diff --git a/Applications/CMC/test/block_hanging_from_muscle.osim b/Applications/CMC/test/block_hanging_from_muscle.osim
index 737212367e..4fc82dd2d5 100755
--- a/Applications/CMC/test/block_hanging_from_muscle.osim
+++ b/Applications/CMC/test/block_hanging_from_muscle.osim
@@ -1,333 +1,237 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSimDocument Version="20302">
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
 	<Model name="block_hanging_from_muscle">
-    <defaults/>
-		<credits> Developed by Ajay Seth for unit testing of CMC algorithm </credits>
-		<publications> List of publications related to model... </publications>
-		<ForceSet name="">
-			<objects>
-				<Thelen2003Muscle name="muscle">
-					<isDisabled> false </isDisabled>
-					<!--Minimum allowed value for control signal. Used primarily when solving
-					    for control values-->
-					<min_control>       0.00000000 </min_control>
-					<!--Maximum allowed value for control signal. Used primarily when solving
-					    for control values-->
-					<max_control>       1.00000000 </max_control>
-          <default_fiber_length> 0.198 </default_fiber_length>
-					<GeometryPath name="">
-						<PathPointSet name="">
-							<objects>
-								<PathPoint name="muscle-P1">
-									<location>       0.00000000       0.00000000       0.00000000 </location>
-									<VisibleObject name="">
-										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-										    .obj-->
-										<GeometrySet name="">
-											<objects/>
-											<groups/>
-										</GeometrySet>
-										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-										<!--transform relative to owner specified as 3 rotations (rad) followed by
-										    3 translations rX rY rZ tx ty tz-->
-										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-										<!--Whether to show a coordinate frame-->
-										<show_axes> false </show_axes>
-										<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-										    individual geometries-->
-										<display_preference> 4 </display_preference>
-									</VisibleObject>
-									<body> ground </body>
-								</PathPoint>
-								<PathPoint name="muscle-P2">
-									<location>       0.00000000       0.10000000       0.00000000 </location>
-									<VisibleObject name="">
-										<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-										    .obj-->
-										<GeometrySet name="">
-											<objects/>
-											<groups/>
-										</GeometrySet>
-										<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-										<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-										<!--transform relative to owner specified as 3 rotations (rad) followed by
-										    3 translations rX rY rZ tx ty tz-->
-										<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-										<!--Whether to show a coordinate frame-->
-										<show_axes> false </show_axes>
-										<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-										    individual geometries-->
-										<display_preference> 4 </display_preference>
-									</VisibleObject>
-									<body> block </body>
-								</PathPoint>
-							</objects>
-							<groups/>
-						</PathPointSet>
-						<VisibleObject name="">
-							<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-							    .obj-->
-							<GeometrySet name="">
-								<objects/>
-								<groups/>
-							</GeometrySet>
-							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-							<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-							<!--transform relative to owner specified as 3 rotations (rad) followed by
-							    3 translations rX rY rZ tx ty tz-->
-							<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-							<!--Whether to show a coordinate frame-->
-							<show_axes> false </show_axes>
-							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-							    individual geometries-->
-							<display_preference> 4 </display_preference>
-						</VisibleObject>
-						<PathWrapSet name="">
-							<objects/>
-							<groups/>
-						</PathWrapSet>
-					</GeometryPath>
-					<!--Maximum isometric force that the fibers can generate-->
-					<max_isometric_force>   100.00000000 </max_isometric_force>
-					<!--Optimal length of the muscle fibers-->
-					<optimal_fiber_length>       0.20000000 </optimal_fiber_length>
-					<!--Resting length of the tendon-->
-					<tendon_slack_length>       0.10000000 </tendon_slack_length>
-					<!--Angle between tendon and fibers at optimal fiber length-->
-					<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-					    per second-->
-					<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-					<!--time constant for ramping up of muscle activation-->
-					<activation_time_constant>       0.01000000 </activation_time_constant>
-					<!--time constant for ramping down of muscle activation-->
-					<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-					<!--maximum contraction velocity at full activation in fiber lengths per
-					    second-->
-					<Vmax>      10.00000000 </Vmax>
-					<!--maximum contraction velocity at low activation in fiber lengths per
-					    second-->
-					<Vmax0>       5.00000000 </Vmax0>
-					<!--tendon strain due to maximum isometric muscle force-->
-					<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-					<!--passive muscle strain due to maximum isometric muscle force-->
-					<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-					<!--shape factor for Gaussian active muscle force-length relationship-->
-					<KshapeActive>       0.50000000 </KshapeActive>
-					<!--exponential shape factor for passive force-length relationship-->
-					<KshapePassive>       4.00000000 </KshapePassive>
-					<!--passive damping in the force-velocity relationship-->
-					<damping>       0.05000000 </damping>
-					<!--force-velocity shape factor-->
-					<Af>       0.30000000 </Af>
-					<!--maximum normalized lengthening force-->
-					<Flen>       1.80000000 </Flen>
-				</Thelen2003Muscle>
-			</objects>
-			<groups/>
-		</ForceSet>
-		<length_units> meters </length_units>
-		<force_units> N </force_units>
+		<credits>Developed by Ajay Seth for unit testing of CMC algorithm</credits>
+		<publications>List of publications related to model...</publications>
+		<length_units>meters</length_units>
+		<force_units>N</force_units>
 		<!--Acceleration due to gravity.-->
-		<gravity>       0.00000000      -9.80665000       0.00000000 </gravity>
+		<gravity> 0 -9.80665 0</gravity>
 		<!--Bodies in the model.-->
-		<BodySet name="">
+		<BodySet>
 			<objects>
 				<Body name="ground">
-					<mass>       0.00000000 </mass>
-					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
-					<inertia_xx>       0.00000000 </inertia_xx>
-					<inertia_yy>       0.00000000 </inertia_yy>
-					<inertia_zz>       0.00000000 </inertia_zz>
-					<inertia_xy>       0.00000000 </inertia_xy>
-					<inertia_xz>       0.00000000 </inertia_xz>
-					<inertia_yz>       0.00000000 </inertia_yz>
+					<mass>0</mass>
+					<mass_center> 0 0 0</mass_center>
+					<inertia_xx>0</inertia_xx>
+					<inertia_yy>0</inertia_yy>
+					<inertia_zz>0</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
 					<!--Joint that connects this body with the parent body.-->
-					<Joint/>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
+					<Joint />
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
+							<objects />
+							<groups />
 						</GeometrySet>
 						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
+						<scale_factors> 1 1 1</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> 0 0 0 0 0 0</transform>
 						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
 					</VisibleObject>
-					<WrapObjectSet name="">
-						<objects/>
-						<groups/>
+					<WrapObjectSet>
+						<objects />
+						<groups />
 					</WrapObjectSet>
 				</Body>
 				<Body name="block">
-					<mass>     1.00000000 </mass>
-					<mass_center>       0.00000000       0.00000000       0.00000000 </mass_center>
-					<inertia_xx>       0.01666667 </inertia_xx>
-					<inertia_yy>       0.01666667 </inertia_yy>
-					<inertia_zz>       0.01666667 </inertia_zz>
-					<inertia_xy>       0.00000000 </inertia_xy>
-					<inertia_xz>       0.00000000 </inertia_xz>
-					<inertia_yz>       0.00000000 </inertia_yz>
+					<mass>1</mass>
+					<mass_center> 0 0 0</mass_center>
+					<inertia_xx>0.01666667</inertia_xx>
+					<inertia_yy>0.01666667</inertia_yy>
+					<inertia_zz>0.01666667</inertia_zz>
+					<inertia_xy>0</inertia_xy>
+					<inertia_xz>0</inertia_xz>
+					<inertia_yz>0</inertia_yz>
 					<!--Joint that connects this body with the parent body.-->
 					<Joint>
-						<CustomJoint name="ground_block">
-							<parent_body> ground </parent_body>
-							<location_in_parent>       0.00000000       0.00000000       0.00000000 </location_in_parent>
-							<orientation_in_parent>       0.00000000       0.00000000       0.00000000 </orientation_in_parent>
-							<location>       0.00000000       0.00000000       0.00000000 </location>
-							<orientation>       0.00000000       0.00000000       0.00000000 </orientation>
-							<!--Generalized coordinates parameterizing this joint.-->
-							<CoordinateSet name="">
+						<SliderJoint name="ground_block">
+							<!--Name of the parent body to which this joint connects its owner body.-->
+							<parent_body>ground</parent_body>
+							<!--Location of the joint in the parent body specified in the parent reference frame. Default is (0,0,0).-->
+							<location_in_parent>0 0 0</location_in_parent>
+							<!--Orientation of the joint in the parent body specified in the parent reference frame. Euler XYZ body-fixed rotation angles are used to express the orientation. Default is (0,0,0).-->
+							<orientation_in_parent>0 0 1.57079632679</orientation_in_parent>
+							<!--Location of the joint in the child body specified in the child reference frame. For SIMM models, this vector is always the zero vector (i.e., the body reference frame coincides with the joint). -->
+							<location>0 0 0</location>
+							<!--Orientation of the joint in the owing body specified in the owning body reference frame.  Euler XYZ body-fixed rotation angles are used to express the orientation. -->
+							<orientation>0 0 1.57079632679</orientation>
+							<!--Set holding the generalized coordinates (q's) that parmeterize this joint.-->
+							<CoordinateSet>
 								<objects>
 									<Coordinate name="block_ty">
-										<!--Cooridnate can describe rotational, translational, or coupled values.
