[MBDyn-users] Problem with springmass example (even without sockets) and socket problems

Richard Crozier r.crozier at ed.ac.uk
Tue Oct 18 18:40:20 CEST 2016


Dear List,

I've tried to get the springmass example working, but cannot. In fact 
even if I take out all the socket communication and replace forces with 
forces of constant value 0 it still fails with error "Initial assembly 
iterations reached maximum number 1; aborting".

I found an old thread about this on the mailing list which indicates 
this is a problem with how the file is set up:

http://mail.mbdyn.org/pipermail/mbdyn-users/2009-August/000369.html

but unfortunately I can't see what might be a problem in this file. I've 
attached my version without sockets (springmass_nosocket.mbd). Can 
anyone confirm they get the same error when running it, or if I have 
made some mistake here?


So next I tried to investigate the connection error I am getting with 
another file, the error being

"StructExtForce(3000): recv() failed (got 52 of 56 bytes)"

Rather than use my interface to test this, I used the provided utility 
test_strext_socket. I used the attached file 
heaving_buoy_socket_forces.mbd, and launched mbdyn and 
test_strext_socket using the attached shell script 
heaving_buoy_socket_forces.sh. Using this I get the same error, and have 
attached the output of mbdyn in the file output.txt. Note that to 
investigate more thoroughly I also created a debug build of mbdyn with 
the following:

./configure --prefix=/usr/local --enable-python CPPFLAGS=-DDEBUG 
CXXFLAGS="-g -O0" CFLAGS="-g -O0"

so output contains more info than normal.

Does anyone else get the same error when running 
heaving_buoy_socket_forces.sh or is it some error I have made in the 
input file?

Regards,

Richard



-- 
The University of Edinburgh is a charitable body, registered in
Scotland, with registration number SC005336.

-------------- next part --------------
# $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/tests/forces/strext/socket/springmass/springmass,v 1.2 2011/12/06 20:23:10 masarati Exp $
#
# MBDyn (C) is a multibody analysis code. 
# http://www.mbdyn.org
# 
# Copyright (C) 1996-2011
# 
# Pierangelo Masarati	<masarati at aero.polimi.it>
# Paolo Mantegazza	<mantegazza at aero.polimi.it>
# 
# Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
# via La Masa, 34 - 20156 Milano, Italy
# http://www.aero.polimi.it
# 
# Changing this copyright notice is forbidden.
# 
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation (version 2 of the License).
# 
# 
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
# 
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
# 
# Author: Pierangelo Masarati <masarati at aero.polimi.it>

begin: data;
	problem: initial value;
end: data;

begin: initial value;
	initial time: 0.;
	final time: 1.;
	time step: 1e-2;

	#method: ms, .6;
	linear solver: naive, colamd;
	#nonlinear solver: newton raphson, modified, 5;

	tolerance: 1e-6;
	max iterations: 10;

	derivatives coefficient: 1e-9;
	derivatives tolerance: 1e-6;
	derivatives max iterations: 10;

	output: iterations, residual, solution, counter, bailout;
	#output: residual;
end: initial value;

begin: control data;
	structural nodes:
		+1		# ground
		+1		# mass 1
		+1		# mass 2
	;
	rigid bodies:
		+1		# mass 1
		+1		# mass 2
	;
	joints:
		+1		# ground clamp
		+1		# spring for mass 1
	;
	forces:
		+3		# forces for mass 2
	;
end: control data;

set: const integer GROUND = 0;
set: const integer MASS_1 = 1;
set: const integer MASS_2 = 2;

set: const real VZ = 1.;

set: real m = 1.0;
set: real omega = 10.0*2.0*pi;
set: real xi = 0.1;
set: real k = m*omega*omega;
set: real d = 2.0*xi*m*omega;

reference: GROUND,
	reference, global, null,
	reference, global, eye,
	reference, global, null,
	reference, global, null;

reference: MASS_1,
	reference, GROUND, null,
	reference, GROUND, eye,
	reference, GROUND, 0., 0., VZ,
	reference, GROUND, null;

reference: MASS_2,
	reference, GROUND, null,
	reference, GROUND, eye,
	reference, GROUND, 0., 0., VZ,
	reference, GROUND, null;

begin: nodes;
	structural: GROUND, static,
		reference, GROUND, null,
		reference, GROUND, eye,
		reference, GROUND, null,
		reference, GROUND, null,
		output, no;

	structural: MASS_1, dynamic,
		reference, MASS_1, null,
		reference, MASS_1, eye,
		reference, MASS_1, null,
		reference, MASS_1, null;

	structural: MASS_2, dynamic,
		reference, MASS_2, null,
		reference, MASS_2, eye,
		reference, MASS_2, null,
		reference, MASS_2, null;
end: nodes;

begin: elements;
	joint: GROUND, clamp, GROUND, node, node;

	joint: MASS_1, deformable displacement joint,
		GROUND,
			position, reference, MASS_1, null,
			orientation, reference, MASS_1, eye,
		MASS_1,
			position, reference, MASS_1, null,
			orientation, reference, MASS_1, eye,
		linear viscoelastic isotropic, (10.*2*pi)^2, 2*0.1*10.*2*pi;

	body: MASS_1, MASS_1,
		1.,
		null,
		diag, 1., 1., 1.;

	body: MASS_2, MASS_2,
		1.,
		null,
		diag, 1., 1., 1.;
	
# the forces from the python example
#	nodal.n_f[0] = -k*nodal.n_x[0] - d*nodal.n_xp[0];
#	nodal.n_f[1] = -k*nodal.n_x[1] - d*nodal.n_xp[1];
#	nodal.n_f[2] = -k*nodal.n_x[2] - d*nodal.n_xp[2];
	
#    force: 101,
#      follower internal,
#         MASS_2,
#            position, null,                               # relative arm
#         GROUND,
#            position, null,                               # relative arm
#         single, 1., 0., 0., string, "-k*DX - d*VX"; # force value
         
#    force: 102,
#      follower internal,
#         MASS_2,
#            position, null,                               # relative arm
#         GROUND,
#            position, null,                               # relative arm
#         single, 0., 1., 0., string, "-k*DY - d*VY"; # force value
         
