# Hyper-Sensitive Problem#

This example is based on the Hyper-Sensitive problem given in Patterson [PHR15]. In this problem we seek to minimize both the distance traveled when moving between fixed boundary conditions and also to minimize the control $$u$$ used. The cost function to be minimized is:

(53)#\begin{align} J &= \frac{1}{2} \int_{0}^{t_f} (x^2 + u^2) dt \end{align}

The system is subject to the dynamic constraints:

(54)#\begin{align} \frac{dx}{dt} &= -x + u \end{align}

The boundary conditions are:

(55)#\begin{align} x(t_0) &= 1.5 \\ x(t_f) &= 1 \end{align}

The control $$u$$ is unconstrained while the final time $$t_f$$ is fixed.

Due to the nature of dynamics, for sufficiently large values of $$t_f$$, the problem exhibits a dive, cruise, and resurface type structure, where the all interesting behavior occurs at the beginning and end while remaining relatively constant in the middle.

This problem has a known analytic optimal solution:

(56)#\begin{align} x^*(t) &= c_1 e^{\sqrt{2} t} + c_2 e^{-\sqrt{2} t} \\ u^*(t) &= \dot{x}^*(t) + x^*(t) \end{align}

where:

(57)#\begin{align} c_1 &= \frac{1.5 e^{-\sqrt{2} t_f} - 1}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}} \\ c_2 &= \frac{1 - 1.5 e^{\sqrt{2} t_f}}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}} \end{align}

## The ODE System: hyper_sensitive_ode.py#

import numpy as np
import openmdao.api as om

class HyperSensitiveODE(om.ExplicitComponent):
states = {'x': {'rate_source': 'x_dot'},
'xL': {'rate_source': 'L'}}

parameters = {'u': {'targets': 'u'}}

def initialize(self):
self.options.declare('num_nodes', types=int)

def setup(self):
nn = self.options['num_nodes']

# inputs

# Setup partials
self.declare_partials(of='x_dot', wrt='x', rows=np.arange(nn), cols=np.arange(nn), val=-1)
self.declare_partials(of='x_dot', wrt='u', rows=np.arange(nn), cols=np.arange(nn), val=1)

self.declare_partials(of='L', wrt='x', rows=np.arange(nn), cols=np.arange(nn))
self.declare_partials(of='L', wrt='u', rows=np.arange(nn), cols=np.arange(nn))

def compute(self, inputs, outputs):
x = inputs['x']
u = inputs['u']

outputs['x_dot'] = -x + u
outputs['L'] = (x ** 2 + u ** 2) / 2

def compute_partials(self, inputs, jacobian):
x = inputs['x']
u = inputs['u']

jacobian['L', 'x'] = x
jacobian['L', 'u'] = u


## Building and running the problem with grid refinement#

The hypersenstive problem is notorious for being stiff near the endpoints, where the stiffness is more and more pronounced as the time duration is increased.

The accuracy of a pseudospectral method can suffer when the state interpolating polynomials don’t have a high enough degree to accurately capture rapidly changing states in these stiff regions. To counter this, grid refinement algorithms are used to assess error in the interpolating polynomials and change the grid (the number of interpolating segments, the polynomial order of the segments, and their positions in time).

In the example below, we tell Dymos to use, at most, ten passes of its default grid refinement algorithm by providing run_problem with the refine_iteration_limit option.

import matplotlib.pyplot as plt
import openmdao.api as om
import dymos as dm
from dymos.examples.plotting import plot_results

# Initialize the problem and assign the driver
p = om.Problem(model=om.Group())
p.driver = om.pyOptSparseDriver()
p.driver.options['optimizer'] = 'SLSQP'
p.driver.declare_coloring()

# Setup the trajectory and its phase

dm.Phase(ode_class=HyperSensitiveODE, transcription=transcription))

phase.set_time_options(fix_initial=True, fix_duration=True)

p.setup(check=True)

phase.set_time_val(initial=0, duration=tf)
phase.set_state_val('x', [1.5, 1])
phase.set_state_val('xL', [0, 1])
phase.set_control_val('u', [-0.6, 2.4])

#
# Solve the problem.
#

phase.set_refine_options(tol=1.0E-7)
dm.run_problem(p, simulate=True, refine_iteration_limit=10)

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

INFO: checking out_of_order

INFO: checking system

INFO: checking solvers

INFO: checking dup_inputs

INFO: checking missing_recorders

WARNING: The Problem has no recorder of any kind attached

INFO: checking unserializable_options

INFO: checking comp_has_no_outputs

INFO: checking auto_ivc_warnings

Model viewer data has already been recorded for Driver.
INFO: checking out_of_order

INFO: checking system

INFO: checking solvers

INFO: checking dup_inputs

INFO: checking missing_recorders

WARNING: The Problem has no recorder of any kind attached

INFO: checking unserializable_options

INFO: checking comp_has_no_outputs

INFO: checking auto_ivc_warnings

Full total jacobian for problem 'problem' was computed 3 times, taking 0.08719599200003358 seconds.
Total jacobian shape: (80, 108)

Jacobian shape: (80, 108)  (4.80% nonzero)
FWD solves: 0   REV solves: 9
Total colors vs. total size: 9 vs 80  (88.75% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.0872 sec
Time to compute coloring:   0.0335 sec
Memory to compute coloring:   0.2500 MB
Coloring created on: 2024-08-13 12:32:58

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    0.4270
User Objective Time :       0.0133
User Sensitivity Time :     0.3418
Interface Time :            0.0284
Opt Solver Time:            0.0435
Calls to Objective Function :      16
Calls to Sens Function :           14

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.672900E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                        Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0         c    -1.000000E+21     9.070636E-01     1.000000E+21
1  traj.phase0.states:x_1         c    -1.000000E+21     4.567318E-01     1.000000E+21
2  traj.phase0.states:x_2         c    -1.000000E+21     3.647086E-01     1.000000E+21
3  traj.phase0.states:x_3         c    -1.000000E+21     3.647086E-01     1.000000E+21
4  traj.phase0.states:x_4         c    -1.000000E+21     2.198995E-01     1.000000E+21
5  traj.phase0.states:x_5         c    -1.000000E+21     1.110688E-01     1.000000E+21
6  traj.phase0.states:x_6         c    -1.000000E+21     8.883385E-02     1.000000E+21
7  traj.phase0.states:x_7         c    -1.000000E+21     8.883385E-02     1.000000E+21
8  traj.phase0.states:x_8         c    -1.000000E+21     5.367288E-02     1.000000E+21
9  traj.phase0.states:x_9         c    -1.000000E+21     2.695144E-02     1.000000E+21
10  traj.phase0.states:x_10        c    -1.000000E+21     2.150934E-02     1.000000E+21
11  traj.phase0.states:x_11        c    -1.000000E+21     2.150934E-02     1.000000E+21
12  traj.phase0.states:x_12        c    -1.000000E+21     1.300003E-02     1.000000E+21
13  traj.phase0.states:x_13        c    -1.000000E+21     6.733488E-03     1.000000E+21
14  traj.phase0.states:x_14        c    -1.000000E+21     5.485528E-03     1.000000E+21
15  traj.phase0.states:x_15        c    -1.000000E+21     5.485528E-03     1.000000E+21
16  traj.phase0.states:x_16        c    -1.000000E+21     3.585691E-03     1.000000E+21
17  traj.phase0.states:x_17        c    -1.000000E+21     2.352192E-03     1.000000E+21
18  traj.phase0.states:x_18        c    -1.000000E+21     2.174695E-03     1.000000E+21
19  traj.phase0.states:x_19        c    -1.000000E+21     2.174695E-03     1.000000E+21
20  traj.phase0.states:x_20        c    -1.000000E+21     2.138404E-03     1.000000E+21
21  traj.phase0.states:x_21        c    -1.000000E+21     3.173179E-03     1.000000E+21
22  traj.phase0.states:x_22        c    -1.000000E+21     3.835452E-03     1.000000E+21
23  traj.phase0.states:x_23        c    -1.000000E+21     3.835452E-03     1.000000E+21
24  traj.phase0.states:x_24        c    -1.000000E+21     6.125970E-03     1.000000E+21
25  traj.phase0.states:x_25        c    -1.000000E+21     1.194246E-02     1.000000E+21
26  traj.phase0.states:x_26        c    -1.000000E+21     1.463080E-02     1.000000E+21
27  traj.phase0.states:x_27        c    -1.000000E+21     1.463080E-02     1.000000E+21
28  traj.phase0.states:x_28        c    -1.000000E+21     2.334327E-02     1.000000E+21
29  traj.phase0.states:x_29        c    -1.000000E+21     4.726974E-02     1.000000E+21
30  traj.phase0.states:x_30        c    -1.000000E+21     5.916012E-02     1.000000E+21
31  traj.phase0.states:x_31        c    -1.000000E+21     5.916012E-02     1.000000E+21
32  traj.phase0.states:x_32        c    -1.000000E+21     9.790350E-02     1.000000E+21
33  traj.phase0.states:x_33        c    -1.000000E+21     1.976781E-01     1.000000E+21
34  traj.phase0.states:x_34        c    -1.000000E+21     2.451085E-01     1.000000E+21
35  traj.phase0.states:x_35        c    -1.000000E+21     2.451085E-01     1.000000E+21
36  traj.phase0.states:x_36        c    -1.000000E+21     3.984685E-01     1.000000E+21
37  traj.phase0.states:x_37        c    -1.000000E+21     8.035525E-01     1.000000E+21
38  traj.phase0.states:x_38        c    -1.000000E+21     1.000000E+00     1.000000E+21
39  traj.phase0.states:xL_0        c    -1.000000E+21     3.037293E-01     1.000000E+21
40  traj.phase0.states:xL_1        c    -1.000000E+21     4.155307E-01     1.000000E+21
41  traj.phase0.states:xL_2        c    -1.000000E+21     4.387795E-01     1.000000E+21
42  traj.phase0.states:xL_3        c    -1.000000E+21     4.387795E-01     1.000000E+21
43  traj.phase0.states:xL_4        c    -1.000000E+21     4.568133E-01     1.000000E+21
44  traj.phase0.states:xL_5        c    -1.000000E+21     4.633287E-01     1.000000E+21
45  traj.phase0.states:xL_6        c    -1.000000E+21     4.647145E-01     1.000000E+21
46  traj.phase0.states:xL_7        c    -1.000000E+21     4.647145E-01     1.000000E+21
47  traj.phase0.states:xL_8        c    -1.000000E+21     4.657806E-01     1.000000E+21
48  traj.phase0.states:xL_9        c    -1.000000E+21     4.661730E-01     1.000000E+21
49  traj.phase0.states:xL_10       c    -1.000000E+21     4.662542E-01     1.000000E+21
50  traj.phase0.states:xL_11       c    -1.000000E+21     4.662542E-01     1.000000E+21
51  traj.phase0.states:xL_12       c    -1.000000E+21     4.663168E-01     1.000000E+21
52  traj.phase0.states:xL_13       c    -1.000000E+21     4.663391E-01     1.000000E+21
53  traj.phase0.states:xL_14       c    -1.000000E+21     4.663440E-01     1.000000E+21
54  traj.phase0.states:xL_15       c    -1.000000E+21     4.663440E-01     1.000000E+21
55  traj.phase0.states:xL_16       c    -1.000000E+21     4.663478E-01     1.000000E+21
56  traj.phase0.states:xL_17       c    -1.000000E+21     4.663497E-01     1.000000E+21
57  traj.phase0.states:xL_18       c    -1.000000E+21     4.663503E-01     1.000000E+21
58  traj.phase0.states:xL_19       c    -1.000000E+21     4.663503E-01     1.000000E+21
59  traj.phase0.states:xL_20       c    -1.000000E+21     4.663517E-01     1.000000E+21
60  traj.phase0.states:xL_21       c    -1.000000E+21     4.663594E-01     1.000000E+21
61  traj.phase0.states:xL_22       c    -1.000000E+21     4.663647E-01     1.000000E+21
62  traj.phase0.states:xL_23       c    -1.000000E+21     4.663647E-01     1.000000E+21
63  traj.phase0.states:xL_24       c    -1.000000E+21     4.663905E-01     1.000000E+21
64  traj.phase0.states:xL_25       c    -1.000000E+21     4.665224E-01     1.000000E+21
65  traj.phase0.states:xL_26       c    -1.000000E+21     4.666055E-01     1.000000E+21
66  traj.phase0.states:xL_27       c    -1.000000E+21     4.666055E-01     1.000000E+21
67  traj.phase0.states:xL_28       c    -1.000000E+21     4.669652E-01     1.000000E+21
68  traj.phase0.states:xL_29       c    -1.000000E+21     4.691260E-01     1.000000E+21
69  traj.phase0.states:xL_30       c    -1.000000E+21     4.705705E-01     1.000000E+21
70  traj.phase0.states:xL_31       c    -1.000000E+21     4.705705E-01     1.000000E+21
71  traj.phase0.states:xL_32       c    -1.000000E+21     4.773320E-01     1.000000E+21
72  traj.phase0.states:xL_33       c    -1.000000E+21     5.146476E-01     1.000000E+21
73  traj.phase0.states:xL_34       c    -1.000000E+21     5.388422E-01     1.000000E+21
74  traj.phase0.states:xL_35       c    -1.000000E+21     5.388422E-01     1.000000E+21
75  traj.phase0.states:xL_36       c    -1.000000E+21     6.475368E-01     1.000000E+21
76  traj.phase0.states:xL_37       c    -1.000000E+21     1.266461E+00     1.000000E+21
77  traj.phase0.states:xL_38       c    -1.000000E+21     1.672900E+00     1.000000E+21
78  traj.phase0.controls:u_0       c    -1.000000E+21    -6.005241E-01     1.000000E+21
79  traj.phase0.controls:u_1       c    -1.000000E+21    -3.807615E-01     1.000000E+21
80  traj.phase0.controls:u_2       c    -1.000000E+21    -1.859509E-01     1.000000E+21
81  traj.phase0.controls:u_3       c    -1.000000E+21    -1.504855E-01     1.000000E+21
82  traj.phase0.controls:u_4       c    -1.000000E+21    -9.292949E-02     1.000000E+21
83  traj.phase0.controls:u_5       c    -1.000000E+21    -4.384628E-02     1.000000E+21
84  traj.phase0.controls:u_6       c    -1.000000E+21    -3.563934E-02     1.000000E+21
85  traj.phase0.controls:u_7       c    -1.000000E+21    -2.275153E-02     1.000000E+21
86  traj.phase0.controls:u_8       c    -1.000000E+21    -1.111342E-02     1.000000E+21
87  traj.phase0.controls:u_9       c    -1.000000E+21    -8.914378E-03     1.000000E+21
88  traj.phase0.controls:u_10      c    -1.000000E+21    -5.249345E-03     1.000000E+21
89  traj.phase0.controls:u_11      c    -1.000000E+21    -2.009416E-03     1.000000E+21
90  traj.phase0.controls:u_12      c    -1.000000E+21    -1.422960E-03     1.000000E+21
91  traj.phase0.controls:u_13      c    -1.000000E+21    -3.618707E-04     1.000000E+21
92  traj.phase0.controls:u_14      c    -1.000000E+21     9.702862E-04     1.000000E+21
93  traj.phase0.controls:u_15      c    -1.000000E+21     1.360038E-03     1.000000E+21
94  traj.phase0.controls:u_16      c    -1.000000E+21     2.840269E-03     1.000000E+21
95  traj.phase0.controls:u_17      c    -1.000000E+21     6.870222E-03     1.000000E+21
96  traj.phase0.controls:u_18      c    -1.000000E+21     8.625841E-03     1.000000E+21
97  traj.phase0.controls:u_19      c    -1.000000E+21     1.449747E-02     1.000000E+21
98  traj.phase0.controls:u_20      c    -1.000000E+21     2.781058E-02     1.000000E+21
99  traj.phase0.controls:u_21      c    -1.000000E+21     3.328314E-02     1.000000E+21
100  traj.phase0.controls:u_22      c    -1.000000E+21     5.558565E-02     1.000000E+21
101  traj.phase0.controls:u_23      c    -1.000000E+21     1.161668E-01     1.000000E+21
102  traj.phase0.controls:u_24      c    -1.000000E+21     1.425417E-01     1.000000E+21
103  traj.phase0.controls:u_25      c    -1.000000E+21     2.386412E-01     1.000000E+21
104  traj.phase0.controls:u_26      c    -1.000000E+21     4.754595E-01     1.000000E+21
105  traj.phase0.controls:u_27      c    -1.000000E+21     5.755894E-01     1.000000E+21
106  traj.phase0.controls:u_28      c    -1.000000E+21     9.589652E-01     1.000000E+21
107  traj.phase0.controls:u_29      c    -1.000000E+21     1.948402E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.252607E-19    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.710505E-19    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.589415E-19    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-18    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.204170E-18    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.561251E-17    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.245005E-17    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.718448E-16    0.000000E+00              9.00000E+100
29  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
30  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
31  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.188402E-08    0.000000E+00              9.00000E+100
32  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.354608E-09    0.000000E+00              9.00000E+100
33  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.676048E-08    0.000000E+00              9.00000E+100
34  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.054425E-08    0.000000E+00              9.00000E+100
35  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.362774E-09    0.000000E+00              9.00000E+100
36  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.359271E-09    0.000000E+00              9.00000E+100
37  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.787191E-09    0.000000E+00              9.00000E+100
38  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.150626E-09    0.000000E+00              9.00000E+100
39  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.571467E-09    0.000000E+00              9.00000E+100
40  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.794056E-09    0.000000E+00              9.00000E+100
41  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.372798E-09    0.000000E+00              9.00000E+100
42  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.204288E-09    0.000000E+00              9.00000E+100
43  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.569983E-09    0.000000E+00              9.00000E+100
44  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.096162E-09    0.000000E+00              9.00000E+100
45  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.213432E-09    0.000000E+00              9.00000E+100
46  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.139686E-09    0.000000E+00              9.00000E+100
47  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.522308E-10    0.000000E+00              9.00000E+100
48  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.555755E-10    0.000000E+00              9.00000E+100
49  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.463991E-10    0.000000E+00              9.00000E+100
50  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.095710E-09    0.000000E+00              9.00000E+100
51  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.769952E-09    0.000000E+00              9.00000E+100
52  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.027142E-08    0.000000E+00              9.00000E+100
53  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.960795E-08    0.000000E+00              9.00000E+100
54  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.873312E-08    0.000000E+00              9.00000E+100
55  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.971338E-08    0.000000E+00              9.00000E+100
56  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.609252E-08    0.000000E+00              9.00000E+100
57  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.127303E-08    0.000000E+00              9.00000E+100
58  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.579282E-09    0.000000E+00              9.00000E+100
59  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.037460E-09    0.000000E+00              9.00000E+100
60  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.662032E-09    0.000000E+00              9.00000E+100
61  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
62  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
63  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
64  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
65  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
66  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
67  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
68  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
69  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
70  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
71  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
72  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
73  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
74  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
75  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
76  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
77  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
78  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
79  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.163336E-16    0.000000E+00              9.00000E+100
80  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.469447E-16    0.000000E+00              9.00000E+100
81  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.071532E-17    0.000000E+00              9.00000E+100
82  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
83  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
84  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.336809E-17    0.000000E+00              9.00000E+100
85  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    6.938894E-17    0.000000E+00              9.00000E+100
86  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.326673E-16    0.000000E+00              9.00000E+100
87  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.440892E-15    0.000000E+00              9.00000E+100
88  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
89  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
90  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
91  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
92  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
93  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
94  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
95  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
96  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/visualization/opt_report/opt_report.py:625: UserWarning: Attempting to set identical low and high ylims makes transformation singular; automatically expanding.
ax.set_ylim([ymin_plot, ymax_plot])

==================================================
Grid Refinement - Iteration 1
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
Error = [0.008845, 0.0005371, 0.0001184, 3.293e-05, 6.973e-06, 4.149e-06, 1.162e-05, 7.798e-05, 0.0007691, 0.008176]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Refined: True

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

Model viewer data has already been recorded for Driver.

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:4284: OpenMDAOWarning:Calling list_inputs before final_setup will only display the default values of variables and will not show the result of any set_val calls.

