save$bdn = {{True, "g"}, {False, "IM"}, {False, "TM"}}
save$bodypos = {{xg, yg, zg, pitchg, yawg, rollg}, {xIM, yIM, zIM, pitchIM, 
      yawIM, rollIM}, {xTM, yTM, zTM, pitchTM, yawTM, rollTM}}
save$damp = {{"d1", 1, 2, {0., 0., 0.}, {0., 0., 0.}, 
      {{1, 0, 0, 0, 0, 0}, {0, 1, 0, 0, 0, 0}, {0, 0, 1, 0, 0, 0}, 
       {0, 0, 0, 1, 0, 0}, {0, 0, 0, 0, 1, 0}, {0, 0, 0, 0, 0, 1}}}}
save$exdamp = {{"d1", 1, 2, {0., 0., 0.}, {0., 0., 0.}, 
      {{1 + dQx, 0, 0, 0, 0, 0}, {0, 1 + dQy, 0, 0, 0, 0}, 
       {0, 0, 1 + dQz, 0, 0, 0}, {0, 0, 0, 1 + dQp, 0, 0}, 
       {0, 0, 0, 0, 1 + dQyaw, 0}, {0, 0, 0, 0, 0, 1 + dQr}}}}

save$exmass = {{0, {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}}, 
     {0.7654499999999999 + dM, {{0.00040544929687499984 + dIxx, dIxy, dIxz}, 
       {dIxy, 0.0007463137499999998 + dIyy, dIzy}, 
       {dIxz, dIzy, 0.0006924930468749998 + dIzz}}}, 
     {0.46847650973569954, {{0.0003034206942417968, 0, 0}, 
       {0, 0.0003034206942417968, 0}, {0, 0, 0.00215649165521101}}}}
save$exvspr = {{5, 1, 12.17836651110829*(10 + df1)^2, 3.026204765126803, 
      True, -60 + ddB1, {0, 1, 0}, "sp1", 1000. + dQ1}, 
     {6, 1, 12.17836651110829*(10 + df1)^2, 3.026204765126803, True, 
      -60 + ddB1, {0, 1, 0}, "sp2", 1000. + dQ1}, 
     {7, 1, 12.17836651110829*(10 + df1)^2, 3.026204765126803, True, 
      -60 + ddB1, {0, 1, 0}, "sp3", 1000. + dQ1}, 
     {8, 1, 12.17836651110829*(10 + df1)^2, 3.026204765126803, True, 
      -60 + ddB1, {0, 1, 0}, "sp4", 1000. + dQ1}}
save$exwire = {{2, {-0.01 - 0.001*dCOMx, -0.005 + 0.001*dCOM1, 
       -0.005 - 0.001*dCOMz + 0.001*dCOMzU}, 3, {-0.05 - 0.001*dCOMx, 
       0. + 0.001*dCOM2, -0.005 - 0.001*dCOMz}, 3, 
      0.233 + 1.*dL - (3.559304406529654*^-12*(0.233 + 1.*dL))/
        (0.00005 + 0.001*dD)^2, 0.00005 + 0.001*dD, 0, 0.00005 + 0.001*dD, 
      1.1489386401268031, {0, -1, 0}, {0, 1, 0}, "IM-TM-1", 
      (3.2279864515635126*^11*(0.00005 + 0.001*dD)^2)/(0.233 + 1.*dL), 
      (1.5761652595524963*^10*(0.00005 + 0.001*dD)^4)/(0.233 + 1.*dL)}, 
     {2, {-0.01 - 0.001*dCOMx, -0.005 + 0.001*dCOM1, 0.005 + 0.001*dCOMz + 
        0.001*dCOMzU}, 3, {-0.05 - 0.001*dCOMx, 0. + 0.001*dCOM2, 
       0.005 + 0.001*dCOMz}, 3, 0.233 + 1.*dL - 
       (3.559304406529654*^-12*(0.233 + 1.*dL))/(0.00005 + 0.001*dD)^2, 
      0.00005 + 0.001*dD, 0, 0.00005 + 0.001*dD, 1.1489386401268031, 
      {0, -1, 0}, {0, 1, 0}, "IM-TM-2", (3.2279864515635126*^11*
        (0.00005 + 0.001*dD)^2)/(0.233 + 1.*dL), 
      (1.5761652595524963*^10*(0.00005 + 0.001*dD)^4)/(0.233 + 1.*dL)}, 
     {2, {0.01 + 0.001*dCOMx, -0.005 + 0.001*dCOM1, 0.005 + 0.001*dCOMz + 
        0.001*dCOMzU}, 3, {0.05 + 0.001*dCOMx, 0. + 0.001*dCOM2, 
       0.005 + 0.001*dCOMz}, 3, 0.233 + 1.*dL - 
       (3.559304406529654*^-12*(0.233 + 1.*dL))/(0.00005 + 0.001*dD)^2, 
      0.00005 + 0.001*dD, 0, 0.00005 + 0.001*dD, 1.1489386401268031, 
      {0, -1, 0}, {0, 1, 0}, "IM-TM-3", (3.2279864515635126*^11*
        (0.00005 + 0.001*dD)^2)/(0.233 + 1.*dL), 
      (1.5761652595524963*^10*(0.00005 + 0.001*dD)^4)/(0.233 + 1.*dL)}, 
     {2, {0.01 + 0.001*dCOMx, -0.005 + 0.001*dCOM1, -0.005 - 0.001*dCOMz + 
        0.001*dCOMzU}, 3, {0.05 + 0.001*dCOMx, 0. + 0.001*dCOM2, 
       -0.005 - 0.001*dCOMz}, 3, 0.233 + 1.*dL - 
       (3.559304406529654*^-12*(0.233 + 1.*dL))/(0.00005 + 0.001*dD)^2, 
      0.00005 + 0.001*dD, 0, 0.00005 + 0.001*dD, 1.1489386401268031, 
      {0, -1, 0}, {0, 1, 0}, "IM-TM-4", (3.2279864515635126*^11*
        (0.00005 + 0.001*dD)^2)/(0.233 + 1.*dL), 
      (1.5761652595524963*^10*(0.00005 + 0.001*dD)^4)/(0.233 + 1.*dL)}, 
     {1, {-0.045, -0.005, -0.01}, 2, {-0.045, 0.005, -0.01}, 3, 
      0.1618481266327146, 0.0001, 0, 0.0001, 3.026204765126803, {0, -1, 0}, 
      {0, 1, 0}, "g-IM-1", 19925.84229360193, 9.729415182422817*^-6}, 
     {1, {-0.045, -0.005, 0.01}, 2, {-0.045, 0.005, 0.01}, 3, 
      0.1618481266327146, 0.0001, 0, 0.0001, 3.026204765126803, {0, -1, 0}, 
      {0, 1, 0}, "g-IM-2", 19925.84229360193, 9.729415182422817*^-6}, 
     {1, {0.045, -0.005, 0.01}, 2, {0.045, 0.005, 0.01}, 3, 
      0.1618481266327146, 0.0001, 0, 0.0001, 3.026204765126803, {0, -1, 0}, 
      {0, 1, 0}, "g-IM-3", 19925.84229360193, 9.729415182422817*^-6}, 
     {1, {0.045, -0.005, -0.01}, 2, {0.045, 0.005, -0.01}, 3, 
      0.1618481266327146, 0.0001, 0, 0.0001, 3.026204765126803, {0, -1, 0}, 
      {0, 1, 0}, "g-IM-4", 19925.84229360193, 9.729415182422817*^-6}}
save$exwire2 = {{4, 2, 3, {-0.005 + 0.001*dCOM1, 0. + 0.001*dCOM2, 
       0.05 + 0.001*dCOMx, 0.005 + 0.001*dCOMz, 0., 0. + 0.001*dCOMzU}, 3, 
      {0.233 + 1.*dL, 0.00005 + 0.001*dD, 0.02, 0.001, False, True}, 
      1.1489386401268031, {(3.2279864515635126*^11*(0.00005 + 0.001*dD)^2)/
        (0.233 + 1.*dL), (1.5761652595524963*^10*(0.00005 + 0.001*dD)^4)/
        (0.233 + 1.*dL)}}, {4, 1, 2, {-0.005, 0.005, 0.045, 0.01, 0., 0.}, 3, 
      {0.162, 0.0001, 0.02, 0.0001, False, True}, 3.026204765126803, 
      {19925.84229360193, 9.729415182422817*^-6}}}
save$FileName = "MCsus"