         	
#	force: 103,
#      follower internal,
#         MASS_2,
#            position, null,                               # relative arm
#         GROUND,
#            position, null,                               # relative arm
#         single, 0., 0., 1., string, "-k*DZ - d*VZ"; # force value

    force: 101,
      follower internal,
         MASS_2,
            position, null,                               # relative arm
         GROUND,
            position, null,                               # relative arm
         single, 1., 0., 0., const, 0.; # force value
         
    force: 102,
      follower internal,
         MASS_2,
            position, null,                               # relative arm
         GROUND,
            position, null,                               # relative arm
         single, 0., 1., 0., const, 0.; # force value
         
         	
	force: 103,
      follower internal,
         MASS_2,
            position, null,                               # relative arm
         GROUND,
            position, null,                               # relative arm
         single, 0., 0., 1., const, 0.; # force value

#	force: MASS_2, external structural,
#		socket,
#		create, yes,
#		path, "$MBSOCK",
#		no signal,
#		coupling,
#			# loose,
#			tight,
#		orientation, orientation vector,
#		# orientation, orientation matrix, # default
#		# orientation, euler 123,
#		1,
#			MASS_2;
end: elements;

# vim:ft=mbd
-------------- next part --------------
# heaving buoy test

begin: data;
    problem: initial value; # the default
end: data;

begin: initial value;
    initial time: 0.;
    final time: 1.;
    time step: 1e-2;

    max iterations: 10;
    tolerance: 1.e-6;

    derivatives coefficient: 1e-9;
    derivatives tolerance: 1e-6;
    derivatives max iterations: 10;
    
    
    
    output: iterations, residual, solution, counter, bailout;

end: initial value;

begin: control data;

    default orientation: euler123;
    
    structural nodes: 
        +1    # node in the buoy
        +1    # node in the translator
        +1    # node in the stator
    ;
    rigid bodies:
        +1    # node in the buoy
        +1    # node in the translator
        +1    # node in the stator
    ;
    joints:
        +1    # stator to translator: prismatic
        +1    # stator to translator: in line
        +1    # stator to ground: revolute pin
        +1    # translator to buoy: total joint
    ;
    forces:
        +1    # buoyancy
    ;
    gravity;
end: control data;

set: integer nd_translator_id = 1;
set: integer nd_buoy_id = 2;
set: integer nd_stator_id = 3;

set: integer bd_stator_id = 1000+nd_stator_id;
set: integer bd_translator_id = 1000+nd_translator_id;
set: integer bd_buoy_id = 1000+nd_buoy_id;

set: real stator_d = 600e-3;
set: real stator_l = 1.0;
set: real stator_mass = pi * (stator_d/2.0)^2.0 * stator_l * 7500;

#set: real base_d = 2.0 * stator_d;
#set: real base_l = 0.5 * stator_l;
#set: real base_mass = stator_mass;

set: real translator_d = 300e-3;
set: real translator_l = 8.0;
set: real translator_mass = pi * (translator_d/2.0)^2.0 * translator_l * 100.0;

# 2m diameter buoy
set: real draft = 1.0;
set: real buoy_l = 3.0;
set: real buoy_d = 2.0;
set: real rho_water = 1025.0;
set: real displaced_mass = ( pi * (buoy_d/2.0)^2.0 * draft * rho_water);
set: real buoy_mass = displaced_mass - translator_mass;
set: real initial_heave_position = 0.25;

set: integer ref_stator = 4001;
set: integer ref_translator = 4002;
set: integer ref_buoy = 4003;

reference: ref_buoy,
    reference, global, null,
    reference, global, eye,
    reference, global, null,
    reference, global, null;

reference: ref_stator,
    reference, ref_buoy, 0.0, 0.0, -(translator_l/2.0) - (buoy_l/2.0),
    reference, ref_buoy, eye,
    reference, ref_buoy, null,
    reference, ref_buoy, 0.0, 0.0, 0.0;

reference: ref_translator,
    reference, ref_stator, null,
    reference, ref_stator, eye,
    reference, ref_stator, null,
    reference, ref_stator, null;


begin: nodes;
    structural: nd_stator_id, dynamic, 
        reference, ref_stator, null,  # relative position
        reference, ref_stator, eye,   # relative orientation
        reference, ref_stator, null,  # relative velocity
        reference, ref_stator, null;  # relative angular velocity

    structural: nd_translator_id, dynamic,
        reference, ref_translator, null,
        reference, ref_translator, eye,
        reference, ref_translator, null,
        reference, ref_translator, null;
    
    structural: nd_buoy_id, dynamic, 
        reference, ref_buoy, null,
        reference, ref_buoy, eye,
        reference, ref_buoy, null,
        reference, ref_buoy, null;

end: nodes;

set: real buoy_Ixx = buoy_mass * (3.*buoy_d^2+buoy_l^2)/12.;
set: real buoy_Iyy = buoy_mass * (3.*buoy_d^2+buoy_l^2)/12.;
set: real buoy_Izz = buoy_mass * (buoy_d + buoy_d)^2/8.0;

set: real translator_Ixx = translator_mass * (3.*translator_d^2+translator_l^2)/12.;
set: real translator_Iyy = translator_mass * (3.*translator_d^2+translator_l^2)/12.;
set: real translator_Izz = translator_mass * (translator_d + translator_d)^2/8.0;

set: real stator_Ixx = stator_mass * (3.*stator_d^2+stator_l^2)/12.;
set: real stator_Iyy = stator_mass * (3.*stator_d^2+stator_l^2)/12.;
set: real stator_Izz = stator_mass * (stator_d + stator_d)^2/8.0;

begin: elements;

    body: bd_buoy_id, nd_buoy_id,
      buoy_mass,                        # mass
      null,                             # relative center of mass
      diag, buoy_Ixx, buoy_Iyy, buoy_Izz; # inertia matrix
      
    body: bd_translator_id, nd_translator_id,
      translator_mass,                  # mass
      null,                             # relative center of mass
      diag, translator_Ixx, translator_Iyy, translator_Izz; # inertia matrix

    body: bd_stator_id, nd_stator_id,
      stator_mass,                      # mass
      null,                             # relative center of mass
      diag, stator_Ixx, stator_Iyy, stator_Izz; # inertia matrix

