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:

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

The system is subject to the dynamic constraints:

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

The boundary conditions are:

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

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:

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

where:

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

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
        self.add_input('x', val=np.zeros(nn), desc='state')
        self.add_input('xL', val=np.zeros(nn), desc='cost_state')

        self.add_input('u', val=np.zeros(nn), desc='control')

        self.add_output('x_dot', val=np.zeros(nn), desc='state rate', units='1/s')
        self.add_output('L', val=np.zeros(nn), desc='Lagrangian', units='1/s')

        # 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
traj = p.model.add_subsystem('traj', dm.Trajectory())

transcription = dm.Radau(num_segments=10, order=3, compressed=False)

phase = traj.add_phase('phase0',
                       dm.Phase(ode_class=HyperSensitiveODE, transcription=transcription))

phase.set_time_options(fix_initial=True, fix_duration=True)
phase.add_state('x', fix_initial=True, fix_final=False, rate_source='x_dot', targets=['x'])
phase.add_state('xL', fix_initial=True, fix_final=False, rate_source='L', targets=['xL'])
phase.add_control('u', opt=True, targets=['u'])

phase.add_boundary_constraint('x', loc='final', equals=1)

phase.add_objective('xL', loc='final')

p.setup(check=True)

p.set_val('traj.phase0.states:x', phase.interp('x', [1.5, 1]))
p.set_val('traj.phase0.states:xL', phase.interp('xL', [0, 1]))
p.set_val('traj.phase0.t_initial', 0)
p.set_val('traj.phase0.t_duration', tf)
p.set_val('traj.phase0.controls:u', phase.interp('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:check_config:checking out_of_order
INFO: checking system
INFO:check_config:checking system
INFO: checking solvers
INFO:check_config:checking solvers
INFO: checking dup_inputs
INFO:check_config:checking dup_inputs
INFO: checking missing_recorders
INFO:check_config:checking missing_recorders
WARNING: The Problem has no recorder of any kind attached
WARNING:check_config:The Problem has no recorder of any kind attached
INFO: checking unserializable_options
INFO:check_config:checking unserializable_options
INFO: checking comp_has_no_outputs
INFO:check_config:checking comp_has_no_outputs
INFO: checking auto_ivc_warnings
INFO:check_config:checking auto_ivc_warnings
Model viewer data has already been recorded for Driver.
INFO: checking out_of_order
INFO:check_config:checking out_of_order
INFO: checking system
INFO:check_config:checking system
INFO: checking solvers
INFO:check_config:checking solvers
INFO: checking dup_inputs
INFO:check_config:checking dup_inputs
INFO: checking missing_recorders
INFO:check_config:checking missing_recorders
WARNING: The Problem has no recorder of any kind attached
WARNING:check_config:The Problem has no recorder of any kind attached
INFO: checking unserializable_options
INFO:check_config:checking unserializable_options
INFO: checking comp_has_no_outputs
INFO:check_config:checking comp_has_no_outputs
INFO: checking auto_ivc_warnings
INFO:check_config:checking auto_ivc_warnings
Full total jacobian was computed 3 times, taking 0.214013 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  (88.8% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.214013 sec.
Time to compute coloring: 0.081086 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    0.2887
       User Objective Time :       0.0265
       User Sensitivity Time :     0.1411
       Interface Time :            0.0597
       Opt Solver Time:            0.0614
    Calls to Objective Function :      16
    Calls to Sens Function :           14


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                            Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                         c    -1.000000E+21     9.070636E-01     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                         c    -1.000000E+21     4.567318E-01     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                         c    -1.000000E+21     3.647086E-01     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                         c    -1.000000E+21     3.647086E-01     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                         c    -1.000000E+21     2.198995E-01     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                         c    -1.000000E+21     1.110688E-01     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                         c    -1.000000E+21     8.883385E-02     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                         c    -1.000000E+21     8.883385E-02     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                         c    -1.000000E+21     5.367288E-02     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                         c    -1.000000E+21     2.695144E-02     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                        c    -1.000000E+21     2.150934E-02     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                        c    -1.000000E+21     2.150934E-02     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                        c    -1.000000E+21     1.300003E-02     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                        c    -1.000000E+21     6.733488E-03     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                        c    -1.000000E+21     5.485528E-03     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                        c    -1.000000E+21     5.485528E-03     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                        c    -1.000000E+21     3.585691E-03     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                        c    -1.000000E+21     2.352192E-03     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                        c    -1.000000E+21     2.174695E-03     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                        c    -1.000000E+21     2.174695E-03     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                        c    -1.000000E+21     2.138404E-03     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                        c    -1.000000E+21     3.173179E-03     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                        c    -1.000000E+21     3.835452E-03     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                        c    -1.000000E+21     3.835452E-03     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                        c    -1.000000E+21     6.125970E-03     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                        c    -1.000000E+21     1.194246E-02     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                        c    -1.000000E+21     1.463080E-02     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                        c    -1.000000E+21     1.463080E-02     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                        c    -1.000000E+21     2.334327E-02     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                        c    -1.000000E+21     4.726974E-02     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                        c    -1.000000E+21     5.916012E-02     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                        c    -1.000000E+21     5.916012E-02     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                        c    -1.000000E+21     9.790350E-02     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                        c    -1.000000E+21     1.976781E-01     1.000000E+21           
         34  traj.phases.phase0.indep_states.states:x_34                        c    -1.000000E+21     2.451085E-01     1.000000E+21           
         35  traj.phases.phase0.indep_states.states:x_35                        c    -1.000000E+21     2.451085E-01     1.000000E+21           
         36  traj.phases.phase0.indep_states.states:x_36                        c    -1.000000E+21     3.984685E-01     1.000000E+21           
         37  traj.phases.phase0.indep_states.states:x_37                        c    -1.000000E+21     8.035525E-01     1.000000E+21           
         38  traj.phases.phase0.indep_states.states:x_38                        c    -1.000000E+21     1.000000E+00     1.000000E+21           
         39  traj.phases.phase0.indep_states.states:xL_0                        c    -1.000000E+21     3.037293E-01     1.000000E+21           
         40  traj.phases.phase0.indep_states.states:xL_1                        c    -1.000000E+21     4.155307E-01     1.000000E+21           
         41  traj.phases.phase0.indep_states.states:xL_2                        c    -1.000000E+21     4.387795E-01     1.000000E+21           
         42  traj.phases.phase0.indep_states.states:xL_3                        c    -1.000000E+21     4.387795E-01     1.000000E+21           
         43  traj.phases.phase0.indep_states.states:xL_4                        c    -1.000000E+21     4.568133E-01     1.000000E+21           
         44  traj.phases.phase0.indep_states.states:xL_5                        c    -1.000000E+21     4.633287E-01     1.000000E+21           
         45  traj.phases.phase0.indep_states.states:xL_6                        c    -1.000000E+21     4.647145E-01     1.000000E+21           
         46  traj.phases.phase0.indep_states.states:xL_7                        c    -1.000000E+21     4.647145E-01     1.000000E+21           
         47  traj.phases.phase0.indep_states.states:xL_8                        c    -1.000000E+21     4.657806E-01     1.000000E+21           
         48  traj.phases.phase0.indep_states.states:xL_9                        c    -1.000000E+21     4.661730E-01     1.000000E+21           
         49  traj.phases.phase0.indep_states.states:xL_10                       c    -1.000000E+21     4.662542E-01     1.000000E+21           
         50  traj.phases.phase0.indep_states.states:xL_11                       c    -1.000000E+21     4.662542E-01     1.000000E+21           
         51  traj.phases.phase0.indep_states.states:xL_12                       c    -1.000000E+21     4.663168E-01     1.000000E+21           
         52  traj.phases.phase0.indep_states.states:xL_13                       c    -1.000000E+21     4.663391E-01     1.000000E+21           
         53  traj.phases.phase0.indep_states.states:xL_14                       c    -1.000000E+21     4.663440E-01     1.000000E+21           
         54  traj.phases.phase0.indep_states.states:xL_15                       c    -1.000000E+21     4.663440E-01     1.000000E+21           
         55  traj.phases.phase0.indep_states.states:xL_16                       c    -1.000000E+21     4.663478E-01     1.000000E+21           
         56  traj.phases.phase0.indep_states.states:xL_17                       c    -1.000000E+21     4.663497E-01     1.000000E+21           
         57  traj.phases.phase0.indep_states.states:xL_18                       c    -1.000000E+21     4.663503E-01     1.000000E+21           
         58  traj.phases.phase0.indep_states.states:xL_19                       c    -1.000000E+21     4.663503E-01     1.000000E+21           
         59  traj.phases.phase0.indep_states.states:xL_20                       c    -1.000000E+21     4.663517E-01     1.000000E+21           
         60  traj.phases.phase0.indep_states.states:xL_21                       c    -1.000000E+21     4.663594E-01     1.000000E+21           
         61  traj.phases.phase0.indep_states.states:xL_22                       c    -1.000000E+21     4.663647E-01     1.000000E+21           
         62  traj.phases.phase0.indep_states.states:xL_23                       c    -1.000000E+21     4.663647E-01     1.000000E+21           
         63  traj.phases.phase0.indep_states.states:xL_24                       c    -1.000000E+21     4.663905E-01     1.000000E+21           
         64  traj.phases.phase0.indep_states.states:xL_25                       c    -1.000000E+21     4.665224E-01     1.000000E+21           
         65  traj.phases.phase0.indep_states.states:xL_26                       c    -1.000000E+21     4.666055E-01     1.000000E+21           
         66  traj.phases.phase0.indep_states.states:xL_27                       c    -1.000000E+21     4.666055E-01     1.000000E+21           
         67  traj.phases.phase0.indep_states.states:xL_28                       c    -1.000000E+21     4.669652E-01     1.000000E+21           
         68  traj.phases.phase0.indep_states.states:xL_29                       c    -1.000000E+21     4.691260E-01     1.000000E+21           
         69  traj.phases.phase0.indep_states.states:xL_30                       c    -1.000000E+21     4.705705E-01     1.000000E+21           
         70  traj.phases.phase0.indep_states.states:xL_31                       c    -1.000000E+21     4.705705E-01     1.000000E+21           
         71  traj.phases.phase0.indep_states.states:xL_32                       c    -1.000000E+21     4.773320E-01     1.000000E+21           
         72  traj.phases.phase0.indep_states.states:xL_33                       c    -1.000000E+21     5.146476E-01     1.000000E+21           
         73  traj.phases.phase0.indep_states.states:xL_34                       c    -1.000000E+21     5.388422E-01     1.000000E+21           
         74  traj.phases.phase0.indep_states.states:xL_35                       c    -1.000000E+21     5.388422E-01     1.000000E+21           
         75  traj.phases.phase0.indep_states.states:xL_36                       c    -1.000000E+21     6.475368E-01     1.000000E+21           
         76  traj.phases.phase0.indep_states.states:xL_37                       c    -1.000000E+21     1.266461E+00     1.000000E+21           
         77  traj.phases.phase0.indep_states.states:xL_38                       c    -1.000000E+21     1.672900E+00     1.000000E+21           
         78  traj.phases.phase0.control_group.indep_controls.controls:u_0       c    -1.000000E+21    -6.005241E-01     1.000000E+21           
         79  traj.phases.phase0.control_group.indep_controls.controls:u_1       c    -1.000000E+21    -3.807615E-01     1.000000E+21           
         80  traj.phases.phase0.control_group.indep_controls.controls:u_2       c    -1.000000E+21    -1.859509E-01     1.000000E+21           
         81  traj.phases.phase0.control_group.indep_controls.controls:u_3       c    -1.000000E+21    -1.504855E-01     1.000000E+21           
         82  traj.phases.phase0.control_group.indep_controls.controls:u_4       c    -1.000000E+21    -9.292949E-02     1.000000E+21           
         83  traj.phases.phase0.control_group.indep_controls.controls:u_5       c    -1.000000E+21    -4.384628E-02     1.000000E+21           
         84  traj.phases.phase0.control_group.indep_controls.controls:u_6       c    -1.000000E+21    -3.563934E-02     1.000000E+21           
         85  traj.phases.phase0.control_group.indep_controls.controls:u_7       c    -1.000000E+21    -2.275153E-02     1.000000E+21           
         86  traj.phases.phase0.control_group.indep_controls.controls:u_8       c    -1.000000E+21    -1.111342E-02     1.000000E+21           
         87  traj.phases.phase0.control_group.indep_controls.controls:u_9       c    -1.000000E+21    -8.914378E-03     1.000000E+21           
         88  traj.phases.phase0.control_group.indep_controls.controls:u_10      c    -1.000000E+21    -5.249345E-03     1.000000E+21           
         89  traj.phases.phase0.control_group.indep_controls.controls:u_11      c    -1.000000E+21    -2.009416E-03     1.000000E+21           
         90  traj.phases.phase0.control_group.indep_controls.controls:u_12      c    -1.000000E+21    -1.422960E-03     1.000000E+21           
         91  traj.phases.phase0.control_group.indep_controls.controls:u_13      c    -1.000000E+21    -3.618707E-04     1.000000E+21           
         92  traj.phases.phase0.control_group.indep_controls.controls:u_14      c    -1.000000E+21     9.702862E-04     1.000000E+21           
         93  traj.phases.phase0.control_group.indep_controls.controls:u_15      c    -1.000000E+21     1.360038E-03     1.000000E+21           
         94  traj.phases.phase0.control_group.indep_controls.controls:u_16      c    -1.000000E+21     2.840269E-03     1.000000E+21           
         95  traj.phases.phase0.control_group.indep_controls.controls:u_17      c    -1.000000E+21     6.870222E-03     1.000000E+21           
         96  traj.phases.phase0.control_group.indep_controls.controls:u_18      c    -1.000000E+21     8.625841E-03     1.000000E+21           
         97  traj.phases.phase0.control_group.indep_controls.controls:u_19      c    -1.000000E+21     1.449747E-02     1.000000E+21           
         98  traj.phases.phase0.control_group.indep_controls.controls:u_20      c    -1.000000E+21     2.781058E-02     1.000000E+21           
         99  traj.phases.phase0.control_group.indep_controls.controls:u_21      c    -1.000000E+21     3.328314E-02     1.000000E+21           
        100  traj.phases.phase0.control_group.indep_controls.controls:u_22      c    -1.000000E+21     5.558565E-02     1.000000E+21           
        101  traj.phases.phase0.control_group.indep_controls.controls:u_23      c    -1.000000E+21     1.161668E-01     1.000000E+21           
        102  traj.phases.phase0.control_group.indep_controls.controls:u_24      c    -1.000000E+21     1.425417E-01     1.000000E+21           
        103  traj.phases.phase0.control_group.indep_controls.controls:u_25      c    -1.000000E+21     2.386412E-01     1.000000E+21           
        104  traj.phases.phase0.control_group.indep_controls.controls:u_26      c    -1.000000E+21     4.754595E-01     1.000000E+21           
        105  traj.phases.phase0.control_group.indep_controls.controls:u_27      c    -1.000000E+21     5.755894E-01     1.000000E+21           
        106  traj.phases.phase0.control_group.indep_controls.controls:u_28      c    -1.000000E+21     9.589652E-01     1.000000E+21           
        107  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.355253E-18    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.084202E-19    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.637851E-18    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.561251E-17    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.188402E-08    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.354608E-09    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.676048E-08    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.054425E-08    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.362774E-09    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.359271E-09    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.787191E-09    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.150626E-09    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.571466E-09    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.794056E-09    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.372798E-09    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.204287E-09    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.569982E-09    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.096162E-09    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.213433E-09    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.139686E-09    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.522308E-10    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.555753E-10    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.463996E-10    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.095710E-09    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.769952E-09    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.027142E-08    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.960795E-08    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.873312E-08    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.971338E-08    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.609252E-08    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.127303E-08    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.579282E-09    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.037460E-09    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.662031E-09    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.505213E-19    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.163336E-16    0.000000E+00              9.00000E+100
         89  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.081668E-16    0.000000E+00              9.00000E+100
         90  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    7.806256E-17    0.000000E+00              9.00000E+100
         91  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
         92  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.084202E-17    0.000000E+00              9.00000E+100
         93  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
         94  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
         95  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
         96  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.110223E-15    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/visualization/opt_report/opt_report.py:666: 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.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.412157 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  (89.3% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.412157 sec.
Time to compute coloring: 0.157121 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    0.4275
       User Objective Time :       0.0168
       User Sensitivity Time :     0.1423
       Interface Time :            0.0568
       Opt Solver Time:            0.2117
    Calls to Objective Function :       9
    Calls to Sens Function :            8