save$initpos = {{0, 0, 0}, {0, -0.2, 0}, {0, -0.423, 0}}

save$mass = {{0, {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}}, 
     {0.7654499999999999, {{0.00040544929687499984, 0, 0}, 
       {0, 0.0007463137499999998, 0}, {0, 0, 0.0006924930468749998}}}, 
     {0.46847650973569954, {{0.0003034206942417968, 0, 0}, 
       {0, 0.0003034206942417968, 0}, {0, 0, 0.00215649165521101}}}}
save$mat = {{"Maraging Steel", 8., 195, 0.3, 1., -3, "Virgo Data"}, 
     {"C-70 Steel", 7.8, 200, 0.3, 3., -4, "LIGO-G050087-00"}, 
     {"Tungsten", 19.3, 411, 0.28, 1., -4, "Wikipedia"}, 
     {"Copper Beryllium", 8.4, 134, 0.3, 5., -6, "www.alb-copperalloys.com"}, 
     {"Sapphire", 3.98, 345, 0.3, 2., -7, "www.crystalsystems.com"}, 
     {"Bolfur", 7.6, 157, 0.3, 1., -3, "www.alb-copperalloys.com"}}
save$shape = {{"Cuboid", {0.2, 0.01, 0.2, 0.2, 0.2}}, 
     {"Cuboid", {0.09, 0.0525, 0.06, 0.2, 0.2}}, 
     {"Cylinder[z]", {0.09595000000000001, 0.02945, 0.2, 0.2, 0.2}}}


save$strmass = {{"0", {{"0", "0", "0"}, {"0", "0", "0"}, {"0", "0", "0"}}}, 
     {"IMmass+dM", {{"IMIx+dIxx", "dIxy", "dIxz"}, {"dIxy", "IMIy+dIyy", 
        "dIzy"}, {"dIxz", "dIzy", "IMIz+dIzz"}}}, 
     {"TMmass", {{"TMIx", "0", "0"}, {"0", "TMIy", "0"}, {"0", "0", "TMIz"}}}}
save$subdamp = {dQx -> 0, dQy -> 0, dQz -> 0, dQp -> 0, dQyaw -> 0, dQr -> 0}

save$submass = {dM -> 0, dIxx -> 0, dIyy -> 0, dIzz -> 0, dIxy -> 0, 
     dIxz -> 0, dIzy -> 0}
save$subvspr = {df1 -> 0, ddB1 -> 0, dQ1 -> 0}
save$subwire = {dCOMx -> 0, dCOM1 -> 0, dCOMz -> 0, dCOMzU -> 0, dCOM2 -> 0, 
     dD -> 0, dL -> 0}
save$vardamp = {{dQx, 1, "d1 D Streng xx"}, {dQy, 1, "d1 D Streng yy"}, 
     {dQz, 1, "d1 D Streng zz"}, {dQp, 1, "d1 D Streng pp"}, 
     {dQyaw, 1, "d1 D Streng yawyaw"}, {dQr, 1, "d1 D Streng rr"}}

save$varmass = {{dM, 0.7654499999999999, "IM Mass"}, 
     {dIxx, 0.00040544929687499984, "IM Ixx"}, {dIyy, 0.0007463137499999998, 
      "IM Iyy"}, {dIzz, 0.0006924930468749998, "IM Izz"}, 
     {dIxy, 0, "IM Ixy"}, {dIxz, 0, "IM Ixz"}, {dIzy, 0, "IM Iyz"}}
save$varvspr = {{df1, 1217.836651110829, "sp1 k"}, {ddB1, -60, "sp1 CoP"}, 
     {dQ1, 1000., "sp1 Q"}}
save$varwire = {{dCOMx, -0.01, "IM-TM-1 U Clamp Pos x"}, 
     {dCOM1, -0.005, "IM-TM-1 U Clamp Pos y"}, {dCOMz, -0.005, 
      "IM-TM-1 U Clamp Pos z"}, {dCOMzU, -0.005, "IM-TM-1 U Clamp Pos z"}, 
     {dCOM2, 0., "IM-TM-1 L Clamp Pos y"}, {dD, 0.00005, "IM-TM-1 D"}, 
     {dL, 0.23266827282931146, "IM-TM-1 L"}}