-										    Defaults to rotational.-->
-										<motion_type> translational </motion_type>
-										<default_value>      -0.35000000 </default_value>
-										<default_speed_value>       0.00000000 </default_speed_value>
-										<initial_value>      -0.35000000 </initial_value>
-										<range>      -0.50000000      -0.10000000 </range>
-										<clamped> true </clamped>
-										<locked> false </locked>
-										<prescribed_function/>
+										<!--Coordinate can describe rotational, translational, or coupled motion. Defaults to rotational.-->
+										<motion_type>translational</motion_type>
+										<!--The value of this coordinate before any value has been set. Rotational coordinate value is in radians and Translational in meters.-->
+										<default_value>-0.453943080260763</default_value>
+										<!--The speed value of this coordinate before any value has been set. Rotational coordinate value is in rad/s and Translational in m/s.-->
+										<default_speed_value>0</default_speed_value>
+										<!--The minimum and maximum values that the coordinate can range between. Rotational coordinate range in radians and Translational in meters.-->
+										<range>-0.5 -0.1</range>
+										<!--Flag indicating whether or not the values of the coordinates should be limited to the range, above.-->
+										<clamped>true</clamped>
+										<!--Flag indicating whether or not the values of the coordinates should be constrained to the current (e.g. default) value, above.-->
+										<locked>false</locked>
+										<!--If specified, the coordinate can be prescribed by a function of time. It can be any OpenSim Function with valid second order derivatives.-->
+										<prescribed_function />
+										<!--Flag indicating whether or not the values of the coordinates should be prescribed according to the function above. It is ignored if the no prescribed function is specified.-->
+										<prescribed>false</prescribed>
 									</Coordinate>
 								</objects>
-								<groups/>
+								<groups />
 							</CoordinateSet>
-							<reverse> false </reverse>
-							<SpatialTransform name="">
-								<!--3 Axes for rotations are listed first.-->
-								<TransformAxis name="rotation1">
-									<function>
-										<Constant name="">
-											<value>       0.00000000 </value>
-										</Constant>
-									</function>
-									<coordinates> </coordinates>
-									<axis>       1.00000000       0.00000000       0.00000000 </axis>
-								</TransformAxis>
-								<TransformAxis name="rotation2">
-									<function>
-										<Constant name="">
-											<value>       0.00000000 </value>
-										</Constant>
-									</function>
-									<coordinates> </coordinates>
-									<axis>       0.00000000       1.00000000       0.00000000 </axis>
-								</TransformAxis>
-								<TransformAxis name="rotation3">
-									<function>
-										<Constant name="">
-											<value>       0.00000000 </value>
-										</Constant>
-									</function>
-									<coordinates> </coordinates>
-									<axis>       0.00000000       0.00000000       1.00000000 </axis>
-								</TransformAxis>
-								<!--3 Axes for translations are listed next.-->
-								<TransformAxis name="translation1">
-									<function>
-										<LinearFunction name="">
-											<coefficients>       1.00000000       0.00000000 </coefficients>
-										</LinearFunction>
-									</function>
-									<coordinates> block_ty </coordinates>
-									<axis>       0.00000000       1.00000000       0.00000000 </axis>
-								</TransformAxis>
-								<TransformAxis name="translation2">
-									<function>
-										<Constant name="">
-											<value>       0.00000000 </value>
-										</Constant>
-									</function>
-									<coordinates> </coordinates>
-									<axis>       0.00000000       0.00000000       1.00000000 </axis>
-								</TransformAxis>
-								<TransformAxis name="translation3">
-									<function>
-										<Constant name="">
-											<value>       0.00000000 </value>
-										</Constant>
-									</function>
-									<coordinates> </coordinates>
-									<axis>      -1.00000000       0.00000000       0.00000000 </axis>
-								</TransformAxis>
-							</SpatialTransform>
-						</CustomJoint>
+							<!--Whether the joint transform defines parent->child or child->parent.-->
+							<reverse>false</reverse>
+						</SliderJoint>
 					</Joint>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
+					<VisibleObject>
+						<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+						<GeometrySet>
 							<objects>
-								<DisplayGeometry name="">
+								<DisplayGeometry>
 									<!--Name of geometry file .vtp, .stl, .obj-->
-									<geometry_file> box.vtp </geometry_file>
+									<geometry_file>box.vtp</geometry_file>
 									<!--Color used to display the geometry when visible-->
-									<color>       1.00000000       1.00000000       1.00000000 </color>
+									<color> 1 1 1</color>
 									<!--Name of texture file .jpg, .bmp-->
-									<texture_file>  </texture_file>
-									<!--in body transform specified as 3 rotations (rad) followed by 3
-									    translations rX rY rZ tx ty tz-->
-									<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
+									<texture_file />
+									<!--in body transform specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+									<transform> 0 0 0 0 0 0</transform>
 									<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-									<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
+									<scale_factors> 1 1 1</scale_factors>
 									<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded-->
-									<display_preference> 4 </display_preference>
+									<display_preference>4</display_preference>
 									<!--Display opacity between 0.0 and 1.0-->
-									<opacity>       1.00000000 </opacity>
+									<opacity>1</opacity>
 								</DisplayGeometry>
 							</objects>
-							<groups/>
+							<groups />
 						</GeometrySet>
 						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       0.20000000       0.20000000       0.20000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
+						<scale_factors> 0.2 0.2 0.2</scale_factors>
+						<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+						<transform> 0 0 0 0 0 0</transform>
 						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
+						<show_axes>false</show_axes>
+						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+						<display_preference>4</display_preference>
 					</VisibleObject>
-					<WrapObjectSet name="">
-						<objects/>
-						<groups/>
+					<WrapObjectSet>
+						<objects />
+						<groups />
 					</WrapObjectSet>
 				</Body>
 			</objects>
-			<groups/>
+			<groups />
 		</BodySet>
 		<!--Constraints in the model.-->
-		<ConstraintSet name="">
-			<objects/>
-			<groups/>
+		<ConstraintSet>
+			<objects />
+			<groups />
 		</ConstraintSet>
+		<!--Forces in the model.-->
+		<ForceSet>
+			<objects>
+				<Thelen2003Muscle name="muscle">
+					<!--Flag indicating whether the force is disabled or not. Disabled means that the force is not active in subsequent dynamics realizations.-->
+					<isDisabled>false</isDisabled>
+					<!--Minimum allowed value for control signal. Used primarily when solving for control values.-->
+					<min_control>0</min_control>
+					<!--Maximum allowed value for control signal. Used primarily when solving for control values.-->
+					<max_control>1</max_control>
+					<!--The set of points defining the path of the muscle.-->
+					<GeometryPath>
+						<!--The set of points defining the path-->
+						<PathPointSet>
+							<objects>
+								<PathPoint name="muscle-P1">
+									<location> 0 0 0</location>
+									<body>ground</body>
+								</PathPoint>
+								<PathPoint name="muscle-P2">
+									<location> 0 0.1 0</location>
+									<body>block</body>
+								</PathPoint>
+							</objects>
+							<groups />
+						</PathPointSet>
+						<!--The wrap objecs that are associated with this path-->
+						<PathWrapSet>
+							<objects />
+							<groups />
+						</PathWrapSet>
+						<!--Used to display the path in the 3D window-->
+						<VisibleObject name="display">
