Merge branch 'master' into Ben's-Branch
Merge branch 'master' into Ben's-Branch
Merge branch 'master' into Ben's-Branch
Merge branch 'master' into Ben's-Branch
Removed some print lines, streamlined mgs function for TSQR

not much improvement if any in CPU time
Merge branch 'Ben's-Branch'
Merge branch 'master' into Kyle's-Branch