save$vspr = {{5, 1, 1217.836651110829, 3.026204765126803, True, -60, 
      {0, 1, 0}, "sp1", 1000.}, {6, 1, 1217.836651110829, 3.026204765126803, 
      True, -60, {0, 1, 0}, "sp2", 1000.}, {7, 1, 1217.836651110829, 
      3.026204765126803, True, -60, {0, 1, 0}, "sp3", 1000.}, 
     {8, 1, 1217.836651110829, 3.026204765126803, True, -60, {0, 1, 0}, 
      "sp4", 1000.}}
save$wire = {{2, {-0.01, -0.005, -0.005}, 3, {-0.05, 0., -0.005}, 3, 
      0.23266827282931146, 0.00005, 0, 0.00005, 1.1489386401268031, 
      {0, -1, 0}, {0, 1, 0}, "IM-TM-1", 3463.5047763557, 
      4.227911103949829*^-7}, {2, {-0.01, -0.005, 0.005}, 3, 
      {-0.05, 0., 0.005}, 3, 0.23266827282931146, 0.00005, 0, 0.00005, 
      1.1489386401268031, {0, -1, 0}, {0, 1, 0}, "IM-TM-2", 3463.5047763557, 
      4.227911103949829*^-7}, {2, {0.01, -0.005, 0.005}, 3, 
      {0.05, 0., 0.005}, 3, 0.23266827282931146, 0.00005, 0, 0.00005, 
      1.1489386401268031, {0, -1, 0}, {0, 1, 0}, "IM-TM-3", 3463.5047763557, 
      4.227911103949829*^-7}, {2, {0.01, -0.005, -0.005}, 3, 
      {0.05, 0., -0.005}, 3, 0.23266827282931146, 0.00005, 0, 0.00005, 
      1.1489386401268031, {0, -1, 0}, {0, 1, 0}, "IM-TM-4", 3463.5047763557, 
      4.227911103949829*^-7}, {1, {-0.045, -0.005, -0.01}, 2, 
      {-0.045, 0.005, -0.01}, 3, 0.1618481266327146, 0.0001, 0, 0.0001, 
      3.026204765126803, {0, -1, 0}, {0, 1, 0}, "g-IM-1", 19925.84229360193, 
      9.729415182422817*^-6}, {1, {-0.045, -0.005, 0.01}, 2, 
      {-0.045, 0.005, 0.01}, 3, 0.1618481266327146, 0.0001, 0, 0.0001, 
      3.026204765126803, {0, -1, 0}, {0, 1, 0}, "g-IM-2", 19925.84229360193, 
      9.729415182422817*^-6}, {1, {0.045, -0.005, 0.01}, 2, 
      {0.045, 0.005, 0.01}, 3, 0.1618481266327146, 0.0001, 0, 0.0001, 
      3.026204765126803, {0, -1, 0}, {0, 1, 0}, "g-IM-3", 19925.84229360193, 
      9.729415182422817*^-6}, {1, {0.045, -0.005, -0.01}, 2, 
      {0.045, 0.005, -0.01}, 3, 0.1618481266327146, 0.0001, 0, 0.0001, 
      3.026204765126803, {0, -1, 0}, {0, 1, 0}, "g-IM-4", 19925.84229360193, 
      9.729415182422817*^-6}}
save$wire2 = {{4, 2, 3, {-0.005, 0., 0.05, 0.005, 0., 0.}, 3, 
      {0.233, 0.00005, 0.02, 0.001, False, True}, 1.1489386401268031, 
      {3463.5047763557, 4.227911103949829*^-7}}, 
     {4, 1, 2, {-0.005, 0.005, 0.045, 0.01, 0., 0.}, 3, 
      {0.162, 0.0001, 0.02, 0.0001, False, True}, 3.026204765126803, 
      {19925.84229360193, 9.729415182422817*^-6}}}
calc$combif = False
calc$combif2 = False
calc$combin = {xIM + yIM, xIM - yIM}
calc$combout = {xIM + yIM, xIM - yIM}
calc$eigenDET = 10
calc$eigenIS = 300
calc$eigenP = {True, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$eigenPA = 0.5
calc$eigenTA = 0.2
calc$legend = True
calc$lgndpos = {0.35, 0.3}
calc$maxx = 0.5
calc$maxz = 0.5
calc$psdline = {}
calc$psdname = {}
calc$psdplot = {}
calc$psdsel = {}
calc$psdshow = {}