+							<!--Set of geometry files and associated attributes, allow .vtp, .stl, .obj-->
+							<GeometrySet>
+								<objects />
+								<groups />
+							</GeometrySet>
+							<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
+							<scale_factors> 1 1 1</scale_factors>
+							<!--transform relative to owner specified as 3 rotations (rad) followed by 3 translations rX rY rZ tx ty tz-->
+							<transform> 0 0 0 0 0 0</transform>
+							<!--Whether to show a coordinate frame-->
+							<show_axes>false</show_axes>
+							<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for individual geometries-->
+							<display_preference>4</display_preference>
+						</VisibleObject>
+					</GeometryPath>
+					<!--Maximum isometric force that the fibers can generate-->
+					<max_isometric_force>100</max_isometric_force>
+					<!--Optimal length of the muscle fibers-->
+					<optimal_fiber_length>0.2</optimal_fiber_length>
+					<!--Resting length of the tendon-->
+					<tendon_slack_length>0.1</tendon_slack_length>
+					<!--Angle between tendon and fibers at optimal fiber length expressed in radians-->
+					<pennation_angle_at_optimal>0</pennation_angle_at_optimal>
+					<!--Maximum contraction velocity of the fibers, in optimal fiberlengths/second-->
+					<max_contraction_velocity>10</max_contraction_velocity>
+					<!--Assumed activation level if none is assigned.-->
+					<default_activation>0.025</default_activation>
+					<!--Assumed fiber length, unless otherwise assigned.-->
+					<default_fiber_length>0.253</default_fiber_length>
+					<!--time constant for ramping up muscle activation-->
+					<activation_time_constant>0.01</activation_time_constant>
+					<!--time constant for ramping down of muscle activation-->
+					<deactivation_time_constant>0.04</deactivation_time_constant>
+					<!--tendon strain at maximum isometric muscle force-->
+					<FmaxTendonStrain>0.033</FmaxTendonStrain>
+					<!--passive muscle strain at maximum isometric muscle force-->
+					<FmaxMuscleStrain>0.6</FmaxMuscleStrain>
+					<!--shape factor for Gaussian active muscle force-length relationship-->
+					<KshapeActive>0.5</KshapeActive>
+					<!--exponential shape factor for passive force-length relationship-->
+					<KshapePassive>4</KshapePassive>
+					<!--force-velocity shape factor-->
+					<Af>0.3</Af>
+					<!--maximum normalized lengthening force-->
+					<Flen>1.8</Flen>
+				</Thelen2003Muscle>
+			</objects>
+			<groups />
+		</ForceSet>
 		<!--Markers in the model.-->
-		<MarkerSet name="">
-			<objects/>
-			<groups/>
+		<MarkerSet>
+			<objects />
+			<groups />
 		</MarkerSet>
-		<!--ContactGeometry objects in the model.-->
-		<ContactGeometrySet name="">
-			<objects/>
-			<groups/>
+		<!--ContactGeometries  in the model.-->
+		<ContactGeometrySet>
+			<objects />
+			<groups />
 		</ContactGeometrySet>
-		<!--Controller objects in the model.-->
+		<!--Controllers in the model.-->
 		<ControllerSet name="Controllers">
-			<objects/>
-			<groups/>
+			<objects />
+			<groups />
 		</ControllerSet>
 	</Model>
 </OpenSimDocument>
-
diff --git a/Applications/CMC/test/block_hanging_from_muscle_CMC_Tasks.xml b/Applications/CMC/test/block_hanging_from_muscle_CMC_Tasks.xml
index 4284dd26bc..8ba8fa3028 100755
--- a/Applications/CMC/test/block_hanging_from_muscle_CMC_Tasks.xml
+++ b/Applications/CMC/test/block_hanging_from_muscle_CMC_Tasks.xml
@@ -1,321 +1,37 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSimDocument Version="20302">
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
 	<CMC_TaskSet name="block_hanging_from_muscle">
-		<defaults>
-			<Scale name="default">
-				<scales>       1.00000000       1.00000000       1.00000000 </scales>
-				<segment> unnamed_segment </segment>
-				<apply> true </apply>
-			</Scale>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate> Unassigned </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA> Unassigned </bodyA>
-				<bodyB> Unassigned </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CorrectionController name="default">
-				<!--A list of actuators that this controller will control.The keyword ALL
-				    indicates the controller will controll all the acuators in the model-->
-				<actuator_list> </actuator_list>
-				<!--Flag (true or false) indicating whether or not the controller is
-				    disabled.-->
-				<isDisabled> false </isDisabled>
-				<!--Gain for position errors-->
-				<kp>     100.00000000 </kp>
-				<!--Gain for velocity errors-->
-				<kv>      20.00000000 </kv>
-			</CorrectionController>
-			<CMC_Joint name="default">
+		<defaults/>
+		<objects>
+			<CMC_Joint name="block_ty">
 				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </weight>
-				<!--Name of body frame with respect to which a tracking objective is
-				    specified. The special name 'center_of_mass' refers to the system
-				    center of mass. This property is not used for tracking joint angles.-->
-				<wrt_body> -1 </wrt_body>
-				<!--Name of body frame in which the tracking objectives are expressed.
-				    This property is not used for tracking joint angles.-->
-				<express_body> -1 </express_body>
-				<!--Array of 3 flags (each true or false) specifying whether a component
-				    of a task is active.  For example, tracking the trajectory of a point
-				    in space could have three components (x,y,z).  This allows each of
-				    those to be made active (true) or inactive (false).  A task for
-				    tracking a joint coordinate only has one component.-->
-				<active> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
+				<on>true</on>
+				<!--Weight with which a task is tracked relative to other tasks. To track a task more tightly, make the weight larger.-->
+				<weight> 1.0 </weight>
+				<!--Name of body frame with respect to which a tracking objective is specified. The special name 'center_of_mass' refers to the system center of mass. This property is not used for tracking joint angles.-->
+				<wrt_body>-1</wrt_body>
+				<!--Name of body frame in which the tracking objectives are expressed.  This property is not used for tracking joint angles.-->
+				<express_body>-1</express_body>
+				<!--Array of 3 flags (each true or false) specifying whether a component of a task is active.  For example, tracking the trajectory of a point in space could have three components (x,y,z).  This allows each of those to be made active (true) or inactive (false).  A task for tracking a joint coordinate only has one component.-->
+				<active>true false false </active>
+				<!--Position error feedback gain (stiffness). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
+				<kp> 100 1 1</kp>
+				<!--Velocity error feedback gain (damping). To achieve critical damping of errors, choose kv = 2*sqrt(kp).-->
+				<kv> 20 1 1</kv>
+				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no gain.-->
+				<ka> 1 1 1</ka>
+				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use this propery.-->
+				<r0> 0 0 0</r0>
+				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use this property.-->
+				<r1> 0 0 0</r1>
+				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use this property.-->
+				<r2> 0 0 0</r2>
 				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </coordinate>
-				<!--Error limit on the tracking accuracy for this coordinate. If the
-				    tracking errors approach this limit, the weighting for this coordinate
-				    is increased.-->
-				<limit>       0.00000000 </limit>
+				<coordinate>block_ty</coordinate>
+				<!--Error limit on the tracking accuracy for this coordinate. If the tracking errors approach this limit, the weighting for this coordinate is increased. -->
+				<limit>0</limit>
 			</CMC_Joint>
-		</defaults>
-	<objects>
-		<CMC_Joint name="block_ty">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> true </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       0.10000000 </weight>
-				<!--Name of body frame with respect to which a tracking objective is
-				    specified. The special name 'center_of_mass' refers to the system
-				    center of mass. This property is not used for tracking joint angles.-->
-			<wrt_body> -1 </wrt_body>
-				<!--Name of body frame in which the tracking objectives are expressed.
