285682661	3.933014169925379	-4.326154467713577	
-AZ	1.235699161928302e-66	-5.121774227827065e-16	-3.917057383441297e-16	-2.186297566372609e-16	1.112433885116104e-16	1.699911775391568e-16	5.613737633184854e-16	3.318604217899091e-16	1.661709912707993e-16	1.827586898809985e-16	1.763437910301126e-16	6.889869246834346e-18	-1.611504665529588e-16	-2.85382353083445e-16	-8.278797381008928e-17	-5.046279535466829e-17	-1.993760206880225e-17	2.016961162763366e-16	1.759754575982014e-16	1.989546072609489e-16	2.222545510062945e-16	1.824599904912303e-16	9.158663354417957e-17	-1.903023579887223e-17	-1.949606089130855e-16	-3.149157976249666e-16	-4.360229789372764e-16	
-AlphaX	0	3.454484463720294e-15	2.686051515296129e-15	1.239580283868917e-15	-2.087381598954902e-16	-1.27456172868216e-15	-1.866897562605547e-15	-2.093152148728033e-15	-1.916851836299748e-15	-1.639041196493627e-15	-1.149487383655572e-15	-2.534117227360124e-16	7.859401422447845e-16	1.669016521549698e-15	1.745843821047856e-15	1.108189371888991e-15	5.803350313338059e-17	-9.212549251824182e-16	-1.608979510335812e-15	-1.882167418884763e-15	-1.904513274705583e-15	-1.463623982555034e-15	-6.204449904046963e-16	5.448426456622336e-16	1.954195802207584e-15	3.115612293210523e-15	3.436850868272252e-15	
-AlphaY	0	2.696985312115368e-15	1.988874474412138e-15	7.965087104286453e-16	-1.127441852151431e-16	-4.294451993289467e-16	-7.345552802511585e-16	-8.017283403359292e-17	1.945095748242397e-16	7.764917807462778e-16	2.347517810374965e-16	1.520697135284443e-16	-6.442535641840416e-16	-1.303372089997312e-15	-1.346668108888457e-15	-7.930942773159443e-16	-6.542606228516937e-17	5.216274057448749e-16	3.913251818354832e-16	2.026045283186248e-16	-7.520248527871214e-17	-3.641323254270712e-16	-3.197963930850258e-16	2.719785169466564e-16	1.17971763162135e-15	2.310498430317133e-15	2.683218410448092e-15	
-AlphaZ	0	-30.82159249598807	-28.241394635846	-22.14720024264387	-15.41317361665602	-9.612096703780395	-4.929303691441842	-0.9498967899367488	2.885728149674806	7.150337359348468	12.36177039274133	18.72059407275699	25.44084758946827	30.14458435501739	30.14458435501739	25.44084758946831	18.72059407275699	12.3617703927413	7.150337359348429	2.885728149674829	-0.9498967899367687	-4.929303691441853	-9.612096703780439	-15.41317361665605	-22.14720024264393	-28.24139463584604	-30.82159249598805	
-PartSeries	/Assembly1/Part3
-X	-1.044261215915049e-16	-7.041707813776303e-17	-7.949678397688364e-17	-8.938042158649289e-17	-9.892750573581356e-17	-1.069737016852234e-16	-1.125678651499232e-16	-1.150794954752239e-16	-1.142346488426739e-16	-1.10124833519663e-16	-1.032044223170672e-16	-9.427175849478973e-17	-8.44050555308331e-17	-7.479526273498796e-17	-6.644639291757669e-17	-5.988303497880709e-17	-5.51173953761299e-17	-5.187792971364739e-17	-4.985124386562264e-17	-4.880117345170047e-17	-4.859756025442449e-17	-4.921477459210122e-17	-5.073016346652134e-17	-5.332750817355984e-17	-5.728917991595011e-17	-6.293070871935065e-17	-7.041707996051818e-17	
