Running command: "" <> buildModelFMU(Modelica.Mechanics.Translational.Examples.Friction,fileNamePrefix="Modelica_3_2_2_cs_Modelica_Mechanics_Translational_Examples_Friction",fmuType="cs",version="2.0",platforms={"dynamic"})
Notification: Performance of loadModel(Modelica): time 2.657/2.657, allocations: 195 MB / 202.9 MB, free: 6.727 MB / 170.7 MB
Notification: Performance of FrontEnd - loaded program: time 4.598e-05/4.604e-05, allocations: 2.531 kB / 249.8 MB, free: 5.297 MB / 202.7 MB
Notification: Performance of FrontEnd - Absyn->SCode: time 0.1657/0.1659, allocations: 44.5 MB / 294.3 MB, free: 10.65 MB / 250.7 MB
Notification: Performance of FrontEnd - scodeFlatten: time 0.5702/0.7361, allocations: 75.59 MB / 369.9 MB, free: 7.145 MB / 298.7 MB
Notification: Performance of FrontEnd - mkProgramGraph: time 0.0002902/0.7365, allocations: 71.81 kB / 369.9 MB, free: 7.145 MB / 298.7 MB
Notification: Performance of FrontEnd - DAE generated: time 0.09766/0.8341, allocations: 13.5 MB / 383.4 MB, free: 19.71 MB / 314.7 MB
Notification: Performance of FrontEnd: time 3.427e-06/0.8342, allocations: 0 / 383.4 MB, free: 19.71 MB / 314.7 MB
Notification: Performance of Transformations before backend: time 9.1e-05/0.8343, allocations: 11.75 kB / 383.4 MB, free: 19.71 MB / 314.7 MB
Notification: Model statistics after passing the front-end and creating the data structures used by the back-end:
 * Number of equations: 88
 * Number of variables: 88
Notification: Performance of Generate backend data structure: time 0.00843/0.8428, allocations: 1.09 MB / 384.5 MB, free: 18.99 MB / 314.7 MB
Notification: Performance of prepare preOptimizeDAE: time 8.284e-05/0.8429, allocations: 11.84 kB / 384.5 MB, free: 18.99 MB / 314.7 MB
Notification: Performance of preOpt introduceOutputAliases (simulation): time 0.0004556/0.8434, allocations: 61.09 kB / 384.6 MB, free: 18.94 MB / 314.7 MB
Notification: Performance of preOpt normalInlineFunction (simulation): time 0.0005775/0.844, allocations: 77.95 kB / 384.7 MB, free: 18.9 MB / 314.7 MB
Notification: Performance of preOpt evaluateParameters (simulation): time 0.002134/0.8461, allocations: 493.1 kB / 385.2 MB, free: 18.59 MB / 314.7 MB
Notification: Performance of preOpt simplifyIfEquations (simulation): time 9.307e-05/0.8463, allocations: 20.34 kB / 385.2 MB, free: 18.58 MB / 314.7 MB
Notification: Performance of preOpt expandDerOperator (simulation): time 0.0004242/0.8467, allocations: 19.59 kB / 385.2 MB, free: 18.58 MB / 314.7 MB
Notification: Performance of preOpt removeEqualFunctionCalls (simulation): time 0.005335/0.8521, allocations: 1.02 MB / 386.2 MB, free: 18.43 MB / 314.7 MB
Notification: Performance of preOpt clockPartitioning (simulation): time 0.004247/0.8564, allocations: 0.8226 MB / 387 MB, free: 18.17 MB / 314.7 MB
Notification: Performance of preOpt findStateOrder (simulation): time 5.724e-05/0.8565, allocations: 7.891 kB / 387 MB, free: 18.16 MB / 314.7 MB
Notification: Performance of preOpt replaceEdgeChange (simulation): time 0.0003315/0.8568, allocations: 6.875 kB / 387.1 MB, free: 18.16 MB / 314.7 MB
Notification: Performance of preOpt inlineArrayEqn (simulation): time 2.511e-05/0.8569, allocations: 11.62 kB / 387.1 MB, free: 18.16 MB / 314.7 MB
Notification: Performance of preOpt removeSimpleEquations (simulation): time 0.0139/0.8708, allocations: 2.342 MB / 389.4 MB, free: 17.12 MB / 314.7 MB