-				    This property is not used for tracking joint angles.-->
-			<express_body> -1 </express_body>
-				<!--Array of 3 flags (each true or false) specifying whether a component
-				    of a task is active.  For example, tracking the trajectory of a point
-				    in space could have three components (x,y,z).  This allows each of
-				    those to be made active (true) or inactive (false).  A task for
-				    tracking a joint coordinate only has one component.-->
-			<active> true false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>     100.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>      25.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-			<coordinate> block_ty </coordinate>
-				<!--Error limit on the tracking accuracy for this coordinate. If the
-				    tracking errors approach this limit, the weighting for this coordinate
-				    is increased.-->
-				<limit>       0.00000000 </limit>
-		</CMC_Joint>
-    </objects>
-		<groups/>
+		</objects>
+		<groups />
 	</CMC_TaskSet>
 </OpenSimDocument>
-
diff --git a/Applications/CMC/test/block_hanging_from_muscle_InitialStates.sto b/Applications/CMC/test/block_hanging_from_muscle_InitialStates.sto
deleted file mode 100755
index 63a1436d11..0000000000
--- a/Applications/CMC/test/block_hanging_from_muscle_InitialStates.sto
+++ /dev/null
@@ -1,6 +0,0 @@
-initial_states				
-nRows=1				
-nColumns=5				
-endheader				
-time	block_ty	block_ty_u	muscle.activation	muscle.fiber_length
-0	-0.42462006920006	0	0.02	0.122100534303908
diff --git a/Applications/CMC/test/block_hanging_from_muscle_Setup_CMC.xml b/Applications/CMC/test/block_hanging_from_muscle_Setup_CMC.xml
index 15ff28cb6c..22c0aa9b8d 100644
--- a/Applications/CMC/test/block_hanging_from_muscle_Setup_CMC.xml
+++ b/Applications/CMC/test/block_hanging_from_muscle_Setup_CMC.xml
@@ -1,364 +1,71 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSimDocument Version="20302">
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
 	<CMCTool name="block_hanging_from_muscle">
-		<defaults>
-			<Scale name="default">
-				<scales>       1.00000000       1.00000000       1.00000000 </scales>
-				<segment> unnamed_segment </segment>
-				<apply> true </apply>
-			</Scale>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000 </default_min>
-				<default_max>       1.00000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000 </kp>
-				<kv>      20.00000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate> Unassigned </coordinate>
-				<optimal_force>     300.00000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000       0.00000000       0.00000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000      -0.00000000      -0.00000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA> Unassigned </bodyA>
-				<bodyB> Unassigned </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000      -0.00000000      -0.00000000 </axis>
-				<optimal_force>     300.00000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05350000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.60000000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.30000000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000       1.00000000       1.00000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000       0.00000000      -0.00000000       0.00000000       0.00000000       0.00000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000      -0.00200000      -0.00100000       0.00000000       0.00131000       0.00281000       0.00431000       0.00581000       0.00731000       0.00881000       0.01030000       0.01180000       0.01230000       9.20000000       9.20100000       9.20200000      20.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.01080000       0.02570000       0.04350000       0.06520000       0.09150000       0.12300000       0.16100000       0.20800000       0.22700000     345.00000000     345.00000000     345.00000000     345.00000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200      -4.30769200      -1.92307700      -0.88461500      -0.26923100       0.23076900       0.46153800       0.52725000       0.62875000       0.71875000       0.86125000       1.04500000       1.21750000       1.43875000       1.50000000       1.61538500       2.00000000       2.96153800       3.69230800       5.46153800       9.90190200 </x>
-						<y>       0.01218800       0.02189900       0.03646600       0.05249300       0.07531200       0.11415800       0.15785900       0.22666700       0.63666700       0.85666700       0.95000000       0.99333300       0.77000000       0.24666700       0.19382100       0.13325200       0.07268300       0.04441700       0.03634100       0.02189900       0.00733200 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000       0.99800000       0.99900000       1.00000000       1.10000000       1.20000000       1.30000000       1.40000000       1.50000000       1.60000000       1.60100000       1.60200000       5.00000000 </x>
-						<y>       0.00000000       0.00000000       0.00000000       0.00000000       0.03500000       0.12000000       0.26000000       0.55000000       1.17000000       2.00000000       2.00000000       2.00000000       2.00000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CorrectionController name="default">
-				<!--A list of actuators that this controller will control.The keyword ALL
-				    indicates the controller will controll all the acuators in the model-->
-				<actuator_list> </actuator_list>
-				<!--Flag (true or false) indicating whether or not the controller is
-				    disabled.-->
-				<isDisabled> false </isDisabled>
-				<!--Gain for position errors-->
-				<kp>     100.00000000 </kp>
-				<!--Gain for velocity errors-->
-				<kv>      20.00000000 </kv>
-			</CorrectionController>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000       1.00000000       1.00000000 </weight>
-				<!--Name of body frame with respect to which a tracking objective is
-				    specified. The special name 'center_of_mass' refers to the system
-				    center of mass. This property is not used for tracking joint angles.-->
-				<wrt_body> -1 </wrt_body>
-				<!--Name of body frame in which the tracking objectives are expressed.
-				    This property is not used for tracking joint angles.-->
-				<express_body> -1 </express_body>
-				<!--Array of 3 flags (each true or false) specifying whether a component
-				    of a task is active.  For example, tracking the trajectory of a point
-				    in space could have three components (x,y,z).  This allows each of
-				    those to be made active (true) or inactive (false).  A task for
-				    tracking a joint coordinate only has one component.-->
-				<active> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000       1.00000000       1.00000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000       1.00000000       1.00000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000       1.00000000       1.00000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000       0.00000000       0.00000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000       0.00000000       0.00000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000       0.00000000       0.00000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </coordinate>
-				<!--Error limit on the tracking accuracy for this coordinate. If the
-				    tracking errors approach this limit, the weighting for this coordinate
-				    is increased.-->
-				<limit>       0.00000000 </limit>
-			</CMC_Joint>
-		</defaults>
 		<!--Name of the .osim file used to construct a model.-->
-		<model_file> block_hanging_from_muscle.osim </model_file>
-		<!--Replace the model's force set with sets specified in
-		    <force_set_files>? If false, the force set is appended to.-->
-		<replace_force_set> false </replace_force_set>
+		<model_file>block_hanging_from_muscle.osim</model_file>
+		<!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
+		<replace_force_set>false</replace_force_set>
 		<!--List of xml files used to construct an force set for the model.-->
-		<force_set_files> </force_set_files>
+		<force_set_files />
 		<!--Directory used for writing results.-->
-		<results_directory> block_hanging_from_muscle_ResultsCMC </results_directory>
+		<results_directory>block_hanging_from_muscle_ResultsCMC</results_directory>
 		<!--Output precision.  It is 8 by default.-->
-		<output_precision> 8 </output_precision>
+		<output_precision>8</output_precision>
 		<!--Initial time for the simulation.-->
-		<initial_time>       0.00000000 </initial_time>
+		<initial_time>0</initial_time>
 		<!--Final time for the simulation.-->
-		<final_time>       5.00000000 </final_time>
-		<!--Flag indicating whether or not to compute equilibrium values for
-		    states other than the coordinates or speeds.  For example, equilibrium
-		    muscle fiber lengths or muscle forces.-->
-		<solve_for_equilibrium_for_auxiliary_states> true </solve_for_equilibrium_for_auxiliary_states>
+		<final_time>0.9</final_time>
+		<!--Flag indicating whether or not to compute equilibrium values for states other than the coordinates or speeds.  For example, equilibrium muscle fiber lengths or muscle forces.-->
+		<solve_for_equilibrium_for_auxiliary_states>false</solve_for_equilibrium_for_auxiliary_states>
 		<!--Maximum number of integrator steps.-->
-		<maximum_number_of_integrator_steps> 30000 </maximum_number_of_integrator_steps>
+		<maximum_number_of_integrator_steps>20000</maximum_number_of_integrator_steps>
 		<!--Maximum integration step size.-->
-		<maximum_integrator_step_size>       1.00000000 </maximum_integrator_step_size>
+		<maximum_integrator_step_size>1</maximum_integrator_step_size>
 		<!--Minimum integration step size.-->
-		<minimum_integrator_step_size>       0.00000001 </minimum_integrator_step_size>
-		<!--Integrator error tolerance. When the error is greater, the integrator
-		    step size is decreased.-->
-		<integrator_error_tolerance>       0.0000100 </integrator_error_tolerance>
+		<minimum_integrator_step_size>0</minimum_integrator_step_size>
+		<!--Integrator error tolerance. When the error is greater, the integrator step size is decreased.-->
+		<integrator_error_tolerance>1e-008</integrator_error_tolerance>
 		<!--Set of analyses to be run during the investigation.-->
 		<AnalysisSet name="Analyses">
-			<objects/>
-			<groups/>
+			<objects />
+			<groups />
 		</AnalysisSet>
 		<!--Controller objects in the model.-->
 		<ControllerSet name="Controllers">
-			<objects/>
-			<groups/>
+			<objects />
+			<groups />
 		</ControllerSet>
-		<!--XML file (.xml) containing the forces applied to the model as
-		    ExternalLoads.-->
-		<external_loads_file>  </external_loads_file>
-		<!--Motion (.mot) or storage (.sto) file containing the desired point
-		    trajectories.-->
-		<desired_points_file>  </desired_points_file>
-		<!--Motion (.mot) or storage (.sto) file containing the desired kinematic
-		    trajectories.-->
-		<desired_kinematics_file> block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_states.sto </desired_kinematics_file>
-		<!--File containing the tracking tasks. Which coordinates are tracked and
-		    with what weights are specified here.-->
-		<task_set_file> block_hanging_from_muscle_CMC_Tasks.xml </task_set_file>
+		<!--XML file (.xml) containing the forces applied to the model as ExternalLoads.-->
+		<external_loads_file />
+		<!--List of individual Actuators by individual or user-defined group name  to be excluded from CMC's control.-->
+		<actuators_to_exclude />
+		<!--Motion (.mot) or storage (.sto) file containing the desired point trajectories.-->
+		<desired_points_file />
+		<!--Motion (.mot) or storage (.sto) file containing the desired kinematic trajectories.-->
+		<desired_kinematics_file>block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_states.sto</desired_kinematics_file>
+		<!--File containing the tracking tasks. Which coordinates are tracked and with what weights are specified here.-->
+		<task_set_file>block_hanging_from_muscle_CMC_Tasks.xml</task_set_file>
 		<!--File containing the constraints on the controls.-->
-		<constraints_file>  </constraints_file>
-		<!--File containing the controls output by RRA. These can be used to place
-		    constraints on the residuals during CMC.-->
-		<rra_controls_file>  </rra_controls_file>
-		<!--Low-pass cut-off frequency for filtering the desired kinematics. A
-		    negative value results in no filtering. The default value is -1.0, so
-		    no filtering.-->
-		<lowpass_cutoff_frequency>      -1.00000000 </lowpass_cutoff_frequency>
-		<!--Time window over which the desired actuator forces are achieved.