-Y	1.024695076596	1.02469507659596	1.24278228981572	1.480179366506	1.709492681612448	1.902755855947434	2.037123175785611	2.097450521915651	2.077157983301907	1.97844351523561	1.812220788468628	1.597665367178468	1.360675068250384	1.129855528341609	0.9293223546387235	0.7716757839548993	0.6572089635105103	0.5793996000273653	0.5307202312899781	0.5054983821360046	0.5006077564304161	0.5154327497133651	0.5518311751442102	0.6142173121265466	0.7093734879432563	0.844878470351953	1.024695076595962	
-Z	-2.0284539354805e-17	-5.55127549760977e-17	-4.511305236226578e-17	-3.123259360054837e-17	-1.299122922675906e-17	4.68284780078228e-19	1.294605347403564e-17	1.59381133057e-17	1.923872344977828e-17	1.818882934466386e-17	1.360720316352807e-17	5.121495712256597e-18	-7.2081039443815e-19	-1.191768604424567e-17	-1.31012102382213e-17	-1.304616427546337e-17	-9.553083211689261e-18	-6.006795919038703e-19	4.139410803152944e-19	-1.616488840392927e-20	-4.782311530143049e-19	-1.312272959239267e-17	-2.726985247064476e-17	-4.11349381991122e-17	-4.583341659835943e-17	-5.76278282318125e-17	-5.785307988423487e-17	
-Bryantx	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	-1.570796326794897	
-Bryanty	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	2.220446049250313e-16	
-Bryantz	-1.0785207688569e-32	-1.822925609730439e-16	-1.741727677690481e-16	-1.550769148183692e-16	-1.313918448192965e-16	-1.04132939646408e-16	-7.685430130163072e-17	-4.855528262726502e-17	-2.0699464887145e-17	7.22601512374138e-18	3.438305426032599e-17	5.883324689456516e-17	8.02153422523481e-17	9.080779980706066e-17	9.305892244607789e-17	8.268195591533804e-17	6.351789092505877e-17	3.954222528868558e-17	1.108725492809423e-17	-1.872075108975573e-17	-4.938452963404358e-17	-8.006623388967137e-17	-1.098439886923186e-16	-1.377024493132123e-16	-1.632938365229582e-16	-1.777104520478661e-16	-1.813675575821913e-16	
-VX	-1.6491143091194e-30	-1.320477840074985e-15	2.905703382397549e-15	6.562813796605072e-16	8.538315048488385e-35	1.095668412038743e-15	8.237608145022391e-16	3.552713678800501e-15	2.879893113403146e-15	2.997638475690497e-15	-2.943530431536243e-15	1.159602903685689e-15	7.062954688926255e-15	9.455947528701012e-16	-1.891189505740204e-15	9.792393091328979e-35	5.798014518428439e-15	2.943530431536245e-15	-4.32962871393984e-15	2.423380393929398e-15	-5.401480768378232e-17	-2.785795160365988e-16	1.075603710887482e-15	-5.329070518200756e-15	-3.505240305423234e-15	-5.393112810435475e-15	9.381384558082582e-16	
-VY	5.0265482457437	5.026548245743668	5.796580787427193	5.955454157499838	5.391306334062021	4.175696354760463	2.479272359653009	0.5096086177002229	-1.515057223805368	-3.375040880527796	-4.855647108748238	-5.762633159991207	-5.964501784342067	-5.472563204980015	-4.501261617957575	-3.382630943808548	-2.370492747713212	-1.552437766184176	-0.9053594216529985	-0.36870521242667	0.1216305338785856	0.6273053023077393	1.211022117887797	1.937085616672516	2.85414145311605	3.940679191428769	5.026548245743669	