    # joint ids
    set: integer jo_statorHinge_id = 2000;
    set: integer jo_buoyTransClamp_id = 2001;
    set: integer jo_statorTransP_id = 2002;
    set: integer jo_statorTransInLine_id = 2003;

    # create a hinge at the midle of the stator so it can pitch
    joint: jo_statorHinge_id, revolute pin,
        nd_stator_id, 
            reference, ref_stator, null,          # relative offset
            hinge, reference, ref_stator,           # relative axis orientation
                1, 1.,0.,0., 3, 0.,1.,0.,
            reference, ref_stator, null,          # absolute pin position
            hinge, reference, ref_stator,           # absolute pin orientation
                1, 1.,0.,0., 3, 0.,1.,0.;

    # clamp the buoy to the translator using a total joint to 
    # restrain all the degrees of freedom between the nodes
    joint: jo_buoyTransClamp_id, total joint,
        nd_translator_id,
            position, 
                reference, ref_translator, 0., 0., translator_l/2.0,
            position orientation, 
                reference, ref_translator, eye,
            rotation orientation, 
                reference, ref_translator, eye,
        nd_buoy_id,
        position, 
                reference, ref_buoy, 0., 0., -buoy_l/2.0,
            position orientation, 
                reference, ref_buoy, eye,
            rotation orientation, 
                reference, ref_buoy, eye,
        position constraint,
            active,            
            active,            
            active,
            null,
        orientation constraint,
            active,        
            active,         
            active,
            null;

    joint: jo_statorTransP_id, prismatic,
        nd_stator_id, 
        nd_translator_id;

    joint: jo_statorTransInLine_id, in line,
        nd_stator_id,
        reference, ref_translator, null,    # relative line position
        1, 1., 0., 0., 3, 0., 0., 1.,        # relative orientation (dir 3 is direction)
        nd_translator_id;


    set: integer fc_buoyancy_id = 3000;
    set: integer fc_buoy_ext_id = 3000;
    set: real buoyancyPerH = rho_water * 9.81 * pi * (buoy_d/2.0)^2.0;
    #set: real offset_force = buoyancyPerH*(translator_l/2.0 + buoy_l/2.0 + draft - initial_heave_position);
    set: real offset_force = 0.0;

    #force: fc_buoyancy_id,
    #    absolute,
    #       nd_buoy_id,
    #          position, null,              # relative arm
    #          0., 0., 1.0,
    #          dof, nd_buoy_id, structural, 3,  
    #             algebraic, linear, offset_force, -buoyancyPerH; # buoyancy is based on z position of buoy

    # buoy force from external program, matlab in our case
    force: fc_buoy_ext_id, external structural,
        socket,                 # socket communicator
          create,
              yes,
          path,
              "/tmp/mbdyn.sock",
          no signal,
        coupling,
            loose,
        labels, 
            yes,
        orientation, 
            orientation matrix,
        1,                      # number of nodes to receive forces
            nd_buoy_id, offset, null,      # buoy
        echo, "heaving_buoy_socket_forces_config.txt";

print symbol table;

    gravity: 0., 0., -1., const, 9.81;

end: elements;
-------------- next part --------------
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-------------- next part --------------

MBDyn - MultiBody Dynamics 1.7.1
configured on Oct 18 2016 at 16:56:24

Copyright 1996-2015 (C) Paolo Mantegazza and Pierangelo Masarati,
Dipartimento di Ingegneria Aerospaziale <http://www.aero.polimi.it/>
Politecnico di Milano                   <http://www.polimi.it/>

MBDyn is free software, covered by the GNU General Public License,
and you are welcome to change it and/or distribute copies of it
under certain conditions.  Use 'mbdyn --license' to see the conditions.
There is absolutely no warranty for MBDyn.  Use "mbdyn --warranty"
for details.

reading from file "heaving_buoy_socket_forces.mbd"
[table.cc,85]: Table::Table
[mathp.cc,4290]: Entering `MathParser::MathParser(Table&, bool)'
[parser.cc,630]: Entering `HighParser::HighParser(MathParser&, InputStream&)'
[parsinc.cc,137]: Current directory is "/home/rcrozier/Sync/work/UoE/EDRIVE/MBdyn/heaving_buoy"
[mbdyn.cc,1184]: Entering `Solver* RunMBDyn(MBDynParser&, const string&, const string&, unsigned int, bool, bool)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,356]: Entering `Solver::Solver(MBDynParser&, const string&, const string&, unsigned int, bool)'
[solver.cc,1599]: Entering `void Solver::Run()'
[solver.cc,388]: Entering `virtual bool Solver::Prepare()'
[solver.cc,1900]: Entering `void Solver::ReadData(MBDynParser&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2179]: Initial time is 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2189]: Final time is 1
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2203]: Initial time step is 0.01
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2801]: Max iterations = 10
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2745]: tolerance = 1e-06, 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2887]: Derivatives coefficient = 1e-09
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2786]: Derivatives tolerance = 1e-06
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[solver.cc,2854]: Derivatives max iterations = 10
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[drive.cc,651]: warning: the original pointer to a drive caller is not null!
[solver.cc,478]: creating DataManager
Creating scalar solver with Naive linear solver
[dataman.cc,197]: Entering `DataManager::DataManager(MBDynParser&, unsigned int, Solver*, doublereal, const char*, const char*, bool)'
[dataman2.cc,143]: Global symbol table:
  const bool FALSE = 0
  const integer INT_MAX = 2147483647
  const integer INT_MIN = -2147483648
  const integer RAND_MAX = 2147483647
  const real REAL_MAX = 1.79769e+308
  const real REAL_MIN = 2.22507e-308
  integer Step = 0
  const bool TRUE = 1
  real Time = 0.
  real TimeStep = 0.
  real Var = 0.
  const real deg2rad = 0.0174533
  const real e = 2.71828
  const real ft2m = 0.3048
  const real in2m = 0.0254
  const real in2mm = 25.4
  const real kg2lb = 2.20462
  const real kg2slug = 0.0685218
  const real lb2kg = 0.453592
  const real m2ft = 3.28084
  const real m2in = 39.3701
  const real mm2in = 0.0393701
  const real pi = 3.14159
  const real rad2deg = 57.2958
  const real slug2kg = 14.5939