-		    Muscles forces cannot change instantaneously, so a finite time window
-		    must be allowed. The recommended time window for RRA is about 0.001
-		    sec, and for CMC is about 0.010 sec.-->
-		<cmc_time_window>       0.01000000 </cmc_time_window>
-		<!--Flag (true or false) indicating whether to use the fast CMC
-		    optimization target. The fast target requires the desired
-		    accelerations to be met. The optimizer fails if the acclerations
-		    constraints cannot be met, so the fast target can be less robust.  The
-		    regular target does not require the acceleration constraints to be
-		    met; it meets them as well as it can, but it is slower and less
-		    accurate.-->
-		<use_fast_optimization_target> true </use_fast_optimization_target>
-		<!--Preferred optimizer algorithm (currently support "ipopt" or "cfsqp",
-		    the latter requiring the osimFSQP library.-->
-		<optimizer_algorithm> ipopt </optimizer_algorithm>
-		<!--Step size used by the optimizer to compute numerical derivatives. A
-		    value between 1.0e-4 and 1.0e-8 is usually appropriate.-->
-		<numerical_derivative_step_size>       0.00010000 </numerical_derivative_step_size>
-		<!--Convergence tolerance for the optimizer. The smaller this value, the
-		    deeper the convergence. Decreasing this number can improve a solution,
-		    but will also likely increase computation time.-->
-		<optimization_convergence_tolerance>       0.00010000 </optimization_convergence_tolerance>
+		<constraints_file />
+		<!--File containing the controls output by RRA. These can be used to place constraints on the residuals during CMC.-->
+		<rra_controls_file />
+		<!--Low-pass cut-off frequency for filtering the desired kinematics. A negative value results in no filtering. The default value is -1.0, so no filtering.-->
+		<lowpass_cutoff_frequency>-1</lowpass_cutoff_frequency>
+		<!--Time window over which the desired actuator forces are achieved. Muscles forces cannot change instantaneously, so a finite time window must be allowed. The recommended time window for RRA is about 0.001 sec, and for CMC is about 0.010 sec.-->
+		<cmc_time_window>0.01</cmc_time_window>
+		<!--Flag (true or false) indicating whether to use the fast CMC optimization target. The fast target requires the desired accelerations to be met. The optimizer fails if the acclerations constraints cannot be met, so the fast target can be less robust.  The regular target does not require the acceleration constraints to be met; it meets them as well as it can, but it is slower and less accurate.-->
+		<use_fast_optimization_target>true</use_fast_optimization_target>
+		<!--Preferred optimizer algorithm (currently support "ipopt" or "cfsqp", the latter requiring the osimFSQP library.-->
+		<optimizer_algorithm>ipopt</optimizer_algorithm>
+		<!--Step size used by the optimizer to compute numerical derivatives. A value between 1.0e-4 and 1.0e-8 is usually appropriate.-->
+		<numerical_derivative_step_size>0.0001</numerical_derivative_step_size>
+		<!--Convergence tolerance for the optimizer. The smaller this value, the deeper the convergence. Decreasing this number can improve a solution, but will also likely increase computation time.-->
+		<optimization_convergence_tolerance>0.001</optimization_convergence_tolerance>
 		<!--Maximum number of iterations for the optimizer.-->
-		<optimizer_max_iterations> 2000 </optimizer_max_iterations>
-		<!--Print level for the optimizer, 0 - 3. 0=no printing, 3=detailed
-		    printing, 2=in between-->
-		<optimizer_print_level> 0 </optimizer_print_level>
-		<!--True-false flag indicating whether or not to turn on verbose printing
-		    for cmc.-->
-		<use_verbose_printing> false </use_verbose_printing>
+		<optimizer_max_iterations>1000</optimizer_max_iterations>
+		<!--Print level for the optimizer, 0 - 3. 0=no printing, 3=detailed printing, 2=in between-->
+		<optimizer_print_level>0</optimizer_print_level>
+		<!--True-false flag indicating whether or not to turn on verbose printing for cmc.-->
+		<use_verbose_printing>false</use_verbose_printing>
 	</CMCTool>
 </OpenSimDocument>
-
diff --git a/Applications/CMC/test/block_hanging_from_muscle_Setup_Forward.xml b/Applications/CMC/test/block_hanging_from_muscle_Setup_Forward.xml
index da92f98c31..e9b2b3dd95 100644
--- a/Applications/CMC/test/block_hanging_from_muscle_Setup_Forward.xml
+++ b/Applications/CMC/test/block_hanging_from_muscle_Setup_Forward.xml
@@ -1,82 +1,69 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSimDocument Version="20302">
+<?xml version="1.0" encoding="UTF-8" ?>
+<OpenSimDocument Version="30000">
 	<ForwardTool name="block_hanging_from_muscle">
-    <defaults/>
 		<!--Name of the .osim file used to construct a model.-->
-		<model_file> block_hanging_from_muscle.osim </model_file>
-		<!--Replace the model's force set with sets specified in
-		    <force_set_files>? If false, the force set is appended to.-->
-		<replace_force_set> false </replace_force_set>
+		<model_file>block_hanging_from_muscle.osim</model_file>
+		<!--Replace the model's force set with sets specified in <force_set_files>? If false, the force set is appended to.-->
+		<replace_force_set>false</replace_force_set>
 		<!--List of xml files used to construct an force set for the model.-->
-		<force_set_files> </force_set_files>
+		<force_set_files />
 		<!--Directory used for writing results.-->
-		<results_directory> block_hanging_from_muscle_ForwardResults </results_directory>
+		<results_directory>block_hanging_from_muscle_ForwardResults</results_directory>
 		<!--Output precision.  It is 8 by default.-->
-		<output_precision> 20 </output_precision>
+		<output_precision>10</output_precision>
 		<!--Initial time for the simulation.-->
-		<initial_time>       0.00000000 </initial_time>
+		<initial_time>0</initial_time>
 		<!--Final time for the simulation.-->
-		<final_time>       5.00000000 </final_time>
-		<!--Flag indicating whether or not to compute equilibrium values for
-		    states other than the coordinates or speeds.  For example, equilibrium
-		    muscle fiber lengths or muscle forces.-->
-		<solve_for_equilibrium_for_auxiliary_states> true </solve_for_equilibrium_for_auxiliary_states>
+		<final_time>1</final_time>
+		<!--Flag indicating whether or not to compute equilibrium values for states other than the coordinates or speeds.  For example, equilibrium muscle fiber lengths or muscle forces.-->
+		<solve_for_equilibrium_for_auxiliary_states>true</solve_for_equilibrium_for_auxiliary_states>
 		<!--Maximum number of integrator steps.-->
-		<maximum_number_of_integrator_steps> 30000 </maximum_number_of_integrator_steps>
+		<maximum_number_of_integrator_steps>30000</maximum_number_of_integrator_steps>
 		<!--Maximum integration step size.-->
-		<maximum_integrator_step_size>       1.00000000 </maximum_integrator_step_size>
+		<maximum_integrator_step_size>1</maximum_integrator_step_size>
 		<!--Minimum integration step size.-->
-		<minimum_integrator_step_size>       0.00000000 </minimum_integrator_step_size>
-		<!--Integrator error tolerance. When the error is greater, the integrator
-		    step size is decreased.-->
-		<integrator_error_tolerance>       0.00001 </integrator_error_tolerance>
+		<minimum_integrator_step_size>0</minimum_integrator_step_size>
+		<!--Integrator error tolerance. When the error is greater, the integrator step size is decreased.-->
+		<integrator_error_tolerance>1e-008</integrator_error_tolerance>
 		<!--Set of analyses to be run during the investigation.-->
 		<AnalysisSet name="Analyses">
-			<objects/>
-			<groups/>
+			<objects>
+				<ForceReporter name="ForceReporter">
+					<!--Flag (true or false) specifying whether whether on. True by default.-->
+					<on>true</on>
+					<!--Start time.-->
+					<start_time>0</start_time>
+					<!--End time.-->
+					<end_time>1</end_time>
+					<!--Specifies how often to store results during a simulation. More specifically, the interval (a positive integer) specifies how many successful integration steps should be taken before results are recorded again.-->
+					<step_interval>1</step_interval>
+					<!--Flag (true or false) indicating whether the results are in degrees or not.-->
+					<in_degrees>true</in_degrees>
+					<!--Flag indicating whether to include forces due to constraints.-->
+					<include_constraint_forces>false</include_constraint_forces>
+				</ForceReporter>
+			</objects>
+			<groups />
 		</AnalysisSet>
 		<!--Controller objects in the model.-->