calc$sflag = 0
calc$sni = {False, False, False, False, False, False}
calc$sno = {False, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$tfFi = {False, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$tfFo = {False, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$tfGi = {False, False, False, False, False, False}
calc$tfGo = {False, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$tfk = 1
calc$tfline = {{Thickness[Large]}}
calc$tfname = {"zTM / FzTM"}
calc$tfplot = {{{0.01000000000000001, 0.06307259681042436 - 
        0.0001104592598155156*I}, {0.010092528860766855, 
       0.06307272637170502 - 0.00011148169042683163*I}, 
      {0.01018591388054118, 0.0630728583422319 - 0.00011251359564543406*I}, 
      {0.010280162981264745, 0.06307299276681551 - 0.00011355506353601658*I}, 
      {0.010375284158180138, 0.0630731296911002 - 0.00011460618298926151*I}, 
      {0.010471285480509006, 0.06307326916157961 - 0.00011566704372979481*I}, 
      {0.010568175092136596, 0.06307341122561264 - 0.00011673773632422402*I}, 
      {0.01066596121230259, 0.06307355593143935 - 0.00011781835218925839*I}, 
      {0.010764652136298361, 0.06307370332819755 - 0.00011890898359991477*I}, 
      {0.010864256236170667, 0.06307385346593945 - 0.00012000972369780792*I}, 
      {0.010964781961431863, 0.06307400639564865 - 0.00012112066649952814*I}, 
      {0.011066237839776675, 0.06307416216925765 - 0.00012224190690510555*I}, 
      {0.011168632477805623, 0.0630743208396653 - 0.0001233735407065642*I}, 
      {0.011271974561755117, 0.06307448246075495 - 0.00012451566459656478*I}, 
      {0.011376272858234322, 0.06307464708741282 - 0.00012566837617713917*I}, 
      {0.01148153621496884, 0.06307481477554655 - 0.00012683177396851638*I}, 
      {0.011587773561551273, 0.06307498558210432 - 0.0001280059574180425*I}, 
      {0.011694993910198723, 0.06307515956509425 - 0.00012919102690919426*I}, 
      {0.01180320635651731, 0.0630753367836041 - 0.00013038708377068872*I}, 
      {0.011912420080273762, 0.06307551729782139 - 0.00013159423028568946*I}, 
      {0.012022644346174144, 0.06307570116905392 - 0.00013281256970111137*I}, 
      {0.012133888504649786, 0.06307588845975066 - 0.00013404220623702457*I}, 
      {0.012246161992650502, 0.06307607923352299 - 0.00013528324509615863*I}, 
      {0.01235947433444512, 0.06307627355516632 - 0.00013653579247350952*I}, 
      {0.012473835142429446, 0.06307647149068224 - 0.0001377999555660491*I}, 
      {0.012589254117941687, 0.06307667310730097 - 0.00013907584258254028*I}, 
      {0.012705741052085433, 0.06307687847350424 - 0.00014036356275345705*I}, 
      {0.012823305826560232, 0.06307708765904865 - 0.00014166322634101322*I}, 
      {0.01294195841449987, 0.0630773007349894 - 0.0001429749446492986*I}, 
      {0.013061708881318424, 0.06307751777370452 - 0.0001442988300345278*I}, 
      {0.013182567385564082, 0.06307773884891951 - 0.00014563499591539825*I}, 
      {0.01330454417978092, 0.06307796403573256 - 0.00014698355678356367*I}, 
      {0.013427649611378649, 0.06307819341063994 - 0.0001483446282142215*I}, 
      {0.01355189412351037, 0.0630784270515623 - 0.00014971832687681725*I}, 
      {0.013677288255958502, 0.06307866503787105 - 0.00015110477054586634*I}, 
      {0.013803842646028859, 0.06307890745041551 - 0.00015250407811189656*I}, 
      {0.013931568029453043, 0.06307915437155048 - 0.00015391636959251133*I}, 
      {0.01406047524129915, 0.06307940588516422 - 0.00015534176614357615*I}, 
      {0.014190575216890933, 0.06307966207670715 - 0.00015678039007052948*I}, 
      {0.014321878992735446, 0.06307992303322095 - 0.00015823236483982164*I}, 
      {0.014454397707459286, 0.06308018884336822 - 0.00015969781509047966*I}, 
      {0.014588142602753497, 0.06308045959746279 - 0.0001611768666458052*I}, 
      {0.014723125024327202, 0.06308073538750042 - 0.00016266964652520116*I}, 
      {0.014859356422870082, 0.06308101630719025 - 0.0001641762829561355*I}, 
      {0.014996848355023748, 0.06308130245198677 - 0.00016569690538623862*I}, 
      {0.015135612484362095, 0.06308159391912235 - 0.00016723164449553967*I}, 
      {0.015275660582380739, 0.06308189080764046 - 0.00016878063220884237*I}, 
      {0.015417004529495607, 0.06308219321842942 - 0.00017034400170824255*I}, 
      {0.015559656316050758, 0.06308250125425681 - 0.0001719218874457894*I}, 
      {0.01570362804333554, 0.06308281501980469 - 0.0001735144251562941*I}, 
      {0.015848931924611148, 0.06308313462170514 - 0.00017512175187028506*I}, 
      {0.015995580286146702, 0.06308346016857683 - 0.00017674400592711435*I}, 
      {0.016143585568264878, 0.06308379177106195 - 0.00017838132698821718*I}, 
      {0.016292960326397238, 0.06308412954186414 - 0.00018003385605052543*I}, 
      {0.01644371723214933, 0.06308447359578688 - 0.00018170173546003994*I}, 
      {0.016595869074375623, 0.06308482404977271 - 0.0001833851089255606*I}, 
      {0.01674942876026439, 0.06308518102294325 - 0.00018508412153258087*I}, 
      {0.016904409316432657, 0.06308554463663982 - 0.00018679891975734525*I}, 
      {0.017060823890031253, 0.06308591501446481 - 0.00018852965148107416*I}, 
      {0.017218685749860088, 0.06308629228232422 - 0.0001902764660043605*I}, 
      {0.017378008287493772, 0.06308667656847038 - 0.00019203951406173558*I}, 
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      {65.46361740672747, -0.000012620091457051396 - 1.6212281382766438*^-14*
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      {69.18309709189363, -0.000011299285529650108 - 1.1066138555509087*^-14*
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      {71.12135136533288, -0.000010691673409642996 - 9.145619621067724*^-15*
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      {73.11390834834172, -0.000010116741896761389 - 7.560214760424105*^-15*
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        7.095760698819711*^-15*I}, {74.47319739059888, 
       -9.75073779916495*^-6 - 6.660035707470277*^-15*I}, 
      {75.16228940182053, -9.572732559334844*^-6 - 6.251255463043659*^-15*I}, 
      {75.85775750291836, -9.397977519362367*^-6 - 5.867746735166973*^-15*I}, 
      {76.55966069112561, -9.2264133116115*^-6 - 5.507940459418947*^-15*I}, 