Notification: Performance of preOpt comSubExp (simulation): time 0.002175/0.8731, allocations: 0.6199 MB / 390 MB, free: 17.02 MB / 314.7 MB
Notification: Performance of preOpt resolveLoops (simulation): time 0.001915/0.875, allocations: 496.6 kB / 390.5 MB, free: 16.95 MB / 314.7 MB
Notification: Performance of preOpt evalFunc (simulation): time 0.0002241/0.8753, allocations: 14.33 kB / 390.5 MB, free: 16.95 MB / 314.7 MB
Notification: Performance of preOpt encapsulateWhenConditions (simulation): time 0.002498/0.8778, allocations: 0.721 MB / 391.2 MB, free: 16.71 MB / 314.7 MB
Notification: Performance of pre-optimization done (n=49): time 6.402e-06/0.8779, allocations: 0 / 391.2 MB, free: 16.71 MB / 314.7 MB
Notification: Performance of matching and sorting (n=51): time 0.01434/0.8922, allocations: 3.282 MB / 394.5 MB, free: 15.59 MB / 314.7 MB
Notification: Performance of inlineWhenForInitialization (initialization): time 7.648e-05/0.8924, allocations: 84.89 kB / 394.6 MB, free: 15.49 MB / 314.7 MB
Notification: Performance of selectInitializationVariablesDAE (initialization): time 0.001158/0.8936, allocations: 0.5014 MB / 395.1 MB, free: 15.31 MB / 314.7 MB
Notification: Performance of collectPreVariables (initialization): time 0.000488/0.8941, allocations: 36.7 kB / 395.1 MB, free: 15.28 MB / 314.7 MB
Notification: Performance of collectInitialEqns (initialization): time 0.0004047/0.8945, allocations: 283 kB / 395.4 MB, free: 15.12 MB / 314.7 MB
Notification: Performance of collectInitialBindings (initialization): time 0.0005367/0.8951, allocations: 168.4 kB / 395.6 MB, free: 15.01 MB / 314.7 MB
Notification: Performance of simplifyInitialFunctions (initialization): time 0.0001849/0.8953, allocations: 0 / 395.6 MB, free: 15.01 MB / 314.7 MB
Notification: Performance of setup shared object (initialization): time 0.0002798/0.8956, allocations: 380.3 kB / 396 MB, free: 14.68 MB / 314.7 MB
Notification: Performance of preBalanceInitialSystem (initialization): time 0.001801/0.8974, allocations: 0.5011 MB / 396.5 MB, free: 14.62 MB / 314.7 MB
Notification: Performance of partitionIndependentBlocks (initialization): time 0.001984/0.8994, allocations: 0.5851 MB / 397 MB, free: 14.48 MB / 314.7 MB
Notification: Performance of analyzeInitialSystem (initialization): time 0.00178/0.9012, allocations: 439.5 kB / 397.5 MB, free: 14.4 MB / 314.7 MB
Notification: Performance of solveInitialSystemEqSystem (initialization): time 8.556e-06/0.9013, allocations: 4 kB / 397.5 MB, free: 14.4 MB / 314.7 MB
Notification: Performance of matching and sorting (n=77) (initialization): time 0.007245/0.9085, allocations: 1.628 MB / 399.1 MB, free: 14.08 MB / 314.7 MB
Notification: Performance of prepare postOptimizeDAE: time 3.628e-05/0.9086, allocations: 6 kB / 399.1 MB, free: 14.08 MB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (initialization): time 7.929e-05/0.9087, allocations: 11.66 kB / 399.1 MB, free: 14.08 MB / 314.7 MB
Notification: Performance of postOpt tearingSystem (initialization): time 0.01164/0.9204, allocations: 4.123 MB / 403.2 MB, free: 12.36 MB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (initialization): time 0.001359/0.9218, allocations: 120 kB / 403.4 MB, free: 12.33 MB / 314.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (initialization): time 0.01613/0.938, allocations: 5.467 MB / 408.8 MB, free: 7.883 MB / 314.7 MB