-		<ControllerSet name="">
+		<ControllerSet>
 			<objects>
 				<ControlSetController name="ControlSetController">
-					<!--A list of actuators that this controller will control.The keyword ALL
-					    indicates the controller will controll all the acuators in the model-->
-					<actuator_list> </actuator_list>
-					<!--Flag (true or false) indicating whether or not the controller is
-					    disabled.-->
-					<isDisabled> false </isDisabled>
-					<!--XML file containing the controls for the controlSet.-->
-					<controls_file> block_hanging_from_muscle_controls.xml </controls_file>
+					<!--Flag (true or false) indicating whether or not the controller is disabled.-->
+					<isDisabled>false</isDisabled>
+					<!--The list of model actuators that this controller will control.The keyword ALL indicates the controller will controll all the acuators in the model-->
+					<actuator_list></actuator_list>
+					<!--A Storage (.sto) or an XML control nodes file containing the controls for this controlSet.-->
+					<controls_file>block_hanging_from_muscle_controls.sto</controls_file>
 				</ControlSetController>
 			</objects>
-			<groups/>
+			<groups />
 		</ControllerSet>
-		<!--XML file (.xml) containing the forces applied to the model as
-		    ExternalLoads.-->
-		<external_loads_file>  </external_loads_file>
-		<!--Storage file (.sto) containing the initial states for the forward
-		    simulation. This file often contains multiple rows of data, each row
-		    being a time-stamped array of states. The first column contains the
-		    time.  The rest of the columns contain the states in the order
-		    appropriate for the model. In a storage file, unlike a motion file
-		    (.mot), non-uniform time spacing is allowed.  If the user-specified
-		    initial time for a simulation does not correspond exactly to one of
-		    the time stamps in this file, inerpolation is NOT used because it is
-		    usually necessary to being a simulation from an exact set of states.
-		    Instead, the closest earlier set of states is used. Having a states
-		    file that contains the entire trajectory of a simulations allows for
-		    corrective springs for perturbation analysis to be added.-->
-		<states_file> </states_file>
-		<!--Flag (true or false) indicating whether or not the integrator should
-		    use a particular time stepping.  If true, the time stepping is
-		    extracted from the initial states file.  In this situation, therefore,
-		    the initial states file must contain all the time steps in a
-		    simulation and be written out to high precision (usually 20 decimal
-		    places).  Setting this flag to true can be useful when reproducing a
-		    previous forward simulation with as little drift as possible.  If this
-		    flag is false, the integrator is left to determine its own time
-		    stepping.-->
-		<use_specified_dt> false </use_specified_dt>
+		<!--XML file (.xml) containing the forces applied to the model as ExternalLoads.-->
+		<external_loads_file />
+		<!--Storage file (.sto) containing the initial states for the forward simulation. This file often contains multiple rows of data, each row being a time-stamped array of states. The first column contains the time.  The rest of the columns contain the states in the order appropriate for the model. In a storage file, unlike a motion file (.mot), non-uniform time spacing is allowed.  If the user-specified initial time for a simulation does not correspond exactly to one of the time stamps in this file, inerpolation is NOT used because it is usually necessary to being a simulation from an exact set of states.  Instead, the closest earlier set of states is used. Having a states file that contains the entire trajectory of a simulations allows for corrective springs for perturbation analysis to be added.-->
+		<states_file />
+		<!--Flag (true or false) indicating whether or not the integrator should use a particular time stepping.  If true, the time stepping is extracted from the initial states file.  In this situation, therefore, the initial states file must contain all the time steps in a simulation and be written out to high precision (usually 20 decimal places).  Setting this flag to true can be useful when reproducing a previous forward simulation with as little drift as possible.  If this flag is false, the integrator is left to determine its own time stepping.-->
+		<use_specified_dt>false</use_specified_dt>
 	</ForwardTool>
 </OpenSimDocument>
-
diff --git a/Applications/CMC/test/block_hanging_from_muscle_controls.sto b/Applications/CMC/test/block_hanging_from_muscle_controls.sto
index ceac36cc7b..fcf0795ae6 100644
--- a/Applications/CMC/test/block_hanging_from_muscle_controls.sto
+++ b/Applications/CMC/test/block_hanging_from_muscle_controls.sto
@@ -1,5006 +1,1008 @@
-block_hanging_from_muscle_controls
-nRows=5001
-nColumns=2
+name block_hanging_from_muscle_controls.sto
+datacolumns 2
+datarows 1002
+range 0.000000 1.030000
 endheader
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diff --git a/Applications/CMC/test/block_hanging_from_muscle_controls.xml b/Applications/CMC/test/block_hanging_from_muscle_controls.xml
deleted file mode 100644
index db39168b30..0000000000
--- a/Applications/CMC/test/block_hanging_from_muscle_controls.xml
+++ /dev/null
@@ -1,707 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<OpenSimDocument Version="20302">
-	<ControlSet name="Control Set">
-		<defaults>
-			<Scale name="default">
-				<scales>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </scales>
-				<segment> unnamed_segment </segment>
-				<apply> true </apply>
-			</Scale>
-			<ControlLinear name="default">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>      -1.00000000000000000000 </default_min>
-				<default_max>       1.00000000000000000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes/>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000000000000000 </kp>
-				<kv>      20.00000000000000000000 </kv>
-			</ControlLinear>
-			<CoordinateActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<coordinate> Unassigned </coordinate>
-				<optimal_force>     300.00000000000000000000 </optimal_force>
-			</CoordinateActuator>
-			<PointActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<body>  </body>
-				<point>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </point>
-				<point_is_global> false </point_is_global>
-				<direction>      -1.00000000000000000000      -0.00000000000000000000      -0.00000000000000000000 </direction>
-				<force_is_global> true </force_is_global>
-				<optimal_force>    1000.00000000000000000000 </optimal_force>
-			</PointActuator>
-			<TorqueActuator name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control> -infinity </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control> infinity </max_control>
-				<bodyA> Unassigned </bodyA>
-				<bodyB> Unassigned </bodyB>
-				<torque_is_global> true </torque_is_global>
-				<axis>      -1.00000000000000000000      -0.00000000000000000000      -0.00000000000000000000 </axis>
-				<optimal_force>     300.00000000000000000000 </optimal_force>
-			</TorqueActuator>
-			<Thelen2003Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000000000000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000000000000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000000000000000       0.00000000000000000000      -0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000000000000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>     546.00000000000000000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.05349999999999999900 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.07800000000000000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000000000000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000000000000000 </max_contraction_velocity>
-				<!--time constant for ramping up of muscle activation-->
-				<activation_time_constant>       0.01000000000000000000 </activation_time_constant>
-				<!--time constant for ramping down of muscle activation-->
-				<deactivation_time_constant>       0.04000000000000000100 </deactivation_time_constant>
-				<!--maximum contraction velocity at full activation in fiber lengths per
-				    second-->
-				<Vmax>      10.00000000000000000000 </Vmax>
-				<!--maximum contraction velocity at low activation in fiber lengths per
-				    second-->
-				<Vmax0>       5.00000000000000000000 </Vmax0>
-				<!--tendon strain due to maximum isometric muscle force-->