[dataman.cc,230]: Global symbol table:  const bool FALSE = 0
  const integer INT_MAX = 2147483647
  const integer INT_MIN = -2147483648
  const integer RAND_MAX = 2147483647
  const real REAL_MAX = 1.79769e+308
  const real REAL_MIN = 2.22507e-308
  integer Step = 0
  const bool TRUE = 1
  real Time = 0.
  real TimeStep = 0.
  real Var = 0.
  const real deg2rad = 0.0174533
  const real e = 2.71828
  const real ft2m = 0.3048
  const real in2m = 0.0254
  const real in2mm = 25.4
  const real kg2lb = 2.20462
  const real kg2slug = 0.0685218
  const real lb2kg = 0.453592
  const real m2ft = 3.28084
  const real m2in = 39.3701
  const real mm2in = 0.0393701
  const real pi = 3.14159
  const real rad2deg = 57.2958
  const real slug2kg = 14.5939

[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,71]: Entering `void DataManager::ReadControl(MBDynParser&, const char*)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,269]: Structural nodes: 3
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,342]: Rigid bodies: 3
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,357]: Joints: 4
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,434]: Forces: 1
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,335]: Gravity acceleration expected in elements data
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,1486]: End of control data
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[mbpar.cc,338]: Reference frame 4003
[mbpar.cc,418]: 
	X = 0 0 0
	R = 1 0 0 0 1 0 0 0 1
	V = 0 0 0
	W = 0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[mbpar.cc,338]: Reference frame 4001
[mbpar.cc,418]: 
	X = 0 0 -5.5
	R = 1 0 0 0 1 0 0 0 1
	V = 0 0 0
	W = 0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[mbpar.cc,338]: Reference frame 4002
[mbpar.cc,418]: 
	X = 0 0 -5.5
	R = 1 0 0 0 1 0 0 0 1
	V = 0 0 0
	W = 0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dofman.cc,78]: iTotDofOwners = 7
[nodeman.cc,104]: iTotNodes = 3
[dataman3.cc,1558]: Entering `void DataManager::ReadNodes(MBDynParser&)'
[dataman3.cc,1605]: Expected nodes: 3
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Structural(3)
[strnode.cc,3982]: Entering ReadStructNode(3)
Dynamic structural node
[strnode.cc,4147]: X0 =
0 0 -5.5
[strnode.cc,4161]: R0 =
1 0 0 0 1 0 0 0 1
[strnode.cc,4172]: Xprime0 =
0 0 0
[strnode.cc,4182]: Omega0 =
0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Structural(1)
[strnode.cc,3982]: Entering ReadStructNode(1)
Dynamic structural node
[strnode.cc,4147]: X0 =
0 0 -5.5
[strnode.cc,4161]: R0 =
1 0 0 0 1 0 0 0 1
[strnode.cc,4172]: Xprime0 =
0 0 0
[strnode.cc,4182]: Omega0 =
0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Structural(2)
[strnode.cc,3982]: Entering ReadStructNode(2)
Dynamic structural node
[strnode.cc,4147]: X0 =
0 0 0
[strnode.cc,4161]: R0 =
1 0 0 0 1 0 0 0 1
[strnode.cc,4172]: Xprime0 =
0 0 0
[strnode.cc,4182]: Omega0 =
0 0 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman3.cc,2181]: End of nodes data
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[elman.cc,257]: iTotElem = 12
[elman.cc,283]: iTotDrive = 0
[elman.cc,312]: warning, no drivers are defined
[dataman.cc,375]: warning, no drivers are defined
[dataman4.cc,158]: Entering `void DataManager::ReadElems(MBDynParser&)'
[dataman4.cc,231]: Expected elements: 12
[dataman4.cc,262]: Initializing automatic structural element linked to StructuralNode(3)
[dataman4.cc,262]: Initializing automatic structural element linked to StructuralNode(1)
[dataman4.cc,262]: Initializing automatic structural element linked to StructuralNode(2)
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Body(1002)
[body.cc,1963]: Entering `Elem* ReadBody(DataManager*, MBDynParser&, unsigned int)'
[dataman3.cc,2318]: DataManager::ReadNode: Structural(2)
[body.cc,2050]: Mass(1) = 3163.58
[body.cc,2064]: position of mass(1) center of gravity = 0 0 0
[body.cc,2086]: Inertia matrix of mass(1) =
5536.27 0 0 0 5536.27 0 0 0 6327.17
[body.cc,2130]: Total mass: 3163.58
Center of mass: 0 0 0
Inertia matrix:
5536.27 0 0 0 5536.27 0 0 0 6327.17
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Body(1001)
[body.cc,1963]: Entering `Elem* ReadBody(DataManager*, MBDynParser&, unsigned int)'
[dataman3.cc,2318]: DataManager::ReadNode: Structural(1)
[body.cc,2050]: Mass(1) = 56.5487
[body.cc,2064]: position of mass(1) center of gravity = 0 0 0
[body.cc,2086]: Inertia matrix of mass(1) =
302.865 0 0 0 302.865 0 0 0 2.54469
[body.cc,2130]: Total mass: 56.5487
Center of mass: 0 0 0
Inertia matrix:
302.865 0 0 0 302.865 0 0 0 2.54469