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                            Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                         c    -1.000000E+21     1.305319E+00     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                         c    -1.000000E+21     9.751518E-01     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                         c    -1.000000E+21     6.777097E-01     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                         c    -1.000000E+21     4.825270E-01     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                         c    -1.000000E+21     3.858456E-01     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                         c    -1.000000E+21     3.647539E-01     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                         c    -1.000000E+21     3.647539E-01     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                         c    -1.000000E+21     3.173100E-01     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                         c    -1.000000E+21     2.370751E-01     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                         c    -1.000000E+21     1.647571E-01     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                        c    -1.000000E+21     1.173241E-01     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                        c    -1.000000E+21     9.382039E-02     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                        c    -1.000000E+21     8.869238E-02     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                        c    -1.000000E+21     8.869238E-02     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                        c    -1.000000E+21     7.716440E-02     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                        c    -1.000000E+21     5.766906E-02     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                        c    -1.000000E+21     4.008827E-02     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                        c    -1.000000E+21     2.857029E-02     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                        c    -1.000000E+21     2.286017E-02     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                        c    -1.000000E+21     2.161402E-02     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                        c    -1.000000E+21     2.161402E-02     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                        c    -1.000000E+21     1.881500E-02     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                        c    -1.000000E+21     1.409304E-02     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                        c    -1.000000E+21     9.851288E-03     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                        c    -1.000000E+21     7.092631E-03     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                        c    -1.000000E+21     5.743022E-03     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                        c    -1.000000E+21     5.451247E-03     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                        c    -1.000000E+21     5.451247E-03     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                        c    -1.000000E+21     4.800640E-03     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                        c    -1.000000E+21     3.728444E-03     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                        c    -1.000000E+21     2.826181E-03     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                        c    -1.000000E+21     2.327765E-03     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                        c    -1.000000E+21     2.151518E-03     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                        c    -1.000000E+21     2.124018E-03     1.000000E+21           
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        183  traj.phases.phase0.control_group.indep_controls.controls:u_45      c    -1.000000E+21     7.642847E-02     1.000000E+21           
        184  traj.phases.phase0.control_group.indep_controls.controls:u_46      c    -1.000000E+21     1.079996E-01     1.000000E+21           
        185  traj.phases.phase0.control_group.indep_controls.controls:u_47      c    -1.000000E+21     1.354447E-01     1.000000E+21           
        186  traj.phases.phase0.control_group.indep_controls.controls:u_48      c    -1.000000E+21     1.431097E-01     1.000000E+21           
        187  traj.phases.phase0.control_group.indep_controls.controls:u_49      c    -1.000000E+21     1.640563E-01     1.000000E+21           
        188  traj.phases.phase0.control_group.indep_controls.controls:u_50      c    -1.000000E+21     2.192882E-01     1.000000E+21           
        189  traj.phases.phase0.control_group.indep_controls.controls:u_51      c    -1.000000E+21     3.155065E-01     1.000000E+21           
        190  traj.phases.phase0.control_group.indep_controls.controls:u_52      c    -1.000000E+21     4.434606E-01     1.000000E+21           
        191  traj.phases.phase0.control_group.indep_controls.controls:u_53      c    -1.000000E+21     5.553571E-01     1.000000E+21           
        192  traj.phases.phase0.control_group.indep_controls.controls:u_54      c    -1.000000E+21     5.876747E-01     1.000000E+21           
        193  traj.phases.phase0.control_group.indep_controls.controls:u_55      c    -1.000000E+21     6.749671E-01     1.000000E+21           
        194  traj.phases.phase0.control_group.indep_controls.controls:u_56      c    -1.000000E+21     9.017564E-01     1.000000E+21           
        195  traj.phases.phase0.control_group.indep_controls.controls:u_57      c    -1.000000E+21     1.300062E+00     1.000000E+21           
        196  traj.phases.phase0.control_group.indep_controls.controls:u_58      c    -1.000000E+21     1.824658E+00     1.000000E+21           
        197  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.442491E-15    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.996004E-16    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.122502E-17    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-18    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.974660E-18    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.301043E-18    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.252607E-19    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.843144E-18    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.800482E-18    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.097755E-18    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.589415E-19    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.421011E-19    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-18    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.903128E-18    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.949030E-17    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.632783E-17    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-17    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-16    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-16    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.261347E-07    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.572605E-08    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.515470E-09    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.271907E-09    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.863180E-10    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.465997E-11    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.660677E-11    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.658775E-11    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.938603E-11    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.211104E-10    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.888613E-12    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.804418E-12    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.097038E-11    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.236727E-10    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.679367E-12    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.876272E-11    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.280024E-11    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.084444E-11    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.810107E-11    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.304810E-11    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.804361E-12    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.400210E-12    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.548010E-12    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.662600E-12    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.088796E-12    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.443309E-12    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.457768E-12    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.457247E-12    0.000000E+00              9.00000E+100
         89  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.723978E-13    0.000000E+00              9.00000E+100
         90  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.002134E-13    0.000000E+00              9.00000E+100
         91  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.416800E-13    0.000000E+00              9.00000E+100
         92  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.706709E-12    0.000000E+00              9.00000E+100
         93  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.897511E-11    0.000000E+00              9.00000E+100
         94  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.241819E-11    0.000000E+00              9.00000E+100
         95  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.075900E-12    0.000000E+00              9.00000E+100
         96  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.188029E-10    0.000000E+00              9.00000E+100
         97  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.033563E-10    0.000000E+00              9.00000E+100
         98  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.058501E-11    0.000000E+00              9.00000E+100
         99  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.018259E-11    0.000000E+00              9.00000E+100
        100  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.682959E-10    0.000000E+00              9.00000E+100
        101  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.173646E-11    0.000000E+00              9.00000E+100
        102  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.011641E-10    0.000000E+00              9.00000E+100
        103  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.658889E-10    0.000000E+00              9.00000E+100
        104  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.905684E-10    0.000000E+00              9.00000E+100
        105  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.178395E-10    0.000000E+00              9.00000E+100
        106  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.892973E-09    0.000000E+00              9.00000E+100
        107  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.980397E-10    0.000000E+00              9.00000E+100
        108  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.168097E-09    0.000000E+00              9.00000E+100
        109  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.974987E-09    0.000000E+00              9.00000E+100
        110  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.222259E-09    0.000000E+00              9.00000E+100
        111  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.036976E-09    0.000000E+00              9.00000E+100
        112  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.175598E-08    0.000000E+00              9.00000E+100
        113  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.963899E-09    0.000000E+00              9.00000E+100
        114  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.204528E-08    0.000000E+00              9.00000E+100
        115  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.992230E-09    0.000000E+00              9.00000E+100
        116  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.210407E-09    0.000000E+00              9.00000E+100
        117  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.882562E-10    0.000000E+00              9.00000E+100
        118  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.803809E-07    0.000000E+00              9.00000E+100
        119  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.392705E-07    0.000000E+00              9.00000E+100
        120  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.467760E-09    0.000000E+00              9.00000E+100
        121  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        122  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        123  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        124  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        125  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        126  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        127  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        128  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        129  traj.phases.phase0.continuity_comp.defect_states:x                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        130  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        131  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        132  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        133  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        134  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        135  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        136  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        137  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        138  traj.phases.phase0.continuity_comp.defect_states:xL               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        139  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
        140  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        141  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
        142  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
        143  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        144  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
        145  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        146  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
        147  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
        148  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.179612E-14    0.000000E+00              9.00000E+100
        149  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        150  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -9.540979E-17    0.000000E+00              9.00000E+100
        151  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    8.673617E-17    0.000000E+00              9.00000E+100
        152  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.686287E-17    0.000000E+00              9.00000E+100
        153  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.729655E-16    0.000000E+00              9.00000E+100
        154  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.469447E-16    0.000000E+00              9.00000E+100
        155  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.302114E-15    0.000000E+00              9.00000E+100
        156  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.221245E-14    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
==================================================
          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.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.696755 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  (93.3% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.696755 sec.
Time to compute coloring: 0.264137 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    1.3578
       User Objective Time :       0.0183
       User Sensitivity Time :     0.1719
       Interface Time :            0.0978
       Opt Solver Time:            1.0696
    Calls to Objective Function :       9
    Calls to Sens Function :            9


