      real*4    
     & JangAvgJCS(3,MAX_JNT),        JangAvgEUL(3,MAX_JNT),

     & JaxesJCS(3,3,MAX_MTN,MAX_JNT),JangJCS(3,MAX_MTN,MAX_JNT),
     & JvelJCS(3,MAX_MTN,MAX_JNT),   JaccJCS(3,MAX_MTN,MAX_JNT),

     & JaxesEUL(3,3,MAX_MTN,MAX_JNT),JangEUL(3,MAX_MTN,MAX_JNT),
     & JvelEUL(3,MAX_MTN,MAX_JNT),   JaccEUL(3,MAX_MTN,MAX_JNT),

     & JrlGCS(6,MAX_MTN,MAX_JNT),    JrlJCS(8,MAX_MTN,MAX_JNT),
     & JrlDCS(6,MAX_MTN,MAX_JNT),    JrlPCS(6,MAX_MTN,MAX_JNT),

     & JwreLCS(8,MAX_MTN,MAX_JNT),

     & JFinScr(8,MAX_MTN,MAX_JNT),   JInsScr(8,MAX_MTN,MAX_JNT),

     & JRLegJCS(6,MAX_MTN,2),        JRLegGCS(6,MAX_MTN,2),

     & AngleSignJCS(3,15),           TransSignJCS(3,15),

     & JtrnJCS(4,MAX_MTN,MAX_JNT),   JtrnGCS(4,MAX_MTN,MAX_JNT),
     & JtrnPCS(4,MAX_MTN,MAX_JNT),   JtrnDCS(4,MAX_MTN,MAX_JNT),

     & JfsAngJCS(3,MAX_MTN,MAX_JNT), JfsAngPCS(3,MAX_MTN,MAX_JNT),
     & JfsAngDCS(3,MAX_MTN,MAX_JNT),

     & JmaPCS(3,MAX_MTN,MAX_JNT),    JmaDCS(3,MAX_MTN,MAX_JNT),
     & JmaGCS(4,MAX_MTN,MAX_JNT),

     & JwaPCS(3,MAX_MTN,MAX_JNT),    JwaDCS(3,MAX_MTN,MAX_JNT),
     & JwaGCS(4,MAX_MTN,MAX_JNT),    

     & JntAngRefCorAng(3,MAX_JNT),   JntRefAng(3,MAX_JNT),
     & ExpJntRefAng(3,MAX_JNT),

     & JgrldGCS(4,MAX_MTN,MAX_JNT),  JgrldJCS(4,MAX_MTN,MAX_JNT),
     & JgrldPCS(4,MAX_MTN,MAX_JNT),  JgrldDCS(4,MAX_MTN,MAX_JNT),

     & JexmGCS(4,MAX_MTN,MAX_JNT),   JexmJCS(4,MAX_MTN,MAX_JNT),
     & JexmPCS(4,MAX_MTN,MAX_JNT),   JexmDCS(4,MAX_MTN,MAX_JNT),

     & JntWork(4,MAX_MTN,MAX_JNT),   LegWork(4,MAX_MTN,2),
     & BodyWork(4,MAX_MTN),

     & JrlAngGCS(4,MAX_MTN,MAX_JNT), JrlAngPCS(4,MAX_MTN,MAX_JNT),
     & JrlAngDCS(4,MAX_MTN,MAX_JNT),

     & JcnGCS(4,MAX_MTN,MAX_JNT),    JcnPCS(4,MAX_MTN,MAX_JNT),
     & JcnDCS(4,MAX_MTN,MAX_JNT),
     & JcnAvgPCS(4,MAX_MTN,MAX_JNT), JcnAvgDCS(4,MAX_MTN,MAX_JNT)
     
      integer*4 
     & JntSegNum(2,15),GaitEvent(MAX_MTN),JrlCalcType(MAX_MTN),
     & LocalSegEndJntNum(2,15),ErrFrm(3,MAX_MTN,MAX_JNT),
     & SegJntNum(4,15)

      logical*4 JntCalcOK(MAX_MTN,MAX_JNT)              

      common /Joint/ JangAvgJCS,JangAvgEUL,
     &               JaxesJCS,JangJCS,JvelJCS,JaccJCS,
     &               JaxesEUL,JangEUL,JvelEUL,JaccEUL,
     &               JrlGCS,JrlJCS,JrlDCS,JrlPCS,
     &               JwreLCS,JFinScr,JntSegNum,
     &               JrlCalcType,JntCalcOK,JRLegJCS,
     &               JRLegGCS,GaitEvent,JInsScr,AngleSignJCS,TransSignJCS,
     &               JtrnJCS,JtrnGCS,JtrnDCS,JtrnPCS,
     &               JfsAngJCS,JfsAngPCS,JfsAngDCS,
     &               LocalSegEndJntNum,ErrFrm,
     &               JmaPCS,JmaDCS,JmaGCS,JwaPCS,
     &               JwaDCS,JwaGCS,
     &               JntAngRefCorAng,ExpJntRefAng,JntRefAng,
     &               JgrldGCS,JgrldJCS,JgrldPCS,JgrldDCS,
     &               JexmGCS,JexmJCS,
     &               JexmPCS,JexmDCS,
     &               JntWork,LegWork,BodyWork,
     &               JrlAngGCS,JrlAngPCS,JrlAngDCS,
     &               JcnGCS,JcnPCS,JcnDCS,
     &               JcnAvgPCS,JcnAvgDCS
