C[0] =  +0.5141392263521913 A[0] =      0.0000000000000000 D[0] =      0.6666593549441058
  C[1] =  +0.2429303868239044 A[1] =      1.0000000000000000 D[1] =      0.6669133057493747
  goal =   0.0000052222354665
------------------------------------------
  C[0] =  +0.5454154581463160 A[0] =      0.0000000000000000 D[0] =      0.7071067811865476
  C[1] =  +0.2272922709268420 A[1] =      1.0038503892012627 D[1] =      0.7071067811865476
  goal =   0.0000016608324456
------------------------------------------