Full total jacobian for problem 'problem' was computed 3 times, taking 0.17154891400002725 seconds.
Total jacobian shape: (140, 198)

Jacobian shape: (140, 198)  (4.26% nonzero)
FWD solves: 0   REV solves: 15
Total colors vs. total size: 15 vs 140  (89.29% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.1715 sec
Time to compute coloring:   0.0665 sec
Memory to compute coloring:   0.0000 MB
Coloring created on: 2024-08-13 12:32:59

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    0.2268
User Objective Time :       0.0076
User Sensitivity Time :     0.0518
Interface Time :            0.0221
Opt Solver Time:            0.1454
Calls to Objective Function :       9
Calls to Sens Function :            8

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.673096E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                        Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0         c    -1.000000E+21     1.305319E+00     1.000000E+21
1  traj.phase0.states:x_1         c    -1.000000E+21     9.751518E-01     1.000000E+21
2  traj.phase0.states:x_2         c    -1.000000E+21     6.777097E-01     1.000000E+21
3  traj.phase0.states:x_3         c    -1.000000E+21     4.825270E-01     1.000000E+21
4  traj.phase0.states:x_4         c    -1.000000E+21     3.858456E-01     1.000000E+21
5  traj.phase0.states:x_5         c    -1.000000E+21     3.647539E-01     1.000000E+21
6  traj.phase0.states:x_6         c    -1.000000E+21     3.647539E-01     1.000000E+21
7  traj.phase0.states:x_7         c    -1.000000E+21     3.173100E-01     1.000000E+21
8  traj.phase0.states:x_8         c    -1.000000E+21     2.370751E-01     1.000000E+21
9  traj.phase0.states:x_9         c    -1.000000E+21     1.647571E-01     1.000000E+21
10  traj.phase0.states:x_10        c    -1.000000E+21     1.173241E-01     1.000000E+21
11  traj.phase0.states:x_11        c    -1.000000E+21     9.382039E-02     1.000000E+21
12  traj.phase0.states:x_12        c    -1.000000E+21     8.869238E-02     1.000000E+21
13  traj.phase0.states:x_13        c    -1.000000E+21     8.869238E-02     1.000000E+21
14  traj.phase0.states:x_14        c    -1.000000E+21     7.716440E-02     1.000000E+21
15  traj.phase0.states:x_15        c    -1.000000E+21     5.766906E-02     1.000000E+21
16  traj.phase0.states:x_16        c    -1.000000E+21     4.008827E-02     1.000000E+21
17  traj.phase0.states:x_17        c    -1.000000E+21     2.857029E-02     1.000000E+21
18  traj.phase0.states:x_18        c    -1.000000E+21     2.286017E-02     1.000000E+21
19  traj.phase0.states:x_19        c    -1.000000E+21     2.161402E-02     1.000000E+21
20  traj.phase0.states:x_20        c    -1.000000E+21     2.161402E-02     1.000000E+21
21  traj.phase0.states:x_21        c    -1.000000E+21     1.881500E-02     1.000000E+21
22  traj.phase0.states:x_22        c    -1.000000E+21     1.409304E-02     1.000000E+21
23  traj.phase0.states:x_23        c    -1.000000E+21     9.851288E-03     1.000000E+21
24  traj.phase0.states:x_24        c    -1.000000E+21     7.092631E-03     1.000000E+21
25  traj.phase0.states:x_25        c    -1.000000E+21     5.743022E-03     1.000000E+21
26  traj.phase0.states:x_26        c    -1.000000E+21     5.451247E-03     1.000000E+21
27  traj.phase0.states:x_27        c    -1.000000E+21     5.451247E-03     1.000000E+21
28  traj.phase0.states:x_28        c    -1.000000E+21     4.800640E-03     1.000000E+21
29  traj.phase0.states:x_29        c    -1.000000E+21     3.728444E-03     1.000000E+21
30  traj.phase0.states:x_30        c    -1.000000E+21     2.826181E-03     1.000000E+21
31  traj.phase0.states:x_31        c    -1.000000E+21     2.327765E-03     1.000000E+21
32  traj.phase0.states:x_32        c    -1.000000E+21     2.151518E-03     1.000000E+21
33  traj.phase0.states:x_33        c    -1.000000E+21     2.124018E-03     1.000000E+21
34  traj.phase0.states:x_34        c    -1.000000E+21     2.124018E-03     1.000000E+21
35  traj.phase0.states:x_35        c    -1.000000E+21     2.083727E-03     1.000000E+21
36  traj.phase0.states:x_36        c    -1.000000E+21     2.134815E-03     1.000000E+21
37  traj.phase0.states:x_37        c    -1.000000E+21     2.450583E-03     1.000000E+21
38  traj.phase0.states:x_38        c    -1.000000E+21     3.040142E-03     1.000000E+21
39  traj.phase0.states:x_39        c    -1.000000E+21     3.631595E-03     1.000000E+21
40  traj.phase0.states:x_40        c    -1.000000E+21     3.807210E-03     1.000000E+21
41  traj.phase0.states:x_41        c    -1.000000E+21     3.807210E-03     1.000000E+21
42  traj.phase0.states:x_42        c    -1.000000E+21     4.289870E-03     1.000000E+21
43  traj.phase0.states:x_43        c    -1.000000E+21     5.581487E-03     1.000000E+21
44  traj.phase0.states:x_44        c    -1.000000E+21     7.866960E-03     1.000000E+21
45  traj.phase0.states:x_45        c    -1.000000E+21     1.093927E-02     1.000000E+21
46  traj.phase0.states:x_46        c    -1.000000E+21     1.365971E-02     1.000000E+21
47  traj.phase0.states:x_47        c    -1.000000E+21     1.444439E-02     1.000000E+21
48  traj.phase0.states:x_48        c    -1.000000E+21     1.444439E-02     1.000000E+21
49  traj.phase0.states:x_49        c    -1.000000E+21     1.657920E-02     1.000000E+21
50  traj.phase0.states:x_50        c    -1.000000E+21     2.215215E-02     1.000000E+21
51  traj.phase0.states:x_51        c    -1.000000E+21     3.180389E-02     1.000000E+21
52  traj.phase0.states:x_52        c    -1.000000E+21     4.461675E-02     1.000000E+21
53  traj.phase0.states:x_53        c    -1.000000E+21     5.589021E-02     1.000000E+21
54  traj.phase0.states:x_54        c    -1.000000E+21     5.914436E-02     1.000000E+21
55  traj.phase0.states:x_55        c    -1.000000E+21     5.914436E-02     1.000000E+21
56  traj.phase0.states:x_56        c    -1.000000E+21     6.799628E-02     1.000000E+21
57  traj.phase0.states:x_57        c    -1.000000E+21     9.094201E-02     1.000000E+21
58  traj.phase0.states:x_58        c    -1.000000E+21     1.308027E-01     1.000000E+21
59  traj.phase0.states:x_59        c    -1.000000E+21     1.836171E-01     1.000000E+21
60  traj.phase0.states:x_60        c    -1.000000E+21     2.297347E-01     1.000000E+21
61  traj.phase0.states:x_61        c    -1.000000E+21     2.430719E-01     1.000000E+21
62  traj.phase0.states:x_62        c    -1.000000E+21     2.430719E-01     1.000000E+21
63  traj.phase0.states:x_63        c    -1.000000E+21     2.794856E-01     1.000000E+21
64  traj.phase0.states:x_64        c    -1.000000E+21     3.738787E-01     1.000000E+21
65  traj.phase0.states:x_65        c    -1.000000E+21     5.381029E-01     1.000000E+21
66  traj.phase0.states:x_66        c    -1.000000E+21     7.557624E-01     1.000000E+21
67  traj.phase0.states:x_67        c    -1.000000E+21     9.452268E-01     1.000000E+21
68  traj.phase0.states:x_68        c    -1.000000E+21     1.000000E+00     1.000000E+21
69  traj.phase0.states:xL_0        c    -1.000000E+21     1.131023E-01     1.000000E+21
70  traj.phase0.states:xL_1        c    -1.000000E+21     2.690683E-01     1.000000E+21
71  traj.phase0.states:xL_2        c    -1.000000E+21     3.708501E-01     1.000000E+21
72  traj.phase0.states:xL_3        c    -1.000000E+21     4.177888E-01     1.000000E+21
73  traj.phase0.states:xL_4        c    -1.000000E+21     4.351473E-01     1.000000E+21
74  traj.phase0.states:xL_5        c    -1.000000E+21     4.384379E-01     1.000000E+21
75  traj.phase0.states:xL_6        c    -1.000000E+21     4.384379E-01     1.000000E+21
76  traj.phase0.states:xL_7        c    -1.000000E+21     4.451397E-01     1.000000E+21
77  traj.phase0.states:xL_8        c    -1.000000E+21     4.543525E-01     1.000000E+21
78  traj.phase0.states:xL_9        c    -1.000000E+21     4.603704E-01     1.000000E+21
79  traj.phase0.states:xL_10       c    -1.000000E+21     4.631419E-01     1.000000E+21
80  traj.phase0.states:xL_11       c    -1.000000E+21     4.641695E-01     1.000000E+21
81  traj.phase0.states:xL_12       c    -1.000000E+21     4.643634E-01     1.000000E+21
82  traj.phase0.states:xL_13       c    -1.000000E+21     4.643634E-01     1.000000E+21
83  traj.phase0.states:xL_14       c    -1.000000E+21     4.647594E-01     1.000000E+21
84  traj.phase0.states:xL_15       c    -1.000000E+21     4.653038E-01     1.000000E+21
85  traj.phase0.states:xL_16       c    -1.000000E+21     4.656597E-01     1.000000E+21
86  traj.phase0.states:xL_17       c    -1.000000E+21     4.658235E-01     1.000000E+21
87  traj.phase0.states:xL_18       c    -1.000000E+21     4.658843E-01     1.000000E+21
88  traj.phase0.states:xL_19       c    -1.000000E+21     4.658958E-01     1.000000E+21
89  traj.phase0.states:xL_20       c    -1.000000E+21     4.658958E-01     1.000000E+21
90  traj.phase0.states:xL_21       c    -1.000000E+21     4.659192E-01     1.000000E+21
91  traj.phase0.states:xL_22       c    -1.000000E+21     4.659514E-01     1.000000E+21
92  traj.phase0.states:xL_23       c    -1.000000E+21     4.659725E-01     1.000000E+21
93  traj.phase0.states:xL_24       c    -1.000000E+21     4.659822E-01     1.000000E+21
94  traj.phase0.states:xL_25       c    -1.000000E+21     4.659858E-01     1.000000E+21
95  traj.phase0.states:xL_26       c    -1.000000E+21     4.659865E-01     1.000000E+21
96  traj.phase0.states:xL_27       c    -1.000000E+21     4.659865E-01     1.000000E+21
97  traj.phase0.states:xL_28       c    -1.000000E+21     4.659879E-01     1.000000E+21
98  traj.phase0.states:xL_29       c    -1.000000E+21     4.659898E-01     1.000000E+21
99  traj.phase0.states:xL_30       c    -1.000000E+21     4.659912E-01     1.000000E+21
100  traj.phase0.states:xL_31       c    -1.000000E+21     4.659920E-01     1.000000E+21
101  traj.phase0.states:xL_32       c    -1.000000E+21     4.659925E-01     1.000000E+21
102  traj.phase0.states:xL_33       c    -1.000000E+21     4.659926E-01     1.000000E+21
103  traj.phase0.states:xL_34       c    -1.000000E+21     4.659926E-01     1.000000E+21
104  traj.phase0.states:xL_35       c    -1.000000E+21     4.659930E-01     1.000000E+21
105  traj.phase0.states:xL_36       c    -1.000000E+21     4.659940E-01     1.000000E+21
106  traj.phase0.states:xL_37       c    -1.000000E+21     4.659963E-01     1.000000E+21
107  traj.phase0.states:xL_38       c    -1.000000E+21     4.660004E-01     1.000000E+21
108  traj.phase0.states:xL_39       c    -1.000000E+21     4.660053E-01     1.000000E+21
109  traj.phase0.states:xL_40       c    -1.000000E+21     4.660069E-01     1.000000E+21
110  traj.phase0.states:xL_41       c    -1.000000E+21     4.660069E-01     1.000000E+21
111  traj.phase0.states:xL_42       c    -1.000000E+21     4.660116E-01     1.000000E+21
112  traj.phase0.states:xL_43       c    -1.000000E+21     4.660271E-01     1.000000E+21
113  traj.phase0.states:xL_44       c    -1.000000E+21     4.660642E-01     1.000000E+21
114  traj.phase0.states:xL_45       c    -1.000000E+21     4.661340E-01     1.000000E+21
115  traj.phase0.states:xL_46       c    -1.000000E+21     4.662147E-01     1.000000E+21
116  traj.phase0.states:xL_47       c    -1.000000E+21     4.662413E-01     1.000000E+21
117  traj.phase0.states:xL_48       c    -1.000000E+21     4.662413E-01     1.000000E+21
118  traj.phase0.states:xL_49       c    -1.000000E+21     4.663212E-01     1.000000E+21
119  traj.phase0.states:xL_50       c    -1.000000E+21     4.665820E-01     1.000000E+21
120  traj.phase0.states:xL_51       c    -1.000000E+21     4.672102E-01     1.000000E+21
121  traj.phase0.states:xL_52       c    -1.000000E+21     4.683928E-01     1.000000E+21
122  traj.phase0.states:xL_53       c    -1.000000E+21     4.697598E-01     1.000000E+21
123  traj.phase0.states:xL_54       c    -1.000000E+21     4.702121E-01     1.000000E+21
124  traj.phase0.states:xL_55       c    -1.000000E+21     4.702121E-01     1.000000E+21
125  traj.phase0.states:xL_56       c    -1.000000E+21     4.715709E-01     1.000000E+21
126  traj.phase0.states:xL_57       c    -1.000000E+21     4.759721E-01     1.000000E+21
127  traj.phase0.states:xL_58       c    -1.000000E+21     4.866435E-01     1.000000E+21
128  traj.phase0.states:xL_59       c    -1.000000E+21     5.066861E-01     1.000000E+21
129  traj.phase0.states:xL_60       c    -1.000000E+21     5.296992E-01     1.000000E+21
130  traj.phase0.states:xL_61       c    -1.000000E+21     5.373102E-01     1.000000E+21
131  traj.phase0.states:xL_62       c    -1.000000E+21     5.373102E-01     1.000000E+21
132  traj.phase0.states:xL_63       c    -1.000000E+21     5.602915E-01     1.000000E+21
133  traj.phase0.states:xL_64       c    -1.000000E+21     6.346953E-01     1.000000E+21
134  traj.phase0.states:xL_65       c    -1.000000E+21     8.155631E-01     1.000000E+21
135  traj.phase0.states:xL_66       c    -1.000000E+21     1.155398E+00     1.000000E+21
136  traj.phase0.states:xL_67       c    -1.000000E+21     1.544539E+00     1.000000E+21
137  traj.phase0.states:xL_68       c    -1.000000E+21     1.673096E+00     1.000000E+21
138  traj.phase0.controls:u_0       c    -1.000000E+21    -6.089324E-01     1.000000E+21
139  traj.phase0.controls:u_1       c    -1.000000E+21    -5.408590E-01     1.000000E+21
140  traj.phase0.controls:u_2       c    -1.000000E+21    -4.042506E-01     1.000000E+21
141  traj.phase0.controls:u_3       c    -1.000000E+21    -2.803373E-01     1.000000E+21
142  traj.phase0.controls:u_4       c    -1.000000E+21    -2.006359E-01     1.000000E+21
143  traj.phase0.controls:u_5       c    -1.000000E+21    -1.587665E-01     1.000000E+21
144  traj.phase0.controls:u_6       c    -1.000000E+21    -1.503988E-01     1.000000E+21
145  traj.phase0.controls:u_7       c    -1.000000E+21    -1.317852E-01     1.000000E+21
146  traj.phase0.controls:u_8       c    -1.000000E+21    -9.813708E-02     1.000000E+21
147  traj.phase0.controls:u_9       c    -1.000000E+21    -6.818092E-02     1.000000E+21
148  traj.phase0.controls:u_10      c    -1.000000E+21    -4.867231E-02     1.000000E+21
149  traj.phase0.controls:u_11      c    -1.000000E+21    -3.862176E-02     1.000000E+21
150  traj.phase0.controls:u_12      c    -1.000000E+21    -3.654477E-02     1.000000E+21
151  traj.phase0.controls:u_13      c    -1.000000E+21    -3.192580E-02     1.000000E+21
152  traj.phase0.controls:u_14      c    -1.000000E+21    -2.382100E-02     1.000000E+21
153  traj.phase0.controls:u_15      c    -1.000000E+21    -1.650876E-02     1.000000E+21
154  traj.phase0.controls:u_16      c    -1.000000E+21    -1.173461E-02     1.000000E+21
155  traj.phase0.controls:u_17      c    -1.000000E+21    -9.329798E-03     1.000000E+21
156  traj.phase0.controls:u_18      c    -1.000000E+21    -8.816562E-03     1.000000E+21
157  traj.phase0.controls:u_19      c    -1.000000E+21    -7.650811E-03     1.000000E+21
158  traj.phase0.controls:u_20      c    -1.000000E+21    -5.609716E-03     1.000000E+21
159  traj.phase0.controls:u_21      c    -1.000000E+21    -3.764864E-03     1.000000E+21
160  traj.phase0.controls:u_22      c    -1.000000E+21    -2.494037E-03     1.000000E+21
161  traj.phase0.controls:u_23      c    -1.000000E+21    -1.808161E-03     1.000000E+21
162  traj.phase0.controls:u_24      c    -1.000000E+21    -1.659707E-03     1.000000E+21
163  traj.phase0.controls:u_25      c    -1.000000E+21    -1.312324E-03     1.000000E+21
164  traj.phase0.controls:u_26      c    -1.000000E+21    -6.423134E-04     1.000000E+21
165  traj.phase0.controls:u_27      c    -1.000000E+21     1.122740E-04     1.000000E+21
166  traj.phase0.controls:u_28      c    -1.000000E+21     8.529387E-04     1.000000E+21
167  traj.phase0.controls:u_29      c    -1.000000E+21     1.380940E-03     1.000000E+21
168  traj.phase0.controls:u_30      c    -1.000000E+21     1.512284E-03     1.000000E+21
169  traj.phase0.controls:u_31      c    -1.000000E+21     1.885206E-03     1.000000E+21
170  traj.phase0.controls:u_32      c    -1.000000E+21     2.819934E-03     1.000000E+21
171  traj.phase0.controls:u_33      c    -1.000000E+21     4.248668E-03     1.000000E+21
172  traj.phase0.controls:u_34      c    -1.000000E+21     6.233661E-03     1.000000E+21
173  traj.phase0.controls:u_35      c    -1.000000E+21     7.913703E-03     1.000000E+21
174  traj.phase0.controls:u_36      c    -1.000000E+21     8.348716E-03     1.000000E+21
175  traj.phase0.controls:u_37      c    -1.000000E+21     9.582583E-03     1.000000E+21
176  traj.phase0.controls:u_38      c    -1.000000E+21     1.290146E-02     1.000000E+21
177  traj.phase0.controls:u_39      c    -1.000000E+21     1.850313E-02     1.000000E+21
178  traj.phase0.controls:u_40      c    -1.000000E+21     2.621136E-02     1.000000E+21
179  traj.phase0.controls:u_41      c    -1.000000E+21     3.285546E-02     1.000000E+21
180  traj.phase0.controls:u_42      c    -1.000000E+21     3.467710E-02     1.000000E+21
181  traj.phase0.controls:u_43      c    -1.000000E+21     3.980220E-02     1.000000E+21
182  traj.phase0.controls:u_44      c    -1.000000E+21     5.335425E-02     1.000000E+21
183  traj.phase0.controls:u_45      c    -1.000000E+21     7.642847E-02     1.000000E+21
184  traj.phase0.controls:u_46      c    -1.000000E+21     1.079996E-01     1.000000E+21
185  traj.phase0.controls:u_47      c    -1.000000E+21     1.354447E-01     1.000000E+21
186  traj.phase0.controls:u_48      c    -1.000000E+21     1.431097E-01     1.000000E+21
187  traj.phase0.controls:u_49      c    -1.000000E+21     1.640563E-01     1.000000E+21
188  traj.phase0.controls:u_50      c    -1.000000E+21     2.192882E-01     1.000000E+21
189  traj.phase0.controls:u_51      c    -1.000000E+21     3.155065E-01     1.000000E+21
190  traj.phase0.controls:u_52      c    -1.000000E+21     4.434606E-01     1.000000E+21
191  traj.phase0.controls:u_53      c    -1.000000E+21     5.553571E-01     1.000000E+21
192  traj.phase0.controls:u_54      c    -1.000000E+21     5.876747E-01     1.000000E+21
193  traj.phase0.controls:u_55      c    -1.000000E+21     6.749671E-01     1.000000E+21
194  traj.phase0.controls:u_56      c    -1.000000E+21     9.017564E-01     1.000000E+21
195  traj.phase0.controls:u_57      c    -1.000000E+21     1.300062E+00     1.000000E+21
196  traj.phase0.controls:u_58      c    -1.000000E+21     1.824658E+00     1.000000E+21
197  traj.phase0.controls:u_59      c    -1.000000E+21     2.282236E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.881784E-16    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.996004E-16    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.214306E-17    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-18    0.000000E+00              9.00000E+100
29  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.626303E-18    0.000000E+00              9.00000E+100
30  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.252607E-19    0.000000E+00              9.00000E+100
31  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.198396E-18    0.000000E+00              9.00000E+100
32  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.721171E-18    0.000000E+00              9.00000E+100
33  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.757820E-19    0.000000E+00              9.00000E+100
34  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.757820E-19    0.000000E+00              9.00000E+100
35  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
36  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
37  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.647987E-17    0.000000E+00              9.00000E+100
38  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.637851E-18    0.000000E+00              9.00000E+100
39  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-18    0.000000E+00              9.00000E+100
40  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
41  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
42  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
43  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
44  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
45  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.204170E-18    0.000000E+00              9.00000E+100
46  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
47  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
48  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
49  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.245005E-17    0.000000E+00              9.00000E+100
50  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
51  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
52  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
53  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
54  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
55  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.498002E-16    0.000000E+00              9.00000E+100
56  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
57  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
58  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
59  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
60  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.771561E-16    0.000000E+00              9.00000E+100
61  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.261347E-07    0.000000E+00              9.00000E+100
62  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.572605E-08    0.000000E+00              9.00000E+100
63  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.515470E-09    0.000000E+00              9.00000E+100
64  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.271908E-09    0.000000E+00              9.00000E+100
65  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.863178E-10    0.000000E+00              9.00000E+100
66  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.465985E-11    0.000000E+00              9.00000E+100
67  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.660635E-11    0.000000E+00              9.00000E+100
68  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.658800E-11    0.000000E+00              9.00000E+100
69  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.938588E-11    0.000000E+00              9.00000E+100
70  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.211101E-10    0.000000E+00              9.00000E+100
71  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.888810E-12    0.000000E+00              9.00000E+100
72  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.803980E-12    0.000000E+00              9.00000E+100
73  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.096949E-11    0.000000E+00              9.00000E+100
74  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.236725E-10    0.000000E+00              9.00000E+100
75  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.679828E-12    0.000000E+00              9.00000E+100
76  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.876251E-11    0.000000E+00              9.00000E+100
77  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.280046E-11    0.000000E+00              9.00000E+100
78  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.084443E-11    0.000000E+00              9.00000E+100
79  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.810262E-11    0.000000E+00              9.00000E+100
80  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.304832E-11    0.000000E+00              9.00000E+100
81  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.803694E-12    0.000000E+00              9.00000E+100
82  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.400207E-12    0.000000E+00              9.00000E+100
83  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.548451E-12    0.000000E+00              9.00000E+100
84  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.661708E-12    0.000000E+00              9.00000E+100
85  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.089902E-12    0.000000E+00              9.00000E+100
86  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.443527E-12    0.000000E+00              9.00000E+100
87  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.457654E-12    0.000000E+00              9.00000E+100
88  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.457025E-12    0.000000E+00              9.00000E+100
89  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.723984E-13    0.000000E+00              9.00000E+100
90  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.002136E-13    0.000000E+00              9.00000E+100
91  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.419023E-13    0.000000E+00              9.00000E+100
92  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.706709E-12    0.000000E+00              9.00000E+100
93  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.897522E-11    0.000000E+00              9.00000E+100
94  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.241798E-11    0.000000E+00              9.00000E+100
95  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.075904E-12    0.000000E+00              9.00000E+100
96  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.188024E-10    0.000000E+00              9.00000E+100
97  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.033565E-10    0.000000E+00              9.00000E+100
98  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.058501E-11    0.000000E+00              9.00000E+100
99  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.018226E-11    0.000000E+00              9.00000E+100
100  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.682961E-10    0.000000E+00              9.00000E+100
101  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.173581E-11    0.000000E+00              9.00000E+100
102  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.011641E-10    0.000000E+00              9.00000E+100
103  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.658902E-10    0.000000E+00              9.00000E+100
104  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.905689E-10    0.000000E+00              9.00000E+100
105  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.178390E-10    0.000000E+00              9.00000E+100
106  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.892973E-09    0.000000E+00              9.00000E+100
107  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.980399E-10    0.000000E+00              9.00000E+100
108  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.168097E-09    0.000000E+00              9.00000E+100
109  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.974988E-09    0.000000E+00              9.00000E+100
110  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.222259E-09    0.000000E+00              9.00000E+100
111  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.036976E-09    0.000000E+00              9.00000E+100
112  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.175598E-08    0.000000E+00              9.00000E+100
113  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.963899E-09    0.000000E+00              9.00000E+100
114  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.204528E-08    0.000000E+00              9.00000E+100
115  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.992230E-09    0.000000E+00              9.00000E+100
116  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.210407E-09    0.000000E+00              9.00000E+100
117  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.882550E-10    0.000000E+00              9.00000E+100
118  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.803809E-07    0.000000E+00              9.00000E+100
119  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.392705E-07    0.000000E+00              9.00000E+100
120  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.467758E-09    0.000000E+00              9.00000E+100
121  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
122  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
123  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
124  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
125  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
126  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
127  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
128  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
129  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
130  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
131  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
132  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
133  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
134  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
135  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
136  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
137  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
138  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
139  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.040834E-14    0.000000E+00              9.00000E+100
140  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.551115E-16    0.000000E+00              9.00000E+100
141  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.597017E-16    0.000000E+00              9.00000E+100
142  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    6.938894E-17    0.000000E+00              9.00000E+100
143  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.686287E-17    0.000000E+00              9.00000E+100
144  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.071532E-17    0.000000E+00              9.00000E+100
145  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.938894E-16    0.000000E+00              9.00000E+100
146  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
147  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.996004E-15    0.000000E+00              9.00000E+100
148  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
149  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
150  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
151  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
152  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
153  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
154  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
155  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
156  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