Notification: Performance of postOpt simplifyAllExpressions (initialization): time 0.004471/0.9425, allocations: 286.6 kB / 409.1 MB, free: 7.605 MB / 314.7 MB
Notification: Performance of postOpt collapseArrayExpressions (initialization): time 0.0004636/0.943, allocations: 110.9 kB / 409.2 MB, free: 7.504 MB / 314.7 MB
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         stop2.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic f = f(a_relfric)" type: Real
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         stop1.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic f = f(a_relfric)" type: Real
Warning: Iteration variables with default zero start attribute in torn nonlinear equation system:
         supportFriction.sa:VARIABLE(unit = "1" )  "Path parameter of friction characteristic f = f(a_relfric)" type: Real
Notification: Model statistics after passing the back-end for initialization:
 * Number of independent subsystems: 10
 * Number of states: 0 ()
 * Number of discrete variables: 28 (supportFriction.free,$whenCondition2,stop1.free,$PRE.stop1.startForward,stop1.startForward,$PRE.stop1.startBackward,stop1.startBackward,stop1.locked,$PRE.stop1.mode,stop1.mode,stop1.stopped,$PRE.supportFriction.startForward,supportFriction.startForward,$PRE.supportFriction.startBackward,supportFriction.startBackward,supportFriction.locked,$PRE.supportFriction.mode,supportFriction.mode,$whenCondition1,stop2.free,$PRE.stop2.startForward,stop2.startForward,$PRE.stop2.startBackward,stop2.startBackward,stop2.locked,$PRE.stop2.mode,stop2.mode,stop2.stopped)
 * Number of discrete states: 0 ()
 * Top-level inputs: 0
Notification: Strong component statistics for initialization (61):
 * Single equations (assignments): 57
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 1
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 3 {1 6,1 5,1 5}
Notification: Performance of prepare postOptimizeDAE: time 0.0006619/0.9437, allocations: 142.6 kB / 409.4 MB, free: 7.363 MB / 314.7 MB
Notification: Performance of postOpt lateInlineFunction (simulation): time 0.000367/0.9441, allocations: 71.09 kB / 409.4 MB, free: 7.293 MB / 314.7 MB
Notification: Performance of postOpt wrapFunctionCalls (simulation): time 0.006823/0.9509, allocations: 1.46 MB / 410.9 MB, free: 6.133 MB / 314.7 MB
Notification: Performance of postOpt inlineArrayEqn (simulation): time 2.11e-05/0.951, allocations: 8 kB / 410.9 MB, free: 6.125 MB / 314.7 MB
Notification: Performance of postOpt constantLinearSystem (simulation): time 6.021e-06/0.951, allocations: 0 / 410.9 MB, free: 6.125 MB / 314.7 MB
Notification: Performance of postOpt simplifysemiLinear (simulation): time 2.669e-05/0.9511, allocations: 7.938 kB / 410.9 MB, free: 6.117 MB / 314.7 MB
Notification: Performance of postOpt removeSimpleEquations (simulation): time 0.01043/0.9615, allocations: 2.444 MB / 413.3 MB, free: 4.125 MB / 314.7 MB
Notification: Performance of postOpt simplifyComplexFunction (simulation): time 1.4e-05/0.9616, allocations: 0 / 413.3 MB, free: 4.125 MB / 314.7 MB
Notification: Performance of postOpt solveSimpleEquations (simulation): time 0.001365/0.963, allocations: 103.3 kB / 413.4 MB, free: 4.027 MB / 314.7 MB
Notification: Performance of postOpt tearingSystem (simulation): time 0.01171/0.9747, allocations: 4.145 MB / 417.6 MB, free: 220 kB / 314.7 MB