      {77.26805850957021, -9.057981653649369*^-6 - 5.1703652426520586*^-15*
         I}, {77.98301105232578, -8.892625328380371*^-6 - 
        4.8536412736443886*^-15*I}, {78.70457896950977, 
       -8.7302881645449*^-6 - 4.556474613767766*^-15*I}, 
      {79.43282347242805, -8.570915017576265*^-6 - 4.2776518439413235*^-15*
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        4.016035045621037*^-15*I}, {80.90958991783813, 
       -8.26084521703093*^-6 - 3.770557094967086*^-15*I}, 
      {81.65823713585914, -8.110043240376813*^-6 - 3.5402172506333704*^-15*
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        3.3240770168455013*^-15*I}, {83.176377110267, 
       -7.816649005374454*^-6 - 3.121256264578819*^-15*I}, 
      {83.94599865193965, -7.673957093662796*^-6 - 2.9309295947218525*^-15*
         I}, {84.72274141405954, -7.533870398402666*^-6 - 
        2.7523229281173483*^-15*I}, {85.50667128846823, 
       -7.396341340248601*^-6 - 2.5847103083165133*^-15*I}, 
      {86.29785477669694, -7.2613232093178585*^-6 - 2.427410903767253*^-15*
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        2.279786196986339*^-15*I}, {87.90225168308834, 
       -6.9986371417575805*^-6 - 2.141237349043199*^-15*I}, 
      {88.71560120379598, -6.870879990964566*^-6 - 2.011202728412202*^-15*I}, 
      {89.53647655495928, -6.745455308690676*^-6 - 1.889155593933555*^-15*I}, 
      {90.36494737223005, -6.622320499512928*^-6 - 1.7746019222639136*^-15*
         I}, {91.20108393559087, -6.5014337462974775*^-6 - 
        1.6670783707984637*^-15*I}, {92.04495717531702, 
       -6.382753995964001*^-6 - 1.566150367609413*^-15*I}, 
      {92.89663867799354, -6.266240945511013*^-6 - 1.4714103204739424*^-15*
         I}, {93.75620069258792, -6.151855028297326*^-6 - 
        1.3824759375596137*^-15*I}, {94.6237161365792, 
       -6.039557400574879*^-6 - 1.2989886527993294*^-15*I}, 
      {95.4992586021435, -5.929309928268386*^-6 - 1.2206121494231024*^-15*I}, 
      {96.38290236239695, -5.8210751739972005*^-6 - 1.1470309755217544*^-15*
         I}, {97.2747223776964, -5.714816384334988*^-6 - 
        1.0779492459001448*^-15*I}, {98.17479430199833, 
       -5.610497477302802*^-6 - 1.0130894248360224*^-15*I}, 
      {99.08319448927665, -5.508083030091275*^-6 - 9.52191184696799*^-16*I}, 
      {99.9999999999999, -5.407538267007742*^-6 - 8.950103356816658*^-16*I}}}
calc$tfsel = {False}
calc$tfshow = {True}
calc$tnb = {False, False, False, False, False, False, False, False, False, 
     False, False, False}
calc$tnT = 300
calc$xrange = Automatic
calc$ybottom = -0.5
calc$yrange = Automatic
calc$ytop = 0.1
matKff = {{21143.67894471276, 0, 0, 0}, {0, 21143.67894471276, 0, 0}, 
     {0, 0, 21143.67894471276, 0}, {0, 0, 0, 21143.67894471276}}
matKffc = {{21143.67894471276 + 3.2104208804710224*I, 0, 0, 0}, 
     {0, 21143.67894471276 + 3.2104208804710224*I, 0, 0}, 
     {0, 0, 21143.67894471276 + 3.2104208804710224*I, 0}, 
     {0, 0, 0, 21143.67894471276 + 3.2104208804710224*I}}
matKfp = {{0, 0, 0, 0}, {19925.84229360193, 19925.84229360193, 
      19925.84229360193, 19925.84229360193}, {0, 0, 0, 0}, 
     {199.25842293601931, -199.25842293601931, -199.25842293601931, 
      199.25842293601931}, {0, 0, 0, 0}, {-896.6629032120867, 
      -896.6629032120867, 896.6629032120867, 896.6629032120867}}
matKfpc = {{0, 0, 0, 0}, {19925.84229360193 + 1.992584229360193*I, 
      19925.84229360193 + 1.992584229360193*I, 19925.84229360193 + 
       1.992584229360193*I, 19925.84229360193 + 1.992584229360193*I}, 
     {0, 0, 0, 0}, {199.25842293601931 + 0.01992584229360193*I, 
      -199.25842293601931 - 0.01992584229360193*I, -199.25842293601931 - 
       0.01992584229360193*I, 199.25842293601931 + 0.01992584229360193*I}, 
     {0, 0, 0, 0}, {-896.6629032120867 - 0.08966629032120868*I, 
      -896.6629032120867 - 0.08966629032120868*I, 896.6629032120867 + 
       0.08966629032120868*I, 896.6629032120867 + 0.08966629032120868*I}}
matKfv = {{0, 0, 0, 0}, {-19925.84229360193, -19925.84229360193, 
      -19925.84229360193, -19925.84229360193}, {0, 0, 0, 0}, 
     {-199.25842293601931, 199.25842293601931, 199.25842293601931, 
      -199.25842293601931}, {0, 0, 0, 0}, {896.6629032120868, 
      896.6629032120868, -896.6629032120868, -896.6629032120868}, 
     {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, 
     {0, 0, 0, 0}}
matKfvc = {{0, 0, 0, 0}, {-19925.84229360193 - 1.992584229360193*I, 
      -19925.84229360193 - 1.992584229360193*I, -19925.84229360193 - 
       1.992584229360193*I, -19925.84229360193 - 1.992584229360193*I}, 
     {0, 0, 0, 0}, {-199.25842293601931 - 0.01992584229360193*I, 
      199.25842293601931 + 0.01992584229360193*I, 199.25842293601931 + 
       0.01992584229360193*I, -199.25842293601931 - 0.01992584229360193*I}, 
     {0, 0, 0, 0}, {896.6629032120868 + 0.08966629032120868*I, 
      896.6629032120868 + 0.08966629032120868*I, -896.6629032120868 - 
       0.08966629032120868*I, -896.6629032120868 - 0.08966629032120868*I}, 
     {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, {0, 0, 0, 0}, 
     {0, 0, 0, 0}}
matKpv = {{-75.48198324412964, 0, 0, 0, 0, -0.43904102874108697}, 
     {0, -4590.766084342351, 0, 0, 0, 0}, {0, 0, -75.48198324412964, 
      0.43904102874108697, 0, 0}, {0, 0, -0.4390410287410869, 
      -0.4565229258647845, 0, 0}, {0, 0, 0, 0, -0.16043813205450513, 0}, 
     {0.4390410287410869, 0, 0, 0, 0, -9.293747638223834}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}
matKpvc = {{-75.48198324412964 - 0.00003807959585488414*I, 0, 0, 0, 0, 
      -0.43904102874108697 - 2.2149000621911178*^-7*I}, 
     {0, -4590.76628618587 - 4.352788410923761*I, 0, 0, 0, 0}, 
     {0, 0, -75.48198324412964 - 0.00003807959585488414*I, 
      0.43904102874108697 + 2.2149000621911178*^-7*I, 0, 0}, 
     {0, 0, -0.4390410287410869 - 2.2149000621911178*^-7*I, 
      -0.45652294604913646 - 0.00043527755279554006*I, 0, 0}, 
     {0, 0, 0, 0, -0.16043813205450513 - 8.481090726459791*^-8*I, 0}, 
     {0.4390410287410869 + 2.2149000621911178*^-7*I, 0, 0, 0, 0, 
      -9.293748046956978 - 0.008814395243823773*I}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}