-				<FmaxTendonStrain>       0.03300000000000000200 </FmaxTendonStrain>
-				<!--passive muscle strain due to maximum isometric muscle force-->
-				<FmaxMuscleStrain>       0.59999999999999998000 </FmaxMuscleStrain>
-				<!--shape factor for Gaussian active muscle force-length relationship-->
-				<KshapeActive>       0.50000000000000000000 </KshapeActive>
-				<!--exponential shape factor for passive force-length relationship-->
-				<KshapePassive>       4.00000000000000000000 </KshapePassive>
-				<!--passive damping in the force-velocity relationship-->
-				<damping>       0.05000000000000000300 </damping>
-				<!--force-velocity shape factor-->
-				<Af>       0.29999999999999999000 </Af>
-				<!--maximum normalized lengthening force-->
-				<Flen>       1.80000000000000000000 </Flen>
-			</Thelen2003Muscle>
-			<Schutte1993Muscle name="default">
-				<isDisabled> false </isDisabled>
-				<!--Minimum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<min_control>       0.00000000000000000000 </min_control>
-				<!--Maximum allowed value for control signal. Used primarily when solving
-				    for control values-->
-				<max_control>       1.00000000000000000000 </max_control>
-				<GeometryPath name="">
-					<PathPointSet name="">
-						<objects/>
-						<groups/>
-					</PathPointSet>
-					<VisibleObject name="">
-						<!--Set of geometry files and associated attributes, allow .vtp, .stl,
-						    .obj-->
-						<GeometrySet name="">
-							<objects/>
-							<groups/>
-						</GeometrySet>
-						<!--Three scale factors for display purposes: scaleX scaleY scaleZ-->
-						<scale_factors>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </scale_factors>
-						<!--transform relative to owner specified as 3 rotations (rad) followed by
-						    3 translations rX rY rZ tx ty tz-->
-						<transform>      -0.00000000000000000000       0.00000000000000000000      -0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </transform>
-						<!--Whether to show a coordinate frame-->
-						<show_axes> false </show_axes>
-						<!--Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded Can be overriden for
-						    individual geometries-->
-						<display_preference> 4 </display_preference>
-					</VisibleObject>
-					<PathWrapSet name="">
-						<objects/>
-						<groups/>
-					</PathWrapSet>
-				</GeometryPath>
-				<optimal_force>       1.00000000000000000000 </optimal_force>
-				<!--Maximum isometric force that the fibers can generate-->
-				<max_isometric_force>       0.00000000000000000000 </max_isometric_force>
-				<!--Optimal length of the muscle fibers-->
-				<optimal_fiber_length>       0.00000000000000000000 </optimal_fiber_length>
-				<!--Resting length of the tendon-->
-				<tendon_slack_length>       0.00000000000000000000 </tendon_slack_length>
-				<!--Angle between tendon and fibers at optimal fiber length-->
-				<pennation_angle_at_optimal>       0.00000000000000000000 </pennation_angle_at_optimal>
-				<!--Maximum contraction velocity of the fibers, in optimal fiberlengths
-				    per second-->
-				<max_contraction_velocity>      10.00000000000000000000 </max_contraction_velocity>
-				<!--Scale factor for normalizing time-->
-				<time_scale>       0.10000000000000001000 </time_scale>
-				<!--Parameter used in time constant of ramping up of muscle force-->
-				<activation1>       0.00000000000000000000 </activation1>
-				<!--Parameter used in time constant of ramping up and ramping down of
-				    muscle force-->
-				<activation2>       0.00000000000000000000 </activation2>
-				<!--Damping factor related to maximum contraction velocity-->
-				<damping>       0.05000000000000000300 </damping>
-				<!--Function representing force-length behavior of tendon-->
-				<tendon_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>     -10.00000000000000000000      -0.00200000000000000000      -0.00100000000000000000       0.00000000000000000000       0.00131000000000000000       0.00281000000000000000       0.00430999999999999960       0.00581000000000000010       0.00730999999999999970       0.00881000000000000010       0.01030000000000000000       0.01180000000000000000       0.01230000000000000000       9.19999999999999930000       9.20100000000000050000       9.20200000000000000000      20.00000000000000000000 </x>
-						<y>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.01080000000000000100       0.02570000000000000100       0.04349999999999999700       0.06519999999999999400       0.09149999999999999800       0.12300000000000000000       0.16100000000000000000       0.20799999999999999000       0.22700000000000001000     345.00000000000000000000     345.00000000000000000000     345.00000000000000000000     345.00000000000000000000 </y>
-					</NaturalCubicSpline>
-				</tendon_force_length_curve>
-				<!--Function representing active force-length behavior of muscle fibers-->
-				<active_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.30769200000000030000      -4.30769200000000030000      -1.92307699999999990000      -0.88461500000000004000      -0.26923100000000000000       0.23076900000000000000       0.46153800000000000000       0.52725000000000000000       0.62875000000000003000       0.71875000000000000000       0.86124999999999996000       1.04499999999999990000       1.21750000000000000000       1.43875000000000000000       1.50000000000000000000       1.61538500000000010000       2.00000000000000000000       2.96153800000000000000       3.69230800000000010000       5.46153800000000000000       9.90190199999999980000 </x>
-						<y>       0.01218799999999999900       0.02189899999999999800       0.03646599999999999800       0.05249299999999999800       0.07531200000000000400       0.11415800000000000000       0.15785900000000000000       0.22666700000000001000       0.63666699999999998000       0.85666699999999996000       0.94999999999999996000       0.99333300000000002000       0.77000000000000002000       0.24666700000000000000       0.19382099999999999000       0.13325200000000001000       0.07268299999999999800       0.04441699999999999800       0.03634099999999999800       0.02189899999999999800       0.00733200000000000000 </y>
-					</NaturalCubicSpline>
-				</active_force_length_curve>
-				<!--Function representing passive force-length behavior of muscle fibers-->
-				<passive_force_length_curve>
-					<NaturalCubicSpline name="">
-						<x>      -5.00000000000000000000       0.99800000000000000000       0.99900000000000000000       1.00000000000000000000       1.10000000000000010000       1.20000000000000000000       1.30000000000000000000       1.39999999999999990000       1.50000000000000000000       1.60000000000000010000       1.60100000000000000000       1.60200000000000010000       5.00000000000000000000 </x>
-						<y>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000       0.03500000000000000300       0.12000000000000000000       0.26000000000000001000       0.55000000000000004000       1.16999999999999990000       2.00000000000000000000       2.00000000000000000000       2.00000000000000000000       2.00000000000000000000 </y>
-					</NaturalCubicSpline>
-				</passive_force_length_curve>
-			</Schutte1993Muscle>
-			<CorrectionController name="default">
-				<!--A list of actuators that this controller will control.The keyword ALL
-				    indicates the controller will controll all the acuators in the model-->
-				<actuator_list> </actuator_list>
-				<!--Flag (true or false) indicating whether or not the controller is
-				    disabled.-->
-				<isDisabled> false </isDisabled>
-				<!--Gain for position errors-->
-				<kp>     100.00000000000000000000 </kp>
-				<!--Gain for velocity errors-->
-				<kv>      20.00000000000000000000 </kv>
-			</CorrectionController>
-			<CMC_Joint name="default">
-				<!--Flag (true or false) indicating whether or not a task is enabled.-->
-				<on> false </on>
-				<!--Weight with which a task is tracked relative to other tasks. To track
-				    a task more tightly, make the weight larger.-->
-				<weight>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </weight>
-				<!--Name of body frame with respect to which a tracking objective is
-				    specified. The special name 'center_of_mass' refers to the system
-				    center of mass. This property is not used for tracking joint angles.-->
-				<wrt_body> -1 </wrt_body>
-				<!--Name of body frame in which the tracking objectives are expressed.