==================================================
Grid Refinement - Iteration 2
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 10
Segment Ends = [-1.0, -0.8, -0.6, -0.4, -0.2, 0.0, 0.2, 0.4, 0.6, 0.8, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Error = [3.422e-05, 7.772e-07, 5.429e-08, 2.339e-08, 1.426e-08, 6.796e-08, 1.33e-07, 4.985e-07, 9.639e-07, 3.83e-05]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 16
Segment Ends = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Refined: True

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

Model viewer data has already been recorded for Driver.

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:4284: OpenMDAOWarning:Calling list_inputs before final_setup will only display the default values of variables and will not show the result of any set_val calls.

Full total jacobian for problem 'problem' was computed 3 times, taking 0.2884852280000132 seconds.
Total jacobian shape: (224, 318)

Jacobian shape: (224, 318)  (2.68% nonzero)
FWD solves: 0   REV solves: 15
Total colors vs. total size: 15 vs 224  (93.30% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.2885 sec
Time to compute coloring:   0.1029 sec
Memory to compute coloring:   0.0000 MB
Coloring created on: 2024-08-13 12:33:00

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    0.7903
User Objective Time :       0.0088
User Sensitivity Time :     0.0645
Interface Time :            0.0381
Opt Solver Time:            0.6789
Calls to Objective Function :       9
Calls to Sens Function :            9

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.673095E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                        Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0         c    -1.000000E+21     1.399170E+00     1.000000E+21
1  traj.phase0.states:x_1         c    -1.000000E+21     1.209400E+00     1.000000E+21
2  traj.phase0.states:x_2         c    -1.000000E+21     1.008160E+00     1.000000E+21
3  traj.phase0.states:x_3         c    -1.000000E+21     8.507747E-01     1.000000E+21
4  traj.phase0.states:x_4         c    -1.000000E+21     7.607352E-01     1.000000E+21
5  traj.phase0.states:x_5         c    -1.000000E+21     7.396249E-01     1.000000E+21
6  traj.phase0.states:x_6         c    -1.000000E+21     7.396249E-01     1.000000E+21
7  traj.phase0.states:x_7         c    -1.000000E+21     6.898317E-01     1.000000E+21
8  traj.phase0.states:x_8         c    -1.000000E+21     5.962894E-01     1.000000E+21
9  traj.phase0.states:x_9         c    -1.000000E+21     4.970271E-01     1.000000E+21
10  traj.phase0.states:x_10        c    -1.000000E+21     4.194330E-01     1.000000E+21
11  traj.phase0.states:x_11        c    -1.000000E+21     3.750489E-01     1.000000E+21
12  traj.phase0.states:x_12        c    -1.000000E+21     3.646426E-01     1.000000E+21
13  traj.phase0.states:x_13        c    -1.000000E+21     3.646426E-01     1.000000E+21
14  traj.phase0.states:x_14        c    -1.000000E+21     3.401032E-01     1.000000E+21
15  traj.phase0.states:x_15        c    -1.000000E+21     2.939974E-01     1.000000E+21
16  traj.phase0.states:x_16        c    -1.000000E+21     2.450612E-01     1.000000E+21
17  traj.phase0.states:x_17        c    -1.000000E+21     2.068151E-01     1.000000E+21
18  traj.phase0.states:x_18        c    -1.000000E+21     1.849249E-01     1.000000E+21
19  traj.phase0.states:x_19        c    -1.000000E+21     1.797913E-01     1.000000E+21
20  traj.phase0.states:x_20        c    -1.000000E+21     1.797913E-01     1.000000E+21
21  traj.phase0.states:x_21        c    -1.000000E+21     1.676886E-01     1.000000E+21
22  traj.phase0.states:x_22        c    -1.000000E+21     1.449550E-01     1.000000E+21
23  traj.phase0.states:x_23        c    -1.000000E+21     1.208254E-01     1.000000E+21
24  traj.phase0.states:x_24        c    -1.000000E+21     1.019683E-01     1.000000E+21
25  traj.phase0.states:x_25        c    -1.000000E+21     9.117793E-02     1.000000E+21
26  traj.phase0.states:x_26        c    -1.000000E+21     8.864798E-02     1.000000E+21
27  traj.phase0.states:x_27        c    -1.000000E+21     8.864798E-02     1.000000E+21
28  traj.phase0.states:x_28        c    -1.000000E+21     7.712260E-02     1.000000E+21
29  traj.phase0.states:x_29        c    -1.000000E+21     5.764152E-02     1.000000E+21
30  traj.phase0.states:x_30        c    -1.000000E+21     4.005766E-02     1.000000E+21
31  traj.phase0.states:x_31        c    -1.000000E+21     2.854595E-02     1.000000E+21
32  traj.phase0.states:x_32        c    -1.000000E+21     2.284064E-02     1.000000E+21
33  traj.phase0.states:x_33        c    -1.000000E+21     2.159583E-02     1.000000E+21
34  traj.phase0.states:x_34        c    -1.000000E+21     2.159583E-02     1.000000E+21
35  traj.phase0.states:x_35        c    -1.000000E+21     1.880122E-02     1.000000E+21
36  traj.phase0.states:x_36        c    -1.000000E+21     1.408404E-02     1.000000E+21
37  traj.phase0.states:x_37        c    -1.000000E+21     9.842082E-03     1.000000E+21
38  traj.phase0.states:x_38        c    -1.000000E+21     7.085939E-03     1.000000E+21
39  traj.phase0.states:x_39        c    -1.000000E+21     5.735874E-03     1.000000E+21
40  traj.phase0.states:x_40        c    -1.000000E+21     5.443907E-03     1.000000E+21
41  traj.phase0.states:x_41        c    -1.000000E+21     5.443907E-03     1.000000E+21
42  traj.phase0.states:x_42        c    -1.000000E+21     4.793596E-03     1.000000E+21
43  traj.phase0.states:x_43        c    -1.000000E+21     3.722618E-03     1.000000E+21
44  traj.phase0.states:x_44        c    -1.000000E+21     2.821364E-03     1.000000E+21
45  traj.phase0.states:x_45        c    -1.000000E+21     2.323590E-03     1.000000E+21
46  traj.phase0.states:x_46        c    -1.000000E+21     2.147661E-03     1.000000E+21
47  traj.phase0.states:x_47        c    -1.000000E+21     2.120684E-03     1.000000E+21
48  traj.phase0.states:x_48        c    -1.000000E+21     2.120684E-03     1.000000E+21
49  traj.phase0.states:x_49        c    -1.000000E+21     2.082375E-03     1.000000E+21
50  traj.phase0.states:x_50        c    -1.000000E+21     2.132439E-03     1.000000E+21
51  traj.phase0.states:x_51        c    -1.000000E+21     2.446459E-03     1.000000E+21
52  traj.phase0.states:x_52        c    -1.000000E+21     3.034923E-03     1.000000E+21
53  traj.phase0.states:x_53        c    -1.000000E+21     3.618367E-03     1.000000E+21
54  traj.phase0.states:x_54        c    -1.000000E+21     3.792492E-03     1.000000E+21
55  traj.phase0.states:x_55        c    -1.000000E+21     3.792492E-03     1.000000E+21
56  traj.phase0.states:x_56        c    -1.000000E+21     4.024050E-03     1.000000E+21
57  traj.phase0.states:x_57        c    -1.000000E+21     4.573001E-03     1.000000E+21
58  traj.phase0.states:x_58        c    -1.000000E+21     5.397542E-03     1.000000E+21
59  traj.phase0.states:x_59        c    -1.000000E+21     6.326085E-03     1.000000E+21
60  traj.phase0.states:x_60        c    -1.000000E+21     7.037608E-03     1.000000E+21
61  traj.phase0.states:x_61        c    -1.000000E+21     7.230313E-03     1.000000E+21
62  traj.phase0.states:x_62        c    -1.000000E+21     7.230313E-03     1.000000E+21
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256  traj.phase0.controls:u_34      c    -1.000000E+21    -2.495014E-03     1.000000E+21
257  traj.phase0.controls:u_35      c    -1.000000E+21    -1.822475E-03     1.000000E+21
258  traj.phase0.controls:u_36      c    -1.000000E+21    -1.669991E-03     1.000000E+21
259  traj.phase0.controls:u_37      c    -1.000000E+21    -1.312952E-03     1.000000E+21
260  traj.phase0.controls:u_38      c    -1.000000E+21    -6.439528E-04     1.000000E+21
261  traj.phase0.controls:u_39      c    -1.000000E+21     1.117805E-04     1.000000E+21
262  traj.phase0.controls:u_40      c    -1.000000E+21     8.488767E-04     1.000000E+21
263  traj.phase0.controls:u_41      c    -1.000000E+21     1.385976E-03     1.000000E+21
264  traj.phase0.controls:u_42      c    -1.000000E+21     1.526500E-03     1.000000E+21
265  traj.phase0.controls:u_43      c    -1.000000E+21     1.899275E-03     1.000000E+21
266  traj.phase0.controls:u_44      c    -1.000000E+21     2.799648E-03     1.000000E+21
267  traj.phase0.controls:u_45      c    -1.000000E+21     4.252048E-03     1.000000E+21
268  traj.phase0.controls:u_46      c    -1.000000E+21     6.194674E-03     1.000000E+21
269  traj.phase0.controls:u_47      c    -1.000000E+21     7.851812E-03     1.000000E+21
270  traj.phase0.controls:u_48      c    -1.000000E+21     8.308382E-03     1.000000E+21
271  traj.phase0.controls:u_49      c    -1.000000E+21     8.916054E-03     1.000000E+21
272  traj.phase0.controls:u_50      c    -1.000000E+21     1.035865E-02     1.000000E+21
273  traj.phase0.controls:u_51      c    -1.000000E+21     1.245320E-02     1.000000E+21
274  traj.phase0.controls:u_52      c    -1.000000E+21     1.479288E-02     1.000000E+21
275  traj.phase0.controls:u_53      c    -1.000000E+21     1.657752E-02     1.000000E+21
276  traj.phase0.controls:u_54      c    -1.000000E+21     1.705402E-02     1.000000E+21
277  traj.phase0.controls:u_55      c    -1.000000E+21     1.828991E-02     1.000000E+21
278  traj.phase0.controls:u_56      c    -1.000000E+21     2.115760E-02     1.000000E+21
279  traj.phase0.controls:u_57      c    -1.000000E+21     2.537683E-02     1.000000E+21
280  traj.phase0.controls:u_58      c    -1.000000E+21     3.012391E-02     1.000000E+21
281  traj.phase0.controls:u_59      c    -1.000000E+21     3.371112E-02     1.000000E+21
282  traj.phase0.controls:u_60      c    -1.000000E+21     3.466328E-02     1.000000E+21
283  traj.phase0.controls:u_61      c    -1.000000E+21     3.715089E-02     1.000000E+21
284  traj.phase0.controls:u_62      c    -1.000000E+21     4.298098E-02     1.000000E+21
285  traj.phase0.controls:u_63      c    -1.000000E+21     5.153187E-02     1.000000E+21
286  traj.phase0.controls:u_64      c    -1.000000E+21     6.113138E-02     1.000000E+21
287  traj.phase0.controls:u_65      c    -1.000000E+21     6.843048E-02     1.000000E+21
288  traj.phase0.controls:u_66      c    -1.000000E+21     7.037906E-02     1.000000E+21
289  traj.phase0.controls:u_67      c    -1.000000E+21     7.544485E-02     1.000000E+21
290  traj.phase0.controls:u_68      c    -1.000000E+21     8.722816E-02     1.000000E+21
291  traj.phase0.controls:u_69      c    -1.000000E+21     1.045612E-01     1.000000E+21
292  traj.phase0.controls:u_70      c    -1.000000E+21     1.240534E-01     1.000000E+21
293  traj.phase0.controls:u_71      c    -1.000000E+21     1.387834E-01     1.000000E+21
294  traj.phase0.controls:u_72      c    -1.000000E+21     1.426925E-01     1.000000E+21
295  traj.phase0.controls:u_73      c    -1.000000E+21     1.529117E-01     1.000000E+21
296  traj.phase0.controls:u_74      c    -1.000000E+21     1.769112E-01     1.000000E+21
297  traj.phase0.controls:u_75      c    -1.000000E+21     2.121074E-01     1.000000E+21
298  traj.phase0.controls:u_76      c    -1.000000E+21     2.515209E-01     1.000000E+21
299  traj.phase0.controls:u_77      c    -1.000000E+21     2.815495E-01     1.000000E+21
300  traj.phase0.controls:u_78      c    -1.000000E+21     2.896000E-01     1.000000E+21
301  traj.phase0.controls:u_79      c    -1.000000E+21     3.104516E-01     1.000000E+21
302  traj.phase0.controls:u_80      c    -1.000000E+21     3.588603E-01     1.000000E+21
303  traj.phase0.controls:u_81      c    -1.000000E+21     4.303047E-01     1.000000E+21
304  traj.phase0.controls:u_82      c    -1.000000E+21     5.102426E-01     1.000000E+21
305  traj.phase0.controls:u_83      c    -1.000000E+21     5.706781E-01     1.000000E+21
306  traj.phase0.controls:u_84      c    -1.000000E+21     5.868384E-01     1.000000E+21
307  traj.phase0.controls:u_85      c    -1.000000E+21     6.289814E-01     1.000000E+21
308  traj.phase0.controls:u_86      c    -1.000000E+21     7.277887E-01     1.000000E+21
309  traj.phase0.controls:u_87      c    -1.000000E+21     8.729722E-01     1.000000E+21
310  traj.phase0.controls:u_88      c    -1.000000E+21     1.034394E+00     1.000000E+21
311  traj.phase0.controls:u_89      c    -1.000000E+21     1.157708E+00     1.000000E+21
312  traj.phase0.controls:u_90      c    -1.000000E+21     1.191139E+00     1.000000E+21
313  traj.phase0.controls:u_91      c    -1.000000E+21     1.277576E+00     1.000000E+21
314  traj.phase0.controls:u_92      c    -1.000000E+21     1.476783E+00     1.000000E+21
315  traj.phase0.controls:u_93      c    -1.000000E+21     1.770813E+00     1.000000E+21
316  traj.phase0.controls:u_94      c    -1.000000E+21     2.099404E+00     1.000000E+21
317  traj.phase0.controls:u_95      c    -1.000000E+21     2.346264E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.881784E-16    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.885781E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.106227E-16    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.992007E-16    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.885781E-16    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.608225E-16    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.747003E-16    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.024558E-16    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
29  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
30  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.428613E-17    0.000000E+00              9.00000E+100
31  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
32  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
33  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.204170E-18    0.000000E+00              9.00000E+100
34  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
35  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
36  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
37  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
38  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.035766E-18    0.000000E+00              9.00000E+100
39  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
40  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
41  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.059984E-18    0.000000E+00              9.00000E+100
42  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-18    0.000000E+00              9.00000E+100
43  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.968886E-18    0.000000E+00              9.00000E+100
44  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.486769E-19    0.000000E+00              9.00000E+100
45  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.710505E-19    0.000000E+00              9.00000E+100
46  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.626303E-18    0.000000E+00              9.00000E+100
47  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
48  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-18    0.000000E+00              9.00000E+100
49  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.119968E-18    0.000000E+00              9.00000E+100
50  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.686287E-18    0.000000E+00              9.00000E+100
51  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
52  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
53  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
54  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
55  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.517883E-17    0.000000E+00              9.00000E+100
56  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
57  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-18    0.000000E+00              9.00000E+100
58  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
59  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.540979E-18    0.000000E+00              9.00000E+100
60  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
61  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
62  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
63  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
64  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.214306E-17    0.000000E+00              9.00000E+100
65  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.255141E-17    0.000000E+00              9.00000E+100
66  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
67  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
68  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
69  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.949030E-17    0.000000E+00              9.00000E+100
70  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-17    0.000000E+00              9.00000E+100
71  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
72  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.285839E-17    0.000000E+00              9.00000E+100
73  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.908196E-16    0.000000E+00              9.00000E+100
74  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
75  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
76  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
77  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
78  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-17    0.000000E+00              9.00000E+100
79  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.714451E-17    0.000000E+00              9.00000E+100
80  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.318390E-16    0.000000E+00              9.00000E+100
81  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
82  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
83  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
84  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
85  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.747003E-16    0.000000E+00              9.00000E+100
86  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
87  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
88  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
89  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
90  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
91  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-16    0.000000E+00              9.00000E+100
92  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
93  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.053113E-16    0.000000E+00              9.00000E+100
94  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
95  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
96  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.216450E-16    0.000000E+00              9.00000E+100
97  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.644447E-09    0.000000E+00              9.00000E+100
98  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.885598E-11    0.000000E+00              9.00000E+100
99  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.448608E-11    0.000000E+00              9.00000E+100
100  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.176254E-12    0.000000E+00              9.00000E+100
101  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.320692E-10    0.000000E+00              9.00000E+100
102  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.240596E-11    0.000000E+00              9.00000E+100
103  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.049025E-10    0.000000E+00              9.00000E+100
104  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.371255E-10    0.000000E+00              9.00000E+100
105  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.147555E-11    0.000000E+00              9.00000E+100
106  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.020282E-11    0.000000E+00              9.00000E+100
107  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.025620E-11    0.000000E+00              9.00000E+100
108  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.969432E-11    0.000000E+00              9.00000E+100
109  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.096922E-11    0.000000E+00              9.00000E+100
110  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.758452E-12    0.000000E+00              9.00000E+100
111  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.916466E-12    0.000000E+00              9.00000E+100
112  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.269400E-12    0.000000E+00              9.00000E+100
113  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.466529E-12    0.000000E+00              9.00000E+100
114  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.894375E-12    0.000000E+00              9.00000E+100
115  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.925377E-12    0.000000E+00              9.00000E+100
116  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.860751E-12    0.000000E+00              9.00000E+100
117  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.253412E-12    0.000000E+00              9.00000E+100
118  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.845891E-12    0.000000E+00              9.00000E+100
119  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.214695E-12    0.000000E+00              9.00000E+100
120  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.180457E-13    0.000000E+00              9.00000E+100
121  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.140578E-12    0.000000E+00              9.00000E+100
122  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.791878E-12    0.000000E+00              9.00000E+100
123  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.051979E-12    0.000000E+00              9.00000E+100
124  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.170972E-12    0.000000E+00              9.00000E+100
125  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.005441E-12    0.000000E+00              9.00000E+100
126  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.105252E-12    0.000000E+00              9.00000E+100
127  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.564521E-13    0.000000E+00              9.00000E+100
128  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.095637E-13    0.000000E+00              9.00000E+100
129  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.925533E-13    0.000000E+00              9.00000E+100
130  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.212922E-13    0.000000E+00              9.00000E+100
131  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.756130E-14    0.000000E+00              9.00000E+100
132  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.361199E-13    0.000000E+00              9.00000E+100
133  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.029908E-13    0.000000E+00              9.00000E+100
134  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.746901E-14    0.000000E+00              9.00000E+100
135  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.730826E-14    0.000000E+00              9.00000E+100
136  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.403622E-13    0.000000E+00              9.00000E+100
137  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.771550E-14    0.000000E+00              9.00000E+100
138  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.448367E-13    0.000000E+00              9.00000E+100
139  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.792096E-13    0.000000E+00              9.00000E+100
140  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.161659E-13    0.000000E+00              9.00000E+100
141  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.051625E-12    0.000000E+00              9.00000E+100
142  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.448633E-11    0.000000E+00              9.00000E+100
143  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.016327E-12    0.000000E+00              9.00000E+100
144  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.173476E-12    0.000000E+00              9.00000E+100
145  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.394499E-13    0.000000E+00              9.00000E+100
146  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.516397E-13    0.000000E+00              9.00000E+100
147  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.083951E-13    0.000000E+00              9.00000E+100
148  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.249327E-13    0.000000E+00              9.00000E+100
149  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.356289E-13    0.000000E+00              9.00000E+100
150  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.303279E-13    0.000000E+00              9.00000E+100
151  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.892030E-13    0.000000E+00              9.00000E+100
152  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.563858E-13    0.000000E+00              9.00000E+100
153  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.689196E-14    0.000000E+00              9.00000E+100
154  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.739051E-13    0.000000E+00              9.00000E+100
155  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.071504E-13    0.000000E+00              9.00000E+100
156  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.121558E-12    0.000000E+00              9.00000E+100
157  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.487269E-13    0.000000E+00              9.00000E+100
158  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.778006E-14    0.000000E+00              9.00000E+100
159  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.451084E-14    0.000000E+00              9.00000E+100
160  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.263973E-12    0.000000E+00              9.00000E+100
161  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.525628E-13    0.000000E+00              9.00000E+100
162  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.366183E-12    0.000000E+00              9.00000E+100
163  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.201297E-12    0.000000E+00              9.00000E+100
164  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.343612E-12    0.000000E+00              9.00000E+100
165  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.955532E-14    0.000000E+00              9.00000E+100
166  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.058601E-11    0.000000E+00              9.00000E+100
167  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.963394E-12    0.000000E+00              9.00000E+100
168  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.264098E-11    0.000000E+00              9.00000E+100
169  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.655759E-12    0.000000E+00              9.00000E+100
170  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.287503E-13    0.000000E+00              9.00000E+100
171  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.184752E-13    0.000000E+00              9.00000E+100
172  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.536529E-11    0.000000E+00              9.00000E+100
173  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.236598E-12    0.000000E+00              9.00000E+100
174  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.636476E-10    0.000000E+00              9.00000E+100
175  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.607642E-10    0.000000E+00              9.00000E+100
176  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.387710E-11    0.000000E+00              9.00000E+100
177  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.827560E-12    0.000000E+00              9.00000E+100
178  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.496638E-11    0.000000E+00              9.00000E+100
179  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.929357E-11    0.000000E+00              9.00000E+100
180  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.052575E-10    0.000000E+00              9.00000E+100
181  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.668918E-12    0.000000E+00              9.00000E+100
182  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.939168E-11    0.000000E+00              9.00000E+100
183  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.563194E-13    0.000000E+00              9.00000E+100
184  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.727393E-10    0.000000E+00              9.00000E+100
185  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.299563E-11    0.000000E+00              9.00000E+100
186  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.259421E-09    0.000000E+00              9.00000E+100
187  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.914173E-09    0.000000E+00              9.00000E+100
188  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.355290E-09    0.000000E+00              9.00000E+100
189  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.919994E-10    0.000000E+00              9.00000E+100
190  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.310085E-11    0.000000E+00              9.00000E+100
191  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.856306E-10    0.000000E+00              9.00000E+100
192  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.349064E-09    0.000000E+00              9.00000E+100
193  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
194  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
195  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
196  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
197  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
198  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
199  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
200  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
201  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
202  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
203  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
204  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
205  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
206  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
207  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
208  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
209  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
210  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
211  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
212  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
213  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
214  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
215  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
216  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
217  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
218  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
219  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
220  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
221  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
222  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
223  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.664535E-14    0.000000E+00              9.00000E+100
224  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.249001E-15    0.000000E+00              9.00000E+100
225  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.595946E-15    0.000000E+00              9.00000E+100
226  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.816392E-16    0.000000E+00              9.00000E+100
227  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.209238E-16    0.000000E+00              9.00000E+100
228  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.214306E-16    0.000000E+00              9.00000E+100
229  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.252607E-17    0.000000E+00              9.00000E+100
230  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.204170E-17    0.000000E+00              9.00000E+100
231  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.642919E-16    0.000000E+00              9.00000E+100
232  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.942890E-15    0.000000E+00              9.00000E+100
233  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.734723E-15    0.000000E+00              9.00000E+100
234  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.996004E-15    0.000000E+00              9.00000E+100
235  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.718448E-15    0.000000E+00              9.00000E+100
236  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.554312E-14    0.000000E+00              9.00000E+100
237  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.107825E-14    0.000000E+00              9.00000E+100
238  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
239  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
240  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
241  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
242  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
243  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
244  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
245  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
246  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
247  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
248  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
249  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
250  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
251  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
252  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