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                            Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                         c    -1.000000E+21     1.399170E+00     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                         c    -1.000000E+21     1.209400E+00     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                         c    -1.000000E+21     1.008160E+00     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                         c    -1.000000E+21     8.507747E-01     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                         c    -1.000000E+21     7.607352E-01     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                         c    -1.000000E+21     7.396249E-01     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                         c    -1.000000E+21     7.396249E-01     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                         c    -1.000000E+21     6.898317E-01     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                         c    -1.000000E+21     5.962894E-01     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                         c    -1.000000E+21     4.970271E-01     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                        c    -1.000000E+21     4.194330E-01     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                        c    -1.000000E+21     3.750489E-01     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                        c    -1.000000E+21     3.646426E-01     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                        c    -1.000000E+21     3.646426E-01     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                        c    -1.000000E+21     3.401032E-01     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                        c    -1.000000E+21     2.939974E-01     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                        c    -1.000000E+21     2.450612E-01     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                        c    -1.000000E+21     2.068151E-01     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                        c    -1.000000E+21     1.849249E-01     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                        c    -1.000000E+21     1.797913E-01     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                        c    -1.000000E+21     1.797913E-01     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                        c    -1.000000E+21     1.676886E-01     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                        c    -1.000000E+21     1.449550E-01     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                        c    -1.000000E+21     1.208254E-01     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                        c    -1.000000E+21     1.019683E-01     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                        c    -1.000000E+21     9.117793E-02     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                        c    -1.000000E+21     8.864798E-02     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                        c    -1.000000E+21     8.864798E-02     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                        c    -1.000000E+21     7.712260E-02     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                        c    -1.000000E+21     5.764152E-02     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                        c    -1.000000E+21     4.005766E-02     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                        c    -1.000000E+21     2.854595E-02     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                        c    -1.000000E+21     2.284064E-02     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                        c    -1.000000E+21     2.159583E-02     1.000000E+21           
         34  traj.phases.phase0.indep_states.states:x_34                        c    -1.000000E+21     2.159583E-02     1.000000E+21           
         35  traj.phases.phase0.indep_states.states:x_35                        c    -1.000000E+21     1.880122E-02     1.000000E+21           
         36  traj.phases.phase0.indep_states.states:x_36                        c    -1.000000E+21     1.408404E-02     1.000000E+21           
         37  traj.phases.phase0.indep_states.states:x_37                        c    -1.000000E+21     9.842082E-03     1.000000E+21           
         38  traj.phases.phase0.indep_states.states:x_38                        c    -1.000000E+21     7.085939E-03     1.000000E+21           
         39  traj.phases.phase0.indep_states.states:x_39                        c    -1.000000E+21     5.735874E-03     1.000000E+21           
         40  traj.phases.phase0.indep_states.states:x_40                        c    -1.000000E+21     5.443907E-03     1.000000E+21           
         41  traj.phases.phase0.indep_states.states:x_41                        c    -1.000000E+21     5.443907E-03     1.000000E+21           
         42  traj.phases.phase0.indep_states.states:x_42                        c    -1.000000E+21     4.793596E-03     1.000000E+21           
         43  traj.phases.phase0.indep_states.states:x_43                        c    -1.000000E+21     3.722618E-03     1.000000E+21           
         44  traj.phases.phase0.indep_states.states:x_44                        c    -1.000000E+21     2.821364E-03     1.000000E+21           
         45  traj.phases.phase0.indep_states.states:x_45                        c    -1.000000E+21     2.323590E-03     1.000000E+21           
         46  traj.phases.phase0.indep_states.states:x_46                        c    -1.000000E+21     2.147661E-03     1.000000E+21           
         47  traj.phases.phase0.indep_states.states:x_47                        c    -1.000000E+21     2.120684E-03     1.000000E+21           
         48  traj.phases.phase0.indep_states.states:x_48                        c    -1.000000E+21     2.120684E-03     1.000000E+21           
         49  traj.phases.phase0.indep_states.states:x_49                        c    -1.000000E+21     2.082375E-03     1.000000E+21           
         50  traj.phases.phase0.indep_states.states:x_50                        c    -1.000000E+21     2.132439E-03     1.000000E+21           
         51  traj.phases.phase0.indep_states.states:x_51                        c    -1.000000E+21     2.446459E-03     1.000000E+21           
         52  traj.phases.phase0.indep_states.states:x_52                        c    -1.000000E+21     3.034923E-03     1.000000E+21           
         53  traj.phases.phase0.indep_states.states:x_53                        c    -1.000000E+21     3.618367E-03     1.000000E+21           
         54  traj.phases.phase0.indep_states.states:x_54                        c    -1.000000E+21     3.792492E-03     1.000000E+21           
         55  traj.phases.phase0.indep_states.states:x_55                        c    -1.000000E+21     3.792492E-03     1.000000E+21           
         56  traj.phases.phase0.indep_states.states:x_56                        c    -1.000000E+21     4.024050E-03     1.000000E+21           
         57  traj.phases.phase0.indep_states.states:x_57                        c    -1.000000E+21     4.573001E-03     1.000000E+21           
         58  traj.phases.phase0.indep_states.states:x_58                        c    -1.000000E+21     5.397542E-03     1.000000E+21           
         59  traj.phases.phase0.indep_states.states:x_59                        c    -1.000000E+21     6.326085E-03     1.000000E+21           
         60  traj.phases.phase0.indep_states.states:x_60                        c    -1.000000E+21     7.037608E-03     1.000000E+21           
         61  traj.phases.phase0.indep_states.states:x_61                        c    -1.000000E+21     7.230313E-03     1.000000E+21           
         62  traj.phases.phase0.indep_states.states:x_62                        c    -1.000000E+21     7.230313E-03     1.000000E+21           
         63  traj.phases.phase0.indep_states.states:x_63                        c    -1.000000E+21     7.732172E-03     1.000000E+21           
         64  traj.phases.phase0.indep_states.states:x_64                        c    -1.000000E+21     8.905026E-03     1.000000E+21           
         65  traj.phases.phase0.indep_states.states:x_65                        c    -1.000000E+21     1.063737E-02     1.000000E+21           
         66  traj.phases.phase0.indep_states.states:x_66                        c    -1.000000E+21     1.256952E-02     1.000000E+21           
         67  traj.phases.phase0.indep_states.states:x_67                        c    -1.000000E+21     1.404068E-02     1.000000E+21           
         68  traj.phases.phase0.indep_states.states:x_68                        c    -1.000000E+21     1.443773E-02     1.000000E+21           
         69  traj.phases.phase0.indep_states.states:x_69                        c    -1.000000E+21     1.443773E-02     1.000000E+21           
         70  traj.phases.phase0.indep_states.states:x_70                        c    -1.000000E+21     1.546948E-02     1.000000E+21           
         71  traj.phases.phase0.indep_states.states:x_71                        c    -1.000000E+21     1.787501E-02     1.000000E+21           
         72  traj.phases.phase0.indep_states.states:x_72                        c    -1.000000E+21     2.141957E-02     1.000000E+21           
         73  traj.phases.phase0.indep_states.states:x_73                        c    -1.000000E+21     2.536109E-02     1.000000E+21           
         74  traj.phases.phase0.indep_states.states:x_74                        c    -1.000000E+21     2.835807E-02     1.000000E+21           
         75  traj.phases.phase0.indep_states.states:x_75                        c    -1.000000E+21     2.916701E-02     1.000000E+21           
         76  traj.phases.phase0.indep_states.states:x_76                        c    -1.000000E+21     2.916701E-02     1.000000E+21           
         77  traj.phases.phase0.indep_states.states:x_77                        c    -1.000000E+21     3.126948E-02     1.000000E+21           
         78  traj.phases.phase0.indep_states.states:x_78                        c    -1.000000E+21     3.616629E-02     1.000000E+21           
         79  traj.phases.phase0.indep_states.states:x_79                        c    -1.000000E+21     4.337094E-02     1.000000E+21           
         80  traj.phases.phase0.indep_states.states:x_80                        c    -1.000000E+21     5.138012E-02     1.000000E+21           
         81  traj.phases.phase0.indep_states.states:x_81                        c    -1.000000E+21     5.746600E-02     1.000000E+21           
         82  traj.phases.phase0.indep_states.states:x_82                        c    -1.000000E+21     5.910713E-02     1.000000E+21           
         83  traj.phases.phase0.indep_states.states:x_83                        c    -1.000000E+21     5.910713E-02     1.000000E+21           
         84  traj.phases.phase0.indep_states.states:x_84                        c    -1.000000E+21     6.336948E-02     1.000000E+21           
         85  traj.phases.phase0.indep_states.states:x_85                        c    -1.000000E+21     7.329990E-02     1.000000E+21           
         86  traj.phases.phase0.indep_states.states:x_86                        c    -1.000000E+21     8.792343E-02     1.000000E+21           
         87  traj.phases.phase0.indep_states.states:x_87                        c    -1.000000E+21     1.041690E-01     1.000000E+21           
         88  traj.phases.phase0.indep_states.states:x_88                        c    -1.000000E+21     1.165123E-01     1.000000E+21           
         89  traj.phases.phase0.indep_states.states:x_89                        c    -1.000000E+21     1.198442E-01     1.000000E+21           
         90  traj.phases.phase0.indep_states.states:x_90                        c    -1.000000E+21     1.198442E-01     1.000000E+21           
         91  traj.phases.phase0.indep_states.states:x_91                        c    -1.000000E+21     1.285047E-01     1.000000E+21           
         92  traj.phases.phase0.indep_states.states:x_92                        c    -1.000000E+21     1.486658E-01     1.000000E+21           
         93  traj.phases.phase0.indep_states.states:x_93                        c    -1.000000E+21     1.783296E-01     1.000000E+21           
         94  traj.phases.phase0.indep_states.states:x_94                        c    -1.000000E+21     2.112968E-01     1.000000E+21           
         95  traj.phases.phase0.indep_states.states:x_95                        c    -1.000000E+21     2.363225E-01     1.000000E+21           
         96  traj.phases.phase0.indep_states.states:x_96                        c    -1.000000E+21     2.430711E-01     1.000000E+21           
         97  traj.phases.phase0.indep_states.states:x_97                        c    -1.000000E+21     2.430711E-01     1.000000E+21           
         98  traj.phases.phase0.indep_states.states:x_98                        c    -1.000000E+21     2.606052E-01     1.000000E+21           
         99  traj.phases.phase0.indep_states.states:x_99                        c    -1.000000E+21     3.014593E-01     1.000000E+21           
        100  traj.phases.phase0.indep_states.states:x_100                       c    -1.000000E+21     3.616573E-01     1.000000E+21           
        101  traj.phases.phase0.indep_states.states:x_101                       c    -1.000000E+21     4.285091E-01     1.000000E+21           
        102  traj.phases.phase0.indep_states.states:x_102                       c    -1.000000E+21     4.792469E-01     1.000000E+21           
        103  traj.phases.phase0.indep_states.states:x_103                       c    -1.000000E+21     4.929469E-01     1.000000E+21           
        104  traj.phases.phase0.indep_states.states:x_104                       c    -1.000000E+21     4.929469E-01     1.000000E+21           
        105  traj.phases.phase0.indep_states.states:x_105                       c    -1.000000E+21     5.285863E-01     1.000000E+21           
        106  traj.phases.phase0.indep_states.states:x_106                       c    -1.000000E+21     6.115830E-01     1.000000E+21           
        107  traj.phases.phase0.indep_states.states:x_107                       c    -1.000000E+21     7.336765E-01     1.000000E+21           
        108  traj.phases.phase0.indep_states.states:x_108                       c    -1.000000E+21     8.693608E-01     1.000000E+21           
        109  traj.phases.phase0.indep_states.states:x_109                       c    -1.000000E+21     9.722741E-01     1.000000E+21           
        110  traj.phases.phase0.indep_states.states:x_110                       c    -1.000000E+21     1.000000E+00     1.000000E+21           
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        262  traj.phases.phase0.control_group.indep_controls.controls:u_40      c    -1.000000E+21     8.488767E-04     1.000000E+21           
        263  traj.phases.phase0.control_group.indep_controls.controls:u_41      c    -1.000000E+21     1.385976E-03     1.000000E+21           
        264  traj.phases.phase0.control_group.indep_controls.controls:u_42      c    -1.000000E+21     1.526500E-03     1.000000E+21           
        265  traj.phases.phase0.control_group.indep_controls.controls:u_43      c    -1.000000E+21     1.899275E-03     1.000000E+21           
        266  traj.phases.phase0.control_group.indep_controls.controls:u_44      c    -1.000000E+21     2.799648E-03     1.000000E+21           
        267  traj.phases.phase0.control_group.indep_controls.controls:u_45      c    -1.000000E+21     4.252048E-03     1.000000E+21           
        268  traj.phases.phase0.control_group.indep_controls.controls:u_46      c    -1.000000E+21     6.194674E-03     1.000000E+21           
        269  traj.phases.phase0.control_group.indep_controls.controls:u_47      c    -1.000000E+21     7.851812E-03     1.000000E+21           
        270  traj.phases.phase0.control_group.indep_controls.controls:u_48      c    -1.000000E+21     8.308382E-03     1.000000E+21           
        271  traj.phases.phase0.control_group.indep_controls.controls:u_49      c    -1.000000E+21     8.916054E-03     1.000000E+21           
        272  traj.phases.phase0.control_group.indep_controls.controls:u_50      c    -1.000000E+21     1.035865E-02     1.000000E+21           
        273  traj.phases.phase0.control_group.indep_controls.controls:u_51      c    -1.000000E+21     1.245320E-02     1.000000E+21           
        274  traj.phases.phase0.control_group.indep_controls.controls:u_52      c    -1.000000E+21     1.479288E-02     1.000000E+21           
        275  traj.phases.phase0.control_group.indep_controls.controls:u_53      c    -1.000000E+21     1.657752E-02     1.000000E+21           
        276  traj.phases.phase0.control_group.indep_controls.controls:u_54      c    -1.000000E+21     1.705402E-02     1.000000E+21           
        277  traj.phases.phase0.control_group.indep_controls.controls:u_55      c    -1.000000E+21     1.828991E-02     1.000000E+21           
        278  traj.phases.phase0.control_group.indep_controls.controls:u_56      c    -1.000000E+21     2.115760E-02     1.000000E+21           
        279  traj.phases.phase0.control_group.indep_controls.controls:u_57      c    -1.000000E+21     2.537683E-02     1.000000E+21           
        280  traj.phases.phase0.control_group.indep_controls.controls:u_58      c    -1.000000E+21     3.012391E-02     1.000000E+21           
        281  traj.phases.phase0.control_group.indep_controls.controls:u_59      c    -1.000000E+21     3.371112E-02     1.000000E+21           
        282  traj.phases.phase0.control_group.indep_controls.controls:u_60      c    -1.000000E+21     3.466328E-02     1.000000E+21           
        283  traj.phases.phase0.control_group.indep_controls.controls:u_61      c    -1.000000E+21     3.715089E-02     1.000000E+21           
        284  traj.phases.phase0.control_group.indep_controls.controls:u_62      c    -1.000000E+21     4.298098E-02     1.000000E+21           
        285  traj.phases.phase0.control_group.indep_controls.controls:u_63      c    -1.000000E+21     5.153187E-02     1.000000E+21           
        286  traj.phases.phase0.control_group.indep_controls.controls:u_64      c    -1.000000E+21     6.113138E-02     1.000000E+21           
        287  traj.phases.phase0.control_group.indep_controls.controls:u_65      c    -1.000000E+21     6.843048E-02     1.000000E+21           
        288  traj.phases.phase0.control_group.indep_controls.controls:u_66      c    -1.000000E+21     7.037906E-02     1.000000E+21           
        289  traj.phases.phase0.control_group.indep_controls.controls:u_67      c    -1.000000E+21     7.544485E-02     1.000000E+21           
        290  traj.phases.phase0.control_group.indep_controls.controls:u_68      c    -1.000000E+21     8.722816E-02     1.000000E+21           
        291  traj.phases.phase0.control_group.indep_controls.controls:u_69      c    -1.000000E+21     1.045612E-01     1.000000E+21           
        292  traj.phases.phase0.control_group.indep_controls.controls:u_70      c    -1.000000E+21     1.240534E-01     1.000000E+21           
        293  traj.phases.phase0.control_group.indep_controls.controls:u_71      c    -1.000000E+21     1.387834E-01     1.000000E+21           
        294  traj.phases.phase0.control_group.indep_controls.controls:u_72      c    -1.000000E+21     1.426925E-01     1.000000E+21           
        295  traj.phases.phase0.control_group.indep_controls.controls:u_73      c    -1.000000E+21     1.529117E-01     1.000000E+21           
        296  traj.phases.phase0.control_group.indep_controls.controls:u_74      c    -1.000000E+21     1.769112E-01     1.000000E+21           
        297  traj.phases.phase0.control_group.indep_controls.controls:u_75      c    -1.000000E+21     2.121074E-01     1.000000E+21           
        298  traj.phases.phase0.control_group.indep_controls.controls:u_76      c    -1.000000E+21     2.515209E-01     1.000000E+21           
        299  traj.phases.phase0.control_group.indep_controls.controls:u_77      c    -1.000000E+21     2.815495E-01     1.000000E+21           
        300  traj.phases.phase0.control_group.indep_controls.controls:u_78      c    -1.000000E+21     2.896000E-01     1.000000E+21           
        301  traj.phases.phase0.control_group.indep_controls.controls:u_79      c    -1.000000E+21     3.104516E-01     1.000000E+21           
        302  traj.phases.phase0.control_group.indep_controls.controls:u_80      c    -1.000000E+21     3.588603E-01     1.000000E+21           
        303  traj.phases.phase0.control_group.indep_controls.controls:u_81      c    -1.000000E+21     4.303047E-01     1.000000E+21           
        304  traj.phases.phase0.control_group.indep_controls.controls:u_82      c    -1.000000E+21     5.102426E-01     1.000000E+21           
        305  traj.phases.phase0.control_group.indep_controls.controls:u_83      c    -1.000000E+21     5.706781E-01     1.000000E+21           
        306  traj.phases.phase0.control_group.indep_controls.controls:u_84      c    -1.000000E+21     5.868384E-01     1.000000E+21           
        307  traj.phases.phase0.control_group.indep_controls.controls:u_85      c    -1.000000E+21     6.289814E-01     1.000000E+21           
        308  traj.phases.phase0.control_group.indep_controls.controls:u_86      c    -1.000000E+21     7.277887E-01     1.000000E+21           
        309  traj.phases.phase0.control_group.indep_controls.controls:u_87      c    -1.000000E+21     8.729722E-01     1.000000E+21           
        310  traj.phases.phase0.control_group.indep_controls.controls:u_88      c    -1.000000E+21     1.034394E+00     1.000000E+21           
        311  traj.phases.phase0.control_group.indep_controls.controls:u_89      c    -1.000000E+21     1.157708E+00     1.000000E+21           
        312  traj.phases.phase0.control_group.indep_controls.controls:u_90      c    -1.000000E+21     1.191139E+00     1.000000E+21           
        313  traj.phases.phase0.control_group.indep_controls.controls:u_91      c    -1.000000E+21     1.277576E+00     1.000000E+21           
        314  traj.phases.phase0.control_group.indep_controls.controls:u_92      c    -1.000000E+21     1.476783E+00     1.000000E+21           
        315  traj.phases.phase0.control_group.indep_controls.controls:u_93      c    -1.000000E+21     1.770813E+00     1.000000E+21           
        316  traj.phases.phase0.control_group.indep_controls.controls:u_94      c    -1.000000E+21     2.099404E+00     1.000000E+21           
        317  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-16    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.992007E-16    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.942890E-15    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.992007E-16    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.498002E-16    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.428613E-17    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.040834E-17    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-18    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.071532E-18    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.540979E-18    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.951564E-18    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-18    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.951564E-18    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.222614E-18    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.273938E-18    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.794708E-19    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.589415E-19    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.385245E-18    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.974660E-18    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.553649E-18    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.818926E-18    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.517883E-18    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.770490E-18    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.821460E-17    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-18    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.071532E-18    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.816392E-17    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.204170E-18    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.370432E-16    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-17    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.075529E-16    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.245005E-17    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-17    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.804112E-16    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-17    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-16    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.885781E-16    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         89  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.498002E-16    0.000000E+00              9.00000E+100
         90  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
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        230  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
        231  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        232  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
        233  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        234  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
        235  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        236  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        237  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
        238  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.440892E-14    0.000000E+00              9.00000E+100
        239  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.910339E-15    0.000000E+00              9.00000E+100
        240  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.844947E-15    0.000000E+00              9.00000E+100
        241  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.949030E-15    0.000000E+00              9.00000E+100
        242  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.209238E-16    0.000000E+00              9.00000E+100
        243  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.040834E-16    0.000000E+00              9.00000E+100
        244  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.252607E-17    0.000000E+00              9.00000E+100
        245  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.255141E-16    0.000000E+00              9.00000E+100
        246  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.602085E-16    0.000000E+00              9.00000E+100
        247  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.636780E-15    0.000000E+00              9.00000E+100
        248  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.012279E-15    0.000000E+00              9.00000E+100
        249  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.551115E-15    0.000000E+00              9.00000E+100
        250  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.193490E-14    0.000000E+00              9.00000E+100
        251  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.776357E-14    0.000000E+00              9.00000E+100
        252  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.110223E-15    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
==================================================
          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.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 0.945931 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  (90.5% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 0.945931 sec.
Time to compute coloring: 0.330230 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    2.1864
       User Objective Time :       0.0195
       User Sensitivity Time :     0.1920
       Interface Time :            0.0858
       Opt Solver Time:            1.8891
    Calls to Objective Function :       6
    Calls to Sens Function :            6