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Body(1003)
[body.cc,1963]: Entering `Elem* ReadBody(DataManager*, MBDynParser&, unsigned int)'
[dataman3.cc,2318]: DataManager::ReadNode: Structural(3)
[body.cc,2050]: Mass(1) = 2120.58
[body.cc,2064]: position of mass(1) center of gravity = 0 0 0
[body.cc,2086]: Inertia matrix of mass(1) =
367.566 0 0 0 367.566 0 0 0 381.704
[body.cc,2130]: Total mass: 2120.58
Center of mass: 0 0 0
Inertia matrix:
367.566 0 0 0 367.566 0 0 0 381.704
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Joint(2000)
[joint.cc,192]: Entering `Elem* ReadJoint(DataManager*, MBDynParser&, const DofOwner*, unsigned int)'
joint type: revolutepin
[dataman3.cc,2318]: DataManager::ReadNode: Structural(3)
[joint.cc,1080]: Node reference frame d:
0 0 0
[joint.cc,1092]: Hinge orientation matrix is supplied
[matvec3.cc,788]: MatR2vec: ia = 1 (1 0 0), ib = 3 (0 1 0)
[matvec3.cc,849]: R = 1 0 -0 0 0 1 0 -1 0
[joint.cc,1094]: Hinge Rotation matrix Rh:
1 0 0 0 0 1 0 -1 0
[joint.cc,1112]: Absolute X:
0 0 -5.5
[joint.cc,1124]: Hinge orientation matrix is supplied
[matvec3.cc,788]: MatR2vec: ia = 1 (1 0 0), ib = 3 (0 1 0)
[matvec3.cc,849]: R = 1 0 -0 0 0 1 0 -1 0
[joint.cc,1129]: Absolute R:
1 0 0 0 0 1 0 -1 0
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Joint(2001)
[joint.cc,192]: Entering `Elem* ReadJoint(DataManager*, MBDynParser&, const DofOwner*, unsigned int)'
joint type: totaljoint
[dataman3.cc,2318]: DataManager::ReadNode: Structural(1)
[joint.cc,3160]: Position orientation matrix is supplied
[joint.cc,3166]: Rotation orientation matrix is supplied
[dataman3.cc,2318]: DataManager::ReadNode: Structural(2)
[joint.cc,3181]: Position orientation matrix is supplied
[joint.cc,3187]: Rotation orientation matrix is supplied
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Joint(2002)
[joint.cc,192]: Entering `Elem* ReadJoint(DataManager*, MBDynParser&, const DofOwner*, unsigned int)'
joint type: prismatic
[dataman3.cc,2318]: DataManager::ReadNode: Structural(3)
[dataman3.cc,2318]: DataManager::ReadNode: Structural(1)
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Joint(2003)
[joint.cc,192]: Entering `Elem* ReadJoint(DataManager*, MBDynParser&, const DofOwner*, unsigned int)'
joint type: inline
[dataman3.cc,2318]: DataManager::ReadNode: Structural(3)
[joint.cc,1292]: Node 1 reference frame p:
0 0 0
[matvec3.cc,788]: MatR2vec: ia = 1 (1 0 0), ib = 3 (0 0 1)
[matvec3.cc,849]: R = 1 0 0 0 1 0 0 0 1
[dataman3.cc,2318]: DataManager::ReadNode: Structural(1)
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Force(3000)
[dataman3.cc,2318]: DataManager::ReadNode: Structural(2)
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
math parser symbol table at line 240, file <heaving_buoy_socket_forces.mbd>:
  const bool FALSE = 0
  const integer INT_MAX = 2147483647
  const integer INT_MIN = -2147483648
  const integer RAND_MAX = 2147483647
  const real REAL_MAX = 1.79769e+308
  const real REAL_MIN = 2.22507e-308
  integer Step = 0
  const bool TRUE = 1
  real Time = 0.
  real TimeStep = 0.
  real Var = 0.
  integer bd_buoy_id = 1002
  integer bd_stator_id = 1003
  integer bd_translator_id = 1001
  real buoy_Ixx = 5536.27
  real buoy_Iyy = 5536.27
  real buoy_Izz = 6327.17
  real buoy_d = 2.
  real buoy_l = 3.
  real buoy_mass = 3163.58
  real buoyancyPerH = 31589.5
  const real deg2rad = 0.0174533
  real displaced_mass = 3220.13
  real draft = 1.
  const real e = 2.71828
  integer fc_buoy_ext_id = 3000
  integer fc_buoyancy_id = 3000
  const real ft2m = 0.3048
  const real in2m = 0.0254
  const real in2mm = 25.4
  real initial_heave_position = 0.25
  integer jo_buoyTransClamp_id = 2001
  integer jo_statorHinge_id = 2000
  integer jo_statorTransInLine_id = 2003
  integer jo_statorTransP_id = 2002
  const real kg2lb = 2.20462
  const real kg2slug = 0.0685218
  const real lb2kg = 0.453592
  const real m2ft = 3.28084
  const real m2in = 39.3701
  const real mm2in = 0.0393701
  integer nd_buoy_id = 2
  integer nd_stator_id = 3
  integer nd_translator_id = 1
  real offset_force = 0.
  const real pi = 3.14159
  const real rad2deg = 57.2958
  integer ref_buoy = 4003
  integer ref_stator = 4001
  integer ref_translator = 4002
  real rho_water = 1025.
  const real slug2kg = 14.5939
  real stator_Ixx = 367.566
  real stator_Iyy = 367.566
  real stator_Izz = 381.704
  real stator_d = 0.6
  real stator_l = 1.
  real stator_mass = 2120.58
  real translator_Ixx = 302.865
  real translator_Iyy = 302.865
  real translator_Izz = 2.54469
  real translator_d = 0.3
  real translator_l = 8.
  real translator_mass = 56.5487