matKvv = {{505.58530157073875, 0, 0, 0, 0, -21.606899742080724, 
      -430.1033183266091, 0, 0, 0, 0, 117.44678868571457}, 
     {0, 18034.761771950667, 0, 0, 0, 0, 0, -13443.995687608302, 0, 0, 0, 0}, 
     {0, 0, 95.56188375624004, 0.33198942252504027, 0, 0, 0, 0, 
      -20.07990051211041, -0.006652103655494605, 0, 0}, 
     {0, 0, 0.33198942252504027, 0.8932098594720328, 0, 0, 0, 0, 
      0.10705160621604666, -0.3360644279516966, 0, 0}, 
     {0, 0, 0, 0, 0.18123235643316715, 0, 0, 0, 0, 0, -0.020794224378662015, 
      0}, {-21.606899742080724, 0, 0, 0, 0, 10.508267211246704, 
      21.167858713339637, 0, 0, 0, 0, -6.1036280819996955}, 
     {-430.1033183266091, 0, 0, 0, 0, 21.167858713339637, 430.1033183266091, 
      0, 0, 0, 0, -117.44678868571457}, {0, -13443.995687608302, 0, 0, 0, 0, 
      0, 13443.995687608302, 0, 0, 0, 0}, {0, 0, -20.07990051211041, 
      0.10705160621604666, 0, 0, 0, 0, 20.07990051211041, 
      0.006652103655494605, 0, 0}, {0, 0, -0.006652103655494605, 
      -0.3360644279516966, 0, 0, 0, 0, 0.006652103655494605, 
      0.33762458531188355, 0, 0}, {0, 0, 0, 0, -0.020794224378662015, 0, 0, 
      0, 0, 0, 0.02079422437866202, 0}, {117.44678868571457, 0, 0, 0, 0, 
      -6.1036280819996955, -117.44678868571457, 0, 0, 0, 0, 
      33.649120649148365}}
matKvvc = {{505.58530157073875 + 0.00009931929923566717*I, 0, 0, 0, 0, 
      -21.606899742080724 - 3.2354481264558315*^-6*I, 
      -430.1033183266091 - 0.00006123970338078302*I, 0, 0, 0, 0, 
      117.44678868571457 + 0.00001672250874539159*I}, 
     {0, 18034.761973794186 + 5.738131940813265*I, 0, 0, 0, 0, 0, 
      -13443.995687608302 - 1.3853435298895014*I, 0, 0, 0, 0}, 
     {0, 0, 95.56188375624004 + 0.00004093864645710126*I, 
      0.33198942252504027 + 2.0624760205303005*^-7*I, 0, 0, 0, 0, 
      -20.07990051211041 - 2.8590506022171217*^-6*I, 
      -0.006652103655494605 - 9.471511549961206*^-10*I, 0, 0}, 
     {0, 0, 0.33198942252504027 + 2.0624760205303005*^-7*I, 
      0.8932098796563848 + 0.0004538556617693327*I, 0, 0, 0, 0, 
      0.10705160621604666 + 1.5242404166081732*^-8*I, 
      -0.33606442795169666 - 0.00003463358319770792*I, 0, 0}, 
     {0, 0, 0, 0, 0.18123235643316715 + 8.794054159438405*^-8*I, 0, 0, 0, 0, 
      0, -0.02079422437866201 - 3.1296343297861293*^-9*I, 0}, 
     {-21.606899742080724 - 3.2354481264558315*^-6*I, 0, 0, 0, 0, 
      10.508267619979875 + 0.008936841302788975*I, 21.167858713339637 + 
       3.01395812023672*^-6*I, 0, 0, 0, 0, -6.1036280819996955 - 
       0.0006925837191678898*I}, {-430.1033183266091 - 
       0.00006123970338078302*I, 0, 0, 0, 0, 21.167858713339637 + 
       3.01395812023672*^-6*I, 430.1033183266091 + 0.00006123970338078302*I, 
      0, 0, 0, 0, -117.44678868571457 - 0.00001672250874539159*I}, 
     {0, -13443.995687608302 - 1.3853435298895014*I, 0, 0, 0, 0, 0, 
      13443.995687608302 + 1.3853435298895014*I, 0, 0, 0, 0}, 
     {0, 0, -20.07990051211041 - 2.8590506022171217*^-6*I, 
      0.10705160621604666 + 1.5242404166081732*^-8*I, 0, 0, 0, 0, 
      20.07990051211041 + 2.8590506022171217*^-6*I, 0.006652103655494605 + 
       9.471511549961206*^-10*I, 0, 0}, {0, 0, -0.006652103655494605 - 
       9.471511549961206*^-10*I, -0.33606442795169666 - 
       0.00003463358319770792*I, 0, 0, 0, 0, 0.006652103655494605 + 
       9.471511549961206*^-10*I, 0.33762458531188355 + 
       0.00003319824046556336*I, 0, 0}, {0, 0, 0, 0, 
      -0.02079422437866201 - 3.1296343297861293*^-9*I, 0, 0, 0, 0, 0, 
      0.02079422437866202 + 3.12963432978613*^-9*I, 0}, 
     {117.44678868571457 + 0.00001672250874539159*I, 0, 0, 0, 0, 
      -6.1036280819996955 - 0.0006925837191678898*I, 
      -117.44678868571457 - 0.00001672250874539159*I, 0, 0, 0, 0, 
      33.64912064914836 + 0.0034619288315285747*I}}