==================================================
Grid Refinement - Iteration 3
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 16
Segment Ends = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
Error = [5.653e-06, 4.416e-07, 2.576e-08, 4.471e-09, 4.179e-08, 3.975e-09, 5.604e-09, 2.305e-08, 3.724e-09, 3.883e-09, 9.311e-09, 2.286e-08, 7.666e-08, 1.383e-07, 6.392e-08, 1.171e-06]
Phase: traj.phases.phase0
New Grid:
Number of Segments = 19
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 0.95, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 12, 6, 6, 6]
Refined: True

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

Model viewer data has already been recorded for Driver.

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:4284: OpenMDAOWarning:Calling list_inputs before final_setup will only display the default values of variables and will not show the result of any set_val calls.

Full total jacobian for problem 'problem' was computed 3 times, taking 0.38348452900004304 seconds.
Total jacobian shape: (284, 405)

Jacobian shape: (284, 405)  (2.30% nonzero)
FWD solves: 0   REV solves: 27
Total colors vs. total size: 27 vs 284  (90.49% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.3835 sec
Time to compute coloring:   0.1374 sec
Memory to compute coloring:   0.0000 MB
Coloring created on: 2024-08-13 12:33:02

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    1.2102
User Objective Time :       0.0070
User Sensitivity Time :     0.0749
Interface Time :            0.0314
Opt Solver Time:            1.0968
Calls to Objective Function :       6
Calls to Sens Function :            6