[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
Reading Gravity
Gravity: <type> expected at line 242, file <heaving_buoy_socket_forces.mbd>; assuming "uniform"
[drive_.cc,1335]: Entering `DriveCaller* ReadDriveCallerData(const DataManager*, MBDynParser&, bool)'
[drive_.cc,1586]: Const value: 9.81
[parser.cc,312]: Entering `bool ReadDescription(HighParser&, const string&)'
[dataman4.cc,1245]: End of elements data
DofType 0 (Structural Node), n. of owners: 3
DofType 1 (Electric Node), n. of owners: 0
DofType 2 (Thermal Node), n. of owners: 0
DofType 3 (Abstract Node), n. of owners: 0
DofType 4 (Hydraulic Node), n. of owners: 0
DofType 5 (Joint Element), n. of owners: 4
DofType 6 (Plate Element), n. of owners: 0
DofType 7 (GENEL Element), n. of owners: 0
DofType 8 (Induced Velocity Element), n. of owners: 0
DofType 9 (Aerodynamic Element), n. of owners: 0
DofType 10 (Aerodynamic Modal Element), n. of owners: 0
DofType 11 (Electric Bulk Element), n. of owners: 0
DofType 12 (Electric Element), n. of owners: 0
DofType 13 (Thermal Element), n. of owners: 0
DofType 14 (Hydraulic Element), n. of owners: 0
DofType 15 (Loadable Element), n. of owners: 0
NodeType 0 (Abstract), n. of nodes: 0
NodeType 1 (Structural), n. of nodes: 3
NodeType 2 (Electric), n. of nodes: 0
NodeType 3 (Thermal), n. of nodes: 0
NodeType 4 (Parameter), n. of nodes: 0
NodeType 5 (Hydraulic), n. of nodes: 0
Element Type 0 (Air Properties), n. of elems: 0
Element Type 1 (Rotor), n. of elems: 0
Element Type 2 (Automatic Structural), n. of elems: 3
Element Type 3 (Gravity), n. of elems: 1
Element Type 4 (Rigid Body), n. of elems: 3
Element Type 5 (Joint), n. of elems: 4
Element Type 6 (Joint Regularization), n. of elems: 0
Element Type 7 (Beam), n. of elems: 0
Element Type 8 (Plate), n. of elems: 0
Element Type 9 (Force), n. of elems: 1
Element Type 10 (Inertia), n. of elems: 0
Element Type 11 (Electric Bulk), n. of elems: 0
Element Type 12 (Electric), n. of elems: 0
Element Type 13 (Thermal), n. of elems: 0
Element Type 14 (Hydraulic), n. of elems: 0
Element Type 15 (Bulk), n. of elems: 0
Element Type 16 (Loadable), n. of elems: 0
Element Type 17 (Driven), n. of elems: 0
Element Type 18 (External), n. of elems: 0
Element Type 19 (Aeromodal), n. of elems: 0
Element Type 20 (Aerodynamic Element), n. of elems: 0
Element Type 21 (GENEL), n. of elems: 0
Element Type 22 (Socket Stream Output), n. of elems: 0
DriveType 0 (File), n. of drivers: 0
LOCAL connection to path="/tmp/mbdyn.sock"
Initial assembly dof stats
Structural(3): 12 1->12
Structural(1): 12 13->24
Structural(2): 12 25->36
Joint(2000): 10 37->46
Joint(2001): 12 47->58
Joint(2002): 6 59->64
Joint(2003): 4 65->68
Assembly Tol=1e-06
[planej.cc,4694]: Entering PlanePinJoint::InitialAssRes()
[totalj.cc,1794]: Entering TotalJoint::InitialAssRes()
[prismj.cc,538]: Entering PrismaticJoint::InitialAssRes()
[inline.cc,387]: Entering `virtual SubVectorHandler& InLineJoint::InitialAssRes(SubVectorHandler&, const VectorHandler&)'
Residual(0:0) t=0 dt=0
Eq         1:                    0 StructNode(3): position constraint Px
Eq         2:                    0 StructNode(3): position constraint Py
Eq         3:                    0 StructNode(3): position constraint Pz
Eq         4:                    0 StructNode(3): orientation constraint gx
Eq         5:                    0 StructNode(3): orientation constraint gy
Eq         6:                    0 StructNode(3): orientation constraint gz
Eq         7:                    0 StructNode(3): position constraint derivative vx
Eq         8:                    0 StructNode(3): position constraint derivative vy
Eq         9:                    0 StructNode(3): position constraint derivative vz
Eq        10:                    0 StructNode(3): orientation constraint derivative wx
Eq        11:                    0 StructNode(3): orientation constraint derivative wy
Eq        12:                    0 StructNode(3): orientation constraint derivative wz
Eq        13:                    0 StructNode(1): position constraint Px
Eq        14:                    0 StructNode(1): position constraint Py
Eq        15:                    0 StructNode(1): position constraint Pz
Eq        16:                    0 StructNode(1): orientation constraint gx
Eq        17:                    0 StructNode(1): orientation constraint gy
Eq        18:                    0 StructNode(1): orientation constraint gz
Eq        19:                    0 StructNode(1): position constraint derivative vx
Eq        20:                    0 StructNode(1): position constraint derivative vy
Eq        21:                    0 StructNode(1): position constraint derivative vz
Eq        22:                    0 StructNode(1): orientation constraint derivative wx
Eq        23:                    0 StructNode(1): orientation constraint derivative wy
Eq        24:                    0 StructNode(1): orientation constraint derivative wz
Eq        25:                    0 StructNode(2): position constraint Px
Eq        26:                    0 StructNode(2): position constraint Py
Eq        27:                    0 StructNode(2): position constraint Pz
Eq        28:                    0 StructNode(2): orientation constraint gx
Eq        29:                    0 StructNode(2): orientation constraint gy
Eq        30:                    0 StructNode(2): orientation constraint gz
Eq        31:                    0 StructNode(2): position constraint derivative vx
Eq        32:                    0 StructNode(2): position constraint derivative vy
Eq        33:                    0 StructNode(2): position constraint derivative vz
Eq        34:                    0 StructNode(2): orientation constraint derivative wx
Eq        35:                    0 StructNode(2): orientation constraint derivative wy
Eq        36:                    0 StructNode(2): orientation constraint derivative wz
Eq        37:                    0 PlanePinJoint(2000): position constraint Px
Eq        38:                    0 PlanePinJoint(2000): position constraint Py
Eq        39:                    0 PlanePinJoint(2000): position constraint Pz
Eq        40:                    0 PlanePinJoint(2000): orientation constraint gx
Eq        41:                    0 PlanePinJoint(2000): orientation constraint gy
Eq        42:                    0 PlanePinJoint(2000): position constraint derivative vx
Eq        43:                    0 PlanePinJoint(2000): position constraint derivative vy
Eq        44:                    0 PlanePinJoint(2000): position constraint derivative vz
Eq        45:                    0 PlanePinJoint(2000): orientation constraint derivative wx
Eq        46:                    0 PlanePinJoint(2000): orientation constraint derivative wy
Eq        47:                    0 TotalJoint(2001): equation(1) Px1=Px2
Eq        48:                    0 TotalJoint(2001): equation(2) Py1=Py2
Eq        49:                    0 TotalJoint(2001): equation(3) Pz1=Pz2