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                             Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                          c    -1.000000E+21     1.465634E+00     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                          c    -1.000000E+21     1.396197E+00     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                          c    -1.000000E+21     1.313988E+00     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                          c    -1.000000E+21     1.241736E+00     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                          c    -1.000000E+21     1.196285E+00     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                          c    -1.000000E+21     1.185112E+00     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                          c    -1.000000E+21     1.185112E+00     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                          c    -1.000000E+21     1.157901E+00     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                          c    -1.000000E+21     1.103015E+00     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                          c    -1.000000E+21     1.038066E+00     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                         c    -1.000000E+21     9.809873E-01     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                         c    -1.000000E+21     9.450727E-01     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                         c    -1.000000E+21     9.362419E-01     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                         c    -1.000000E+21     9.362419E-01     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                         c    -1.000000E+21     9.147354E-01     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                         c    -1.000000E+21     8.713690E-01     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                         c    -1.000000E+21     8.200587E-01     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                         c    -1.000000E+21     7.749607E-01     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                         c    -1.000000E+21     7.465997E-01     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                         c    -1.000000E+21     7.396283E-01     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                         c    -1.000000E+21     7.396283E-01     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                         c    -1.000000E+21     7.166504E-01     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                         c    -1.000000E+21     6.678537E-01     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                         c    -1.000000E+21     6.038590E-01     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                         c    -1.000000E+21     5.362364E-01     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                         c    -1.000000E+21     4.744399E-01     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                         c    -1.000000E+21     4.244122E-01     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                         c    -1.000000E+21     3.890646E-01     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                         c    -1.000000E+21     3.693528E-01     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                         c    -1.000000E+21     3.647393E-01     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                         c    -1.000000E+21     3.647393E-01     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                         c    -1.000000E+21     3.401956E-01     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                         c    -1.000000E+21     2.940841E-01     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                         c    -1.000000E+21     2.451297E-01     1.000000E+21           
         34  traj.phases.phase0.indep_states.states:x_34                         c    -1.000000E+21     2.068747E-01     1.000000E+21           
         35  traj.phases.phase0.indep_states.states:x_35                         c    -1.000000E+21     1.849815E-01     1.000000E+21           
         36  traj.phases.phase0.indep_states.states:x_36                         c    -1.000000E+21     1.798474E-01     1.000000E+21           
         37  traj.phases.phase0.indep_states.states:x_37                         c    -1.000000E+21     1.798474E-01     1.000000E+21           
         38  traj.phases.phase0.indep_states.states:x_38                         c    -1.000000E+21     1.677448E-01     1.000000E+21           
         39  traj.phases.phase0.indep_states.states:x_39                         c    -1.000000E+21     1.450113E-01     1.000000E+21           
         40  traj.phases.phase0.indep_states.states:x_40                         c    -1.000000E+21     1.208784E-01     1.000000E+21           
         41  traj.phases.phase0.indep_states.states:x_41                         c    -1.000000E+21     1.020186E-01     1.000000E+21           
         42  traj.phases.phase0.indep_states.states:x_42                         c    -1.000000E+21     9.122530E-02     1.000000E+21           
         43  traj.phases.phase0.indep_states.states:x_43                         c    -1.000000E+21     8.869403E-02     1.000000E+21           
         44  traj.phases.phase0.indep_states.states:x_44                         c    -1.000000E+21     8.869403E-02     1.000000E+21           
         45  traj.phases.phase0.indep_states.states:x_45                         c    -1.000000E+21     7.715902E-02     1.000000E+21           
         46  traj.phases.phase0.indep_states.states:x_46                         c    -1.000000E+21     5.766480E-02     1.000000E+21           
         47  traj.phases.phase0.indep_states.states:x_47                         c    -1.000000E+21     4.008484E-02     1.000000E+21           
         48  traj.phases.phase0.indep_states.states:x_48                         c    -1.000000E+21     2.857142E-02     1.000000E+21           
         49  traj.phases.phase0.indep_states.states:x_49                         c    -1.000000E+21     2.286043E-02     1.000000E+21           
         50  traj.phases.phase0.indep_states.states:x_50                         c    -1.000000E+21     2.161418E-02     1.000000E+21           
         51  traj.phases.phase0.indep_states.states:x_51                         c    -1.000000E+21     2.161418E-02     1.000000E+21           
         52  traj.phases.phase0.indep_states.states:x_52                         c    -1.000000E+21     1.881653E-02     1.000000E+21           
         53  traj.phases.phase0.indep_states.states:x_53                         c    -1.000000E+21     1.409498E-02     1.000000E+21           
         54  traj.phases.phase0.indep_states.states:x_54                         c    -1.000000E+21     9.851227E-03     1.000000E+21           
         55  traj.phases.phase0.indep_states.states:x_55                         c    -1.000000E+21     7.094111E-03     1.000000E+21           
         56  traj.phases.phase0.indep_states.states:x_56                         c    -1.000000E+21     5.742142E-03     1.000000E+21           
         57  traj.phases.phase0.indep_states.states:x_57                         c    -1.000000E+21     5.449688E-03     1.000000E+21           
         58  traj.phases.phase0.indep_states.states:x_58                         c    -1.000000E+21     5.449688E-03     1.000000E+21           
         59  traj.phases.phase0.indep_states.states:x_59                         c    -1.000000E+21     4.798406E-03     1.000000E+21           
         60  traj.phases.phase0.indep_states.states:x_60                         c    -1.000000E+21     3.725609E-03     1.000000E+21           
         61  traj.phases.phase0.indep_states.states:x_61                         c    -1.000000E+21     2.826762E-03     1.000000E+21           
         62  traj.phases.phase0.indep_states.states:x_62                         c    -1.000000E+21     2.332146E-03     1.000000E+21           
         63  traj.phases.phase0.indep_states.states:x_63                         c    -1.000000E+21     2.153783E-03     1.000000E+21           
         64  traj.phases.phase0.indep_states.states:x_64                         c    -1.000000E+21     2.126082E-03     1.000000E+21           
         65  traj.phases.phase0.indep_states.states:x_65                         c    -1.000000E+21     2.126082E-03     1.000000E+21           
         66  traj.phases.phase0.indep_states.states:x_66                         c    -1.000000E+21     2.086728E-03     1.000000E+21           
         67  traj.phases.phase0.indep_states.states:x_67                         c    -1.000000E+21     2.136691E-03     1.000000E+21           
         68  traj.phases.phase0.indep_states.states:x_68                         c    -1.000000E+21     2.467247E-03     1.000000E+21           
         69  traj.phases.phase0.indep_states.states:x_69                         c    -1.000000E+21     3.068698E-03     1.000000E+21           
         70  traj.phases.phase0.indep_states.states:x_70                         c    -1.000000E+21     3.643304E-03     1.000000E+21           
         71  traj.phases.phase0.indep_states.states:x_71                         c    -1.000000E+21     3.815384E-03     1.000000E+21           
         72  traj.phases.phase0.indep_states.states:x_72                         c    -1.000000E+21     3.815384E-03     1.000000E+21           
         73  traj.phases.phase0.indep_states.states:x_73                         c    -1.000000E+21     4.046037E-03     1.000000E+21           
         74  traj.phases.phase0.indep_states.states:x_74                         c    -1.000000E+21     4.593050E-03     1.000000E+21           
         75  traj.phases.phase0.indep_states.states:x_75                         c    -1.000000E+21     5.414635E-03     1.000000E+21           
         76  traj.phases.phase0.indep_states.states:x_76                         c    -1.000000E+21     6.342676E-03     1.000000E+21           
         77  traj.phases.phase0.indep_states.states:x_77                         c    -1.000000E+21     7.052331E-03     1.000000E+21           
         78  traj.phases.phase0.indep_states.states:x_78                         c    -1.000000E+21     7.244347E-03     1.000000E+21           
         79  traj.phases.phase0.indep_states.states:x_79                         c    -1.000000E+21     7.244347E-03     1.000000E+21           
         80  traj.phases.phase0.indep_states.states:x_80                         c    -1.000000E+21     7.744636E-03     1.000000E+21           
         81  traj.phases.phase0.indep_states.states:x_81                         c    -1.000000E+21     8.915516E-03     1.000000E+21           
         82  traj.phases.phase0.indep_states.states:x_82                         c    -1.000000E+21     1.065055E-02     1.000000E+21           
         83  traj.phases.phase0.indep_states.states:x_83                         c    -1.000000E+21     1.258454E-02     1.000000E+21           
         84  traj.phases.phase0.indep_states.states:x_84                         c    -1.000000E+21     1.405274E-02     1.000000E+21           
         85  traj.phases.phase0.indep_states.states:x_85                         c    -1.000000E+21     1.444909E-02     1.000000E+21           
         86  traj.phases.phase0.indep_states.states:x_86                         c    -1.000000E+21     1.444909E-02     1.000000E+21           
         87  traj.phases.phase0.indep_states.states:x_87                         c    -1.000000E+21     1.548038E-02     1.000000E+21           
         88  traj.phases.phase0.indep_states.states:x_88                         c    -1.000000E+21     1.788683E-02     1.000000E+21           
         89  traj.phases.phase0.indep_states.states:x_89                         c    -1.000000E+21     2.143901E-02     1.000000E+21           
         90  traj.phases.phase0.indep_states.states:x_90                         c    -1.000000E+21     2.538770E-02     1.000000E+21           
         91  traj.phases.phase0.indep_states.states:x_91                         c    -1.000000E+21     2.838089E-02     1.000000E+21           
         92  traj.phases.phase0.indep_states.states:x_92                         c    -1.000000E+21     2.918828E-02     1.000000E+21           
         93  traj.phases.phase0.indep_states.states:x_93                         c    -1.000000E+21     2.918828E-02     1.000000E+21           
         94  traj.phases.phase0.indep_states.states:x_94                         c    -1.000000E+21     3.128763E-02     1.000000E+21           
         95  traj.phases.phase0.indep_states.states:x_95                         c    -1.000000E+21     3.618104E-02     1.000000E+21           
         96  traj.phases.phase0.indep_states.states:x_96                         c    -1.000000E+21     4.340062E-02     1.000000E+21           
         97  traj.phases.phase0.indep_states.states:x_97                         c    -1.000000E+21     5.142021E-02     1.000000E+21           
         98  traj.phases.phase0.indep_states.states:x_98                         c    -1.000000E+21     5.749509E-02     1.000000E+21           
         99  traj.phases.phase0.indep_states.states:x_99                         c    -1.000000E+21     5.913429E-02     1.000000E+21           
        100  traj.phases.phase0.indep_states.states:x_100                        c    -1.000000E+21     5.913429E-02     1.000000E+21           
        101  traj.phases.phase0.indep_states.states:x_101                        c    -1.000000E+21     6.339850E-02     1.000000E+21           
        102  traj.phases.phase0.indep_states.states:x_102                        c    -1.000000E+21     7.333414E-02     1.000000E+21           
        103  traj.phases.phase0.indep_states.states:x_103                        c    -1.000000E+21     8.798458E-02     1.000000E+21           
        104  traj.phases.phase0.indep_states.states:x_104                        c    -1.000000E+21     1.042580E-01     1.000000E+21           
        105  traj.phases.phase0.indep_states.states:x_105                        c    -1.000000E+21     1.165857E-01     1.000000E+21           
        106  traj.phases.phase0.indep_states.states:x_106                        c    -1.000000E+21     1.199136E-01     1.000000E+21           
        107  traj.phases.phase0.indep_states.states:x_107                        c    -1.000000E+21     1.199136E-01     1.000000E+21           
        108  traj.phases.phase0.indep_states.states:x_108                        c    -1.000000E+21     1.220767E-01     1.000000E+21           
        109  traj.phases.phase0.indep_states.states:x_109                        c    -1.000000E+21     1.271657E-01     1.000000E+21           
        110  traj.phases.phase0.indep_states.states:x_110                        c    -1.000000E+21     1.351472E-01     1.000000E+21           
        111  traj.phases.phase0.indep_states.states:x_111                        c    -1.000000E+21     1.459275E-01     1.000000E+21           
        112  traj.phases.phase0.indep_states.states:x_112                        c    -1.000000E+21     1.592483E-01     1.000000E+21           
        113  traj.phases.phase0.indep_states.states:x_113                        c    -1.000000E+21     1.746072E-01     1.000000E+21           
        114  traj.phases.phase0.indep_states.states:x_114                        c    -1.000000E+21     1.911522E-01     1.000000E+21           
        115  traj.phases.phase0.indep_states.states:x_115                        c    -1.000000E+21     2.076539E-01     1.000000E+21           
        116  traj.phases.phase0.indep_states.states:x_116                        c    -1.000000E+21     2.225878E-01     1.000000E+21           
        117  traj.phases.phase0.indep_states.states:x_117                        c    -1.000000E+21     2.343165E-01     1.000000E+21           
        118  traj.phases.phase0.indep_states.states:x_118                        c    -1.000000E+21     2.413827E-01     1.000000E+21           
        119  traj.phases.phase0.indep_states.states:x_119                        c    -1.000000E+21     2.430983E-01     1.000000E+21           
        120  traj.phases.phase0.indep_states.states:x_120                        c    -1.000000E+21     2.430983E-01     1.000000E+21           
        121  traj.phases.phase0.indep_states.states:x_121                        c    -1.000000E+21     2.606412E-01     1.000000E+21           
        122  traj.phases.phase0.indep_states.states:x_122                        c    -1.000000E+21     3.015355E-01     1.000000E+21           
        123  traj.phases.phase0.indep_states.states:x_123                        c    -1.000000E+21     3.618131E-01     1.000000E+21           
        124  traj.phases.phase0.indep_states.states:x_124                        c    -1.000000E+21     4.287658E-01     1.000000E+21           
        125  traj.phases.phase0.indep_states.states:x_125                        c    -1.000000E+21     4.795089E-01     1.000000E+21           
        126  traj.phases.phase0.indep_states.states:x_126                        c    -1.000000E+21     4.931937E-01     1.000000E+21           
        127  traj.phases.phase0.indep_states.states:x_127                        c    -1.000000E+21     4.931937E-01     1.000000E+21           
        128  traj.phases.phase0.indep_states.states:x_128                        c    -1.000000E+21     5.106727E-01     1.000000E+21           
        129  traj.phases.phase0.indep_states.states:x_129                        c    -1.000000E+21     5.492413E-01     1.000000E+21           
        130  traj.phases.phase0.indep_states.states:x_130                        c    -1.000000E+21     6.015223E-01     1.000000E+21           
        131  traj.phases.phase0.indep_states.states:x_131                        c    -1.000000E+21     6.547457E-01     1.000000E+21           
        132  traj.phases.phase0.indep_states.states:x_132                        c    -1.000000E+21     6.924610E-01     1.000000E+21           
