1Change from mode 1 to 2 at t = 0.095845 2Change from mode 2 to 1 at t = 0.114916 3Change from mode 1 to 2 at t = 0.095845 4Change from mode 2 to 1 at t = 0.114916 5d x1(tf) /d x1(t0) = -0.237478 d x2(tf) / d x1(t0) = 0.031943 6Change from mode 1 to 2 at t = 0.095845 7Change from mode 2 to 1 at t = 0.114916 8d x1(tf) /d x2(t0) = -0.319570 d x2(tf) / d x2(t0) = -0.237558 9Change from mode 1 to 2 at t = 0.095845 10Change from mode 2 to 1 at t = 0.114916 11Final gradients: d x1(tf) /d p = -0.101525 d x2(tf) / d p = 0.070411 12