-VZ	-7.121410028206799e-33	-1.778985230616211e-33	-1.471563161675209e-18	-4.711339614480997e-18	1.041106569481545e-18	5.531492667506762e-18	5.033143538121358e-18	2.462921959035837e-19	-6.18447986821699e-18	-7.965241495199993e-18	-1.610667563645991e-18	-2.838133376313271e-18	-6.520289895500982e-19	9.023190515268243e-19	5.504251646731461e-20	4.941490981265588e-18	-1.482664425907586e-18	1.109050918079139e-17	2.190869861938094e-17	7.017103608389864e-18	5.735627141647336e-19	-5.040519429160835e-18	-2.739430938201885e-18	-1.774066968813188e-18	-1.549963239036809e-18	-2.108336142583963e-18	3.98141370334613e-33	
-OmegaX	4.1774251032926e-33	-6.55717218911017e-35	8.374392957380832e-19	3.099931341009523e-18	-8.067420886712803e-19	-5.041259684537232e-18	-5.227193563650155e-18	-2.728849795873088e-19	6.701558616007658e-18	7.797162089414058e-18	1.356032794654991e-18	2.023863142139531e-18	3.977423736575542e-19	-4.824862812479262e-19	-2.658188568878418e-20	-2.217581690170697e-18	6.32862428963898e-19	-4.581718312909793e-18	-8.872505617630469e-18	-2.81302828514439e-18	-2.294808730563963e-19	2.028731332822378e-18	1.118971416672318e-18	7.435995649689649e-19	6.766547190816817e-19	9.782910678490944e-19	-2.015594481729419e-33	
-OmegaY	3.2613995704322e-33	1.018237677662503e-33	4.565946356339673e-18	-6.773671831547729e-18	6.96971396967019e-18	1.413464706451426e-18	-1.753677347313919e-17	1.916199595159363e-18	-1.117940910219946e-17	5.17174450228052e-18	6.338452613980227e-18	7.910698934525999e-18	1.268171092958471e-17	2.109247091909012e-18	1.721379896863637e-18	2.4078405949697e-18	-4.795717622317074e-18	6.377925149028722e-18	-1.290446626916604e-17	1.156381195109567e-17	-4.4883814837591e-18	-6.559624637462693e-20	-4.851027796569665e-18	-2.488327363664663e-18	3.511190071193033e-19	-3.920620613010258e-18	-5.048654922470436e-33	
-OmegaZ	4.7241180434735e-49	2.263889368321221e-50	2.036602951021264e-34	4.706027263946844e-35	1.31982624464979e-34	-2.270276153707212e-34	-5.884829601504547e-34	3.538368458373107e-35	-1.503447397362483e-34	6.630301879463552e-35	8.849562147206428e-35	8.259112599833069e-35	2.015508774665848e-34	5.993165033085055e-35	2.975599315547412e-35	1.287171822855593e-34	-8.669262582472661e-35	1.645088692676566e-34	-9.478325805901336e-35	1.023735538931261e-34	-5.59389653050746e-35	8.031042076622841e-35	-2.055882092694356e-35	7.976958662975437e-37	6.30140807139875e-35	-1.598556010827311e-35	-3.27654773676201e-49	
-AX	-6.812126218695586e-66	4.961732038475698e-15	2.521786378228209e-15	-1.015235077023056e-15	-4.592377161599154e-15	-7.490115357686086e-15	-9.40231939159177e-15	-1.023164840500096e-14	-9.954701097749729e-15	-8.578243119109664e-15	-6.152586148870166e-15	-2.855465498280036e-15	8.221399689251702e-16	3.940376031059123e-15	5.533443645509853e-15	5.501244515168577e-15	4.615670632572804e-15	3.641142606574001e-15	2.922702264406403e-15	2.530814217873633e-15	2.453925996935757e-15	2.686232802705524e-15	3.241846436019001e-15	4.108665602620712e-15	5.108170140638827e-15	5.682797979197349e-15	4.961732038475731e-15	
-AY	8.725440246809593e-66	24.65727399679046	12.53199028225812	-5.045199795392535	-22.8217689089354	-37.22204770630297	-46.72472508512102	-50.84606669699109	-49.46978003245269	-42.62948691278975	-30.575210689563	-14.1902050803015	4.085615732632046	19.58165630364406	27.49838867861375	27.3383754467169	22.93752556239431	18.09461901922138	14.52433746636758	12.5768540342727	12.19475884733202	13.34920501991167	16.11032099448002	20.41796951939593	25.38499657040116	28.24060343341759	24.65727399679042	