        133  traj.phases.phase0.indep_states.states:x_133                        c    -1.000000E+21     7.022911E-01     1.000000E+21           
        134  traj.phases.phase0.indep_states.states:x_134                        c    -1.000000E+21     7.022911E-01     1.000000E+21           
        135  traj.phases.phase0.indep_states.states:x_135                        c    -1.000000E+21     7.272064E-01     1.000000E+21           
        136  traj.phases.phase0.indep_states.states:x_136                        c    -1.000000E+21     7.821037E-01     1.000000E+21           
        137  traj.phases.phase0.indep_states.states:x_137                        c    -1.000000E+21     8.566134E-01     1.000000E+21           
        138  traj.phases.phase0.indep_states.states:x_138                        c    -1.000000E+21     9.324727E-01     1.000000E+21           
        139  traj.phases.phase0.indep_states.states:x_139                        c    -1.000000E+21     9.860481E-01     1.000000E+21           
        140  traj.phases.phase0.indep_states.states:x_140                        c    -1.000000E+21     1.000000E+00     1.000000E+21           
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        144  traj.phases.phase0.indep_states.states:xL_3                         c    -1.000000E+21     1.466510E-01     1.000000E+21           
        145  traj.phases.phase0.indep_states.states:xL_4                         c    -1.000000E+21     1.696001E-01     1.000000E+21           
        146  traj.phases.phase0.indep_states.states:xL_5                         c    -1.000000E+21     1.751108E-01     1.000000E+21           
        147  traj.phases.phase0.indep_states.states:xL_6                         c    -1.000000E+21     1.751108E-01     1.000000E+21           
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        151  traj.phases.phase0.indep_states.states:xL_10                        c    -1.000000E+21     2.666841E-01     1.000000E+21           
        152  traj.phases.phase0.indep_states.states:xL_11                        c    -1.000000E+21     2.810105E-01     1.000000E+21           
        153  traj.phases.phase0.indep_states.states:xL_12                        c    -1.000000E+21     2.844512E-01     1.000000E+21           
        154  traj.phases.phase0.indep_states.states:xL_13                        c    -1.000000E+21     2.844512E-01     1.000000E+21           
        155  traj.phases.phase0.indep_states.states:xL_14                        c    -1.000000E+21     2.926957E-01     1.000000E+21           
        156  traj.phases.phase0.indep_states.states:xL_15                        c    -1.000000E+21     3.087377E-01     1.000000E+21           
        157  traj.phases.phase0.indep_states.states:xL_16                        c    -1.000000E+21     3.267119E-01     1.000000E+21           
        158  traj.phases.phase0.indep_states.states:xL_17                        c    -1.000000E+21     3.416096E-01     1.000000E+21           
        159  traj.phases.phase0.indep_states.states:xL_18                        c    -1.000000E+21     3.505468E-01     1.000000E+21           
        160  traj.phases.phase0.indep_states.states:xL_19                        c    -1.000000E+21     3.526927E-01     1.000000E+21           
        161  traj.phases.phase0.indep_states.states:xL_20                        c    -1.000000E+21     3.526927E-01     1.000000E+21           
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        167  traj.phases.phase0.indep_states.states:xL_26                        c    -1.000000E+21     4.286853E-01     1.000000E+21           
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        169  traj.phases.phase0.indep_states.states:xL_28                        c    -1.000000E+21     4.377367E-01     1.000000E+21           
        170  traj.phases.phase0.indep_states.states:xL_29                        c    -1.000000E+21     4.384381E-01     1.000000E+21           
        171  traj.phases.phase0.indep_states.states:xL_30                        c    -1.000000E+21     4.384381E-01     1.000000E+21           
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        173  traj.phases.phase0.indep_states.states:xL_32                        c    -1.000000E+21     4.480787E-01     1.000000E+21           
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        179  traj.phases.phase0.indep_states.states:xL_38                        c    -1.000000E+21     4.601628E-01     1.000000E+21           
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        271  traj.phases.phase0.indep_states.states:xL_130                       c    -1.000000E+21     9.027530E-01     1.000000E+21           
        272  traj.phases.phase0.indep_states.states:xL_131                       c    -1.000000E+21     9.834654E-01     1.000000E+21           
        273  traj.phases.phase0.indep_states.states:xL_132                       c    -1.000000E+21     1.044797E+00     1.000000E+21           
        274  traj.phases.phase0.indep_states.states:xL_133                       c    -1.000000E+21     1.061348E+00     1.000000E+21           
        275  traj.phases.phase0.indep_states.states:xL_134                       c    -1.000000E+21     1.061348E+00     1.000000E+21           
        276  traj.phases.phase0.indep_states.states:xL_135                       c    -1.000000E+21     1.104341E+00     1.000000E+21           
        277  traj.phases.phase0.indep_states.states:xL_136                       c    -1.000000E+21     1.204357E+00     1.000000E+21           
        278  traj.phases.phase0.indep_states.states:xL_137                       c    -1.000000E+21     1.351748E+00     1.000000E+21           
        279  traj.phases.phase0.indep_states.states:xL_138                       c    -1.000000E+21     1.515571E+00     1.000000E+21           
        280  traj.phases.phase0.indep_states.states:xL_139                       c    -1.000000E+21     1.639648E+00     1.000000E+21           
        281  traj.phases.phase0.indep_states.states:xL_140                       c    -1.000000E+21     1.673094E+00     1.000000E+21           
        282  traj.phases.phase0.control_group.indep_controls.controls:u_0        c    -1.000000E+21    -6.144837E-01     1.000000E+21           
        283  traj.phases.phase0.control_group.indep_controls.controls:u_1        c    -1.000000E+21    -6.046753E-01     1.000000E+21           
        284  traj.phases.phase0.control_group.indep_controls.controls:u_2        c    -1.000000E+21    -5.781999E-01     1.000000E+21           
        285  traj.phases.phase0.control_group.indep_controls.controls:u_3        c    -1.000000E+21    -5.440729E-01     1.000000E+21           
        286  traj.phases.phase0.control_group.indep_controls.controls:u_4        c    -1.000000E+21    -5.143365E-01     1.000000E+21           
        287  traj.phases.phase0.control_group.indep_controls.controls:u_5        c    -1.000000E+21    -4.955640E-01     1.000000E+21           
        288  traj.phases.phase0.control_group.indep_controls.controls:u_6        c    -1.000000E+21    -4.910179E-01     1.000000E+21           
        289  traj.phases.phase0.control_group.indep_controls.controls:u_7        c    -1.000000E+21    -4.799091E-01     1.000000E+21           
        290  traj.phases.phase0.control_group.indep_controls.controls:u_8        c    -1.000000E+21    -4.569990E-01     1.000000E+21           
        291  traj.phases.phase0.control_group.indep_controls.controls:u_9        c    -1.000000E+21    -4.297890E-01     1.000000E+21           
        292  traj.phases.phase0.control_group.indep_controls.controls:u_10       c    -1.000000E+21    -4.064158E-01     1.000000E+21           
        293  traj.phases.phase0.control_group.indep_controls.controls:u_11       c    -1.000000E+21    -3.920506E-01     1.000000E+21           
        294  traj.phases.phase0.control_group.indep_controls.controls:u_12       c    -1.000000E+21    -3.885460E-01     1.000000E+21           
        295  traj.phases.phase0.control_group.indep_controls.controls:u_13       c    -1.000000E+21    -3.796385E-01     1.000000E+21           
        296  traj.phases.phase0.control_group.indep_controls.controls:u_14       c    -1.000000E+21    -3.609802E-01     1.000000E+21           
        297  traj.phases.phase0.control_group.indep_controls.controls:u_15       c    -1.000000E+21    -3.397309E-01     1.000000E+21           
        298  traj.phases.phase0.control_group.indep_controls.controls:u_16       c    -1.000000E+21    -3.209809E-01     1.000000E+21           
        299  traj.phases.phase0.control_group.indep_controls.controls:u_17       c    -1.000000E+21    -3.090042E-01     1.000000E+21           
        300  traj.phases.phase0.control_group.indep_controls.controls:u_18       c    -1.000000E+21    -3.061915E-01     1.000000E+21           
        301  traj.phases.phase0.control_group.indep_controls.controls:u_19       c    -1.000000E+21    -2.968617E-01     1.000000E+21           
        302  traj.phases.phase0.control_group.indep_controls.controls:u_20       c    -1.000000E+21    -2.765542E-01     1.000000E+21           
        303  traj.phases.phase0.control_group.indep_controls.controls:u_21       c    -1.000000E+21    -2.501156E-01     1.000000E+21           
        304  traj.phases.phase0.control_group.indep_controls.controls:u_22       c    -1.000000E+21    -2.217940E-01     1.000000E+21           
        305  traj.phases.phase0.control_group.indep_controls.controls:u_23       c    -1.000000E+21    -1.961763E-01     1.000000E+21           
        306  traj.phases.phase0.control_group.indep_controls.controls:u_24       c    -1.000000E+21    -1.757870E-01     1.000000E+21           
        307  traj.phases.phase0.control_group.indep_controls.controls:u_25       c    -1.000000E+21    -1.610774E-01     1.000000E+21           
        308  traj.phases.phase0.control_group.indep_controls.controls:u_26       c    -1.000000E+21    -1.528769E-01     1.000000E+21           
        309  traj.phases.phase0.control_group.indep_controls.controls:u_27       c    -1.000000E+21    -1.509707E-01     1.000000E+21           
        310  traj.phases.phase0.control_group.indep_controls.controls:u_28       c    -1.000000E+21    -1.408424E-01     1.000000E+21           
        311  traj.phases.phase0.control_group.indep_controls.controls:u_29       c    -1.000000E+21    -1.218155E-01     1.000000E+21           
        312  traj.phases.phase0.control_group.indep_controls.controls:u_30       c    -1.000000E+21    -1.015434E-01     1.000000E+21           
        313  traj.phases.phase0.control_group.indep_controls.controls:u_31       c    -1.000000E+21    -8.567129E-02     1.000000E+21           
        314  traj.phases.phase0.control_group.indep_controls.controls:u_32       c    -1.000000E+21    -7.659625E-02     1.000000E+21           
        315  traj.phases.phase0.control_group.indep_controls.controls:u_33       c    -1.000000E+21    -7.446656E-02     1.000000E+21           
        316  traj.phases.phase0.control_group.indep_controls.controls:u_34       c    -1.000000E+21    -6.944143E-02     1.000000E+21           
        317  traj.phases.phase0.control_group.indep_controls.controls:u_35       c    -1.000000E+21    -6.001280E-02     1.000000E+21           
        318  traj.phases.phase0.control_group.indep_controls.controls:u_36       c    -1.000000E+21    -5.002804E-02     1.000000E+21           
        319  traj.phases.phase0.control_group.indep_controls.controls:u_37       c    -1.000000E+21    -4.220633E-02     1.000000E+21           
        320  traj.phases.phase0.control_group.indep_controls.controls:u_38       c    -1.000000E+21    -3.773625E-02     1.000000E+21           
        321  traj.phases.phase0.control_group.indep_controls.controls:u_39       c    -1.000000E+21    -3.669738E-02     1.000000E+21           
        322  traj.phases.phase0.control_group.indep_controls.controls:u_40       c    -1.000000E+21    -3.194703E-02     1.000000E+21           
        323  traj.phases.phase0.control_group.indep_controls.controls:u_41       c    -1.000000E+21    -2.382271E-02     1.000000E+21           
        324  traj.phases.phase0.control_group.indep_controls.controls:u_42       c    -1.000000E+21    -1.649720E-02     1.000000E+21           
        325  traj.phases.phase0.control_group.indep_controls.controls:u_43       c    -1.000000E+21    -1.172525E-02     1.000000E+21           
        326  traj.phases.phase0.control_group.indep_controls.controls:u_44       c    -1.000000E+21    -9.338595E-03     1.000000E+21           
        327  traj.phases.phase0.control_group.indep_controls.controls:u_45       c    -1.000000E+21    -8.813733E-03     1.000000E+21           
        328  traj.phases.phase0.control_group.indep_controls.controls:u_46       c    -1.000000E+21    -7.632434E-03     1.000000E+21           
        329  traj.phases.phase0.control_group.indep_controls.controls:u_47       c    -1.000000E+21    -5.619634E-03     1.000000E+21           
        330  traj.phases.phase0.control_group.indep_controls.controls:u_48       c    -1.000000E+21    -3.760718E-03     1.000000E+21           
        331  traj.phases.phase0.control_group.indep_controls.controls:u_49       c    -1.000000E+21    -2.495681E-03     1.000000E+21           
        332  traj.phases.phase0.control_group.indep_controls.controls:u_50       c    -1.000000E+21    -1.829348E-03     1.000000E+21           
        333  traj.phases.phase0.control_group.indep_controls.controls:u_51       c    -1.000000E+21    -1.675410E-03     1.000000E+21           
        334  traj.phases.phase0.control_group.indep_controls.controls:u_52       c    -1.000000E+21    -1.317985E-03     1.000000E+21           
        335  traj.phases.phase0.control_group.indep_controls.controls:u_53       c    -1.000000E+21    -6.448885E-04     1.000000E+21           
        336  traj.phases.phase0.control_group.indep_controls.controls:u_54       c    -1.000000E+21     1.372558E-04     1.000000E+21           
        337  traj.phases.phase0.control_group.indep_controls.controls:u_55       c    -1.000000E+21     8.541884E-04     1.000000E+21           
        338  traj.phases.phase0.control_group.indep_controls.controls:u_56       c    -1.000000E+21     1.371276E-03     1.000000E+21           
        339  traj.phases.phase0.control_group.indep_controls.controls:u_57       c    -1.000000E+21     1.516643E-03     1.000000E+21           
        340  traj.phases.phase0.control_group.indep_controls.controls:u_58       c    -1.000000E+21     1.894283E-03     1.000000E+21           
        341  traj.phases.phase0.control_group.indep_controls.controls:u_59       c    -1.000000E+21     2.824977E-03     1.000000E+21           
        342  traj.phases.phase0.control_group.indep_controls.controls:u_60       c    -1.000000E+21     4.365323E-03     1.000000E+21           
        343  traj.phases.phase0.control_group.indep_controls.controls:u_61       c    -1.000000E+21     6.213306E-03     1.000000E+21           
        344  traj.phases.phase0.control_group.indep_controls.controls:u_62       c    -1.000000E+21     7.810910E-03     1.000000E+21           
        345  traj.phases.phase0.control_group.indep_controls.controls:u_63       c    -1.000000E+21     8.296114E-03     1.000000E+21           
        346  traj.phases.phase0.control_group.indep_controls.controls:u_64       c    -1.000000E+21     8.927479E-03     1.000000E+21           
        347  traj.phases.phase0.control_group.indep_controls.controls:u_65       c    -1.000000E+21     1.035026E-02     1.000000E+21           
        348  traj.phases.phase0.control_group.indep_controls.controls:u_66       c    -1.000000E+21     1.246066E-02     1.000000E+21           
        349  traj.phases.phase0.control_group.indep_controls.controls:u_67       c    -1.000000E+21     1.479913E-02     1.000000E+21           
        350  traj.phases.phase0.control_group.indep_controls.controls:u_68       c    -1.000000E+21     1.655770E-02     1.000000E+21           
        351  traj.phases.phase0.control_group.indep_controls.controls:u_69       c    -1.000000E+21     1.703363E-02     1.000000E+21           
        352  traj.phases.phase0.control_group.indep_controls.controls:u_70       c    -1.000000E+21     1.827267E-02     1.000000E+21           
        353  traj.phases.phase0.control_group.indep_controls.controls:u_71       c    -1.000000E+21     2.116530E-02     1.000000E+21           
        354  traj.phases.phase0.control_group.indep_controls.controls:u_72       c    -1.000000E+21     2.542496E-02     1.000000E+21           
        355  traj.phases.phase0.control_group.indep_controls.controls:u_73       c    -1.000000E+21     3.012048E-02     1.000000E+21           
        356  traj.phases.phase0.control_group.indep_controls.controls:u_74       c    -1.000000E+21     3.368135E-02     1.000000E+21           
        357  traj.phases.phase0.control_group.indep_controls.controls:u_75       c    -1.000000E+21     3.464814E-02     1.000000E+21           
        358  traj.phases.phase0.control_group.indep_controls.controls:u_76       c    -1.000000E+21     3.716210E-02     1.000000E+21           
        359  traj.phases.phase0.control_group.indep_controls.controls:u_77       c    -1.000000E+21     4.301664E-02     1.000000E+21           
        360  traj.phases.phase0.control_group.indep_controls.controls:u_78       c    -1.000000E+21     5.163812E-02     1.000000E+21           
        361  traj.phases.phase0.control_group.indep_controls.controls:u_79       c    -1.000000E+21     6.115905E-02     1.000000E+21           
        362  traj.phases.phase0.control_group.indep_controls.controls:u_80       c    -1.000000E+21     6.837282E-02     1.000000E+21           
        363  traj.phases.phase0.control_group.indep_controls.controls:u_81       c    -1.000000E+21     7.032702E-02     1.000000E+21           
        364  traj.phases.phase0.control_group.indep_controls.controls:u_82       c    -1.000000E+21     7.540391E-02     1.000000E+21           
        365  traj.phases.phase0.control_group.indep_controls.controls:u_83       c    -1.000000E+21     8.726329E-02     1.000000E+21           
        366  traj.phases.phase0.control_group.indep_controls.controls:u_84       c    -1.000000E+21     1.047657E-01     1.000000E+21           
        367  traj.phases.phase0.control_group.indep_controls.controls:u_85       c    -1.000000E+21     1.240296E-01     1.000000E+21           
