Change from mode 1 to 2 at t = 0.095845 
Change from mode 2 to 1 at t = 0.114916 
Change from mode 1 to 2 at t = 0.095845 
Change from mode 2 to 1 at t = 0.114916 
d x1(tf) /d x1(t0) = -0.237478 d x2(tf) / d x1(t0) = 0.031943 
Change from mode 1 to 2 at t = 0.095845 
Change from mode 2 to 1 at t = 0.114916 
d x1(tf) /d x2(t0) = -0.319570 d x2(tf) / d x2(t0) = -0.237558 
Change from mode 1 to 2 at t = 0.095845 
Change from mode 2 to 1 at t = 0.114916 
Final gradients: d x1(tf) /d p = -0.101525 d x2(tf) / d p = 0.070411