Eq        50:                    0 TotalJoint(2001): equation(4) thetax1=thetax2
Eq        51:                    0 TotalJoint(2001): equation(5) thetay1=thetay2
Eq        52:                    0 TotalJoint(2001): equation(6) thetaz1=thetaz2
Eq        53:                    0 TotalJoint(2001): equation(7) vx1=vx2
Eq        54:                    0 TotalJoint(2001): equation(8) vy1=vy2
Eq        55:                    0 TotalJoint(2001): equation(9) vz1=vz2
Eq        56:                    0 TotalJoint(2001): equation(10) wx1=wx2
Eq        57:                    0 TotalJoint(2001): equation(11) wy1=wy2
Eq        58:                    0 TotalJoint(2001): equation(12) wz1=wz2
Eq        59:                    0 Joint(2002): equation(1)
Eq        60:                    0 Joint(2002): equation(2)
Eq        61:                    0 Joint(2002): equation(3)
Eq        62:                    0 Joint(2002): equation(4)
Eq        63:                    0 Joint(2002): equation(5)
Eq        64:                    0 Joint(2002): equation(6)
Eq        65:                    0 Joint(2003): equation(1)
Eq        66:                    0 Joint(2003): equation(2)
Eq        67:                    0 Joint(2003): equation(3)
Eq        68:                    0 Joint(2003): equation(4)
	Iteration(0) 0
[dataman2.cc,1177]: Initial assembly performed successfully in 0 iterations
[dataman2.cc,1341]: Entering `void DataManager::DofOwnerSet()'
[dataman2.cc,1355]: Elem type 1 (Rotor)
[dataman2.cc,1355]: Elem type 5 (Joint)
[dataman2.cc,1363]:     Joint(2000)
[dataman2.cc,1367]:     num dofs: 5
[dataman2.cc,1363]:     Joint(2001)
[dataman2.cc,1367]:     num dofs: 6
[dataman2.cc,1363]:     Joint(2002)
[dataman2.cc,1367]:     num dofs: 3
[dataman2.cc,1363]:     Joint(2003)
[dataman2.cc,1367]:     num dofs: 2
[dataman2.cc,1355]: Elem type 8 (Plate)
[dataman2.cc,1355]: Elem type 11 (Electric Bulk)
[dataman2.cc,1355]: Elem type 12 (Electric)
[dataman2.cc,1355]: Elem type 13 (Thermal)
[dataman2.cc,1355]: Elem type 14 (Hydraulic)
[dataman2.cc,1355]: Elem type 16 (Loadable)
[dataman2.cc,1355]: Elem type 19 (Aeromodal)
[dataman2.cc,1355]: Elem type 20 (Aerodynamic Element)
[dataman2.cc,1355]: Elem type 21 (GENEL)
DofType 0:
DofOwner 0, n. of dofs: 12
DofOwner 1, n. of dofs: 12
DofOwner 2, n. of dofs: 12
DofType 1:
DofType 2:
DofType 3:
DofType 4:
DofType 5:
DofOwner 0, n. of dofs: 5
DofOwner 1, n. of dofs: 6
DofOwner 2, n. of dofs: 3
DofOwner 3, n. of dofs: 2
DofType 6:
DofType 7:
DofType 8:
DofType 9:
DofType 10:
DofType 11:
DofType 12:
DofType 13:
DofType 14:
DofType 15:
[dofman.cc,133]: iTotDofs = 52
[dataman2.cc,180]: Entering `void DataManager::DofOwnerInit()'
Regular steps dof stats
[dataman2.cc,396]: Structural(3)
[dataman2.cc,411]: Structural(3): first dof = 1
Structural(3): 12 1->12
[dataman2.cc,396]: Structural(1)
[dataman2.cc,411]: Structural(1): first dof = 13
Structural(1): 12 13->24
[dataman2.cc,396]: Structural(2)
[dataman2.cc,411]: Structural(2): first dof = 25
Structural(2): 12 25->36
[dataman2.cc,495]: Elem type 2 (Automatic Structural(3))
[dataman2.cc,495]: Elem type 2 (Automatic Structural(1))
[dataman2.cc,495]: Elem type 2 (Automatic Structural(2))
[dataman2.cc,495]: Elem type 4 (Rigid Body(1002))
[dataman2.cc,495]: Elem type 4 (Rigid Body(1001))
[dataman2.cc,495]: Elem type 4 (Rigid Body(1003))
[dataman2.cc,495]: Elem type 5 (Joint(2000))
[dataman2.cc,512]: Joint(2000): first dof = 37
Joint(2000): 5 37->41
[dataman2.cc,495]: Elem type 5 (Joint(2001))
[dataman2.cc,512]: Joint(2001): first dof = 42
Joint(2001): 6 42->47
[dataman2.cc,495]: Elem type 5 (Joint(2002))
[dataman2.cc,512]: Joint(2002): first dof = 48
Joint(2002): 3 48->50
[dataman2.cc,495]: Elem type 5 (Joint(2003))
[dataman2.cc,512]: Joint(2003): first dof = 51
Joint(2003): 2 51->52
[dataman2.cc,495]: Elem type 9 (Force(3000))
[dataman2.cc,495]: Elem type 3 (Gravity(1))
[elman.cc,334]: Current max work rows number: 12
[elman.cc,340]: Current max work cols number: 6
[elman.cc,340]: Current max work cols number: 11
[elman.cc,334]: Current max work rows number: 18
[elman.cc,340]: Current max work cols number: 18
[elman.cc,385]: Creating working matrices:18 x 18
Dof    1: order 1
Dof    2: order 1
Dof    3: order 1
Dof    4: order 1
Dof    5: order 1
Dof    6: order 1
Dof    7: order 1
Dof    8: order 1
Dof    9: order 1
Dof   10: order 1
Dof   11: order 1
Dof   12: order 1
Dof   13: order 1
Dof   14: order 1
Dof   15: order 1
Dof   16: order 1
Dof   17: order 1
Dof   18: order 1
Dof   19: order 1
Dof   20: order 1
Dof   21: order 1
Dof   22: order 1
Dof   23: order 1
Dof   24: order 1
Dof   25: order 1
Dof   26: order 1
Dof   27: order 1
Dof   28: order 1
Dof   29: order 1
Dof   30: order 1
Dof   31: order 1
Dof   32: order 1
Dof   33: order 1
Dof   34: order 1
Dof   35: order 1
Dof   36: order 1
Dof   37: order 0
Dof   38: order 0
Dof   39: order 0
Dof   40: order 0
Dof   41: order 0
Dof   42: order 0
Dof   43: order 0
Dof   44: order 0
Dof   45: order 0
Dof   46: order 0
Dof   47: order 0
Dof   48: order 0
Dof   49: order 0
Dof   50: order 0
Dof   51: order 0
Dof   52: order 0
[solver.cc,551]: creating solution vectors
[dataman2.cc,143]: Global symbol table:
  const bool FALSE = 0
  const integer INT_MAX = 2147483647
  const integer INT_MIN = -2147483648
  const integer RAND_MAX = 2147483647
  const real REAL_MAX = 1.79769e+308
  const real REAL_MIN = 2.22507e-308
  integer Step = 0
  const bool TRUE = 1
  real Time = 0.
  real TimeStep = 0.01
  real Var = 0.
  integer bd_buoy_id = 1002
  integer bd_stator_id = 1003
  integer bd_translator_id = 1001
  real buoy_Ixx = 5536.27
  real buoy_Iyy = 5536.27
  real buoy_Izz = 6327.17
  real buoy_d = 2.
  real buoy_l = 3.
  real buoy_mass = 3163.58
  real buoyancyPerH = 31589.5
  const real deg2rad = 0.0174533
  real displaced_mass = 3220.13
  real draft = 1.
  const real e = 2.71828
  integer fc_buoy_ext_id = 3000
  integer fc_buoyancy_id = 3000
  const real ft2m = 0.3048
  const real in2m = 0.0254
  const real in2mm = 25.4
  real initial_heave_position = 0.25
  integer jo_buoyTransClamp_id = 2001
  integer jo_statorHinge_id = 2000
  integer jo_statorTransInLine_id = 2003
  integer jo_statorTransP_id = 2002
  const real kg2lb = 2.20462
  const real kg2slug = 0.0685218
  const real lb2kg = 0.453592
  const real m2ft = 3.28084
  const real m2in = 39.3701
  const real mm2in = 0.0393701
  integer nd_buoy_id = 2
  integer nd_stator_id = 3
  integer nd_translator_id = 1
  real offset_force = 0.
  const real pi = 3.14159
  const real rad2deg = 57.2958
  integer ref_buoy = 4003
  integer ref_stator = 4001
  integer ref_translator = 4002
  real rho_water = 1025.
  const real slug2kg = 14.5939
  real stator_Ixx = 367.566
  real stator_Iyy = 367.566
  real stator_Izz = 381.704
  real stator_d = 0.6
  real stator_l = 1.
  real stator_mass = 2120.58
  real translator_Ixx = 302.865
  real translator_Iyy = 302.865
  real translator_Izz = 2.54469
  real translator_d = 0.3
  real translator_l = 8.
  real translator_mass = 56.5487