        368  traj.phases.phase0.control_group.indep_controls.controls:u_86       c    -1.000000E+21     1.386746E-01     1.000000E+21           
        369  traj.phases.phase0.control_group.indep_controls.controls:u_87       c    -1.000000E+21     1.426722E-01     1.000000E+21           
        370  traj.phases.phase0.control_group.indep_controls.controls:u_88       c    -1.000000E+21     1.530124E-01     1.000000E+21           
        371  traj.phases.phase0.control_group.indep_controls.controls:u_89       c    -1.000000E+21     1.770091E-01     1.000000E+21           
        372  traj.phases.phase0.control_group.indep_controls.controls:u_90       c    -1.000000E+21     2.125103E-01     1.000000E+21           
        373  traj.phases.phase0.control_group.indep_controls.controls:u_91       c    -1.000000E+21     2.515885E-01     1.000000E+21           
        374  traj.phases.phase0.control_group.indep_controls.controls:u_92       c    -1.000000E+21     2.813695E-01     1.000000E+21           
        375  traj.phases.phase0.control_group.indep_controls.controls:u_93       c    -1.000000E+21     2.895430E-01     1.000000E+21           
        376  traj.phases.phase0.control_group.indep_controls.controls:u_94       c    -1.000000E+21     2.947694E-01     1.000000E+21           
        377  traj.phases.phase0.control_group.indep_controls.controls:u_95       c    -1.000000E+21     3.069155E-01     1.000000E+21           
        378  traj.phases.phase0.control_group.indep_controls.controls:u_96       c    -1.000000E+21     3.261771E-01     1.000000E+21           
        379  traj.phases.phase0.control_group.indep_controls.controls:u_97       c    -1.000000E+21     3.520549E-01     1.000000E+21           
        380  traj.phases.phase0.control_group.indep_controls.controls:u_98       c    -1.000000E+21     3.841607E-01     1.000000E+21           
        381  traj.phases.phase0.control_group.indep_controls.controls:u_99       c    -1.000000E+21     4.213085E-01     1.000000E+21           
        382  traj.phases.phase0.control_group.indep_controls.controls:u_100      c    -1.000000E+21     4.613088E-01     1.000000E+21           
        383  traj.phases.phase0.control_group.indep_controls.controls:u_101      c    -1.000000E+21     5.011917E-01     1.000000E+21           
        384  traj.phases.phase0.control_group.indep_controls.controls:u_102      c    -1.000000E+21     5.375049E-01     1.000000E+21           
        385  traj.phases.phase0.control_group.indep_controls.controls:u_103      c    -1.000000E+21     5.657999E-01     1.000000E+21           
        386  traj.phases.phase0.control_group.indep_controls.controls:u_104      c    -1.000000E+21     5.826618E-01     1.000000E+21           
        387  traj.phases.phase0.control_group.indep_controls.controls:u_105      c    -1.000000E+21     5.868059E-01     1.000000E+21           
        388  traj.phases.phase0.control_group.indep_controls.controls:u_106      c    -1.000000E+21     6.293472E-01     1.000000E+21           
        389  traj.phases.phase0.control_group.indep_controls.controls:u_107      c    -1.000000E+21     7.282952E-01     1.000000E+21           
        390  traj.phases.phase0.control_group.indep_controls.controls:u_108      c    -1.000000E+21     8.739748E-01     1.000000E+21           
        391  traj.phases.phase0.control_group.indep_controls.controls:u_109      c    -1.000000E+21     1.035232E+00     1.000000E+21           
        392  traj.phases.phase0.control_group.indep_controls.controls:u_110      c    -1.000000E+21     1.157397E+00     1.000000E+21           
        393  traj.phases.phase0.control_group.indep_controls.controls:u_111      c    -1.000000E+21     1.190419E+00     1.000000E+21           
        394  traj.phases.phase0.control_group.indep_controls.controls:u_112      c    -1.000000E+21     1.232713E+00     1.000000E+21           
        395  traj.phases.phase0.control_group.indep_controls.controls:u_113      c    -1.000000E+21     1.325479E+00     1.000000E+21           
        396  traj.phases.phase0.control_group.indep_controls.controls:u_114      c    -1.000000E+21     1.450965E+00     1.000000E+21           
        397  traj.phases.phase0.control_group.indep_controls.controls:u_115      c    -1.000000E+21     1.581212E+00     1.000000E+21           
        398  traj.phases.phase0.control_group.indep_controls.controls:u_116      c    -1.000000E+21     1.673336E+00     1.000000E+21           
        399  traj.phases.phase0.control_group.indep_controls.controls:u_117      c    -1.000000E+21     1.696820E+00     1.000000E+21           
        400  traj.phases.phase0.control_group.indep_controls.controls:u_118      c    -1.000000E+21     1.755702E+00     1.000000E+21           
        401  traj.phases.phase0.control_group.indep_controls.controls:u_119      c    -1.000000E+21     1.886997E+00     1.000000E+21           
        402  traj.phases.phase0.control_group.indep_controls.controls:u_120      c    -1.000000E+21     2.068409E+00     1.000000E+21           
        403  traj.phases.phase0.control_group.indep_controls.controls:u_121      c    -1.000000E+21     2.250514E+00     1.000000E+21           
        404  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.221245E-15    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.590520E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.128727E-15    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.881784E-16    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.720846E-15    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.017704E-15    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.625929E-16    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.850372E-17    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.145632E-16    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.850372E-17    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.251859E-17    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.108624E-15    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.053113E-16    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.216450E-16    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.053113E-16    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.273559E-16    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.273559E-16    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-17    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.020562E-17    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.770490E-18    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.084202E-19    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.987330E-18    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.824700E-18    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.065758E-19    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.421011E-19    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.517883E-18    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.903128E-18    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.818926E-18    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.385245E-18    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.818926E-18    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-18    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.239937E-18    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.035766E-18    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.637851E-18    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.806256E-18    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.591949E-17    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.020562E-17    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-18    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.255141E-17    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.040834E-17    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.367507E-17    0.000000E+00              9.00000E+100
         89  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.428613E-17    0.000000E+00              9.00000E+100
         90  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         91  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.510281E-17    0.000000E+00              9.00000E+100
         92  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
         93  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-17    0.000000E+00              9.00000E+100
         94  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.637579E-15    0.000000E+00              9.00000E+100
         95  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-16    0.000000E+00              9.00000E+100
         96  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.636780E-16    0.000000E+00              9.00000E+100
         97  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.983724E-16    0.000000E+00              9.00000E+100
         98  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         99  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.942890E-16    0.000000E+00              9.00000E+100
        100  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
        101  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
        102  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
        103  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.804112E-16    0.000000E+00              9.00000E+100
        104  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
        105  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.436896E-16    0.000000E+00              9.00000E+100
        106  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.383782E-16    0.000000E+00              9.00000E+100
        107  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-17    0.000000E+00              9.00000E+100
        108  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
        109  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
        110  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.942890E-16    0.000000E+00              9.00000E+100
        111  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.885781E-16    0.000000E+00              9.00000E+100
        112  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.415534E-15    0.000000E+00              9.00000E+100
        113  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
        114  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
        115  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.249001E-16    0.000000E+00              9.00000E+100
        116  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.967449E-16    0.000000E+00              9.00000E+100
        117  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.885781E-16    0.000000E+00              9.00000E+100
        118  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
        119  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
        120  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
        121  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
        122  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.273559E-16    0.000000E+00              9.00000E+100
        123  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.661338E-16    0.000000E+00              9.00000E+100
        124  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.784595E-11    0.000000E+00              9.00000E+100
        125  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -4.744259E-10    0.000000E+00              9.00000E+100
        126  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.146226E-11    0.000000E+00              9.00000E+100
        127  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -6.471675E-13    0.000000E+00              9.00000E+100
        128  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.128070E-11    0.000000E+00              9.00000E+100
        129  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.301137E-12    0.000000E+00              9.00000E+100
        130  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.910270E-12    0.000000E+00              9.00000E+100
        131  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.507398E-12    0.000000E+00              9.00000E+100
        132  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -5.596366E-12    0.000000E+00              9.00000E+100
        133  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.970587E-12    0.000000E+00              9.00000E+100
        134  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.054523E-12    0.000000E+00              9.00000E+100
        135  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.171284E-12    0.000000E+00              9.00000E+100
        136  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.513895E-11    0.000000E+00              9.00000E+100
        137  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.066091E-11    0.000000E+00              9.00000E+100
        138  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -9.459257E-12    0.000000E+00              9.00000E+100
        139  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.024728E-12    0.000000E+00              9.00000E+100
        140  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.521178E-13    0.000000E+00              9.00000E+100
        141  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.922585E-13    0.000000E+00              9.00000E+100
        142  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.481271E-13    0.000000E+00              9.00000E+100
        143  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.795050E-12    0.000000E+00              9.00000E+100
        144  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.704836E-12    0.000000E+00              9.00000E+100
        145  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.463968E-13    0.000000E+00              9.00000E+100
        146  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.783099E-11    0.000000E+00              9.00000E+100
        147  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.495019E-11    0.000000E+00              9.00000E+100
        148  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.923992E-12    0.000000E+00              9.00000E+100
        149  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.884872E-13    0.000000E+00              9.00000E+100
        150  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.348080E-12    0.000000E+00              9.00000E+100
        151  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.591715E-12    0.000000E+00              9.00000E+100
        152  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.281499E-12    0.000000E+00              9.00000E+100
        153  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.555596E-12    0.000000E+00              9.00000E+100
        154  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -2.162522E-12    0.000000E+00              9.00000E+100
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        296  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        297  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
        298  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
        299  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00   -6.661338E-16    0.000000E+00              9.00000E+100
        300  traj.phases.phase0.continuity_comp.defect_controls:u              e   0.000000E+00    6.661338E-16    0.000000E+00              9.00000E+100
        301  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -3.996803E-14    0.000000E+00              9.00000E+100
        302  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.664535E-14    0.000000E+00              9.00000E+100
        303  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.776357E-14    0.000000E+00              9.00000E+100
        304  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.689893E-15    0.000000E+00              9.00000E+100
        305  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.706169E-15    0.000000E+00              9.00000E+100
        306  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.393918E-15    0.000000E+00              9.00000E+100
        307  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.336809E-17    0.000000E+00              9.00000E+100
        308  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    8.673617E-17    0.000000E+00              9.00000E+100
        309  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.168404E-17    0.000000E+00              9.00000E+100
        310  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.949030E-16    0.000000E+00              9.00000E+100
        311  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.752071E-15    0.000000E+00              9.00000E+100
        312  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.387779E-15    0.000000E+00              9.00000E+100
        313  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.775558E-16    0.000000E+00              9.00000E+100
        314  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.551115E-16    0.000000E+00              9.00000E+100
        315  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    5.356826E-14    0.000000E+00              9.00000E+100
        316  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.687539E-13    0.000000E+00              9.00000E+100
        317  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -9.992007E-15    0.000000E+00              9.00000E+100
        318  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.421085E-13    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
==================================================
          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]
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/grid_refinement/hp_adaptive/hp_adaptive.py:380: RuntimeWarning: divide by zero encountered in true_divide
  q_smooth = (np.log(self.error[phase_path][smooth_need_refine_idxs] /
/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/grid_refinement/hp_adaptive/hp_adaptive.py:412: RuntimeWarning: divide by zero encountered in true_divide
  q_split = np.log((self.error[phase_path][split_seg_idxs] /
    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]