Notification: Performance of postOpt inputDerivativesUsed (simulation): time 0.0003208/0.9751, allocations: 43.84 kB / 417.6 MB, free: 180 kB / 314.7 MB
Notification: Performance of postOpt calculateStrongComponentJacobians (simulation): time 0.01393/0.989, allocations: 5.13 MB / 422.8 MB, free: 11.52 MB / 330.7 MB
Notification: Performance of postOpt calculateStateSetsJacobians (simulation): time 1.548e-05/0.9891, allocations: 11.95 kB / 422.8 MB, free: 11.5 MB / 330.7 MB
Notification: Performance of postOpt symbolicJacobian (simulation): time 0.009236/0.9983, allocations: 2.219 MB / 425 MB, free: 9.691 MB / 330.7 MB
Notification: Performance of postOpt removeConstants (simulation): time 0.001374/0.9998, allocations: 308.2 kB / 425.3 MB, free: 9.371 MB / 330.7 MB
Notification: Performance of postOpt simplifyTimeIndepFuncCalls (simulation): time 0.0003896/1, allocations: 19.98 kB / 425.3 MB, free: 9.352 MB / 330.7 MB
Notification: Performance of postOpt simplifyAllExpressions (simulation): time 0.004046/1.004, allocations: 295.6 kB / 425.6 MB, free: 9.062 MB / 330.7 MB
Notification: Performance of postOpt findZeroCrossings (simulation): time 0.003946/1.008, allocations: 0.6548 MB / 426.3 MB, free: 8.406 MB / 330.7 MB
Notification: Performance of postOpt collapseArrayExpressions (simulation): time 0.0004646/1.009, allocations: 95.97 kB / 426.4 MB, free: 8.312 MB / 330.7 MB
Notification: Performance of sorting global known variables: time 0.001263/1.01, allocations: 491.1 kB / 426.8 MB, free: 7.836 MB / 330.7 MB
Notification: Performance of sort global known variables: time 9.61e-07/1.01, allocations: 3.938 kB / 426.8 MB, free: 7.832 MB / 330.7 MB
Notification: Performance of remove unused functions: time 0.001961/1.012, allocations: 223.9 kB / 427.1 MB, free: 7.613 MB / 330.7 MB
Notification: Model statistics after passing the back-end for simulation:
 * Number of independent subsystems: 5
 * Number of states: 6 (stop2.s,stop2.v,stop1.s,stop1.v,mass.s,mass.v)
 * Number of discrete variables: 18 ($whenCondition1,stop2.free,stop2.startForward,stop2.startBackward,stop2.locked,stop2.mode,stop2.stopped,$whenCondition2,stop1.free,stop1.startForward,stop1.startBackward,stop1.locked,stop1.mode,stop1.stopped,supportFriction.startForward,supportFriction.startBackward,supportFriction.locked,supportFriction.mode)
 * Number of discrete states: 9 (supportFriction.mode,supportFriction.startForward,supportFriction.startBackward,stop1.mode,stop1.startBackward,stop1.startForward,stop2.mode,stop2.startBackward,stop2.startForward)
 * Top-level inputs: 0
Notification: Strong component statistics for simulation (35):
 * Single equations (assignments): 32
 * Array equations: 0
 * Algorithm blocks: 0
 * Record equations: 0
 * When equations: 0
 * If-equations: 0
 * Equation systems (linear and non-linear blocks): 0
 * Torn equation systems: 3
 * Mixed (continuous/discrete) equation systems: 0
Notification: Torn system details for strict tearing set:
 * Linear torn systems: 0
 * Non-linear torn systems: 3 {1 5,1 5,1 5}
Notification: Performance of Backend phase and start with SimCode phase: time 0.01053/1.023, allocations: 3.094 MB / 430.1 MB, free: 4.465 MB / 330.7 MB
Notification: Performance of simCode: created initialization part: time 0.005187/1.028, allocations: 1.304 MB / 431.5 MB, free: 3.133 MB / 330.7 MB
