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Sanitizers

Use cubic spline for initial guess #26

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Run time

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Job	Run time
asan with sleipnir	8m 38s
tsan with sleipnir	8m 20s
ubsan with sleipnir	10m 14s
asan with casadi	8m 28s
tsan with casadi	8m 31s
ubsan with casadi	10m 15s
	54m 26s