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Sanitizers

Use cubic spline for initial guess #28

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Run time

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Job	Run time
asan with sleipnir	8m 40s
tsan with sleipnir	8m 48s
ubsan with sleipnir	10m 55s
asan with casadi	8m 19s
tsan with casadi	8m 45s
ubsan with casadi	9m 49s
	55m 16s