Notification: Performance of simCode: created event and clocks part: time 9.899e-06/1.028, allocations: 0 / 431.5 MB, free: 3.133 MB / 330.7 MB
Notification: Performance of simCode: created simulation system equations: time 0.003088/1.031, allocations: 0.8276 MB / 432.3 MB, free: 2.285 MB / 330.7 MB
Notification: Performance of simCode: created of all other equations (e.g. parameter, nominal, assert, etc): time 0.00103/1.032, allocations: 47.38 kB / 432.3 MB, free: 2.242 MB / 330.7 MB
Notification: Performance of simCode: created linear, non-linear and system jacobian parts: time 0.01178/1.044, allocations: 1.961 MB / 434.3 MB, free: 232 kB / 330.7 MB
Notification: Performance of simCode: some other stuff during SimCode phase: time 0.0009233/1.045, allocations: 0.9343 MB / 435.2 MB, free: 15.27 MB / 346.7 MB
Notification: Performance of simCode: alias equations: time 0.0005286/1.045, allocations: 39.28 kB / 435.3 MB, free: 15.22 MB / 346.7 MB
Notification: Performance of simCode: all other stuff during SimCode phase: time 0.0005989/1.046, allocations: 203.3 kB / 435.5 MB, free: 15.02 MB / 346.7 MB
Notification: Performance of SimCode: time 1.423e-06/1.046, allocations: 0 / 435.5 MB, free: 15.02 MB / 346.7 MB
Notification: Performance of buildModelFMU: Generate the FMI files: time 0.1286/1.175, allocations: 25.85 MB / 461.3 MB, free: 5.094 MB / 362.7 MB
Notification: Performance of buildModelFMU: configured platform dynamic using cached values: time 0.0003915/1.175, allocations: 138.3 kB / 461.4 MB, free: 4.906 MB / 362.7 MB
Notification: Performance of buildModelFMU: Generate platform dynamic: time 4.798/5.973, allocations: 0 / 461.4 MB, free: 4.906 MB / 362.7 MB
""

Variables in the reference:time,mass.s,mass.v,stop1.s,stop1.v,stop2.s,stop2.v,stop1.mode,stop1.startBackward,stop1.startForward,stop2.mode,stop2.startBackward,stop2.startForward,supportFriction.mode,supportFriction.startBackward,supportFriction.startForward

Variables in the result:_D_whenCondition1,_D_whenCondition2,der(mass.s),der(mass.v),der(stop1.s),der(stop1.v),der(stop2.s),der(stop2.v),der(supportFriction.s),der(supportFriction.v),fixed2.flange.f,fixed2.flange.s,fixed2.s0,force.f,force.flange.f,force.flange.s,force.s,force.s_support,force.useSupport,force2.f,force2.flange.f,force2.flange.s,force2.s,force2.s_support,force2.useSupport,mass.L,mass.a,mass.flange_a.f,mass.flange_a.s,mass.flange_b.f,mass.flange_b.s,mass.m,mass.s,mass.stateSelect,mass.v,sineForce.amplitude,sineForce.freqHz,sineForce.offset,sineForce.phase,sineForce.startTime,sineForce.y,spring.c,spring.f,spring.flange_a.f,spring.flange_a.s,spring.flange_b.f,spring.flange_b.s,spring.s_rel,spring.s_rel0,stop1.F_Coulomb,stop1.F_Stribeck,stop1.F_prop,stop1.L,stop1.a,stop1.a_relfric,stop1.f,stop1.f0,stop1.f0_max,stop1.fexp,stop1.flange_a.f,stop1.flange_a.s,stop1.flange_b.f,stop1.flange_b.s,stop1.free,stop1.locked,stop1.lossPower,stop1.m,stop1.mode,stop1.s,stop1.sa,stop1.smax,stop1.smin,stop1.startBackward,stop1.startForward,stop1.stopped,stop1.useHeatPort,stop1.v,stop1.v_relfric,stop1.v_small,stop2.F_Coulomb,stop2.F_Stribeck,stop2.F_prop,stop2.L,stop2.a,stop2.a_relfric,stop2.f,stop2.f0,stop2.f0_max,stop2.fexp,stop2.flange_a.f,stop2.flange_a.s,stop2.flange_b.f,stop2.flange_b.s,stop2.free,stop2.locked,stop2.lossPower,stop2.m,stop2.mode,stop2.s,stop2.sa,stop2.smax,stop2.smin,stop2.startBackward,stop2.startForward,stop2.stopped,stop2.useHeatPort,stop2.v,stop2.v_relfric,stop2.v_small,