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.673094E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                         Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0          c    -1.000000E+21     1.465634E+00     1.000000E+21
1  traj.phase0.states:x_1          c    -1.000000E+21     1.396197E+00     1.000000E+21
2  traj.phase0.states:x_2          c    -1.000000E+21     1.313988E+00     1.000000E+21
3  traj.phase0.states:x_3          c    -1.000000E+21     1.241736E+00     1.000000E+21
4  traj.phase0.states:x_4          c    -1.000000E+21     1.196285E+00     1.000000E+21
5  traj.phase0.states:x_5          c    -1.000000E+21     1.185112E+00     1.000000E+21
6  traj.phase0.states:x_6          c    -1.000000E+21     1.185112E+00     1.000000E+21
7  traj.phase0.states:x_7          c    -1.000000E+21     1.157901E+00     1.000000E+21
8  traj.phase0.states:x_8          c    -1.000000E+21     1.103015E+00     1.000000E+21
9  traj.phase0.states:x_9          c    -1.000000E+21     1.038066E+00     1.000000E+21
10  traj.phase0.states:x_10         c    -1.000000E+21     9.809873E-01     1.000000E+21
11  traj.phase0.states:x_11         c    -1.000000E+21     9.450727E-01     1.000000E+21
12  traj.phase0.states:x_12         c    -1.000000E+21     9.362419E-01     1.000000E+21
13  traj.phase0.states:x_13         c    -1.000000E+21     9.362419E-01     1.000000E+21
14  traj.phase0.states:x_14         c    -1.000000E+21     9.147354E-01     1.000000E+21
15  traj.phase0.states:x_15         c    -1.000000E+21     8.713690E-01     1.000000E+21
16  traj.phase0.states:x_16         c    -1.000000E+21     8.200587E-01     1.000000E+21
17  traj.phase0.states:x_17         c    -1.000000E+21     7.749607E-01     1.000000E+21
18  traj.phase0.states:x_18         c    -1.000000E+21     7.465997E-01     1.000000E+21
19  traj.phase0.states:x_19         c    -1.000000E+21     7.396283E-01     1.000000E+21
20  traj.phase0.states:x_20         c    -1.000000E+21     7.396283E-01     1.000000E+21
21  traj.phase0.states:x_21         c    -1.000000E+21     7.166504E-01     1.000000E+21
22  traj.phase0.states:x_22         c    -1.000000E+21     6.678537E-01     1.000000E+21
23  traj.phase0.states:x_23         c    -1.000000E+21     6.038590E-01     1.000000E+21
24  traj.phase0.states:x_24         c    -1.000000E+21     5.362364E-01     1.000000E+21
25  traj.phase0.states:x_25         c    -1.000000E+21     4.744399E-01     1.000000E+21
26  traj.phase0.states:x_26         c    -1.000000E+21     4.244122E-01     1.000000E+21
27  traj.phase0.states:x_27         c    -1.000000E+21     3.890646E-01     1.000000E+21
28  traj.phase0.states:x_28         c    -1.000000E+21     3.693528E-01     1.000000E+21
29  traj.phase0.states:x_29         c    -1.000000E+21     3.647393E-01     1.000000E+21
30  traj.phase0.states:x_30         c    -1.000000E+21     3.647393E-01     1.000000E+21
31  traj.phase0.states:x_31         c    -1.000000E+21     3.401956E-01     1.000000E+21
32  traj.phase0.states:x_32         c    -1.000000E+21     2.940841E-01     1.000000E+21
33  traj.phase0.states:x_33         c    -1.000000E+21     2.451297E-01     1.000000E+21
34  traj.phase0.states:x_34         c    -1.000000E+21     2.068747E-01     1.000000E+21
35  traj.phase0.states:x_35         c    -1.000000E+21     1.849815E-01     1.000000E+21
36  traj.phase0.states:x_36         c    -1.000000E+21     1.798474E-01     1.000000E+21
37  traj.phase0.states:x_37         c    -1.000000E+21     1.798474E-01     1.000000E+21
38  traj.phase0.states:x_38         c    -1.000000E+21     1.677448E-01     1.000000E+21
39  traj.phase0.states:x_39         c    -1.000000E+21     1.450113E-01     1.000000E+21
40  traj.phase0.states:x_40         c    -1.000000E+21     1.208784E-01     1.000000E+21
41  traj.phase0.states:x_41         c    -1.000000E+21     1.020186E-01     1.000000E+21
42  traj.phase0.states:x_42         c    -1.000000E+21     9.122530E-02     1.000000E+21
43  traj.phase0.states:x_43         c    -1.000000E+21     8.869403E-02     1.000000E+21
44  traj.phase0.states:x_44         c    -1.000000E+21     8.869403E-02     1.000000E+21
45  traj.phase0.states:x_45         c    -1.000000E+21     7.715902E-02     1.000000E+21
46  traj.phase0.states:x_46         c    -1.000000E+21     5.766480E-02     1.000000E+21
47  traj.phase0.states:x_47         c    -1.000000E+21     4.008484E-02     1.000000E+21
48  traj.phase0.states:x_48         c    -1.000000E+21     2.857142E-02     1.000000E+21
49  traj.phase0.states:x_49         c    -1.000000E+21     2.286043E-02     1.000000E+21
50  traj.phase0.states:x_50         c    -1.000000E+21     2.161418E-02     1.000000E+21
51  traj.phase0.states:x_51         c    -1.000000E+21     2.161418E-02     1.000000E+21
52  traj.phase0.states:x_52         c    -1.000000E+21     1.881653E-02     1.000000E+21
53  traj.phase0.states:x_53         c    -1.000000E+21     1.409498E-02     1.000000E+21
54  traj.phase0.states:x_54         c    -1.000000E+21     9.851227E-03     1.000000E+21
55  traj.phase0.states:x_55         c    -1.000000E+21     7.094111E-03     1.000000E+21
56  traj.phase0.states:x_56         c    -1.000000E+21     5.742142E-03     1.000000E+21
57  traj.phase0.states:x_57         c    -1.000000E+21     5.449688E-03     1.000000E+21
58  traj.phase0.states:x_58         c    -1.000000E+21     5.449688E-03     1.000000E+21
59  traj.phase0.states:x_59         c    -1.000000E+21     4.798406E-03     1.000000E+21
60  traj.phase0.states:x_60         c    -1.000000E+21     3.725609E-03     1.000000E+21
61  traj.phase0.states:x_61         c    -1.000000E+21     2.826762E-03     1.000000E+21
62  traj.phase0.states:x_62         c    -1.000000E+21     2.332146E-03     1.000000E+21
63  traj.phase0.states:x_63         c    -1.000000E+21     2.153783E-03     1.000000E+21
64  traj.phase0.states:x_64         c    -1.000000E+21     2.126082E-03     1.000000E+21
65  traj.phase0.states:x_65         c    -1.000000E+21     2.126082E-03     1.000000E+21
66  traj.phase0.states:x_66         c    -1.000000E+21     2.086728E-03     1.000000E+21
67  traj.phase0.states:x_67         c    -1.000000E+21     2.136691E-03     1.000000E+21
68  traj.phase0.states:x_68         c    -1.000000E+21     2.467247E-03     1.000000E+21
69  traj.phase0.states:x_69         c    -1.000000E+21     3.068698E-03     1.000000E+21
70  traj.phase0.states:x_70         c    -1.000000E+21     3.643304E-03     1.000000E+21
71  traj.phase0.states:x_71         c    -1.000000E+21     3.815384E-03     1.000000E+21
72  traj.phase0.states:x_72         c    -1.000000E+21     3.815384E-03     1.000000E+21
73  traj.phase0.states:x_73         c    -1.000000E+21     4.046037E-03     1.000000E+21
74  traj.phase0.states:x_74         c    -1.000000E+21     4.593050E-03     1.000000E+21
75  traj.phase0.states:x_75         c    -1.000000E+21     5.414635E-03     1.000000E+21
76  traj.phase0.states:x_76         c    -1.000000E+21     6.342676E-03     1.000000E+21
77  traj.phase0.states:x_77         c    -1.000000E+21     7.052331E-03     1.000000E+21
78  traj.phase0.states:x_78         c    -1.000000E+21     7.244347E-03     1.000000E+21
79  traj.phase0.states:x_79         c    -1.000000E+21     7.244347E-03     1.000000E+21
80  traj.phase0.states:x_80         c    -1.000000E+21     7.744636E-03     1.000000E+21
81  traj.phase0.states:x_81         c    -1.000000E+21     8.915516E-03     1.000000E+21
82  traj.phase0.states:x_82         c    -1.000000E+21     1.065055E-02     1.000000E+21
83  traj.phase0.states:x_83         c    -1.000000E+21     1.258454E-02     1.000000E+21
84  traj.phase0.states:x_84         c    -1.000000E+21     1.405274E-02     1.000000E+21
85  traj.phase0.states:x_85         c    -1.000000E+21     1.444909E-02     1.000000E+21
86  traj.phase0.states:x_86         c    -1.000000E+21     1.444909E-02     1.000000E+21
87  traj.phase0.states:x_87         c    -1.000000E+21     1.548038E-02     1.000000E+21
88  traj.phase0.states:x_88         c    -1.000000E+21     1.788683E-02     1.000000E+21
89  traj.phase0.states:x_89         c    -1.000000E+21     2.143901E-02     1.000000E+21
90  traj.phase0.states:x_90         c    -1.000000E+21     2.538770E-02     1.000000E+21
91  traj.phase0.states:x_91         c    -1.000000E+21     2.838089E-02     1.000000E+21
92  traj.phase0.states:x_92         c    -1.000000E+21     2.918828E-02     1.000000E+21
93  traj.phase0.states:x_93         c    -1.000000E+21     2.918828E-02     1.000000E+21
94  traj.phase0.states:x_94         c    -1.000000E+21     3.128763E-02     1.000000E+21
95  traj.phase0.states:x_95         c    -1.000000E+21     3.618104E-02     1.000000E+21
96  traj.phase0.states:x_96         c    -1.000000E+21     4.340062E-02     1.000000E+21
97  traj.phase0.states:x_97         c    -1.000000E+21     5.142021E-02     1.000000E+21
98  traj.phase0.states:x_98         c    -1.000000E+21     5.749509E-02     1.000000E+21
99  traj.phase0.states:x_99         c    -1.000000E+21     5.913429E-02     1.000000E+21
100  traj.phase0.states:x_100        c    -1.000000E+21     5.913429E-02     1.000000E+21
101  traj.phase0.states:x_101        c    -1.000000E+21     6.339850E-02     1.000000E+21
102  traj.phase0.states:x_102        c    -1.000000E+21     7.333414E-02     1.000000E+21
103  traj.phase0.states:x_103        c    -1.000000E+21     8.798458E-02     1.000000E+21
104  traj.phase0.states:x_104        c    -1.000000E+21     1.042580E-01     1.000000E+21
105  traj.phase0.states:x_105        c    -1.000000E+21     1.165857E-01     1.000000E+21
106  traj.phase0.states:x_106        c    -1.000000E+21     1.199136E-01     1.000000E+21
107  traj.phase0.states:x_107        c    -1.000000E+21     1.199136E-01     1.000000E+21
108  traj.phase0.states:x_108        c    -1.000000E+21     1.220767E-01     1.000000E+21
109  traj.phase0.states:x_109        c    -1.000000E+21     1.271657E-01     1.000000E+21
110  traj.phase0.states:x_110        c    -1.000000E+21     1.351472E-01     1.000000E+21
111  traj.phase0.states:x_111        c    -1.000000E+21     1.459275E-01     1.000000E+21
112  traj.phase0.states:x_112        c    -1.000000E+21     1.592483E-01     1.000000E+21
113  traj.phase0.states:x_113        c    -1.000000E+21     1.746072E-01     1.000000E+21
114  traj.phase0.states:x_114        c    -1.000000E+21     1.911522E-01     1.000000E+21
115  traj.phase0.states:x_115        c    -1.000000E+21     2.076539E-01     1.000000E+21
116  traj.phase0.states:x_116        c    -1.000000E+21     2.225878E-01     1.000000E+21
117  traj.phase0.states:x_117        c    -1.000000E+21     2.343165E-01     1.000000E+21
118  traj.phase0.states:x_118        c    -1.000000E+21     2.413827E-01     1.000000E+21
119  traj.phase0.states:x_119        c    -1.000000E+21     2.430983E-01     1.000000E+21
120  traj.phase0.states:x_120        c    -1.000000E+21     2.430983E-01     1.000000E+21
121  traj.phase0.states:x_121        c    -1.000000E+21     2.606412E-01     1.000000E+21
122  traj.phase0.states:x_122        c    -1.000000E+21     3.015355E-01     1.000000E+21
123  traj.phase0.states:x_123        c    -1.000000E+21     3.618131E-01     1.000000E+21
124  traj.phase0.states:x_124        c    -1.000000E+21     4.287658E-01     1.000000E+21
125  traj.phase0.states:x_125        c    -1.000000E+21     4.795089E-01     1.000000E+21
126  traj.phase0.states:x_126        c    -1.000000E+21     4.931937E-01     1.000000E+21
127  traj.phase0.states:x_127        c    -1.000000E+21     4.931937E-01     1.000000E+21
128  traj.phase0.states:x_128        c    -1.000000E+21     5.106727E-01     1.000000E+21
129  traj.phase0.states:x_129        c    -1.000000E+21     5.492413E-01     1.000000E+21
130  traj.phase0.states:x_130        c    -1.000000E+21     6.015223E-01     1.000000E+21
131  traj.phase0.states:x_131        c    -1.000000E+21     6.547457E-01     1.000000E+21
132  traj.phase0.states:x_132        c    -1.000000E+21     6.924610E-01     1.000000E+21
133  traj.phase0.states:x_133        c    -1.000000E+21     7.022911E-01     1.000000E+21
134  traj.phase0.states:x_134        c    -1.000000E+21     7.022911E-01     1.000000E+21
135  traj.phase0.states:x_135        c    -1.000000E+21     7.272064E-01     1.000000E+21
136  traj.phase0.states:x_136        c    -1.000000E+21     7.821037E-01     1.000000E+21
137  traj.phase0.states:x_137        c    -1.000000E+21     8.566134E-01     1.000000E+21
138  traj.phase0.states:x_138        c    -1.000000E+21     9.324727E-01     1.000000E+21
139  traj.phase0.states:x_139        c    -1.000000E+21     9.860481E-01     1.000000E+21
140  traj.phase0.states:x_140        c    -1.000000E+21     1.000000E+00     1.000000E+21
141  traj.phase0.states:xL_0         c    -1.000000E+21     2.110769E-02     1.000000E+21
142  traj.phase0.states:xL_1         c    -1.000000E+21     6.226345E-02     1.000000E+21
143  traj.phase0.states:xL_2         c    -1.000000E+21     1.084071E-01     1.000000E+21
144  traj.phase0.states:xL_3         c    -1.000000E+21     1.466510E-01     1.000000E+21
145  traj.phase0.states:xL_4         c    -1.000000E+21     1.696001E-01     1.000000E+21
146  traj.phase0.states:xL_5         c    -1.000000E+21     1.751108E-01     1.000000E+21
147  traj.phase0.states:xL_6         c    -1.000000E+21     1.751108E-01     1.000000E+21
148  traj.phase0.states:xL_7         c    -1.000000E+21     1.883150E-01     1.000000E+21
149  traj.phase0.states:xL_8         c    -1.000000E+21     2.140157E-01     1.000000E+21
150  traj.phase0.states:xL_9         c    -1.000000E+21     2.428162E-01     1.000000E+21
151  traj.phase0.states:xL_10        c    -1.000000E+21     2.666841E-01     1.000000E+21
152  traj.phase0.states:xL_11        c    -1.000000E+21     2.810105E-01     1.000000E+21
153  traj.phase0.states:xL_12        c    -1.000000E+21     2.844512E-01     1.000000E+21
154  traj.phase0.states:xL_13        c    -1.000000E+21     2.844512E-01     1.000000E+21
155  traj.phase0.states:xL_14        c    -1.000000E+21     2.926957E-01     1.000000E+21
156  traj.phase0.states:xL_15        c    -1.000000E+21     3.087377E-01     1.000000E+21
157  traj.phase0.states:xL_16        c    -1.000000E+21     3.267119E-01     1.000000E+21
158  traj.phase0.states:xL_17        c    -1.000000E+21     3.416096E-01     1.000000E+21
159  traj.phase0.states:xL_18        c    -1.000000E+21     3.505468E-01     1.000000E+21
160  traj.phase0.states:xL_19        c    -1.000000E+21     3.526927E-01     1.000000E+21
161  traj.phase0.states:xL_20        c    -1.000000E+21     3.526927E-01     1.000000E+21
162  traj.phase0.states:xL_21        c    -1.000000E+21     3.596229E-01     1.000000E+21
163  traj.phase0.states:xL_22        c    -1.000000E+21     3.736150E-01     1.000000E+21
164  traj.phase0.states:xL_23        c    -1.000000E+21     3.904698E-01     1.000000E+21
165  traj.phase0.states:xL_24        c    -1.000000E+21     4.064371E-01     1.000000E+21
166  traj.phase0.states:xL_25        c    -1.000000E+21     4.193721E-01     1.000000E+21
167  traj.phase0.states:xL_26        c    -1.000000E+21     4.286853E-01     1.000000E+21
168  traj.phase0.states:xL_27        c    -1.000000E+21     4.346404E-01     1.000000E+21
169  traj.phase0.states:xL_28        c    -1.000000E+21     4.377367E-01     1.000000E+21
170  traj.phase0.states:xL_29        c    -1.000000E+21     4.384381E-01     1.000000E+21
171  traj.phase0.states:xL_30        c    -1.000000E+21     4.384381E-01     1.000000E+21
172  traj.phase0.states:xL_31        c    -1.000000E+21     4.420214E-01     1.000000E+21
173  traj.phase0.states:xL_32        c    -1.000000E+21     4.480787E-01     1.000000E+21
174  traj.phase0.states:xL_33        c    -1.000000E+21     4.535457E-01     1.000000E+21
175  traj.phase0.states:xL_34        c    -1.000000E+21     4.571269E-01     1.000000E+21
176  traj.phase0.states:xL_35        c    -1.000000E+21     4.589037E-01     1.000000E+21
177  traj.phase0.states:xL_36        c    -1.000000E+21     4.592916E-01     1.000000E+21
178  traj.phase0.states:xL_37        c    -1.000000E+21     4.592916E-01     1.000000E+21
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372  traj.phase0.controls:u_90       c    -1.000000E+21     2.125103E-01     1.000000E+21
373  traj.phase0.controls:u_91       c    -1.000000E+21     2.515885E-01     1.000000E+21
374  traj.phase0.controls:u_92       c    -1.000000E+21     2.813695E-01     1.000000E+21
375  traj.phase0.controls:u_93       c    -1.000000E+21     2.895430E-01     1.000000E+21
376  traj.phase0.controls:u_94       c    -1.000000E+21     2.947694E-01     1.000000E+21
377  traj.phase0.controls:u_95       c    -1.000000E+21     3.069155E-01     1.000000E+21
378  traj.phase0.controls:u_96       c    -1.000000E+21     3.261771E-01     1.000000E+21
379  traj.phase0.controls:u_97       c    -1.000000E+21     3.520549E-01     1.000000E+21
380  traj.phase0.controls:u_98       c    -1.000000E+21     3.841607E-01     1.000000E+21
381  traj.phase0.controls:u_99       c    -1.000000E+21     4.213085E-01     1.000000E+21
382  traj.phase0.controls:u_100      c    -1.000000E+21     4.613088E-01     1.000000E+21
383  traj.phase0.controls:u_101      c    -1.000000E+21     5.011917E-01     1.000000E+21
384  traj.phase0.controls:u_102      c    -1.000000E+21     5.375049E-01     1.000000E+21
385  traj.phase0.controls:u_103      c    -1.000000E+21     5.657999E-01     1.000000E+21
386  traj.phase0.controls:u_104      c    -1.000000E+21     5.826618E-01     1.000000E+21
387  traj.phase0.controls:u_105      c    -1.000000E+21     5.868059E-01     1.000000E+21
388  traj.phase0.controls:u_106      c    -1.000000E+21     6.293472E-01     1.000000E+21
389  traj.phase0.controls:u_107      c    -1.000000E+21     7.282952E-01     1.000000E+21
390  traj.phase0.controls:u_108      c    -1.000000E+21     8.739748E-01     1.000000E+21
391  traj.phase0.controls:u_109      c    -1.000000E+21     1.035232E+00     1.000000E+21
392  traj.phase0.controls:u_110      c    -1.000000E+21     1.157397E+00     1.000000E+21
393  traj.phase0.controls:u_111      c    -1.000000E+21     1.190419E+00     1.000000E+21
394  traj.phase0.controls:u_112      c    -1.000000E+21     1.232713E+00     1.000000E+21
395  traj.phase0.controls:u_113      c    -1.000000E+21     1.325479E+00     1.000000E+21
396  traj.phase0.controls:u_114      c    -1.000000E+21     1.450965E+00     1.000000E+21
397  traj.phase0.controls:u_115      c    -1.000000E+21     1.581212E+00     1.000000E+21
398  traj.phase0.controls:u_116      c    -1.000000E+21     1.673336E+00     1.000000E+21
399  traj.phase0.controls:u_117      c    -1.000000E+21     1.696820E+00     1.000000E+21
400  traj.phase0.controls:u_118      c    -1.000000E+21     1.755702E+00     1.000000E+21
401  traj.phase0.controls:u_119      c    -1.000000E+21     1.886997E+00     1.000000E+21
402  traj.phase0.controls:u_120      c    -1.000000E+21     2.068409E+00     1.000000E+21
403  traj.phase0.controls:u_121      c    -1.000000E+21     2.250514E+00     1.000000E+21
404  traj.phase0.controls:u_122      c    -1.000000E+21     2.378090E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-15    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.590520E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.255855E-16    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.700743E-17    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.700743E-16    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.255855E-16    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.960595E-16    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.480297E-16    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.295260E-16    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.035409E-16    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.106227E-16    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.831868E-15    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.255855E-16    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.850372E-17    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.401487E-17    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.035409E-16    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.291264E-16    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.831868E-15    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.942890E-16    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.608225E-16    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.942890E-16    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.494005E-16    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.106227E-16    0.000000E+00              9.00000E+100
29  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
30  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
31  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
32  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
33  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.828671E-16    0.000000E+00              9.00000E+100
34  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
35  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
36  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
37  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-16    0.000000E+00              9.00000E+100
38  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
39  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
40  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
41  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
42  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
43  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
44  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
45  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
46  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.683753E-17    0.000000E+00              9.00000E+100
47  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
48  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
49  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.204170E-18    0.000000E+00              9.00000E+100
50  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
51  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.505213E-18    0.000000E+00              9.00000E+100
52  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.806256E-18    0.000000E+00              9.00000E+100
53  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-18    0.000000E+00              9.00000E+100
54  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
55  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.084202E-18    0.000000E+00              9.00000E+100
56  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.517883E-18    0.000000E+00              9.00000E+100
57  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
58  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.029992E-18    0.000000E+00              9.00000E+100
59  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.776264E-19    0.000000E+00              9.00000E+100
60  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.421011E-19    0.000000E+00              9.00000E+100
61  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.951564E-18    0.000000E+00              9.00000E+100
62  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-18    0.000000E+00              9.00000E+100
63  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
64  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.385245E-18    0.000000E+00              9.00000E+100
65  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
66  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.505213E-19    0.000000E+00              9.00000E+100
67  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.084202E-18    0.000000E+00              9.00000E+100
68  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
69  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.214306E-17    0.000000E+00              9.00000E+100
70  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.474515E-17    0.000000E+00              9.00000E+100
71  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.770490E-18    0.000000E+00              9.00000E+100
72  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
73  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
74  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
75  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.204170E-18    0.000000E+00              9.00000E+100
76  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
77  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.806256E-18    0.000000E+00              9.00000E+100
78  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
79  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
80  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-17    0.000000E+00              9.00000E+100
81  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
82  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
83  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-17    0.000000E+00              9.00000E+100
84  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
85  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.908196E-17    0.000000E+00              9.00000E+100
86  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.122502E-17    0.000000E+00              9.00000E+100
87  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.816392E-17    0.000000E+00              9.00000E+100
88  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
89  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
90  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
91  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
92  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-16    0.000000E+00              9.00000E+100
93  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
94  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
95  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.714451E-17    0.000000E+00              9.00000E+100
96  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.179612E-16    0.000000E+00              9.00000E+100
97  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
98  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.636780E-16    0.000000E+00              9.00000E+100
99  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
100  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.359224E-16    0.000000E+00              9.00000E+100
101  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.359224E-16    0.000000E+00              9.00000E+100
102  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
103  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
104  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.804112E-16    0.000000E+00              9.00000E+100
105  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
106  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
107  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
108  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-17    0.000000E+00              9.00000E+100
109  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
110  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-16    0.000000E+00              9.00000E+100
111  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
112  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
113  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.526557E-16    0.000000E+00              9.00000E+100
114  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.249001E-16    0.000000E+00              9.00000E+100
115  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.747003E-16    0.000000E+00              9.00000E+100
116  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.249001E-16    0.000000E+00              9.00000E+100
117  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.436896E-16    0.000000E+00              9.00000E+100
118  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
119  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
120  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
121  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-16    0.000000E+00              9.00000E+100
122  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
123  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.996004E-16    0.000000E+00              9.00000E+100
124  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.784592E-11    0.000000E+00              9.00000E+100
125  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.744260E-10    0.000000E+00              9.00000E+100
126  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.146217E-11    0.000000E+00              9.00000E+100
127  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.472415E-13    0.000000E+00              9.00000E+100
128  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.128055E-11    0.000000E+00              9.00000E+100
129  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.300934E-12    0.000000E+00              9.00000E+100
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280  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
281  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
282  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
283  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.998401E-13    0.000000E+00              9.00000E+100
284  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.996803E-14    0.000000E+00              9.00000E+100
285  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.881784E-14    0.000000E+00              9.00000E+100
286  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.233525E-14    0.000000E+00              9.00000E+100
287  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.036838E-15    0.000000E+00              9.00000E+100
288  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.734723E-16    0.000000E+00              9.00000E+100
289  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.729655E-16    0.000000E+00              9.00000E+100
290  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.673617E-17    0.000000E+00              9.00000E+100
291  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.505213E-17    0.000000E+00              9.00000E+100
292  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.908196E-16    0.000000E+00              9.00000E+100
293  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.030698E-16    0.000000E+00              9.00000E+100
294  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    5.551115E-16    0.000000E+00              9.00000E+100
295  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.387779E-15    0.000000E+00              9.00000E+100
296  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.775558E-15    0.000000E+00              9.00000E+100
297  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.383782E-15    0.000000E+00              9.00000E+100
298  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.549517E-14    0.000000E+00              9.00000E+100
299  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.331468E-14    0.000000E+00              9.00000E+100
300  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.598721E-13    0.000000E+00              9.00000E+100
301  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
302  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
303  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
304  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
305  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
306  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
307  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
308  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
309  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
310  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
311  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
312  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
313  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
314  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
315  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
316  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
317  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
318  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

==================================================
Grid Refinement - Iteration 4
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 19
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 0.95, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 12, 6, 6, 6]
Error = [8.481e-08, 7.484e-10, 4.086e-08, 7.863e-08, 1.268e-08, 2.032e-09,  2.7e-08, 7.404e-09, 1.024e-08, 3.235e-08, 3.147e-09, 1.813e-09, 3.052e-09, 1.875e-08, 1.162e-07, 5.135e-08, 3.478e-07, 3.969e-07, 6.409e-07]

    Phase: traj.phases.phase0
New Grid:
Number of Segments = 22
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.85, 0.9, 0.925, 0.95, 0.975, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 6, 6]
Refined: True

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/dymos/grid_refinement/hp_adaptive/hp_adaptive.py:379: RuntimeWarning: divide by zero encountered in divide
q_smooth = (np.log(self.error[phase_path][smooth_need_refine_idxs] /
q_split = np.log((self.error[phase_path][split_seg_idxs] /
/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:4284: OpenMDAOWarning:Calling list_inputs before final_setup will only display the default values of variables and will not show the result of any set_val calls.

Model viewer data has already been recorded for Driver.

Full total jacobian for problem 'problem' was computed 3 times, taking 0.4660092290000648 seconds.
Total jacobian shape: (332, 474)

Jacobian shape: (332, 474)  (1.99% nonzero)
FWD solves: 0   REV solves: 27
Total colors vs. total size: 27 vs 332  (91.87% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.4660 sec
Time to compute coloring:   0.1603 sec
Memory to compute coloring:   0.0000 MB
Coloring created on: 2024-08-13 12:33:04

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    0.6558
User Objective Time :       0.0036
User Sensitivity Time :     0.0272
Interface Time :            0.0129
Opt Solver Time:            0.6121
Calls to Objective Function :       3
Calls to Sens Function :            2