Model viewer data has already been recorded for Driver.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 1.131117 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  (91.9% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 1.131117 sec.
Time to compute coloring: 0.378831 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    1.1806
       User Objective Time :       0.0067
       User Sensitivity Time :     0.0749
       Interface Time :            0.0359
       Opt Solver Time:            1.0631
    Calls to Objective Function :       3
    Calls to Sens Function :            2


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                             Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                          c    -1.000000E+21     1.465633E+00     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                          c    -1.000000E+21     1.396193E+00     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                          c    -1.000000E+21     1.313984E+00     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                          c    -1.000000E+21     1.241732E+00     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                          c    -1.000000E+21     1.196281E+00     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                          c    -1.000000E+21     1.185108E+00     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                          c    -1.000000E+21     1.185108E+00     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                          c    -1.000000E+21     1.157898E+00     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                          c    -1.000000E+21     1.103012E+00     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                          c    -1.000000E+21     1.038063E+00     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                         c    -1.000000E+21     9.809842E-01     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                         c    -1.000000E+21     9.450699E-01     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                         c    -1.000000E+21     9.362392E-01     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                         c    -1.000000E+21     9.362392E-01     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                         c    -1.000000E+21     9.147332E-01     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                         c    -1.000000E+21     8.713674E-01     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                         c    -1.000000E+21     8.200574E-01     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                         c    -1.000000E+21     7.749596E-01     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                         c    -1.000000E+21     7.465985E-01     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                         c    -1.000000E+21     7.396271E-01     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                         c    -1.000000E+21     7.396271E-01     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                         c    -1.000000E+21     7.166493E-01     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                         c    -1.000000E+21     6.678523E-01     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                         c    -1.000000E+21     6.038577E-01     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                         c    -1.000000E+21     5.362335E-01     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                         c    -1.000000E+21     4.744323E-01     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                         c    -1.000000E+21     4.244036E-01     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                         c    -1.000000E+21     3.890567E-01     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                         c    -1.000000E+21     3.693451E-01     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                         c    -1.000000E+21     3.647316E-01     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                         c    -1.000000E+21     3.647316E-01     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                         c    -1.000000E+21     3.401880E-01     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                         c    -1.000000E+21     2.940773E-01     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                         c    -1.000000E+21     2.451248E-01     1.000000E+21           
         34  traj.phases.phase0.indep_states.states:x_34                         c    -1.000000E+21     2.068709E-01     1.000000E+21           
         35  traj.phases.phase0.indep_states.states:x_35                         c    -1.000000E+21     1.849780E-01     1.000000E+21           
         36  traj.phases.phase0.indep_states.states:x_36                         c    -1.000000E+21     1.798440E-01     1.000000E+21           
         37  traj.phases.phase0.indep_states.states:x_37                         c    -1.000000E+21     1.798440E-01     1.000000E+21           
         38  traj.phases.phase0.indep_states.states:x_38                         c    -1.000000E+21     1.677415E-01     1.000000E+21           
         39  traj.phases.phase0.indep_states.states:x_39                         c    -1.000000E+21     1.450079E-01     1.000000E+21           
         40  traj.phases.phase0.indep_states.states:x_40                         c    -1.000000E+21     1.208750E-01     1.000000E+21           
         41  traj.phases.phase0.indep_states.states:x_41                         c    -1.000000E+21     1.020153E-01     1.000000E+21           
         42  traj.phases.phase0.indep_states.states:x_42                         c    -1.000000E+21     9.122210E-02     1.000000E+21           
         43  traj.phases.phase0.indep_states.states:x_43                         c    -1.000000E+21     8.869089E-02     1.000000E+21           
         44  traj.phases.phase0.indep_states.states:x_44                         c    -1.000000E+21     8.869089E-02     1.000000E+21           
         45  traj.phases.phase0.indep_states.states:x_45                         c    -1.000000E+21     7.715679E-02     1.000000E+21           
         46  traj.phases.phase0.indep_states.states:x_46                         c    -1.000000E+21     5.766367E-02     1.000000E+21           
         47  traj.phases.phase0.indep_states.states:x_47                         c    -1.000000E+21     4.008187E-02     1.000000E+21           
         48  traj.phases.phase0.indep_states.states:x_48                         c    -1.000000E+21     2.856809E-02     1.000000E+21           
         49  traj.phases.phase0.indep_states.states:x_49                         c    -1.000000E+21     2.285788E-02     1.000000E+21           
         50  traj.phases.phase0.indep_states.states:x_50                         c    -1.000000E+21     2.161181E-02     1.000000E+21           
         51  traj.phases.phase0.indep_states.states:x_51                         c    -1.000000E+21     2.161181E-02     1.000000E+21           
         52  traj.phases.phase0.indep_states.states:x_52                         c    -1.000000E+21     1.881446E-02     1.000000E+21           
         53  traj.phases.phase0.indep_states.states:x_53                         c    -1.000000E+21     1.409340E-02     1.000000E+21           
         54  traj.phases.phase0.indep_states.states:x_54                         c    -1.000000E+21     9.850010E-03     1.000000E+21           
         55  traj.phases.phase0.indep_states.states:x_55                         c    -1.000000E+21     7.092952E-03     1.000000E+21           
         56  traj.phases.phase0.indep_states.states:x_56                         c    -1.000000E+21     5.741251E-03     1.000000E+21           
         57  traj.phases.phase0.indep_states.states:x_57                         c    -1.000000E+21     5.448872E-03     1.000000E+21           
         58  traj.phases.phase0.indep_states.states:x_58                         c    -1.000000E+21     5.448872E-03     1.000000E+21           
         59  traj.phases.phase0.indep_states.states:x_59                         c    -1.000000E+21     4.797730E-03     1.000000E+21           
         60  traj.phases.phase0.indep_states.states:x_60                         c    -1.000000E+21     3.725192E-03     1.000000E+21           
         61  traj.phases.phase0.indep_states.states:x_61                         c    -1.000000E+21     2.825846E-03     1.000000E+21           
         62  traj.phases.phase0.indep_states.states:x_62                         c    -1.000000E+21     2.330538E-03     1.000000E+21           
         63  traj.phases.phase0.indep_states.states:x_63                         c    -1.000000E+21     2.152516E-03     1.000000E+21           
         64  traj.phases.phase0.indep_states.states:x_64                         c    -1.000000E+21     2.124933E-03     1.000000E+21           
         65  traj.phases.phase0.indep_states.states:x_65                         c    -1.000000E+21     2.124933E-03     1.000000E+21           
         66  traj.phases.phase0.indep_states.states:x_66                         c    -1.000000E+21     2.085775E-03     1.000000E+21           
         67  traj.phases.phase0.indep_states.states:x_67                         c    -1.000000E+21     2.135643E-03     1.000000E+21           
         68  traj.phases.phase0.indep_states.states:x_68                         c    -1.000000E+21     2.462216E-03     1.000000E+21           
         69  traj.phases.phase0.indep_states.states:x_69                         c    -1.000000E+21     3.060561E-03     1.000000E+21           
         70  traj.phases.phase0.indep_states.states:x_70                         c    -1.000000E+21     3.636940E-03     1.000000E+21           
         71  traj.phases.phase0.indep_states.states:x_71                         c    -1.000000E+21     3.809422E-03     1.000000E+21           
         72  traj.phases.phase0.indep_states.states:x_72                         c    -1.000000E+21     3.809422E-03     1.000000E+21           
         73  traj.phases.phase0.indep_states.states:x_73                         c    -1.000000E+21     4.040214E-03     1.000000E+21           
         74  traj.phases.phase0.indep_states.states:x_74                         c    -1.000000E+21     4.587517E-03     1.000000E+21           
         75  traj.phases.phase0.indep_states.states:x_75                         c    -1.000000E+21     5.409584E-03     1.000000E+21           
         76  traj.phases.phase0.indep_states.states:x_76                         c    -1.000000E+21     6.337594E-03     1.000000E+21           
         77  traj.phases.phase0.indep_states.states:x_77                         c    -1.000000E+21     7.047470E-03     1.000000E+21           
         78  traj.phases.phase0.indep_states.states:x_78                         c    -1.000000E+21     7.239554E-03     1.000000E+21           
         79  traj.phases.phase0.indep_states.states:x_79                         c    -1.000000E+21     7.239554E-03     1.000000E+21           
         80  traj.phases.phase0.indep_states.states:x_80                         c    -1.000000E+21     7.739904E-03     1.000000E+21           
         81  traj.phases.phase0.indep_states.states:x_81                         c    -1.000000E+21     8.910673E-03     1.000000E+21           
         82  traj.phases.phase0.indep_states.states:x_82                         c    -1.000000E+21     1.064471E-02     1.000000E+21           
         83  traj.phases.phase0.indep_states.states:x_83                         c    -1.000000E+21     1.257773E-02     1.000000E+21           
         84  traj.phases.phase0.indep_states.states:x_84                         c    -1.000000E+21     1.404606E-02     1.000000E+21           
         85  traj.phases.phase0.indep_states.states:x_85                         c    -1.000000E+21     1.444245E-02     1.000000E+21           
         86  traj.phases.phase0.indep_states.states:x_86                         c    -1.000000E+21     1.444245E-02     1.000000E+21           
         87  traj.phases.phase0.indep_states.states:x_87                         c    -1.000000E+21     1.547362E-02     1.000000E+21           
         88  traj.phases.phase0.indep_states.states:x_88                         c    -1.000000E+21     1.787921E-02     1.000000E+21           
         89  traj.phases.phase0.indep_states.states:x_89                         c    -1.000000E+21     2.142844E-02     1.000000E+21           
         90  traj.phases.phase0.indep_states.states:x_90                         c    -1.000000E+21     2.537446E-02     1.000000E+21           
         91  traj.phases.phase0.indep_states.states:x_91                         c    -1.000000E+21     2.836760E-02     1.000000E+21           
         92  traj.phases.phase0.indep_states.states:x_92                         c    -1.000000E+21     2.917502E-02     1.000000E+21           
         93  traj.phases.phase0.indep_states.states:x_93                         c    -1.000000E+21     2.917502E-02     1.000000E+21           
         94  traj.phases.phase0.indep_states.states:x_94                         c    -1.000000E+21     3.127405E-02     1.000000E+21           
         95  traj.phases.phase0.indep_states.states:x_95                         c    -1.000000E+21     3.616584E-02     1.000000E+21           
         96  traj.phases.phase0.indep_states.states:x_96                         c    -1.000000E+21     4.337899E-02     1.000000E+21           
         97  traj.phases.phase0.indep_states.states:x_97                         c    -1.000000E+21     5.139290E-02     1.000000E+21           
         98  traj.phases.phase0.indep_states.states:x_98                         c    -1.000000E+21     5.746800E-02     1.000000E+21           
         99  traj.phases.phase0.indep_states.states:x_99                         c    -1.000000E+21     5.910710E-02     1.000000E+21           
        100  traj.phases.phase0.indep_states.states:x_100                        c    -1.000000E+21     5.910710E-02     1.000000E+21           
        101  traj.phases.phase0.indep_states.states:x_101                        c    -1.000000E+21     6.100217E-02     1.000000E+21           