-AZ	-1.593979605749022e-81	5.660569155178314e-15	4.254312911230354e-15	1.926010087743035e-15	-2.673368456848086e-16	-1.744780565688947e-15	-2.394017782315478e-15	-2.893984469626539e-15	-2.871486964477058e-15	-2.569176724823137e-15	-1.704229432744666e-15	-5.276809236924563e-16	1.212512983392032e-15	2.57512248043019e-15	2.960227552025962e-15	1.788466027929746e-15	7.256008492244876e-17	-1.266314508153187e-15	-2.284171529677635e-15	-2.548432869431573e-15	-2.460564628717781e-15	-1.824907025352505e-15	-8.208404639304818e-16	9.257163024648484e-16	3.083635267643644e-15	5.099767625531277e-15	5.668298917592686e-15	
-AlphaX	0	-2.164062565640926e-15	-2.007139092732273e-15	-1.432433382653021e-15	-7.382997739100376e-16	-1.499683573030806e-16	3.142430093684469e-16	7.360460206517098e-16	9.825779455929464e-16	9.388488510828998e-16	5.155759522202211e-16	-3.948328048926396e-18	-6.570468401083904e-16	-9.966164944757403e-16	-9.894456748315872e-16	-4.184142209075707e-16	2.396555402171494e-16	7.023012705668505e-16	1.062787506613491e-15	1.134682180482173e-15	1.093740299667789e-15	8.839413707236886e-16	5.589058978704676e-16	-4.012115687189488e-17	-8.542030382924567e-16	-1.674842853160987e-15	-2.153186268698025e-15	
-AlphaY	0	7.808396497655542e-15	6.879363770142131e-15	5.183014695214396e-15	3.6428116436571e-15	2.508152127114834e-15	1.265210965919047e-15	8.224244130785875e-16	-8.03001299064844e-17	-7.201086672080159e-16	-2.486148219567535e-15	-3.771254140972803e-15	-5.670043954263818e-15	-6.944262588111084e-15	-7.076319545172252e-15	-5.915706326475925e-15	-4.150644467278984e-15	-2.38633609329269e-15	-1.236236407395403e-15	-1.209892385163053e-16	8.520084869555558e-16	1.72792359136895e-15	2.79555372195699e-15	4.248805282076728e-15	5.878867122632803e-15	7.340287439719376e-15	7.758112194930539e-15	
-AlphaZ	0	4.388126013276726e-31	1.437895629216647e-32	1.640546370058675e-32	1.436768032204479e-32	1.720762361634838e-32	-5.924625631284394e-33	1.356455637106439e-32	-3.118505730165001e-33	-2.693808561091054e-33	-3.727739517026469e-32	-4.912723687908432e-32	-6.126135855163654e-32	-7.669086176771316e-32	-7.056004797441794e-32	-6.578882705209298e-32	-4.870674471921564e-32	-2.347151582941894e-32	-1.19361648511705e-32	5.149006668862072e-33	1.711408459137413e-32	3.325273777707717e-32	4.508891537568124e-32	6.194368123461662e-32	3.896533069511927e-32	4.16511012290667e-32	2.736287607779354e-32	
-RevoluteJointSeries	/Assembly1/Joint1
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-RevoluteJointSeries	/Assembly1/Joint2
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-RevoluteJointSeries	/Assembly1/Joint3
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-CylindricalJointSeries	/Assembly1/Joint4
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-RotationalMotionSeries	/Assembly1/Motion1
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