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.673095E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                         Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0          c    -1.000000E+21     1.465633E+00     1.000000E+21
1  traj.phase0.states:x_1          c    -1.000000E+21     1.396193E+00     1.000000E+21
2  traj.phase0.states:x_2          c    -1.000000E+21     1.313984E+00     1.000000E+21
3  traj.phase0.states:x_3          c    -1.000000E+21     1.241732E+00     1.000000E+21
4  traj.phase0.states:x_4          c    -1.000000E+21     1.196281E+00     1.000000E+21
5  traj.phase0.states:x_5          c    -1.000000E+21     1.185108E+00     1.000000E+21
6  traj.phase0.states:x_6          c    -1.000000E+21     1.185108E+00     1.000000E+21
7  traj.phase0.states:x_7          c    -1.000000E+21     1.157898E+00     1.000000E+21
8  traj.phase0.states:x_8          c    -1.000000E+21     1.103012E+00     1.000000E+21
9  traj.phase0.states:x_9          c    -1.000000E+21     1.038063E+00     1.000000E+21
10  traj.phase0.states:x_10         c    -1.000000E+21     9.809842E-01     1.000000E+21
11  traj.phase0.states:x_11         c    -1.000000E+21     9.450699E-01     1.000000E+21
12  traj.phase0.states:x_12         c    -1.000000E+21     9.362392E-01     1.000000E+21
13  traj.phase0.states:x_13         c    -1.000000E+21     9.362392E-01     1.000000E+21
14  traj.phase0.states:x_14         c    -1.000000E+21     9.147332E-01     1.000000E+21
15  traj.phase0.states:x_15         c    -1.000000E+21     8.713674E-01     1.000000E+21
16  traj.phase0.states:x_16         c    -1.000000E+21     8.200574E-01     1.000000E+21
17  traj.phase0.states:x_17         c    -1.000000E+21     7.749596E-01     1.000000E+21
18  traj.phase0.states:x_18         c    -1.000000E+21     7.465985E-01     1.000000E+21
19  traj.phase0.states:x_19         c    -1.000000E+21     7.396271E-01     1.000000E+21
20  traj.phase0.states:x_20         c    -1.000000E+21     7.396271E-01     1.000000E+21
21  traj.phase0.states:x_21         c    -1.000000E+21     7.166493E-01     1.000000E+21
22  traj.phase0.states:x_22         c    -1.000000E+21     6.678523E-01     1.000000E+21
23  traj.phase0.states:x_23         c    -1.000000E+21     6.038577E-01     1.000000E+21
24  traj.phase0.states:x_24         c    -1.000000E+21     5.362335E-01     1.000000E+21
25  traj.phase0.states:x_25         c    -1.000000E+21     4.744323E-01     1.000000E+21
26  traj.phase0.states:x_26         c    -1.000000E+21     4.244036E-01     1.000000E+21
27  traj.phase0.states:x_27         c    -1.000000E+21     3.890567E-01     1.000000E+21
28  traj.phase0.states:x_28         c    -1.000000E+21     3.693451E-01     1.000000E+21
29  traj.phase0.states:x_29         c    -1.000000E+21     3.647316E-01     1.000000E+21
30  traj.phase0.states:x_30         c    -1.000000E+21     3.647316E-01     1.000000E+21
31  traj.phase0.states:x_31         c    -1.000000E+21     3.401880E-01     1.000000E+21
32  traj.phase0.states:x_32         c    -1.000000E+21     2.940773E-01     1.000000E+21
33  traj.phase0.states:x_33         c    -1.000000E+21     2.451248E-01     1.000000E+21
34  traj.phase0.states:x_34         c    -1.000000E+21     2.068709E-01     1.000000E+21
35  traj.phase0.states:x_35         c    -1.000000E+21     1.849780E-01     1.000000E+21
36  traj.phase0.states:x_36         c    -1.000000E+21     1.798440E-01     1.000000E+21
37  traj.phase0.states:x_37         c    -1.000000E+21     1.798440E-01     1.000000E+21
38  traj.phase0.states:x_38         c    -1.000000E+21     1.677415E-01     1.000000E+21
39  traj.phase0.states:x_39         c    -1.000000E+21     1.450079E-01     1.000000E+21
40  traj.phase0.states:x_40         c    -1.000000E+21     1.208750E-01     1.000000E+21
41  traj.phase0.states:x_41         c    -1.000000E+21     1.020153E-01     1.000000E+21
42  traj.phase0.states:x_42         c    -1.000000E+21     9.122210E-02     1.000000E+21
43  traj.phase0.states:x_43         c    -1.000000E+21     8.869089E-02     1.000000E+21
44  traj.phase0.states:x_44         c    -1.000000E+21     8.869089E-02     1.000000E+21
45  traj.phase0.states:x_45         c    -1.000000E+21     7.715679E-02     1.000000E+21
46  traj.phase0.states:x_46         c    -1.000000E+21     5.766367E-02     1.000000E+21
47  traj.phase0.states:x_47         c    -1.000000E+21     4.008187E-02     1.000000E+21
48  traj.phase0.states:x_48         c    -1.000000E+21     2.856809E-02     1.000000E+21
49  traj.phase0.states:x_49         c    -1.000000E+21     2.285788E-02     1.000000E+21
50  traj.phase0.states:x_50         c    -1.000000E+21     2.161181E-02     1.000000E+21
51  traj.phase0.states:x_51         c    -1.000000E+21     2.161181E-02     1.000000E+21
52  traj.phase0.states:x_52         c    -1.000000E+21     1.881446E-02     1.000000E+21
53  traj.phase0.states:x_53         c    -1.000000E+21     1.409340E-02     1.000000E+21
54  traj.phase0.states:x_54         c    -1.000000E+21     9.850010E-03     1.000000E+21
55  traj.phase0.states:x_55         c    -1.000000E+21     7.092952E-03     1.000000E+21
56  traj.phase0.states:x_56         c    -1.000000E+21     5.741251E-03     1.000000E+21
57  traj.phase0.states:x_57         c    -1.000000E+21     5.448872E-03     1.000000E+21
58  traj.phase0.states:x_58         c    -1.000000E+21     5.448872E-03     1.000000E+21
59  traj.phase0.states:x_59         c    -1.000000E+21     4.797730E-03     1.000000E+21
60  traj.phase0.states:x_60         c    -1.000000E+21     3.725192E-03     1.000000E+21
61  traj.phase0.states:x_61         c    -1.000000E+21     2.825846E-03     1.000000E+21
62  traj.phase0.states:x_62         c    -1.000000E+21     2.330538E-03     1.000000E+21
63  traj.phase0.states:x_63         c    -1.000000E+21     2.152516E-03     1.000000E+21
64  traj.phase0.states:x_64         c    -1.000000E+21     2.124933E-03     1.000000E+21
65  traj.phase0.states:x_65         c    -1.000000E+21     2.124933E-03     1.000000E+21
66  traj.phase0.states:x_66         c    -1.000000E+21     2.085775E-03     1.000000E+21
67  traj.phase0.states:x_67         c    -1.000000E+21     2.135643E-03     1.000000E+21
68  traj.phase0.states:x_68         c    -1.000000E+21     2.462216E-03     1.000000E+21
69  traj.phase0.states:x_69         c    -1.000000E+21     3.060561E-03     1.000000E+21
70  traj.phase0.states:x_70         c    -1.000000E+21     3.636940E-03     1.000000E+21
71  traj.phase0.states:x_71         c    -1.000000E+21     3.809422E-03     1.000000E+21
72  traj.phase0.states:x_72         c    -1.000000E+21     3.809422E-03     1.000000E+21
73  traj.phase0.states:x_73         c    -1.000000E+21     4.040214E-03     1.000000E+21
74  traj.phase0.states:x_74         c    -1.000000E+21     4.587517E-03     1.000000E+21
75  traj.phase0.states:x_75         c    -1.000000E+21     5.409584E-03     1.000000E+21
76  traj.phase0.states:x_76         c    -1.000000E+21     6.337594E-03     1.000000E+21
77  traj.phase0.states:x_77         c    -1.000000E+21     7.047470E-03     1.000000E+21
78  traj.phase0.states:x_78         c    -1.000000E+21     7.239554E-03     1.000000E+21
79  traj.phase0.states:x_79         c    -1.000000E+21     7.239554E-03     1.000000E+21
80  traj.phase0.states:x_80         c    -1.000000E+21     7.739904E-03     1.000000E+21
81  traj.phase0.states:x_81         c    -1.000000E+21     8.910673E-03     1.000000E+21
82  traj.phase0.states:x_82         c    -1.000000E+21     1.064471E-02     1.000000E+21
83  traj.phase0.states:x_83         c    -1.000000E+21     1.257773E-02     1.000000E+21
84  traj.phase0.states:x_84         c    -1.000000E+21     1.404606E-02     1.000000E+21
85  traj.phase0.states:x_85         c    -1.000000E+21     1.444245E-02     1.000000E+21
86  traj.phase0.states:x_86         c    -1.000000E+21     1.444245E-02     1.000000E+21
87  traj.phase0.states:x_87         c    -1.000000E+21     1.547362E-02     1.000000E+21
88  traj.phase0.states:x_88         c    -1.000000E+21     1.787921E-02     1.000000E+21
89  traj.phase0.states:x_89         c    -1.000000E+21     2.142844E-02     1.000000E+21
90  traj.phase0.states:x_90         c    -1.000000E+21     2.537446E-02     1.000000E+21
91  traj.phase0.states:x_91         c    -1.000000E+21     2.836760E-02     1.000000E+21
92  traj.phase0.states:x_92         c    -1.000000E+21     2.917502E-02     1.000000E+21
93  traj.phase0.states:x_93         c    -1.000000E+21     2.917502E-02     1.000000E+21
94  traj.phase0.states:x_94         c    -1.000000E+21     3.127405E-02     1.000000E+21
95  traj.phase0.states:x_95         c    -1.000000E+21     3.616584E-02     1.000000E+21
96  traj.phase0.states:x_96         c    -1.000000E+21     4.337899E-02     1.000000E+21
97  traj.phase0.states:x_97         c    -1.000000E+21     5.139290E-02     1.000000E+21
98  traj.phase0.states:x_98         c    -1.000000E+21     5.746800E-02     1.000000E+21
99  traj.phase0.states:x_99         c    -1.000000E+21     5.910710E-02     1.000000E+21
100  traj.phase0.states:x_100        c    -1.000000E+21     5.910710E-02     1.000000E+21
101  traj.phase0.states:x_101        c    -1.000000E+21     6.100217E-02     1.000000E+21
102  traj.phase0.states:x_102        c    -1.000000E+21     6.546938E-02     1.000000E+21
103  traj.phase0.states:x_103        c    -1.000000E+21     7.241264E-02     1.000000E+21
104  traj.phase0.states:x_104        c    -1.000000E+21     8.156923E-02     1.000000E+21
105  traj.phase0.states:x_105        c    -1.000000E+21     9.224850E-02     1.000000E+21
106  traj.phase0.states:x_106        c    -1.000000E+21     1.031237E-01     1.000000E+21
107  traj.phase0.states:x_107        c    -1.000000E+21     1.124857E-01     1.000000E+21
108  traj.phase0.states:x_108        c    -1.000000E+21     1.184857E-01     1.000000E+21
109  traj.phase0.states:x_109        c    -1.000000E+21     1.199833E-01     1.000000E+21
110  traj.phase0.states:x_110        c    -1.000000E+21     1.199833E-01     1.000000E+21
111  traj.phase0.states:x_111        c    -1.000000E+21     1.221448E-01     1.000000E+21
112  traj.phase0.states:x_112        c    -1.000000E+21     1.272300E-01     1.000000E+21
113  traj.phase0.states:x_113        c    -1.000000E+21     1.352049E-01     1.000000E+21
114  traj.phase0.states:x_114        c    -1.000000E+21     1.459764E-01     1.000000E+21
115  traj.phase0.states:x_115        c    -1.000000E+21     1.592878E-01     1.000000E+21
116  traj.phase0.states:x_116        c    -1.000000E+21     1.746367E-01     1.000000E+21
117  traj.phase0.states:x_117        c    -1.000000E+21     1.911722E-01     1.000000E+21
118  traj.phase0.states:x_118        c    -1.000000E+21     2.076653E-01     1.000000E+21
119  traj.phase0.states:x_119        c    -1.000000E+21     2.225930E-01     1.000000E+21
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313  traj.phase0.states:xL_148       c    -1.000000E+21     1.021374E+00     1.000000E+21
314  traj.phase0.states:xL_149       c    -1.000000E+21     1.053343E+00     1.000000E+21
315  traj.phase0.states:xL_150       c    -1.000000E+21     1.061674E+00     1.000000E+21
316  traj.phase0.states:xL_151       c    -1.000000E+21     1.061674E+00     1.000000E+21
317  traj.phase0.states:xL_152       c    -1.000000E+21     1.082792E+00     1.000000E+21
318  traj.phase0.states:xL_153       c    -1.000000E+21     1.129366E+00     1.000000E+21
319  traj.phase0.states:xL_154       c    -1.000000E+21     1.192480E+00     1.000000E+21
320  traj.phase0.states:xL_155       c    -1.000000E+21     1.256710E+00     1.000000E+21
321  traj.phase0.states:xL_156       c    -1.000000E+21     1.302221E+00     1.000000E+21
322  traj.phase0.states:xL_157       c    -1.000000E+21     1.314080E+00     1.000000E+21
323  traj.phase0.states:xL_158       c    -1.000000E+21     1.314080E+00     1.000000E+21
324  traj.phase0.states:xL_159       c    -1.000000E+21     1.344136E+00     1.000000E+21
325  traj.phase0.states:xL_160       c    -1.000000E+21     1.410430E+00     1.000000E+21
326  traj.phase0.states:xL_161       c    -1.000000E+21     1.500311E+00     1.000000E+21
327  traj.phase0.states:xL_162       c    -1.000000E+21     1.591666E+00     1.000000E+21
328  traj.phase0.states:xL_163       c    -1.000000E+21     1.656269E+00     1.000000E+21
329  traj.phase0.states:xL_164       c    -1.000000E+21     1.673095E+00     1.000000E+21
330  traj.phase0.controls:u_0        c    -1.000000E+21    -6.145494E-01     1.000000E+21
331  traj.phase0.controls:u_1        c    -1.000000E+21    -6.047893E-01     1.000000E+21
332  traj.phase0.controls:u_2        c    -1.000000E+21    -5.782185E-01     1.000000E+21
333  traj.phase0.controls:u_3        c    -1.000000E+21    -5.440701E-01     1.000000E+21
334  traj.phase0.controls:u_4        c    -1.000000E+21    -5.143529E-01     1.000000E+21
335  traj.phase0.controls:u_5        c    -1.000000E+21    -4.955519E-01     1.000000E+21
336  traj.phase0.controls:u_6        c    -1.000000E+21    -4.910059E-01     1.000000E+21
337  traj.phase0.controls:u_7        c    -1.000000E+21    -4.799013E-01     1.000000E+21
338  traj.phase0.controls:u_8        c    -1.000000E+21    -4.569901E-01     1.000000E+21
339  traj.phase0.controls:u_9        c    -1.000000E+21    -4.297946E-01     1.000000E+21
340  traj.phase0.controls:u_10       c    -1.000000E+21    -4.064188E-01     1.000000E+21
341  traj.phase0.controls:u_11       c    -1.000000E+21    -3.920318E-01     1.000000E+21
342  traj.phase0.controls:u_12       c    -1.000000E+21    -3.885214E-01     1.000000E+21
343  traj.phase0.controls:u_13       c    -1.000000E+21    -3.796119E-01     1.000000E+21
344  traj.phase0.controls:u_14       c    -1.000000E+21    -3.609721E-01     1.000000E+21
345  traj.phase0.controls:u_15       c    -1.000000E+21    -3.397257E-01     1.000000E+21
346  traj.phase0.controls:u_16       c    -1.000000E+21    -3.209827E-01     1.000000E+21
347  traj.phase0.controls:u_17       c    -1.000000E+21    -3.090104E-01     1.000000E+21
348  traj.phase0.controls:u_18       c    -1.000000E+21    -3.061933E-01     1.000000E+21
349  traj.phase0.controls:u_19       c    -1.000000E+21    -2.968600E-01     1.000000E+21
350  traj.phase0.controls:u_20       c    -1.000000E+21    -2.765627E-01     1.000000E+21
351  traj.phase0.controls:u_21       c    -1.000000E+21    -2.501139E-01     1.000000E+21
352  traj.phase0.controls:u_22       c    -1.000000E+21    -2.218449E-01     1.000000E+21
353  traj.phase0.controls:u_23       c    -1.000000E+21    -1.962237E-01     1.000000E+21
354  traj.phase0.controls:u_24       c    -1.000000E+21    -1.757854E-01     1.000000E+21
355  traj.phase0.controls:u_25       c    -1.000000E+21    -1.610790E-01     1.000000E+21
356  traj.phase0.controls:u_26       c    -1.000000E+21    -1.528806E-01     1.000000E+21
357  traj.phase0.controls:u_27       c    -1.000000E+21    -1.509750E-01     1.000000E+21
358  traj.phase0.controls:u_28       c    -1.000000E+21    -1.408479E-01     1.000000E+21
359  traj.phase0.controls:u_29       c    -1.000000E+21    -1.218095E-01     1.000000E+21
360  traj.phase0.controls:u_30       c    -1.000000E+21    -1.015350E-01     1.000000E+21
361  traj.phase0.controls:u_31       c    -1.000000E+21    -8.566971E-02     1.000000E+21
362  traj.phase0.controls:u_32       c    -1.000000E+21    -7.659599E-02     1.000000E+21
363  traj.phase0.controls:u_33       c    -1.000000E+21    -7.446652E-02     1.000000E+21
364  traj.phase0.controls:u_34       c    -1.000000E+21    -6.944356E-02     1.000000E+21
365  traj.phase0.controls:u_35       c    -1.000000E+21    -6.001823E-02     1.000000E+21
366  traj.phase0.controls:u_36       c    -1.000000E+21    -5.002954E-02     1.000000E+21
367  traj.phase0.controls:u_37       c    -1.000000E+21    -4.220892E-02     1.000000E+21
368  traj.phase0.controls:u_38       c    -1.000000E+21    -3.773797E-02     1.000000E+21
369  traj.phase0.controls:u_39       c    -1.000000E+21    -3.669632E-02     1.000000E+21
370  traj.phase0.controls:u_40       c    -1.000000E+21    -3.193799E-02     1.000000E+21
371  traj.phase0.controls:u_41       c    -1.000000E+21    -2.382635E-02     1.000000E+21
372  traj.phase0.controls:u_42       c    -1.000000E+21    -1.650708E-02     1.000000E+21
373  traj.phase0.controls:u_43       c    -1.000000E+21    -1.172490E-02     1.000000E+21
374  traj.phase0.controls:u_44       c    -1.000000E+21    -9.336245E-03     1.000000E+21
375  traj.phase0.controls:u_45       c    -1.000000E+21    -8.812191E-03     1.000000E+21
376  traj.phase0.controls:u_46       c    -1.000000E+21    -7.632042E-03     1.000000E+21
377  traj.phase0.controls:u_47       c    -1.000000E+21    -5.618890E-03     1.000000E+21
378  traj.phase0.controls:u_48       c    -1.000000E+21    -3.761602E-03     1.000000E+21
379  traj.phase0.controls:u_49       c    -1.000000E+21    -2.495918E-03     1.000000E+21
380  traj.phase0.controls:u_50       c    -1.000000E+21    -1.828172E-03     1.000000E+21
381  traj.phase0.controls:u_51       c    -1.000000E+21    -1.674509E-03     1.000000E+21
382  traj.phase0.controls:u_52       c    -1.000000E+21    -1.317268E-03     1.000000E+21
383  traj.phase0.controls:u_53       c    -1.000000E+21    -6.448625E-04     1.000000E+21
384  traj.phase0.controls:u_54       c    -1.000000E+21     1.323948E-04     1.000000E+21
385  traj.phase0.controls:u_55       c    -1.000000E+21     8.524918E-04     1.000000E+21
386  traj.phase0.controls:u_56       c    -1.000000E+21     1.373334E-03     1.000000E+21
387  traj.phase0.controls:u_57       c    -1.000000E+21     1.518046E-03     1.000000E+21
388  traj.phase0.controls:u_58       c    -1.000000E+21     1.895233E-03     1.000000E+21
389  traj.phase0.controls:u_59       c    -1.000000E+21     2.818186E-03     1.000000E+21
390  traj.phase0.controls:u_60       c    -1.000000E+21     4.338687E-03     1.000000E+21
391  traj.phase0.controls:u_61       c    -1.000000E+21     6.207538E-03     1.000000E+21
392  traj.phase0.controls:u_62       c    -1.000000E+21     7.817832E-03     1.000000E+21
393  traj.phase0.controls:u_63       c    -1.000000E+21     8.296683E-03     1.000000E+21
394  traj.phase0.controls:u_64       c    -1.000000E+21     8.922747E-03     1.000000E+21
395  traj.phase0.controls:u_65       c    -1.000000E+21     1.034959E-02     1.000000E+21
396  traj.phase0.controls:u_66       c    -1.000000E+21     1.245656E-02     1.000000E+21
397  traj.phase0.controls:u_67       c    -1.000000E+21     1.479483E-02     1.000000E+21
398  traj.phase0.controls:u_68       c    -1.000000E+21     1.655669E-02     1.000000E+21
399  traj.phase0.controls:u_69       c    -1.000000E+21     1.703157E-02     1.000000E+21
400  traj.phase0.controls:u_70       c    -1.000000E+21     1.826829E-02     1.000000E+21
401  traj.phase0.controls:u_71       c    -1.000000E+21     2.115707E-02     1.000000E+21
402  traj.phase0.controls:u_72       c    -1.000000E+21     2.540819E-02     1.000000E+21
403  traj.phase0.controls:u_73       c    -1.000000E+21     3.011147E-02     1.000000E+21
404  traj.phase0.controls:u_74       c    -1.000000E+21     3.367774E-02     1.000000E+21
405  traj.phase0.controls:u_75       c    -1.000000E+21     3.464206E-02     1.000000E+21
406  traj.phase0.controls:u_76       c    -1.000000E+21     3.715068E-02     1.000000E+21
407  traj.phase0.controls:u_77       c    -1.000000E+21     4.299524E-02     1.000000E+21
408  traj.phase0.controls:u_78       c    -1.000000E+21     5.159853E-02     1.000000E+21
409  traj.phase0.controls:u_79       c    -1.000000E+21     6.113647E-02     1.000000E+21
410  traj.phase0.controls:u_80       c    -1.000000E+21     6.836268E-02     1.000000E+21
411  traj.phase0.controls:u_81       c    -1.000000E+21     7.031237E-02     1.000000E+21
412  traj.phase0.controls:u_82       c    -1.000000E+21     7.538106E-02     1.000000E+21
413  traj.phase0.controls:u_83       c    -1.000000E+21     8.722051E-02     1.000000E+21
414  traj.phase0.controls:u_84       c    -1.000000E+21     1.046790E-01     1.000000E+21
415  traj.phase0.controls:u_85       c    -1.000000E+21     1.239875E-01     1.000000E+21
416  traj.phase0.controls:u_86       c    -1.000000E+21     1.386512E-01     1.000000E+21
417  traj.phase0.controls:u_87       c    -1.000000E+21     1.426294E-01     1.000000E+21
418  traj.phase0.controls:u_88       c    -1.000000E+21     1.473509E-01     1.000000E+21
419  traj.phase0.controls:u_89       c    -1.000000E+21     1.582559E-01     1.000000E+21
420  traj.phase0.controls:u_90       c    -1.000000E+21     1.748282E-01     1.000000E+21
421  traj.phase0.controls:u_91       c    -1.000000E+21     1.974839E-01     1.000000E+21
422  traj.phase0.controls:u_92       c    -1.000000E+21     2.229738E-01     1.000000E+21
423  traj.phase0.controls:u_93       c    -1.000000E+21     2.487930E-01     1.000000E+21
424  traj.phase0.controls:u_94       c    -1.000000E+21     2.714892E-01     1.000000E+21
425  traj.phase0.controls:u_95       c    -1.000000E+21     2.858881E-01     1.000000E+21
426  traj.phase0.controls:u_96       c    -1.000000E+21     2.895111E-01     1.000000E+21
427  traj.phase0.controls:u_97       c    -1.000000E+21     2.947046E-01     1.000000E+21
428  traj.phase0.controls:u_98       c    -1.000000E+21     3.068453E-01     1.000000E+21
429  traj.phase0.controls:u_99       c    -1.000000E+21     3.260655E-01     1.000000E+21
430  traj.phase0.controls:u_100      c    -1.000000E+21     3.519542E-01     1.000000E+21
431  traj.phase0.controls:u_101      c    -1.000000E+21     3.840415E-01     1.000000E+21
432  traj.phase0.controls:u_102      c    -1.000000E+21     4.211932E-01     1.000000E+21
433  traj.phase0.controls:u_103      c    -1.000000E+21     4.611709E-01     1.000000E+21
434  traj.phase0.controls:u_104      c    -1.000000E+21     5.010790E-01     1.000000E+21
435  traj.phase0.controls:u_105      c    -1.000000E+21     5.373678E-01     1.000000E+21
436  traj.phase0.controls:u_106      c    -1.000000E+21     5.657238E-01     1.000000E+21
437  traj.phase0.controls:u_107      c    -1.000000E+21     5.826413E-01     1.000000E+21
438  traj.phase0.controls:u_108      c    -1.000000E+21     5.867517E-01     1.000000E+21
439  traj.phase0.controls:u_109      c    -1.000000E+21     6.079509E-01     1.000000E+21
440  traj.phase0.controls:u_110      c    -1.000000E+21     6.547306E-01     1.000000E+21
441  traj.phase0.controls:u_111      c    -1.000000E+21     7.165830E-01     1.000000E+21
442  traj.phase0.controls:u_112      c    -1.000000E+21     7.821332E-01     1.000000E+21
443  traj.phase0.controls:u_113      c    -1.000000E+21     8.274993E-01     1.000000E+21
444  traj.phase0.controls:u_114      c    -1.000000E+21     8.382529E-01     1.000000E+21
445  traj.phase0.controls:u_115      c    -1.000000E+21     8.664761E-01     1.000000E+21
446  traj.phase0.controls:u_116      c    -1.000000E+21     9.327844E-01     1.000000E+21
447  traj.phase0.controls:u_117      c    -1.000000E+21     1.020110E+00     1.000000E+21
448  traj.phase0.controls:u_118      c    -1.000000E+21     1.109796E+00     1.000000E+21
449  traj.phase0.controls:u_119      c    -1.000000E+21     1.173985E+00     1.000000E+21
450  traj.phase0.controls:u_120      c    -1.000000E+21     1.190142E+00     1.000000E+21
451  traj.phase0.controls:u_121      c    -1.000000E+21     1.210841E+00     1.000000E+21
452  traj.phase0.controls:u_122      c    -1.000000E+21     1.256247E+00     1.000000E+21
453  traj.phase0.controls:u_123      c    -1.000000E+21     1.314041E+00     1.000000E+21
454  traj.phase0.controls:u_124      c    -1.000000E+21     1.371770E+00     1.000000E+21
455  traj.phase0.controls:u_125      c    -1.000000E+21     1.410893E+00     1.000000E+21
456  traj.phase0.controls:u_126      c    -1.000000E+21     1.420258E+00     1.000000E+21
457  traj.phase0.controls:u_127      c    -1.000000E+21     1.444321E+00     1.000000E+21
458  traj.phase0.controls:u_128      c    -1.000000E+21     1.498752E+00     1.000000E+21
459  traj.phase0.controls:u_129      c    -1.000000E+21     1.568675E+00     1.000000E+21
460  traj.phase0.controls:u_130      c    -1.000000E+21     1.637656E+00     1.000000E+21
461  traj.phase0.controls:u_131      c    -1.000000E+21     1.684823E+00     1.000000E+21
462  traj.phase0.controls:u_132      c    -1.000000E+21     1.696394E+00     1.000000E+21
463  traj.phase0.controls:u_133      c    -1.000000E+21     1.725504E+00     1.000000E+21
464  traj.phase0.controls:u_134      c    -1.000000E+21     1.788703E+00     1.000000E+21
465  traj.phase0.controls:u_135      c    -1.000000E+21     1.870591E+00     1.000000E+21
466  traj.phase0.controls:u_136      c    -1.000000E+21     1.953696E+00     1.000000E+21
467  traj.phase0.controls:u_137      c    -1.000000E+21     2.010262E+00     1.000000E+21
468  traj.phase0.controls:u_138      c    -1.000000E+21     2.023883E+00     1.000000E+21
469  traj.phase0.controls:u_139      c    -1.000000E+21     2.058329E+00     1.000000E+21
470  traj.phase0.controls:u_140      c    -1.000000E+21     2.134442E+00     1.000000E+21
471  traj.phase0.controls:u_141      c    -1.000000E+21     2.232017E+00     1.000000E+21
472  traj.phase0.controls:u_142      c    -1.000000E+21     2.328133E+00     1.000000E+21
473  traj.phase0.controls:u_143      c    -1.000000E+21     2.393836E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.256654E-15    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.511710E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.700743E-16    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.621933E-16    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.511710E-16    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.031412E-16    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.031412E-16    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.181041E-16    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.590520E-16    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.295260E-16    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.511710E-16    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.145632E-16    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.625929E-16    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.165734E-15    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.942890E-16    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.885781E-16    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.718448E-16    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.608225E-16    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.942890E-16    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
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80  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.214306E-17    0.000000E+00              9.00000E+100
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82  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.071532E-17    0.000000E+00              9.00000E+100
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85  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
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89  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
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91  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.979728E-17    0.000000E+00              9.00000E+100
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93  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
94  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.457168E-16    0.000000E+00              9.00000E+100
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98  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-16    0.000000E+00              9.00000E+100
99  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
100  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.359224E-16    0.000000E+00              9.00000E+100
101  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
102  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
103  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.179612E-16    0.000000E+00              9.00000E+100
104  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
105  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.804112E-16    0.000000E+00              9.00000E+100
106  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.216450E-16    0.000000E+00              9.00000E+100
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108  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.718448E-16    0.000000E+00              9.00000E+100
109  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.020562E-17    0.000000E+00              9.00000E+100
110  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
111  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.567391E-16    0.000000E+00              9.00000E+100
112  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-16    0.000000E+00              9.00000E+100
113  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
114  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
115  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
116  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
117  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
118  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-16    0.000000E+00              9.00000E+100
119  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-16    0.000000E+00              9.00000E+100
120  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.804112E-16    0.000000E+00              9.00000E+100
121  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.567391E-16    0.000000E+00              9.00000E+100
122  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
123  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
124  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.718448E-16    0.000000E+00              9.00000E+100
125  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.747003E-16    0.000000E+00              9.00000E+100
126  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.158795E-15    0.000000E+00              9.00000E+100
127  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.012279E-16    0.000000E+00              9.00000E+100
128  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.261280E-16    0.000000E+00              9.00000E+100
129  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.914335E-16    0.000000E+00              9.00000E+100
130  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.245005E-17    0.000000E+00              9.00000E+100
131  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.179612E-16    0.000000E+00              9.00000E+100
132  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.245005E-16    0.000000E+00              9.00000E+100
133  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.415534E-15    0.000000E+00              9.00000E+100
134  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.498002E-16    0.000000E+00              9.00000E+100
135  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.412337E-16    0.000000E+00              9.00000E+100
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137  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.273559E-16    0.000000E+00              9.00000E+100
138  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-16    0.000000E+00              9.00000E+100
139  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.275957E-15    0.000000E+00              9.00000E+100
140  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.636780E-16    0.000000E+00              9.00000E+100
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142  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
143  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-16    0.000000E+00              9.00000E+100
144  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.191891E-16    0.000000E+00              9.00000E+100
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146  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.365633E-10    0.000000E+00              9.00000E+100
147  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.739472E-12    0.000000E+00              9.00000E+100
148  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.117010E-13    0.000000E+00              9.00000E+100
149  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.957088E-12    0.000000E+00              9.00000E+100
150  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.702231E-12    0.000000E+00              9.00000E+100
151  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.686586E-12    0.000000E+00              9.00000E+100
152  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.674139E-13    0.000000E+00              9.00000E+100
153  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.195052E-13    0.000000E+00              9.00000E+100
154  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.257335E-13    0.000000E+00              9.00000E+100
155  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.896909E-13    0.000000E+00              9.00000E+100
156  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.831926E-12    0.000000E+00              9.00000E+100
157  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.498598E-12    0.000000E+00              9.00000E+100
158  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.497308E-12    0.000000E+00              9.00000E+100
159  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.061435E-13    0.000000E+00              9.00000E+100
160  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.876912E-13    0.000000E+00              9.00000E+100
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163  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.596639E-13    0.000000E+00              9.00000E+100
164  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.378481E-13    0.000000E+00              9.00000E+100
165  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.232659E-12    0.000000E+00              9.00000E+100
166  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.436906E-13    0.000000E+00              9.00000E+100
167  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.701098E-11    0.000000E+00              9.00000E+100
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171  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.208275E-12    0.000000E+00              9.00000E+100
172  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.348930E-12    0.000000E+00              9.00000E+100
173  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.642577E-12    0.000000E+00              9.00000E+100
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176  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.250167E-13    0.000000E+00              9.00000E+100
177  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.791438E-13    0.000000E+00              9.00000E+100
178  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.596567E-13    0.000000E+00              9.00000E+100
179  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.718084E-13    0.000000E+00              9.00000E+100
180  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.178592E-12    0.000000E+00              9.00000E+100
181  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.234924E-13    0.000000E+00              9.00000E+100
182  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.002526E-13    0.000000E+00              9.00000E+100
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214  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.646454E-13    0.000000E+00              9.00000E+100
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216  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.779291E-13    0.000000E+00              9.00000E+100
217  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.885689E-13    0.000000E+00              9.00000E+100
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219  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.620222E-13    0.000000E+00              9.00000E+100
220  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.327189E-13    0.000000E+00              9.00000E+100
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223  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.567619E-12    0.000000E+00              9.00000E+100
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228  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.581626E-12    0.000000E+00              9.00000E+100
229  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.692813E-12    0.000000E+00              9.00000E+100
230  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.117970E-11    0.000000E+00              9.00000E+100
231  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.497406E-12    0.000000E+00              9.00000E+100
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233  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.310895E-12    0.000000E+00              9.00000E+100
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235  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.374551E-13    0.000000E+00              9.00000E+100
236  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.817992E-10    0.000000E+00              9.00000E+100
237  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.898090E-10    0.000000E+00              9.00000E+100
238  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.487184E-12    0.000000E+00              9.00000E+100
239  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.023460E-12    0.000000E+00              9.00000E+100
240  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.005769E-12    0.000000E+00              9.00000E+100
241  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.920209E-12    0.000000E+00              9.00000E+100
242  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.859215E-12    0.000000E+00              9.00000E+100
243  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.908658E-12    0.000000E+00              9.00000E+100
244  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.639031E-11    0.000000E+00              9.00000E+100
245  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.738240E-11    0.000000E+00              9.00000E+100
246  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.383369E-10    0.000000E+00              9.00000E+100
247  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.329950E-10    0.000000E+00              9.00000E+100
248  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.227613E-10    0.000000E+00              9.00000E+100
249  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.479367E-11    0.000000E+00              9.00000E+100
250  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.621812E-11    0.000000E+00              9.00000E+100
251  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.226525E-12    0.000000E+00              9.00000E+100
252  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.981316E-12    0.000000E+00              9.00000E+100
253  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.367060E-12    0.000000E+00              9.00000E+100
254  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.062943E-11    0.000000E+00              9.00000E+100
255  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.170495E-11    0.000000E+00              9.00000E+100
256  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.517466E-10    0.000000E+00              9.00000E+100
257  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.636055E-10    0.000000E+00              9.00000E+100
258  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.382582E-10    0.000000E+00              9.00000E+100
259  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.144431E-10    0.000000E+00              9.00000E+100
260  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.190497E-12    0.000000E+00              9.00000E+100
261  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.334477E-10    0.000000E+00              9.00000E+100
262  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.666341E-11    0.000000E+00              9.00000E+100
263  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.147448E-11    0.000000E+00              9.00000E+100
264  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.645466E-11    0.000000E+00              9.00000E+100
265  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.467522E-12    0.000000E+00              9.00000E+100
266  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.392383E-11    0.000000E+00              9.00000E+100
267  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.742858E-12    0.000000E+00              9.00000E+100
268  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.550761E-11    0.000000E+00              9.00000E+100
269  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.986969E-12    0.000000E+00              9.00000E+100
270  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.231143E-12    0.000000E+00              9.00000E+100
271  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.197456E-12    0.000000E+00              9.00000E+100
272  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.220044E-11    0.000000E+00              9.00000E+100
273  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.318728E-11    0.000000E+00              9.00000E+100
274  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.755698E-12    0.000000E+00              9.00000E+100
275  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.371897E-12    0.000000E+00              9.00000E+100
276  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.118426E-11    0.000000E+00              9.00000E+100
277  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.512907E-12    0.000000E+00              9.00000E+100
278  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.316347E-12    0.000000E+00              9.00000E+100
279  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.718745E-12    0.000000E+00              9.00000E+100
280  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.122697E-11    0.000000E+00              9.00000E+100
281  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.420487E-13    0.000000E+00              9.00000E+100
282  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.991812E-11    0.000000E+00              9.00000E+100
283  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.571676E-12    0.000000E+00              9.00000E+100
284  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.660489E-12    0.000000E+00              9.00000E+100
285  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.525169E-12    0.000000E+00              9.00000E+100
286  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.582753E-10    0.000000E+00              9.00000E+100
287  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.674187E-10    0.000000E+00              9.00000E+100
288  traj.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.125367E-11    0.000000E+00              9.00000E+100
289  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
290  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
291  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
292  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
293  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
294  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
295  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
296  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
297  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
298  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
299  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
300  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
301  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
302  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
303  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
304  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
305  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
306  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
307  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
308  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
309  traj.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
310  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
311  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
312  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
313  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
314  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
315  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
316  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
317  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
318  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
319  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
320  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
321  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
322  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
323  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
324  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
325  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
326  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
327  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
328  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
329  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
330  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
331  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.661338E-14    0.000000E+00              9.00000E+100
332  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.993606E-14    0.000000E+00              9.00000E+100
333  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.881784E-15    0.000000E+00              9.00000E+100
334  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.789435E-14    0.000000E+00              9.00000E+100
335  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.844947E-15    0.000000E+00              9.00000E+100
336  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.283695E-15    0.000000E+00              9.00000E+100
337  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.341877E-16    0.000000E+00              9.00000E+100
338  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
339  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.168404E-17    0.000000E+00              9.00000E+100
340  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.994932E-16    0.000000E+00              9.00000E+100
341  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.030698E-16    0.000000E+00              9.00000E+100
342  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.110223E-15    0.000000E+00              9.00000E+100
343  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.498002E-15    0.000000E+00              9.00000E+100
344  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -8.326673E-15    0.000000E+00              9.00000E+100
345  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.718448E-15    0.000000E+00              9.00000E+100
346  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.992850E-13    0.000000E+00              9.00000E+100
347  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    9.436896E-14    0.000000E+00              9.00000E+100
348  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.776357E-14    0.000000E+00              9.00000E+100
349  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    6.106227E-14    0.000000E+00              9.00000E+100
350  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.552714E-13    0.000000E+00              9.00000E+100
351  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.887379E-13    0.000000E+00              9.00000E+100
352  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
353  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
354  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
355  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
356  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
357  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
358  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
359  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
360  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
361  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
362  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
363  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
364  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
365  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
366  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
367  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
368  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
369  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
370  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
371  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
372  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