-				    This property is not used for tracking joint angles.-->
-				<express_body> -1 </express_body>
-				<!--Array of 3 flags (each true or false) specifying whether a component
-				    of a task is active.  For example, tracking the trajectory of a point
-				    in space could have three components (x,y,z).  This allows each of
-				    those to be made active (true) or inactive (false).  A task for
-				    tracking a joint coordinate only has one component.-->
-				<active> false false false </active>
-				<!--Position error feedback gain (stiffness). To achieve critical damping
-				    of errors, choose kv = 2*sqrt(kp).-->
-				<kp>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </kp>
-				<!--Velocity error feedback gain (damping). To achieve critical damping of
-				    errors, choose kv = 2*sqrt(kp).-->
-				<kv>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </kv>
-				<!--Feedforward acceleration gain.  This is normally set to 1.0, so no
-				    gain.-->
-				<ka>       1.00000000000000000000       1.00000000000000000000       1.00000000000000000000 </ka>
-				<!--Direction vector[3] for component 0 of a task. Joint tasks do not use
-				    this propery.-->
-				<r0>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r0>
-				<!--Direction vector[3] for component 1 of a task. Joint tasks do not use
-				    this property.-->
-				<r1>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r1>
-				<!--Direction vector[3] for component 2 of a task. Joint tasks do not use
-				    this property.-->
-				<r2>       0.00000000000000000000       0.00000000000000000000       0.00000000000000000000 </r2>
-				<!--Name of the coordinate to be tracked.-->
-				<coordinate>  </coordinate>
-				<!--Error limit on the tracking accuracy for this coordinate. If the
-				    tracking errors approach this limit, the weighting for this coordinate
-				    is increased.-->
-				<limit>       0.00000000000000000000 </limit>
-			</CMC_Joint>
-		</defaults>
-		<objects>
-			<ControlLinear name="muscle">
-				<is_model_control> true </is_model_control>
-				<extrapolate> true </extrapolate>
-				<default_min>       0.00000000000000000000 </default_min>
-				<default_max>       1.00000000000000000000 </default_max>
-				<filter_on> false </filter_on>
-				<use_steps> false </use_steps>
-				<x_nodes>
-					<ControlLinearNode name="">
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-						<value>       0.10028614379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.24999999999999980000 </t>
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.27499999999999970000 </t>
-						<value>       0.10036507379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.29999999999999960000 </t>
-						<value>       0.10060155379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					<ControlLinearNode name="">
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-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.79999999999999960000 </t>
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.87499999999999980000 </t>
-						<value>       0.14028614379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-						<value>       0.14529947379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.94999999999999930000 </t>
-						<value>       0.14778139379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.97499999999999920000 </t>
-						<value>       0.15023374379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       1.99999999999999910000 </t>
-						<value>       0.15264682379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.02499999999999900000 </t>
-						<value>       0.15501112379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.04999999999999890000 </t>
-						<value>       0.15731731379762581000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.07499999999999930000 </t>
-						<value>       0.15955629379762581000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.09999999999999920000 </t>
-						<value>       0.16171921379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.12499999999999910000 </t>
-						<value>       0.16379755379762578000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.14999999999999900000 </t>
-						<value>       0.16578310379762579000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.17499999999999890000 </t>
-						<value>       0.16766802379762580000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.19999999999999930000 </t>
-						<value>       0.16944489379762578000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.22499999999999920000 </t>
-						<value>       0.17110667379762579000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.24999999999999910000 </t>
-						<value>       0.17264682379762580000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-						<value>       0.17405926379762576000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-						<value>       0.17533841379762577000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.32499999999999930000 </t>
-						<value>       0.17647922379762576000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.34999999999999920000 </t>
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-						<value>       0.17832840379762577000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       2.39999999999999900000 </t>
-						<value>       0.17902947379762579000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-						<value>       0.17957763379762576000 </value>
-					</ControlLinearNode>
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-					</ControlLinearNode>
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-					</ControlLinearNode>
-					<ControlLinearNode name="">
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-					</ControlLinearNode>
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-						<t>       3.62499999999999910000 </t>
-						<value>       0.10224388379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       3.64999999999999860000 </t>
-						<value>       0.10154281379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       3.67499999999999890000 </t>
-						<value>       0.10099465379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       3.69999999999999930000 </t>
-						<value>       0.10060155379762584000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       3.72499999999999960000 </t>
-						<value>       0.10036507379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       3.74999999999999910000 </t>
-						<value>       0.10028614379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>       4.99999999999999910000 </t>
-						<value>       0.10028614379762583000 </value>
-					</ControlLinearNode>
-					<ControlLinearNode name="">
-						<t>      60.00000000000001400000 </t>
-						<value>       0.10028614379762583000 </value>
-					</ControlLinearNode>
-				</x_nodes>
-				<min_nodes/>
-				<max_nodes/>
-				<kp>     100.00000000000000000000 </kp>
-				<kv>      20.00000000000000000000 </kv>
-			</ControlLinear>
-		</objects>
-		<groups/>
-	</ControlSet>
-</OpenSimDocument>
-
diff --git a/Applications/CMC/test/testCMCSingleMuscle.cpp b/Applications/CMC/test/testCMCSingleMuscle.cpp
index 9164083dfc..92712837ee 100644
--- a/Applications/CMC/test/testCMCSingleMuscle.cpp
+++ b/Applications/CMC/test/testCMCSingleMuscle.cpp
@@ -43,7 +43,7 @@ int main() {
     // redo with the Millard2012EquilibriumMuscle 
     Object::renameType("Thelen2003Muscle", "Millard2012EquilibriumMuscle");
 
-    try {testSingleMuscle();}
+    try { testSingleMuscle();}
     catch (const std::exception& e)
         {   cout << e.what() <<endl; 
             failures.push_back("testSingleMuscle_Millard"); }
@@ -63,19 +63,38 @@ void testSingleMuscle() {
     cout << "*                         testSingleMuscle                       *" << endl;
     cout << "******************************************************************\n" << endl;
     ForwardTool forward("block_hanging_from_muscle_Setup_Forward.xml");
-    forward.run();
-
     CMCTool cmc("block_hanging_from_muscle_Setup_CMC.xml");
-    cmc.run();
 
-    Storage fwd_result("block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_states.sto");
-    Storage cmc_result("block_hanging_from_muscle_ResultsCMC/block_hanging_from_muscle_states.sto");
+    const string& muscleType = 
+        cmc.getModel().getMuscles()[0].getConcreteClassName();
+    string base = "testSingleMuscle_" + muscleType;
+
+    // test MUST fail if forward simulation fails to run to completion.
+    OPENSIM_THROW_IF(!forward.run(), Exception, base + ": Failed running ForwardTool.");
+    // test MUST fail if CMC fails to track to completion.
+    OPENSIM_THROW_IF(!cmc.run(), Exception, base + ": Failed running CMCTool.");
+
+    Storage fwd_controls("block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_controls.sto");
+    Storage cmc_controls("block_hanging_from_muscle_ResultsCMC/block_hanging_from_muscle_controls.sto");
+
+    Storage fwd_force("block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_ForceReporter_forces.sto");
+    Storage cmc_force("block_hanging_from_muscle_ResultsCMC/block_hanging_from_muscle_Actuation_force.sto");
+
+    Storage fwd_states("block_hanging_from_muscle_ForwardResults/block_hanging_from_muscle_states.sto");
+    Storage cmc_states("block_hanging_from_muscle_ResultsCMC/block_hanging_from_muscle_states.sto");
+
+    Array<double> control_tols(4.0e-3, 1); // peak control is 0.2 so this is 2% of peak
+    Array<double> force_tols(1.0e-1, 1);   // 0.1 N 
+    Array<double> state_tols(1.0e-3, 4);   // errors: q<1mm, u<1mm/s, a<0.001, fl<1mm
+
+    CHECK_STORAGE_AGAINST_STANDARD(cmc_controls, fwd_controls, control_tols,
+        __FILE__, __LINE__, base + " controls failed");
 
-    Array<double> tols(0.0005, 4);
-    const string& muscleType = cmc.getModel().getMuscles()[0].getConcreteClassName();
-    string base = "testSingleMuscle "+ muscleType;
+    CHECK_STORAGE_AGAINST_STANDARD(cmc_force, fwd_force, force_tols,
+        __FILE__, __LINE__, base + " forces failed");
 
-    CHECK_STORAGE_AGAINST_STANDARD(cmc_result, fwd_result, tols, __FILE__, __LINE__, base+" failed");
+    CHECK_STORAGE_AGAINST_STANDARD(fwd_states, cmc_states, state_tols,
+        __FILE__, __LINE__, base+" states failed");
     
     cout << "\n" << base << " passed\n" << endl;
 }