matGpv = {{-1, 0, 0, 0, 0, 0}, {0, -1, 0, 0, 0, 0}, {0, 0, -1, 0, 0, 0}, 
     {0, 0, 0, -1., 0, 0}, {0, 0, 0, 0, -1., 0}, {0, 0, 0, 0, 0, -1}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}

matGvv = {{1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 1, 0, 0, 0, 0, 0, 0, 0, 
      0, 0, 0}, {0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 1., 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 1., 0, 0, 0, 0, 0, 
      0, 0}, {0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 
      0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 
      0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0, 0, 0, 0, 
      0, 0, 0}}

matMpv = {{0, 0, 0, 0, 0, 0}, {0, 0.0012339265097356996, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0}}

matMvv = {{0.7654499999999999, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0.7654499999999999, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0.7654499999999999, 0, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0.00040544929687499984, 0, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0.0007463137499999998, 0, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0.0006924930468749998, 0, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0.46847650973569954, 0, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0.46847650973569954, 0, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0, 0.46847650973569954, 0, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0003034206942417968, 0, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.0003034206942417968, 0}, 
     {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.00215649165521101}}

allvars = {xIM, yIM, zIM, pitchIM, yawIM, rollIM, xTM, yTM, zTM, pitchTM, 
     yawTM, rollTM}
allparams = {xg, yg, zg, pitchg, yawg, rollg}
allfloats = {hsp1, hsp2, hsp3, hsp4}
subdefparams = {xg -> 0, yg -> 0, zg -> 0, pitchg -> 0, yawg -> 0, rollg -> 0}
subminvars = {xIM -> 2.8866260950123674*^-18, yIM -> -0.17200000000000001, 
     zIM -> -2.1668222063085007*^-19, pitchIM -> -4.677411589369551*^-17, 
     yawIM -> -1.4562510230236443*^-18, rollIM -> -4.3302721570471907*^-19, 
     xTM -> 2.016343672397697*^-18, yTM -> -0.40653593644743996, 
     zTM -> 7.173811899583592*^-20, pitchTM -> -2.796175163582044*^-17, 
     yawTM -> -2.1269451968378567*^-17, rollTM -> -1.7943121243745304*^-16, 
     hsp1 -> -1.287055015129886*^-19, hsp2 -> 4.824513125565272*^-19, 
     hsp3 -> 4.647387277624441*^-20, hsp4 -> 3.290883479805456*^-19}
eigenf = {0.8743648776768569, 0.8824995316820993, 1.2140844608627435, 
    1.8070607842920028, 1.8603026182922202, 2.5324052413628473, 
    3.7518616641839078, 8.361861502229718, 9.458973629165174, 
    16.54095038781225, 23.280331996623204, 35.13182329350175}
eigenv = {{-0.09791869717993648, 6.2550639225880006*^-15, 
    -7.788527850517037*^-16, 5.197962846840444*^-30, -3.223092435780525*^-30, 
    -0.009580900867026001, -0.36244008580749393, 6.8012106786601835*^-15, 
    5.675644711947674*^-34, -2.428351745137888*^-30, 4.5372755885661435*^-33, 
    -0.926799503280519}, {1.193854298335467*^-13, 5.909591279880962*^-16, 
    -0.23798388627231273, 0.32416615448009384, -2.026762427213631*^-14, 
    9.451248983299279*^-15, 4.3877305557404764*^-13, 9.659402690555625*^-16, 
    -0.8484115492793102, 0.34420606795028397, -3.457030001044424*^-14, 
    1.1186998359489786*^-12}, {5.551354020918932*^-30, 
    5.537833890397745*^-19, 3.3829741090215204*^-17, -4.508685437610384*^-17, 
    0.1492085283426541, 1.8082956411819578*^-29, 1.3663883443873487*^-29, 
    1.0701321320778133*^-17, -1.0898270588470956*^-16, 
    2.330596209898863*^-18, 0.9888057519400963, 3.0917711278639963*^-29}, 
    {-0.20050211494309586, -1.5235288857940275*^-15, 1.941494976753159*^-16, 
    -1.2983611643151716*^-30, 8.050727123144207*^-31, 
    -0.00011535720744345307, 0.0770107686376958, -1.6687764246506032*^-15, 
    -1.417677827559476*^-34, 6.065602414031237*^-31, 
    -1.1333329209096548*^-33, 0.9766617787698522}, {-2.5430774561818477*^-14, 
    4.706095998852474*^-16, -0.7109143220124019, 0.42341197418450044, 
    -5.261963595483579*^-14, -1.0398581170607737*^-15, 
    1.7074829320469216*^-14, 1.5048018119612508*^-15, 0.3260872758572932, 
    0.4571544765161996, 5.3054620703547517*^-14, 1.492796910683148*^-13}, 
    {-3.431859800047218*^-30, 9.520599914521502*^-17, 
    -2.445303242409189*^-16, -9.184119727050299*^-17, 0.9375080192524078, 
    5.360935296440384*^-28, 1.4308834427725242*^-29, 8.130747119296952*^-17, 
    3.8099330797110156*^-17, 3.375026495223893*^-17, -0.34796366741001405, 
    1.3829839839659163*^-28}, {4.518076212440318*^-18, 
    2.157089054803672*^-17, -0.0004226901089054202, -0.44928528781377924, 
    -1.9303903988356541*^-16, 5.091251046276731*^-17, 
    -6.189248425873896*^-17, 4.9403513705861483*^-17, 
    -0.00018959458772047967, -0.8933882221862194, 2.3861138912207335*^-17, 
    -2.2393712759936233*^-16}, {-9.58077611590577*^-19, 
    -3.478055031791114*^-16, 0.00013777167245699422, 0.8299131973058863, 
    -3.5488580794133616*^-17, -1.2009505533483576*^-17, 
    2.968778524462179*^-17, -4.3844483389925953*^-16, 0.0000646979736965215, 
    -0.55789251811676, 2.611396808843064*^-18, 9.377106603817582*^-17}, 
    {-1.1573581588785528*^-17, -0.6593194410270597, 4.313576099093638*^-18, 
    -1.1061660569899743*^-15, 1.2815276486271734*^-16, 
    -3.5477550698086774*^-16, 3.8412031141681456*^-17, -0.7518629361018973, 
    -4.503271462437064*^-19, 5.547729068057458*^-16, -2.532446139868215*^-18, 
    -9.166088885156025*^-17}, {0.004099944361258389, 4.3621884747608674*^-17, 
    4.794434274723211*^-18, -4.1085246144576745*^-32, 2.547566228782455*^-32, 
    0.9103111686973847, -0.006716777394125486, 4.9973900495920756*^-17, 
    -4.486089394834283*^-36, 1.9193948112816332*^-32, 
    -3.586310442663721*^-35, 0.4138497934063443}, {-0.005399186199138587, 
    1.7461541594242*^-17, 1.1145675115192427*^-18, -1.3253794312953868*^-32, 
    8.218258855281856*^-33, 0.8395469201515102, 0.008744371580924391, 
    4.903622711142142*^-17, -1.4471790165118861*^-36, 6.191824662448976*^-33, 
    -1.1569170300744995*^-35, -0.5431899793057267}, {1.5316132667933009*^-18, 
    -0.5723242570461292, 2.1561466072969565*^-18, -8.114339714321659*^-17, 
    5.031445534567599*^-17, -2.8406034291298995*^-16, 
    -3.604453268960421*^-18, 0.8200274049058337, -8.860030486468458*^-21, 
    3.790806434465366*^-17, -7.082966267352886*^-20, 2.6552820115838463*^-16}}
bodylist = {{{xg, yg, zg, pitchg, yawg, rollg}, 0, {{0, 0, 0}, {0, 0, 0}, 
       {0, 0, 0}}, "Cuboid", {0.2, 0.01, 0.2, 0.2, 0.2}}, 
     {{xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 0.7654499999999999, 
      {{0.00040544929687499984, 0, 0}, {0, 0.0007463137499999998, 0}, 
       {0, 0, 0.0006924930468749998}}, "Cuboid", {0.09, 0.0525, 0.06, 0.2, 
       0.2}}, {{xTM, yTM, zTM, pitchTM, yawTM, rollTM}, 0.46847650973569954, 
      {{0.0003034206942417968, 0, 0}, {0, 0.0003034206942417968, 0}, 
       {0, 0, 0.00215649165521101}}, "Cylinder[z]", {0.09595000000000001, 
       0.02945, 0.2, 0.2, 0.2}}, {{xg - 0.045*Cos[rollg]*Cos[yawg] - 
        0.01*(Sin[pitchg]*Sin[rollg] + Cos[pitchg]*Cos[rollg]*Sin[yawg]) + 
        (-0.0058165009697891314 + hsp1)*(-(Cos[pitchg]*Sin[rollg]) + 
          Cos[rollg]*Sin[pitchg]*Sin[yawg]), 
       yg - 0.045*Cos[yawg]*Sin[rollg] - 0.01*(-(Cos[rollg]*Sin[pitchg]) + 
          Cos[pitchg]*Sin[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp1)*
         (Cos[pitchg]*Cos[rollg] + Sin[pitchg]*Sin[rollg]*Sin[yawg]), 
       zg - 0.01*Cos[pitchg]*Cos[yawg] + (-0.0058165009697891314 + hsp1)*
         Cos[yawg]*Sin[pitchg] + 0.045*Sin[yawg], pitchg, yawg, rollg}, 0, 
      {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}, 
      "Cylinder[y]", {0.1, 0.03, 0., 0, 0}}, 
     {{xg - 0.045*Cos[rollg]*Cos[yawg] + 0.01*(Sin[pitchg]*Sin[rollg] + 
          Cos[pitchg]*Cos[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp2)*
         (-(Cos[pitchg]*Sin[rollg]) + Cos[rollg]*Sin[pitchg]*Sin[yawg]), 
       yg - 0.045*Cos[yawg]*Sin[rollg] + 0.01*(-(Cos[rollg]*Sin[pitchg]) + 
          Cos[pitchg]*Sin[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp2)*
         (Cos[pitchg]*Cos[rollg] + Sin[pitchg]*Sin[rollg]*Sin[yawg]), 
       zg + 0.01*Cos[pitchg]*Cos[yawg] + (-0.0058165009697891314 + hsp2)*
         Cos[yawg]*Sin[pitchg] + 0.045*Sin[yawg], pitchg, yawg, rollg}, 0, 
      {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}, 
      "Cylinder[y]", {0.1, 0.03, 0., 0, 0}}, 
     {{xg + 0.045*Cos[rollg]*Cos[yawg] + 0.01*(Sin[pitchg]*Sin[rollg] + 
          Cos[pitchg]*Cos[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp3)*
         (-(Cos[pitchg]*Sin[rollg]) + Cos[rollg]*Sin[pitchg]*Sin[yawg]), 
       yg + 0.045*Cos[yawg]*Sin[rollg] + 0.01*(-(Cos[rollg]*Sin[pitchg]) + 
          Cos[pitchg]*Sin[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp3)*
         (Cos[pitchg]*Cos[rollg] + Sin[pitchg]*Sin[rollg]*Sin[yawg]), 
       zg + 0.01*Cos[pitchg]*Cos[yawg] + (-0.0058165009697891314 + hsp3)*
         Cos[yawg]*Sin[pitchg] - 0.045*Sin[yawg], pitchg, yawg, rollg}, 0, 
      {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}, 
      "Cylinder[y]", {0.1, 0.03, 0., 0, 0}}, 
     {{xg + 0.045*Cos[rollg]*Cos[yawg] - 0.01*(Sin[pitchg]*Sin[rollg] + 
          Cos[pitchg]*Cos[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp4)*
         (-(Cos[pitchg]*Sin[rollg]) + Cos[rollg]*Sin[pitchg]*Sin[yawg]), 
       yg + 0.045*Cos[yawg]*Sin[rollg] - 0.01*(-(Cos[rollg]*Sin[pitchg]) + 
          Cos[pitchg]*Sin[rollg]*Sin[yawg]) + (-0.0058165009697891314 + hsp4)*
         (Cos[pitchg]*Cos[rollg] + Sin[pitchg]*Sin[rollg]*Sin[yawg]), 
       zg - 0.01*Cos[pitchg]*Cos[yawg] + (-0.0058165009697891314 + hsp4)*
         Cos[yawg]*Sin[pitchg] - 0.045*Sin[yawg], pitchg, yawg, rollg}, 0, 
      {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, 
       {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}}, 
      "Cylinder[y]", {0.1, 0.03, 0., 0, 0}}}
 