==================================================
Grid Refinement - Iteration 5
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 22
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.85, 0.9, 0.925, 0.95, 0.975, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 6, 6]
Error = [9.392e-08, 1.204e-09, 3.961e-08, 6.868e-08, 1.103e-08, 1.276e-09, 2.957e-08, 5.773e-09, 7.419e-09, 2.077e-08, 1.619e-09, 4.878e-10, 5.592e-10, 9.102e-09, 9.29e-08, 2.239e-08, 4.743e-07, 7.315e-07, 1.189e-07, 1.379e-07, 1.705e-07, 1.605e-07]

    Phase: traj.phases.phase0
New Grid:
Number of Segments = 26
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.825, 0.85, 0.875, 0.9, 0.925, 0.95, 0.9625, 0.975, 0.9875, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6]
Refined: True

--- Constraint Report [traj] ---
--- phase0 ---
[final]   1.0000e+00 == x [None]

Model viewer data has already been recorded for Driver.

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/system.py:4284: OpenMDAOWarning:Calling list_inputs before final_setup will only display the default values of variables and will not show the result of any set_val calls.

Full total jacobian for problem 'problem' was computed 3 times, taking 0.6036617969999725 seconds.
Total jacobian shape: (406, 581)

Jacobian shape: (406, 581)  (1.69% nonzero)
FWD solves: 0   REV solves: 27
Total colors vs. total size: 27 vs 406  (93.35% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity:   0.6037 sec
Time to compute coloring:   0.1972 sec
Memory to compute coloring:   0.0000 MB
Coloring created on: 2024-08-13 12:33:06

Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
Objective Function: _objfunc

Solution:
--------------------------------------------------------------------------------
Total Time:                    0.6106
User Objective Time :       0.0022
User Sensitivity Time :     0.0152
Interface Time :            0.0084
Opt Solver Time:            0.5849
Calls to Objective Function :       2
Calls to Sens Function :            1

Objectives
Index  Name                             Value
0  traj.phase0.states:xL     1.673095E+00

