That's certainly promising! I have a fix in progress for the discriminant
error you saw.

The small blips in acceleration at likely due to not-quite-tangent
segments, since I increased the tolerance allowed. One fix could be to
reduce the acceleration that tp uses. This might give a margin to allow for
small acceleration blips due to the almost-tangent segments. This is kind
of an ugly answer, but it might work.

Rob
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