bodylist /: bodylist::usage = "bodylist is a list of structures defining \
bodies. Each structure containing the following items:\n\tcoordinate list \
defining the body,\n\tmass,\n\tmoment of inertia \
tensor,\n\tshape,\n\tdimension"
wirelist = {{{xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 
      {-0.01, -0.005331281703885069, -0.005}, {xTM, yTM, zTM, pitchTM, yawTM, 
       rollTM}, {-0.05, 0.00033128170388506894, -0.005}, 0.23200570942154133, 
      3463.5047763557, 4.227911103949829*^-7, 0.0001, 1.4238370356928795*^-7, 
      0.0001}, {{xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 
      {-0.01, -0.005331281703885069, 0.005}, {xTM, yTM, zTM, pitchTM, yawTM, 
       rollTM}, {-0.05, 0.00033128170388506894, 0.005}, 0.23200570942154133, 
      3463.5047763557, 4.227911103949829*^-7, 0.0001, 1.4238370356928795*^-7, 
      0.0001}, {{xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 
      {0.01, -0.005331281703885069, 0.005}, {xTM, yTM, zTM, pitchTM, yawTM, 
       rollTM}, {0.05, 0.00033128170388506894, 0.005}, 0.23200570942154133, 
      3463.5047763557, 4.227911103949829*^-7, 0.0001, 1.4238370356928795*^-7, 
      0.0001}, {{xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 
      {0.01, -0.005331281703885069, -0.005}, {xTM, yTM, zTM, pitchTM, yawTM, 
       rollTM}, {0.05, 0.00033128170388506894, -0.005}, 0.23200570942154133, 
      3463.5047763557, 4.227911103949829*^-7, 0.0001, 1.4238370356928795*^-7, 
      0.0001}, {{xg, yg, zg, pitchg, yawg, rollg}, 
      {-0.045, -0.0058165009697891314 + hsp1, -0.01}, 
      {xIM, yIM, zIM, pitchIM, yawIM, rollIM}, 
      {-0.045, 0.0058165009697891314, -0.01}, 0.16021512469313634, 
      19925.84229360193, 9.729415182422817*^-6, 0.0001, 5.04485894756159*^-7, 
      0.0001}, {{xg, yg, zg, pitchg, yawg, rollg}, 
      {-0.045, -0.0058165009697891314 + hsp2, 0.01}, {xIM, yIM, zIM, pitchIM, 
       yawIM, rollIM}, {-0.045, 0.0058165009697891314, 0.01}, 
      0.16021512469313634, 19925.84229360193, 9.729415182422817*^-6, 0.0001, 
      5.04485894756159*^-7, 0.0001}, {{xg, yg, zg, pitchg, yawg, rollg}, 
      {0.045, -0.0058165009697891314 + hsp3, 0.01}, {xIM, yIM, zIM, pitchIM, 
       yawIM, rollIM}, {0.045, 0.0058165009697891314, 0.01}, 
      0.16021512469313634, 19925.84229360193, 9.729415182422817*^-6, 0.0001, 
      5.04485894756159*^-7, 0.0001}, {{xg, yg, zg, pitchg, yawg, rollg}, 
      {0.045, -0.0058165009697891314 + hsp4, -0.01}, {xIM, yIM, zIM, pitchIM, 
       yawIM, rollIM}, {0.045, 0.0058165009697891314, -0.01}, 
      0.16021512469313634, 19925.84229360193, 9.729415182422817*^-6, 0.0001, 
      5.04485894756159*^-7, 0.0001}}
 
wirelist /: wirelist::usage = "wirelist is a list of structures defining \
wires. Each structure containing the following items:\n\tcoordinate list \
defining first mass,\n\tattachment point for first mass (local \
coordinates),\n\tcoordinate list defining second mass,\n\tattachment point \
for second mass (local coordinates),\n\tunstretched length,\n\tstretching \
elasticity,\n\ttorsional elasticity,\n\tloss angle of the stretching \
mode,\n\tloss angle of the bending mode,\n\tloss angle of the torsion mode,"
calcdone = True