Variables (c - continuous, i - integer, d - discrete)
Index  Name                         Type      Lower Bound            Value      Upper Bound     Status
0  traj.phase0.states:x_0          c    -1.000000E+21     1.465632E+00     1.000000E+21
1  traj.phase0.states:x_1          c    -1.000000E+21     1.396191E+00     1.000000E+21
2  traj.phase0.states:x_2          c    -1.000000E+21     1.313983E+00     1.000000E+21
3  traj.phase0.states:x_3          c    -1.000000E+21     1.241730E+00     1.000000E+21
4  traj.phase0.states:x_4          c    -1.000000E+21     1.196280E+00     1.000000E+21
5  traj.phase0.states:x_5          c    -1.000000E+21     1.185107E+00     1.000000E+21
6  traj.phase0.states:x_6          c    -1.000000E+21     1.185107E+00     1.000000E+21
7  traj.phase0.states:x_7          c    -1.000000E+21     1.157896E+00     1.000000E+21
8  traj.phase0.states:x_8          c    -1.000000E+21     1.103010E+00     1.000000E+21
9  traj.phase0.states:x_9          c    -1.000000E+21     1.038062E+00     1.000000E+21
10  traj.phase0.states:x_10         c    -1.000000E+21     9.809827E-01     1.000000E+21
11  traj.phase0.states:x_11         c    -1.000000E+21     9.450685E-01     1.000000E+21
12  traj.phase0.states:x_12         c    -1.000000E+21     9.362380E-01     1.000000E+21
13  traj.phase0.states:x_13         c    -1.000000E+21     9.362380E-01     1.000000E+21
14  traj.phase0.states:x_14         c    -1.000000E+21     9.147322E-01     1.000000E+21
15  traj.phase0.states:x_15         c    -1.000000E+21     8.713667E-01     1.000000E+21
16  traj.phase0.states:x_16         c    -1.000000E+21     8.200568E-01     1.000000E+21
17  traj.phase0.states:x_17         c    -1.000000E+21     7.749591E-01     1.000000E+21
18  traj.phase0.states:x_18         c    -1.000000E+21     7.465979E-01     1.000000E+21
19  traj.phase0.states:x_19         c    -1.000000E+21     7.396265E-01     1.000000E+21
20  traj.phase0.states:x_20         c    -1.000000E+21     7.396265E-01     1.000000E+21
21  traj.phase0.states:x_21         c    -1.000000E+21     7.166487E-01     1.000000E+21
22  traj.phase0.states:x_22         c    -1.000000E+21     6.678517E-01     1.000000E+21
23  traj.phase0.states:x_23         c    -1.000000E+21     6.038570E-01     1.000000E+21
24  traj.phase0.states:x_24         c    -1.000000E+21     5.362321E-01     1.000000E+21
25  traj.phase0.states:x_25         c    -1.000000E+21     4.744289E-01     1.000000E+21
26  traj.phase0.states:x_26         c    -1.000000E+21     4.243998E-01     1.000000E+21
27  traj.phase0.states:x_27         c    -1.000000E+21     3.890532E-01     1.000000E+21
28  traj.phase0.states:x_28         c    -1.000000E+21     3.693416E-01     1.000000E+21
29  traj.phase0.states:x_29         c    -1.000000E+21     3.647281E-01     1.000000E+21
30  traj.phase0.states:x_30         c    -1.000000E+21     3.647281E-01     1.000000E+21
31  traj.phase0.states:x_31         c    -1.000000E+21     3.401846E-01     1.000000E+21
32  traj.phase0.states:x_32         c    -1.000000E+21     2.940742E-01     1.000000E+21
33  traj.phase0.states:x_33         c    -1.000000E+21     2.451226E-01     1.000000E+21
34  traj.phase0.states:x_34         c    -1.000000E+21     2.068691E-01     1.000000E+21
35  traj.phase0.states:x_35         c    -1.000000E+21     1.849763E-01     1.000000E+21
36  traj.phase0.states:x_36         c    -1.000000E+21     1.798424E-01     1.000000E+21
37  traj.phase0.states:x_37         c    -1.000000E+21     1.798424E-01     1.000000E+21
38  traj.phase0.states:x_38         c    -1.000000E+21     1.677400E-01     1.000000E+21
39  traj.phase0.states:x_39         c    -1.000000E+21     1.450064E-01     1.000000E+21
40  traj.phase0.states:x_40         c    -1.000000E+21     1.208735E-01     1.000000E+21
41  traj.phase0.states:x_41         c    -1.000000E+21     1.020139E-01     1.000000E+21
42  traj.phase0.states:x_42         c    -1.000000E+21     9.122068E-02     1.000000E+21
43  traj.phase0.states:x_43         c    -1.000000E+21     8.868950E-02     1.000000E+21
44  traj.phase0.states:x_44         c    -1.000000E+21     8.868950E-02     1.000000E+21
45  traj.phase0.states:x_45         c    -1.000000E+21     7.715576E-02     1.000000E+21
46  traj.phase0.states:x_46         c    -1.000000E+21     5.766312E-02     1.000000E+21
47  traj.phase0.states:x_47         c    -1.000000E+21     4.008074E-02     1.000000E+21
48  traj.phase0.states:x_48         c    -1.000000E+21     2.856687E-02     1.000000E+21
49  traj.phase0.states:x_49         c    -1.000000E+21     2.285694E-02     1.000000E+21
50  traj.phase0.states:x_50         c    -1.000000E+21     2.161093E-02     1.000000E+21
51  traj.phase0.states:x_51         c    -1.000000E+21     2.161093E-02     1.000000E+21
52  traj.phase0.states:x_52         c    -1.000000E+21     1.881370E-02     1.000000E+21
53  traj.phase0.states:x_53         c    -1.000000E+21     1.409283E-02     1.000000E+21
54  traj.phase0.states:x_54         c    -1.000000E+21     9.849555E-03     1.000000E+21
55  traj.phase0.states:x_55         c    -1.000000E+21     7.092519E-03     1.000000E+21
56  traj.phase0.states:x_56         c    -1.000000E+21     5.740921E-03     1.000000E+21
57  traj.phase0.states:x_57         c    -1.000000E+21     5.448571E-03     1.000000E+21
58  traj.phase0.states:x_58         c    -1.000000E+21     5.448571E-03     1.000000E+21
59  traj.phase0.states:x_59         c    -1.000000E+21     4.797482E-03     1.000000E+21
60  traj.phase0.states:x_60         c    -1.000000E+21     3.725042E-03     1.000000E+21
61  traj.phase0.states:x_61         c    -1.000000E+21     2.825520E-03     1.000000E+21
62  traj.phase0.states:x_62         c    -1.000000E+21     2.329973E-03     1.000000E+21
63  traj.phase0.states:x_63         c    -1.000000E+21     2.152086E-03     1.000000E+21
64  traj.phase0.states:x_64         c    -1.000000E+21     2.124548E-03     1.000000E+21
65  traj.phase0.states:x_65         c    -1.000000E+21     2.124548E-03     1.000000E+21
66  traj.phase0.states:x_66         c    -1.000000E+21     2.085462E-03     1.000000E+21
67  traj.phase0.states:x_67         c    -1.000000E+21     2.135322E-03     1.000000E+21
68  traj.phase0.states:x_68         c    -1.000000E+21     2.460598E-03     1.000000E+21
69  traj.phase0.states:x_69         c    -1.000000E+21     3.057933E-03     1.000000E+21
70  traj.phase0.states:x_70         c    -1.000000E+21     3.634943E-03     1.000000E+21
71  traj.phase0.states:x_71         c    -1.000000E+21     3.807566E-03     1.000000E+21
72  traj.phase0.states:x_72         c    -1.000000E+21     3.807566E-03     1.000000E+21
73  traj.phase0.states:x_73         c    -1.000000E+21     4.038408E-03     1.000000E+21
74  traj.phase0.states:x_74         c    -1.000000E+21     4.585818E-03     1.000000E+21
75  traj.phase0.states:x_75         c    -1.000000E+21     5.408106E-03     1.000000E+21
76  traj.phase0.states:x_76         c    -1.000000E+21     6.336150E-03     1.000000E+21
77  traj.phase0.states:x_77         c    -1.000000E+21     7.046095E-03     1.000000E+21
78  traj.phase0.states:x_78         c    -1.000000E+21     7.238202E-03     1.000000E+21
79  traj.phase0.states:x_79         c    -1.000000E+21     7.238202E-03     1.000000E+21
80  traj.phase0.states:x_80         c    -1.000000E+21     7.738589E-03     1.000000E+21
81  traj.phase0.states:x_81         c    -1.000000E+21     8.909364E-03     1.000000E+21
82  traj.phase0.states:x_82         c    -1.000000E+21     1.064320E-02     1.000000E+21
83  traj.phase0.states:x_83         c    -1.000000E+21     1.257600E-02     1.000000E+21
84  traj.phase0.states:x_84         c    -1.000000E+21     1.404437E-02     1.000000E+21
85  traj.phase0.states:x_85         c    -1.000000E+21     1.444078E-02     1.000000E+21
86  traj.phase0.states:x_86         c    -1.000000E+21     1.444078E-02     1.000000E+21
87  traj.phase0.states:x_87         c    -1.000000E+21     1.547194E-02     1.000000E+21
88  traj.phase0.states:x_88         c    -1.000000E+21     1.787730E-02     1.000000E+21
89  traj.phase0.states:x_89         c    -1.000000E+21     2.142584E-02     1.000000E+21
90  traj.phase0.states:x_90         c    -1.000000E+21     2.537122E-02     1.000000E+21
91  traj.phase0.states:x_91         c    -1.000000E+21     2.836428E-02     1.000000E+21
92  traj.phase0.states:x_92         c    -1.000000E+21     2.917171E-02     1.000000E+21
93  traj.phase0.states:x_93         c    -1.000000E+21     2.917171E-02     1.000000E+21
94  traj.phase0.states:x_94         c    -1.000000E+21     3.127075E-02     1.000000E+21
95  traj.phase0.states:x_95         c    -1.000000E+21     3.616211E-02     1.000000E+21
96  traj.phase0.states:x_96         c    -1.000000E+21     4.337382E-02     1.000000E+21
97  traj.phase0.states:x_97         c    -1.000000E+21     5.138648E-02     1.000000E+21
98  traj.phase0.states:x_98         c    -1.000000E+21     5.746138E-02     1.000000E+21
99  traj.phase0.states:x_99         c    -1.000000E+21     5.910054E-02     1.000000E+21
100  traj.phase0.states:x_100        c    -1.000000E+21     5.910054E-02     1.000000E+21
101  traj.phase0.states:x_101        c    -1.000000E+21     6.099565E-02     1.000000E+21
102  traj.phase0.states:x_102        c    -1.000000E+21     6.546201E-02     1.000000E+21
103  traj.phase0.states:x_103        c    -1.000000E+21     7.240411E-02     1.000000E+21
104  traj.phase0.states:x_104        c    -1.000000E+21     8.155712E-02     1.000000E+21
105  traj.phase0.states:x_105        c    -1.000000E+21     9.223023E-02     1.000000E+21
106  traj.phase0.states:x_106        c    -1.000000E+21     1.031032E-01     1.000000E+21
107  traj.phase0.states:x_107        c    -1.000000E+21     1.124645E-01     1.000000E+21
108  traj.phase0.states:x_108        c    -1.000000E+21     1.184645E-01     1.000000E+21
109  traj.phase0.states:x_109        c    -1.000000E+21     1.199622E-01     1.000000E+21
110  traj.phase0.states:x_110        c    -1.000000E+21     1.199622E-01     1.000000E+21
111  traj.phase0.states:x_111        c    -1.000000E+21     1.221239E-01     1.000000E+21
112  traj.phase0.states:x_112        c    -1.000000E+21     1.272092E-01     1.000000E+21
113  traj.phase0.states:x_113        c    -1.000000E+21     1.351841E-01     1.000000E+21
114  traj.phase0.states:x_114        c    -1.000000E+21     1.459553E-01     1.000000E+21
115  traj.phase0.states:x_115        c    -1.000000E+21     1.592666E-01     1.000000E+21
116  traj.phase0.states:x_116        c    -1.000000E+21     1.746151E-01     1.000000E+21
117  traj.phase0.states:x_117        c    -1.000000E+21     1.911498E-01     1.000000E+21
118  traj.phase0.states:x_118        c    -1.000000E+21     2.076423E-01     1.000000E+21
119  traj.phase0.states:x_119        c    -1.000000E+21     2.225691E-01     1.000000E+21
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510  traj.phase0.controls:u_106      c    -1.000000E+21     5.656851E-01     1.000000E+21
511  traj.phase0.controls:u_107      c    -1.000000E+21     5.826258E-01     1.000000E+21
512  traj.phase0.controls:u_108      c    -1.000000E+21     5.867667E-01     1.000000E+21
513  traj.phase0.controls:u_109      c    -1.000000E+21     5.972987E-01     1.000000E+21
514  traj.phase0.controls:u_110      c    -1.000000E+21     6.201079E-01     1.000000E+21
515  traj.phase0.controls:u_111      c    -1.000000E+21     6.492660E-01     1.000000E+21
516  traj.phase0.controls:u_112      c    -1.000000E+21     6.778309E-01     1.000000E+21
517  traj.phase0.controls:u_113      c    -1.000000E+21     6.969090E-01     1.000000E+21
518  traj.phase0.controls:u_114      c    -1.000000E+21     7.015271E-01     1.000000E+21
519  traj.phase0.controls:u_115      c    -1.000000E+21     7.135298E-01     1.000000E+21
520  traj.phase0.controls:u_116      c    -1.000000E+21     7.409714E-01     1.000000E+21
521  traj.phase0.controls:u_117      c    -1.000000E+21     7.762234E-01     1.000000E+21
522  traj.phase0.controls:u_118      c    -1.000000E+21     8.102290E-01     1.000000E+21
523  traj.phase0.controls:u_119      c    -1.000000E+21     8.328182E-01     1.000000E+21
524  traj.phase0.controls:u_120      c    -1.000000E+21     8.382625E-01     1.000000E+21
525  traj.phase0.controls:u_121      c    -1.000000E+21     8.521543E-01     1.000000E+21
526  traj.phase0.controls:u_122      c    -1.000000E+21     8.835923E-01     1.000000E+21
527  traj.phase0.controls:u_123      c    -1.000000E+21     9.248979E-01     1.000000E+21
528  traj.phase0.controls:u_124      c    -1.000000E+21     9.652971E-01     1.000000E+21
529  traj.phase0.controls:u_125      c    -1.000000E+21     9.922629E-01     1.000000E+21
530  traj.phase0.controls:u_126      c    -1.000000E+21     9.988488E-01     1.000000E+21
531  traj.phase0.controls:u_127      c    -1.000000E+21     1.015723E+00     1.000000E+21
532  traj.phase0.controls:u_128      c    -1.000000E+21     1.053328E+00     1.000000E+21
533  traj.phase0.controls:u_129      c    -1.000000E+21     1.101682E+00     1.000000E+21
534  traj.phase0.controls:u_130      c    -1.000000E+21     1.149445E+00     1.000000E+21
535  traj.phase0.controls:u_131      c    -1.000000E+21     1.182076E+00     1.000000E+21
536  traj.phase0.controls:u_132      c    -1.000000E+21     1.190108E+00     1.000000E+21
537  traj.phase0.controls:u_133      c    -1.000000E+21     1.199293E+00     1.000000E+21
538  traj.phase0.controls:u_134      c    -1.000000E+21     1.220775E+00     1.000000E+21
539  traj.phase0.controls:u_135      c    -1.000000E+21     1.252053E+00     1.000000E+21
540  traj.phase0.controls:u_136      c    -1.000000E+21     1.289677E+00     1.000000E+21
541  traj.phase0.controls:u_137      c    -1.000000E+21     1.329616E+00     1.000000E+21
542  traj.phase0.controls:u_138      c    -1.000000E+21     1.367570E+00     1.000000E+21
543  traj.phase0.controls:u_139      c    -1.000000E+21     1.397960E+00     1.000000E+21
544  traj.phase0.controls:u_140      c    -1.000000E+21     1.415962E+00     1.000000E+21
545  traj.phase0.controls:u_141      c    -1.000000E+21     1.420281E+00     1.000000E+21
546  traj.phase0.controls:u_142      c    -1.000000E+21     1.426316E+00     1.000000E+21
547  traj.phase0.controls:u_143      c    -1.000000E+21     1.440438E+00     1.000000E+21
548  traj.phase0.controls:u_144      c    -1.000000E+21     1.462762E+00     1.000000E+21
549  traj.phase0.controls:u_145      c    -1.000000E+21     1.491495E+00     1.000000E+21
550  traj.phase0.controls:u_146      c    -1.000000E+21     1.524764E+00     1.000000E+21
551  traj.phase0.controls:u_147      c    -1.000000E+21     1.560248E+00     1.000000E+21
552  traj.phase0.controls:u_148      c    -1.000000E+21     1.596484E+00     1.000000E+21
553  traj.phase0.controls:u_149      c    -1.000000E+21     1.630312E+00     1.000000E+21
554  traj.phase0.controls:u_150      c    -1.000000E+21     1.659236E+00     1.000000E+21
555  traj.phase0.controls:u_151      c    -1.000000E+21     1.681106E+00     1.000000E+21
556  traj.phase0.controls:u_152      c    -1.000000E+21     1.693411E+00     1.000000E+21
557  traj.phase0.controls:u_153      c    -1.000000E+21     1.696298E+00     1.000000E+21
558  traj.phase0.controls:u_154      c    -1.000000E+21     1.710750E+00     1.000000E+21
559  traj.phase0.controls:u_155      c    -1.000000E+21     1.741706E+00     1.000000E+21
560  traj.phase0.controls:u_156      c    -1.000000E+21     1.781088E+00     1.000000E+21
561  traj.phase0.controls:u_157      c    -1.000000E+21     1.819162E+00     1.000000E+21
562  traj.phase0.controls:u_158      c    -1.000000E+21     1.844455E+00     1.000000E+21
563  traj.phase0.controls:u_159      c    -1.000000E+21     1.850632E+00     1.000000E+21
564  traj.phase0.controls:u_160      c    -1.000000E+21     1.866406E+00     1.000000E+21
565  traj.phase0.controls:u_161      c    -1.000000E+21     1.901401E+00     1.000000E+21
566  traj.phase0.controls:u_162      c    -1.000000E+21     1.945973E+00     1.000000E+21
567  traj.phase0.controls:u_163      c    -1.000000E+21     1.988694E+00     1.000000E+21
568  traj.phase0.controls:u_164      c    -1.000000E+21     2.016929E+00     1.000000E+21
569  traj.phase0.controls:u_165      c    -1.000000E+21     2.023763E+00     1.000000E+21
570  traj.phase0.controls:u_166      c    -1.000000E+21     2.040800E+00     1.000000E+21
571  traj.phase0.controls:u_167      c    -1.000000E+21     2.077763E+00     1.000000E+21
572  traj.phase0.controls:u_168      c    -1.000000E+21     2.125160E+00     1.000000E+21
573  traj.phase0.controls:u_169      c    -1.000000E+21     2.170650E+00     1.000000E+21
574  traj.phase0.controls:u_170      c    -1.000000E+21     2.200806E+00     1.000000E+21
575  traj.phase0.controls:u_171      c    -1.000000E+21     2.208232E+00     1.000000E+21
576  traj.phase0.controls:u_172      c    -1.000000E+21     2.226937E+00     1.000000E+21
577  traj.phase0.controls:u_173      c    -1.000000E+21     2.267491E+00     1.000000E+21
578  traj.phase0.controls:u_174      c    -1.000000E+21     2.319063E+00     1.000000E+21
579  traj.phase0.controls:u_175      c    -1.000000E+21     2.368672E+00     1.000000E+21
580  traj.phase0.controls:u_176      c    -1.000000E+21     2.401684E+00     1.000000E+21

Constraints (i - inequality, e - equality)
Index  Name                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
0  traj.phases.phase0->final_boundary_constraint->x           e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
1  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.332268E-15    0.000000E+00              9.00000E+100
2  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.511710E-16    0.000000E+00              9.00000E+100
3  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.480297E-16    0.000000E+00              9.00000E+100
4  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.771561E-16    0.000000E+00              9.00000E+100
5  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
6  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.405483E-16    0.000000E+00              9.00000E+100
7  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.147230E-15    0.000000E+00              9.00000E+100
8  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
9  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.515706E-16    0.000000E+00              9.00000E+100
10  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
11  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.625929E-16    0.000000E+00              9.00000E+100
12  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
13  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.921189E-16    0.000000E+00              9.00000E+100
14  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.255855E-16    0.000000E+00              9.00000E+100
15  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.480297E-16    0.000000E+00              9.00000E+100
16  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.295260E-16    0.000000E+00              9.00000E+100
17  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
18  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.239749E-15    0.000000E+00              9.00000E+100
19  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.886580E-15    0.000000E+00              9.00000E+100
20  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.276756E-15    0.000000E+00              9.00000E+100
21  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
22  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
23  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
24  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.053113E-16    0.000000E+00              9.00000E+100
25  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
26  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
27  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-16    0.000000E+00              9.00000E+100
28  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.053113E-16    0.000000E+00              9.00000E+100
29  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.942890E-16    0.000000E+00              9.00000E+100
30  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
31  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
32  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-17    0.000000E+00              9.00000E+100
33  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.498002E-16    0.000000E+00              9.00000E+100
34  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
35  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
36  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.245005E-17    0.000000E+00              9.00000E+100
37  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
38  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
39  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
40  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
41  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
42  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
43  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
44  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
45  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
46  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
47  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.214306E-17    0.000000E+00              9.00000E+100
48  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.204170E-18    0.000000E+00              9.00000E+100
49  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
50  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
51  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.204170E-18    0.000000E+00              9.00000E+100
52  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.806256E-18    0.000000E+00              9.00000E+100
53  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.035766E-18    0.000000E+00              9.00000E+100
54  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
55  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.084202E-18    0.000000E+00              9.00000E+100
56  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.517883E-18    0.000000E+00              9.00000E+100
57  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.577867E-18    0.000000E+00              9.00000E+100
58  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.848918E-18    0.000000E+00              9.00000E+100
59  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.057097E-18    0.000000E+00              9.00000E+100
60  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.710505E-18    0.000000E+00              9.00000E+100
61  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
62  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
63  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.903128E-18    0.000000E+00              9.00000E+100
64  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
65  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-18    0.000000E+00              9.00000E+100
66  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
67  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
68  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
69  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.035766E-18    0.000000E+00              9.00000E+100
70  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-17    0.000000E+00              9.00000E+100
71  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
72  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.903128E-18    0.000000E+00              9.00000E+100
73  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.035766E-18    0.000000E+00              9.00000E+100
74  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
75  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
76  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
77  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
78  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
79  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.806256E-18    0.000000E+00              9.00000E+100
80  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.214306E-17    0.000000E+00              9.00000E+100
81  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-17    0.000000E+00              9.00000E+100
82  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.255141E-17    0.000000E+00              9.00000E+100
83  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
84  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
85  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.428613E-17    0.000000E+00              9.00000E+100
86  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-17    0.000000E+00              9.00000E+100
87  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.122502E-17    0.000000E+00              9.00000E+100
88  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
89  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.491862E-16    0.000000E+00              9.00000E+100
90  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
91  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.591949E-17    0.000000E+00              9.00000E+100
92  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.285839E-17    0.000000E+00              9.00000E+100
93  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
94  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
95  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.632783E-17    0.000000E+00              9.00000E+100
96  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.008283E-16    0.000000E+00              9.00000E+100
97  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.942890E-16    0.000000E+00              9.00000E+100
98  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
99  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
100  traj.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
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403  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
404  traj.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
405  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.996803E-14    0.000000E+00              9.00000E+100
406  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.332268E-14    0.000000E+00              9.00000E+100
407  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.440892E-15    0.000000E+00              9.00000E+100
408  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.345346E-14    0.000000E+00              9.00000E+100
409  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.147061E-15    0.000000E+00              9.00000E+100
410  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.822531E-15    0.000000E+00              9.00000E+100
411  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.117434E-16    0.000000E+00              9.00000E+100
412  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
413  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.168404E-17    0.000000E+00              9.00000E+100
414  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
415  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.255141E-16    0.000000E+00              9.00000E+100
416  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
417  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.110223E-15    0.000000E+00              9.00000E+100
418  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.996004E-15    0.000000E+00              9.00000E+100
419  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.080869E-14    0.000000E+00              9.00000E+100
420  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.164136E-13    0.000000E+00              9.00000E+100
421  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.996004E-15    0.000000E+00              9.00000E+100
422  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.065814E-13    0.000000E+00              9.00000E+100
423  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    7.105427E-14    0.000000E+00              9.00000E+100
424  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.486900E-13    0.000000E+00              9.00000E+100
425  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.152411E-12    0.000000E+00              9.00000E+100
426  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.887379E-12    0.000000E+00              9.00000E+100
427  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.771561E-14    0.000000E+00              9.00000E+100
428  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    9.525714E-13    0.000000E+00              9.00000E+100
429  traj.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.131628E-12    0.000000E+00              9.00000E+100
430  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
431  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
432  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
433  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
434  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
435  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
436  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
437  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
438  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
439  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
440  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
441  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
442  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
443  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
444  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
445  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
446  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
447  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
448  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
449  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
450  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
451  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.661338E-16    0.000000E+00              9.00000E+100
452  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
453  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
454  traj.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100

Exit Status
Inform  Description
0  Optimization terminated successfully.
--------------------------------------------------------------------------------

==================================================
Grid Refinement - Iteration 6
--------------------------------------------------
Phase: traj.phases.phase0
Refinement Options:
Allow Refinement = True
Tolerance = 1e-07
Min Order = 3
Max Order = 14
Original Grid:
Number of Segments = 26
Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.825, 0.85, 0.875, 0.9, 0.925, 0.95, 0.9625, 0.975, 0.9875, 1.0]
Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6]
Error = [9.835e-08, 1.634e-09, 3.901e-08, 6.427e-08, 1.031e-08, 9.982e-10, 3.055e-08, 5.255e-09, 6.38e-09, 1.673e-08, 1.149e-09, 2.298e-10, 3.92e-10, 9.178e-09, 8.53e-08, 3.366e-08, 1.97e-08, 3.616e-08, 3.178e-08, 6.121e-08, 6.562e-09, 1.322e-08, 8.813e-09, 1.563e-08, 9.61e-09, 1.52e-08]
Successfully completed grid refinement.
==================================================

INFO: checking out_of_order

INFO: checking system

INFO: checking solvers

INFO: checking dup_inputs

INFO: checking missing_recorders

WARNING: The Problem has no recorder of any kind attached

INFO: checking unserializable_options

INFO: checking comp_has_no_outputs

INFO: checking auto_ivc_warnings

Simulating trajectory traj
Model viewer data has already been recorded for Driver.
INFO: checking out_of_order

INFO: checking system

INFO: checking solvers

INFO: checking dup_inputs

INFO: checking missing_recorders

WARNING: The Problem has no recorder of any kind attached

INFO: checking unserializable_options

INFO: checking comp_has_no_outputs

INFO: checking auto_ivc_warnings

/usr/share/miniconda/envs/test/lib/python3.11/site-packages/openmdao/core/group.py:1101: DerivativesWarning:Constraints or objectives [ode_eval.control_interp.control_rates:u_rate2] cannot be impacted by the design variables of the problem because no partials were defined for them in their parent component(s).

Done simulating trajectory traj

Problem: problem
Driver:  pyOptSparseDriver
success     : True
iterations  : 4
runtime     : 1.4729E+00 s
model_evals : 4
model_time  : 2.7550E-03 s
deriv_evals : 2
deriv_time  : 2.3975E-02 s
exit_status : SUCCESS

sol = om.CaseReader('dymos_solution.db').get_case('final')

plot_results([('traj.phase0.timeseries.time', 'traj.phase0.timeseries.x',
'time (s)', 'x $(m)$'),
('traj.phase0.timeseries.time', 'traj.phase0.timeseries.u',
'time (s)', 'u $(m/s^2)$')],
title='Hyper Sensitive Problem Solution\nRadau Pseudospectral Method',
p_sol=sol, p_sim=sim)

plt.show()


## References#

[PHR15]

Michael A Patterson, William W Hager, and Anil V Rao. A ph mesh refinement method for optimal control. Optimal Control Applications and Methods, 36(4):398–421, 2015.