I just pushed another update that seems to fix the occasional acceleration
spikes in your example. There was a case where I wasn't doing the check for
split-cycles, so it would overshoot on very short segments. I also
temporarily reverted some changes to parabolic blending (back to default
behavior). There's a few improvements that can be made there, but I need to
do some more work before it's ready to be merged.

One test run through the stellabee code produced a slight violation (about
33 in/sec^2), but I haven't been able to reproduce it.
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