[solver.cc,763]: derivatives solution step
[solver.cc,5660]: creating SolutionManager
	size = 52
	numdofs = 52
	numstates = 1

Derivatives t=0 coef=1e-09
[elman.cc,500]: Entering AssRes()
[elman.cc,510]: Entering AssRes()
[autostr.cc,560]: Entering `virtual SubVectorHandler& AutomaticStructElem::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[autostr.cc,560]: Entering `virtual SubVectorHandler& AutomaticStructElem::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[autostr.cc,560]: Entering `virtual SubVectorHandler& AutomaticStructElem::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[body.cc,1197]: Entering `virtual SubVectorHandler& DynamicBody::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[body.cc,1197]: Entering `virtual SubVectorHandler& DynamicBody::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[body.cc,1197]: Entering `virtual SubVectorHandler& DynamicBody::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
[planej.cc,4462]: Entering PlanePinJoint::AssRes()
[totalj.cc,1055]: Entering TotalJoint::AssRes()
[prismj.cc,207]: Entering PrismaticJoint::AssRes()
[inline.cc,155]: Entering `virtual SubVectorHandler& InLineJoint::AssRes(SubVectorHandler&, doublereal, const VectorHandler&, const VectorHandler&)'
StructExtForce(3000): recv() failed (got 52 of 56 bytes)
[solver.cc,1613]: Entering `virtual Solver::~Solver()'
[elman.cc,198]: Entering DataManager::ElemManagerDestructor()
[elman.cc,202]: deleting assembly structure, SubMatrix B
[elman.cc,207]: deleting assembly structure, SubMatrix A
[elman.cc,212]: deleting assembly structure, SubVector
[elman.cc,220]: deleting element Automatic Structural(3)
[elman.cc,220]: deleting element Automatic Structural(1)
[elman.cc,220]: deleting element Automatic Structural(2)
[elman.cc,220]: deleting element Rigid Body(1002)
[elman.cc,220]: deleting element Rigid Body(1001)
[elman.cc,220]: deleting element Rigid Body(1003)
[elman.cc,220]: deleting element Joint(2000)
[elman.cc,220]: deleting element Joint(2001)
[elman.cc,220]: deleting element Joint(2002)
[elman.cc,220]: deleting element Joint(2003)
[elman.cc,220]: deleting element Force(3000)
[elman.cc,220]: deleting element Gravity(1)
[nodeman.cc,86]: Entering DataManager::NodeManagerDestructor()
[nodeman.cc,92]: deleting node Structural(3)
[nodeman.cc,92]: deleting node Structural(1)
[nodeman.cc,92]: deleting node Structural(2)
[dofman.cc,58]: Entering `void DataManager::DofManagerDestructor()'
[parser.cc,641]: Entering `virtual HighParser::~HighParser()'
An error occurred during the execution of MBDyn; aborting... 


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