supportFriction.a,supportFriction.a_relfric,supportFriction.f,supportFriction.f0,supportFriction.f0_max,supportFriction.f_pos[1,1],supportFriction.f_pos[1,2],supportFriction.f_pos[10,1],supportFriction.f_pos[10,2],supportFriction.f_pos[11,1],supportFriction.f_pos[11,2],supportFriction.f_pos[12,1],supportFriction.f_pos[12,2],supportFriction.f_pos[13,1],supportFriction.f_pos[13,2],supportFriction.f_pos[14,1],supportFriction.f_pos[14,2],supportFriction.f_pos[15,1],supportFriction.f_pos[15,2],supportFriction.f_pos[16,1],supportFriction.f_pos[16,2],supportFriction.f_pos[17,1],supportFriction.f_pos[17,2],supportFriction.f_pos[18,1],supportFriction.f_pos[18,2],supportFriction.f_pos[19,1],supportFriction.f_pos[19,2],supportFriction.f_pos[2,1],supportFriction.f_pos[2,2],supportFriction.f_pos[20,1],supportFriction.f_pos[20,2],supportFriction.f_pos[21,1],supportFriction.f_pos[21,2],supportFriction.f_pos[22,1],supportFriction.f_pos[22,2],supportFriction.f_pos[23,1],supportFriction.f_pos[23,2],supportFriction.f_pos[24,1],supportFriction.f_pos[24,2],supportFriction.f_pos[25,1],supportFriction.f_pos[25,2],supportFriction.f_pos[26,1],supportFriction.f_pos[26,2],supportFriction.f_pos[27,1],supportFriction.f_pos[27,2],supportFriction.f_pos[28,1],supportFriction.f_pos[28,2],supportFriction.f_pos[29,1],supportFriction.f_pos[29,2],supportFriction.f_pos[3,1],supportFriction.f_pos[3,2],supportFriction.f_pos[30,1],supportFriction.f_pos[30,2],supportFriction.f_pos[31,1],supportFriction.f_pos[31,2],supportFriction.f_pos[32,1],supportFriction.f_pos[32,2],supportFriction.f_pos[33,1],supportFriction.f_pos[33,2],supportFriction.f_pos[34,1],supportFriction.f_pos[34,2],supportFriction.f_pos[35,1],supportFriction.f_pos[35,2],supportFriction.f_pos[36,1],supportFriction.f_pos[36,2],supportFriction.f_pos[37,1],supportFriction.f_pos[37,2],supportFriction.f_pos[38,1],supportFriction.f_pos[38,2],supportFriction.f_pos[39,1],supportFriction.f_pos[39,2],supportFriction.f_pos[4,1],supportFriction.f_pos[4,2],supportFriction.f_pos[40,1],supportFriction.f_pos[40,2],supportFriction.f_pos[41,1],supportFriction.f_pos[41,2],supportFriction.f_pos[42,1],supportFriction.f_pos[42,2],supportFriction.f_pos[43,1],supportFriction.f_pos[43,2],supportFriction.f_pos[44,1],supportFriction.f_pos[44,2],supportFriction.f_pos[45,1],supportFriction.f_pos[45,2],supportFriction.f_pos[46,1],supportFriction.f_pos[46,2],supportFriction.f_pos[47,1],supportFriction.f_pos[47,2],supportFriction.f_pos[48,1],supportFriction.f_pos[48,2],supportFriction.f_pos[49,1],supportFriction.f_pos[49,2],supportFriction.f_pos[5,1],supportFriction.f_pos[5,2],supportFriction.f_pos[50,1],supportFriction.f_pos[50,2],supportFriction.f_pos[6,1],supportFriction.f_pos[6,2],supportFriction.f_pos[7,1],supportFriction.f_pos[7,2],supportFriction.f_pos[8,1],supportFriction.f_pos[8,2],supportFriction.f_pos[9,1],supportFriction.f_pos[9,2],supportFriction.flange_a.f,supportFriction.flange_a.s,supportFriction.flange_b.f,supportFriction.flange_b.s,supportFriction.free,supportFriction.locked,supportFriction.lossPower,supportFriction.mode,supportFriction.peak,supportFriction.s,supportFriction.s_a,supportFriction.s_b,supportFriction.s_support,supportFriction.sa,supportFriction.startBackward,supportFriction.startForward,supportFriction.useHeatPort,supportFriction.useSupport,supportFriction.v,supportFriction.v_relfric,supportFriction.v_small,time