Regarding the Cessna 340 program, I recall that I was told, after joining Cessna flight test in 1979, that the prototype 340 crashed on its first flight in 1976. The cause was a jammed elevator, full nose up, that resulted in an unrecoverable spin. The test pilot was unable to get back to the rear entry door in time to bail out of the airplane. This fatal accident caused a few changes to be made in the cabin class airplanes, and these changes were applied to existing and future programs.
Special inspections were performed prior to first flights of any new design, or if significant configuration changes were made, such as new wings being installed. Test pilots, design engineers and others were teamed up with mechanics and inspectors to open up panels and go over the airplane with new eyes and different points of view.
The addition of an escape rope was mandatory for initial and other hazardous flights, i.e. when parachutes were worn. The rope was about an inch in diameter and was knotted every foot or so. It was attached to a hard point just aft of the cockpit seats and ran aft past any doors, emergency exits, or any special escape provisions. To keep the rope out of the way when not in use it was tied to the ceiling with thin copper wire.
The original Citation 500 prototype was indeed equipped with a belly section that could be fractured with detonation (det) cord, to facilitate bailing out and hopefully avoid the wing or the tail section. There were a few hairy flights during the low-speed and stall tests, too. So, the story goes that after retirement of the airframe, the det cord escape hatch was tested and it failed to work. This caused some more changes to be made. The first Citation II prototype, N550CC, was equipped with a belly escape hatch with an improved design. The hatch was designed as a belly door, complete with a pressurization seal, and door pin mechanism that was pneumatically actuated from the cockpit. To help ensure that the door departed there was a "guillotine," that propelled an aluminum slab downward, that would push the leading edge of the hatch into the airstream. The slab was preloaded with bungie cords and was retained as a wind break to assist the pilots exiting the belly. Prior to the first flight with the new S/II wings, the door pin mechanism was tested by jacking the airplane and dropping the hatch onto some pads. Fortunately, it was never needed.