        102  traj.phases.phase0.indep_states.states:x_102                        c    -1.000000E+21     6.546938E-02     1.000000E+21           
        103  traj.phases.phase0.indep_states.states:x_103                        c    -1.000000E+21     7.241264E-02     1.000000E+21           
        104  traj.phases.phase0.indep_states.states:x_104                        c    -1.000000E+21     8.156923E-02     1.000000E+21           
        105  traj.phases.phase0.indep_states.states:x_105                        c    -1.000000E+21     9.224850E-02     1.000000E+21           
        106  traj.phases.phase0.indep_states.states:x_106                        c    -1.000000E+21     1.031237E-01     1.000000E+21           
        107  traj.phases.phase0.indep_states.states:x_107                        c    -1.000000E+21     1.124857E-01     1.000000E+21           
        108  traj.phases.phase0.indep_states.states:x_108                        c    -1.000000E+21     1.184857E-01     1.000000E+21           
        109  traj.phases.phase0.indep_states.states:x_109                        c    -1.000000E+21     1.199833E-01     1.000000E+21           
        110  traj.phases.phase0.indep_states.states:x_110                        c    -1.000000E+21     1.199833E-01     1.000000E+21           
        111  traj.phases.phase0.indep_states.states:x_111                        c    -1.000000E+21     1.221448E-01     1.000000E+21           
        112  traj.phases.phase0.indep_states.states:x_112                        c    -1.000000E+21     1.272300E-01     1.000000E+21           
        113  traj.phases.phase0.indep_states.states:x_113                        c    -1.000000E+21     1.352049E-01     1.000000E+21           
        114  traj.phases.phase0.indep_states.states:x_114                        c    -1.000000E+21     1.459764E-01     1.000000E+21           
        115  traj.phases.phase0.indep_states.states:x_115                        c    -1.000000E+21     1.592878E-01     1.000000E+21           
        116  traj.phases.phase0.indep_states.states:x_116                        c    -1.000000E+21     1.746367E-01     1.000000E+21           
        117  traj.phases.phase0.indep_states.states:x_117                        c    -1.000000E+21     1.911722E-01     1.000000E+21           
        118  traj.phases.phase0.indep_states.states:x_118                        c    -1.000000E+21     2.076653E-01     1.000000E+21           
        119  traj.phases.phase0.indep_states.states:x_119                        c    -1.000000E+21     2.225930E-01     1.000000E+21           
        120  traj.phases.phase0.indep_states.states:x_120                        c    -1.000000E+21     2.343171E-01     1.000000E+21           
        121  traj.phases.phase0.indep_states.states:x_121                        c    -1.000000E+21     2.413826E-01     1.000000E+21           
        122  traj.phases.phase0.indep_states.states:x_122                        c    -1.000000E+21     2.430980E-01     1.000000E+21           
        123  traj.phases.phase0.indep_states.states:x_123                        c    -1.000000E+21     2.430980E-01     1.000000E+21           
        124  traj.phases.phase0.indep_states.states:x_124                        c    -1.000000E+21     2.517160E-01     1.000000E+21           
        125  traj.phases.phase0.indep_states.states:x_125                        c    -1.000000E+21     2.707748E-01     1.000000E+21           
        126  traj.phases.phase0.indep_states.states:x_126                        c    -1.000000E+21     2.966289E-01     1.000000E+21           
        127  traj.phases.phase0.indep_states.states:x_127                        c    -1.000000E+21     3.229678E-01     1.000000E+21           
        128  traj.phases.phase0.indep_states.states:x_128                        c    -1.000000E+21     3.416651E-01     1.000000E+21           
        129  traj.phases.phase0.indep_states.states:x_129                        c    -1.000000E+21     3.465301E-01     1.000000E+21           
        130  traj.phases.phase0.indep_states.states:x_130                        c    -1.000000E+21     3.465301E-01     1.000000E+21           
        131  traj.phases.phase0.indep_states.states:x_131                        c    -1.000000E+21     3.588316E-01     1.000000E+21           
        132  traj.phases.phase0.indep_states.states:x_132                        c    -1.000000E+21     3.859708E-01     1.000000E+21           
        133  traj.phases.phase0.indep_states.states:x_133                        c    -1.000000E+21     4.227859E-01     1.000000E+21           
        134  traj.phases.phase0.indep_states.states:x_134                        c    -1.000000E+21     4.601493E-01     1.000000E+21           
        135  traj.phases.phase0.indep_states.states:x_135                        c    -1.000000E+21     4.865888E-01     1.000000E+21           
        136  traj.phases.phase0.indep_states.states:x_136                        c    -1.000000E+21     4.934763E-01     1.000000E+21           
        137  traj.phases.phase0.indep_states.states:x_137                        c    -1.000000E+21     4.934763E-01     1.000000E+21           
        138  traj.phases.phase0.indep_states.states:x_138                        c    -1.000000E+21     5.021299E-01     1.000000E+21           
        139  traj.phases.phase0.indep_states.states:x_139                        c    -1.000000E+21     5.207240E-01     1.000000E+21           
        140  traj.phases.phase0.indep_states.states:x_140                        c    -1.000000E+21     5.449350E-01     1.000000E+21           
        141  traj.phases.phase0.indep_states.states:x_141                        c    -1.000000E+21     5.685076E-01     1.000000E+21           
        142  traj.phases.phase0.indep_states.states:x_142                        c    -1.000000E+21     5.846230E-01     1.000000E+21           
        143  traj.phases.phase0.indep_states.states:x_143                        c    -1.000000E+21     5.887479E-01     1.000000E+21           
        144  traj.phases.phase0.indep_states.states:x_144                        c    -1.000000E+21     5.887479E-01     1.000000E+21           
        145  traj.phases.phase0.indep_states.states:x_145                        c    -1.000000E+21     5.990718E-01     1.000000E+21           
        146  traj.phases.phase0.indep_states.states:x_146                        c    -1.000000E+21     6.212486E-01     1.000000E+21           
        147  traj.phases.phase0.indep_states.states:x_147                        c    -1.000000E+21     6.501500E-01     1.000000E+21           
        148  traj.phases.phase0.indep_states.states:x_148                        c    -1.000000E+21     6.783041E-01     1.000000E+21           
        149  traj.phases.phase0.indep_states.states:x_149                        c    -1.000000E+21     6.975535E-01     1.000000E+21           
        150  traj.phases.phase0.indep_states.states:x_150                        c    -1.000000E+21     7.024830E-01     1.000000E+21           
        151  traj.phases.phase0.indep_states.states:x_151                        c    -1.000000E+21     7.024830E-01     1.000000E+21           
        152  traj.phases.phase0.indep_states.states:x_152                        c    -1.000000E+21     7.148269E-01     1.000000E+21           
        153  traj.phases.phase0.indep_states.states:x_153                        c    -1.000000E+21     7.413232E-01     1.000000E+21           
        154  traj.phases.phase0.indep_states.states:x_154                        c    -1.000000E+21     7.757875E-01     1.000000E+21           
        155  traj.phases.phase0.indep_states.states:x_155                        c    -1.000000E+21     8.093548E-01     1.000000E+21           
        156  traj.phases.phase0.indep_states.states:x_156                        c    -1.000000E+21     8.323209E-01     1.000000E+21           
        157  traj.phases.phase0.indep_states.states:x_157                        c    -1.000000E+21     8.382021E-01     1.000000E+21           
        158  traj.phases.phase0.indep_states.states:x_158                        c    -1.000000E+21     8.382021E-01     1.000000E+21           
        159  traj.phases.phase0.indep_states.states:x_159                        c    -1.000000E+21     8.529252E-01     1.000000E+21           
        160  traj.phases.phase0.indep_states.states:x_160                        c    -1.000000E+21     8.845342E-01     1.000000E+21           
        161  traj.phases.phase0.indep_states.states:x_161                        c    -1.000000E+21     9.256684E-01     1.000000E+21           
        162  traj.phases.phase0.indep_states.states:x_162                        c    -1.000000E+21     9.656818E-01     1.000000E+21           
        163  traj.phases.phase0.indep_states.states:x_163                        c    -1.000000E+21     9.930060E-01     1.000000E+21           
        164  traj.phases.phase0.indep_states.states:x_164                        c    -1.000000E+21     1.000000E+00     1.000000E+21           
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        167  traj.phases.phase0.indep_states.states:xL_2                         c    -1.000000E+21     1.084091E-01     1.000000E+21           
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        177  traj.phases.phase0.indep_states.states:xL_12                        c    -1.000000E+21     2.844523E-01     1.000000E+21           
        178  traj.phases.phase0.indep_states.states:xL_13                        c    -1.000000E+21     2.844523E-01     1.000000E+21           
        179  traj.phases.phase0.indep_states.states:xL_14                        c    -1.000000E+21     2.926966E-01     1.000000E+21           
        180  traj.phases.phase0.indep_states.states:xL_15                        c    -1.000000E+21     3.087382E-01     1.000000E+21           
        181  traj.phases.phase0.indep_states.states:xL_16                        c    -1.000000E+21     3.267123E-01     1.000000E+21           
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        185  traj.phases.phase0.indep_states.states:xL_20                        c    -1.000000E+21     3.526930E-01     1.000000E+21           
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        226  traj.phases.phase0.indep_states.states:xL_61                        c    -1.000000E+21     4.659891E-01     1.000000E+21           
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        242  traj.phases.phase0.indep_states.states:xL_77                        c    -1.000000E+21     4.660473E-01     1.000000E+21           
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        245  traj.phases.phase0.indep_states.states:xL_80                        c    -1.000000E+21     4.660597E-01     1.000000E+21           
        246  traj.phases.phase0.indep_states.states:xL_81                        c    -1.000000E+21     4.660832E-01     1.000000E+21           
        247  traj.phases.phase0.indep_states.states:xL_82                        c    -1.000000E+21     4.661242E-01     1.000000E+21           
        248  traj.phases.phase0.indep_states.states:xL_83                        c    -1.000000E+21     4.661783E-01     1.000000E+21           
        249  traj.phases.phase0.indep_states.states:xL_84                        c    -1.000000E+21     4.662255E-01     1.000000E+21           
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        251  traj.phases.phase0.indep_states.states:xL_86                        c    -1.000000E+21     4.662392E-01     1.000000E+21           
        252  traj.phases.phase0.indep_states.states:xL_87                        c    -1.000000E+21     4.662764E-01     1.000000E+21           
        253  traj.phases.phase0.indep_states.states:xL_88                        c    -1.000000E+21     4.663733E-01     1.000000E+21           
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        256  traj.phases.phase0.indep_states.states:xL_91                        c    -1.000000E+21     4.669588E-01     1.000000E+21           
        257  traj.phases.phase0.indep_states.states:xL_92                        c    -1.000000E+21     4.670149E-01     1.000000E+21           
        258  traj.phases.phase0.indep_states.states:xL_93                        c    -1.000000E+21     4.670149E-01     1.000000E+21           
        259  traj.phases.phase0.indep_states.states:xL_94                        c    -1.000000E+21     4.671680E-01     1.000000E+21           
        260  traj.phases.phase0.indep_states.states:xL_95                        c    -1.000000E+21     4.675662E-01     1.000000E+21           
        261  traj.phases.phase0.indep_states.states:xL_96                        c    -1.000000E+21     4.682589E-01     1.000000E+21           
        262  traj.phases.phase0.indep_states.states:xL_97                        c    -1.000000E+21     4.691756E-01     1.000000E+21           
        263  traj.phases.phase0.indep_states.states:xL_98                        c    -1.000000E+21     4.699740E-01     1.000000E+21           
        264  traj.phases.phase0.indep_states.states:xL_99                        c    -1.000000E+21     4.702046E-01     1.000000E+21           
        265  traj.phases.phase0.indep_states.states:xL_100                       c    -1.000000E+21     4.702046E-01     1.000000E+21           
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        416  traj.phases.phase0.control_group.indep_controls.controls:u_86       c    -1.000000E+21     1.386512E-01     1.000000E+21           
        417  traj.phases.phase0.control_group.indep_controls.controls:u_87       c    -1.000000E+21     1.426294E-01     1.000000E+21           
        418  traj.phases.phase0.control_group.indep_controls.controls:u_88       c    -1.000000E+21     1.473509E-01     1.000000E+21           
        419  traj.phases.phase0.control_group.indep_controls.controls:u_89       c    -1.000000E+21     1.582559E-01     1.000000E+21           
        420  traj.phases.phase0.control_group.indep_controls.controls:u_90       c    -1.000000E+21     1.748282E-01     1.000000E+21           
        421  traj.phases.phase0.control_group.indep_controls.controls:u_91       c    -1.000000E+21     1.974839E-01     1.000000E+21           
        422  traj.phases.phase0.control_group.indep_controls.controls:u_92       c    -1.000000E+21     2.229738E-01     1.000000E+21           
        423  traj.phases.phase0.control_group.indep_controls.controls:u_93       c    -1.000000E+21     2.487930E-01     1.000000E+21           
        424  traj.phases.phase0.control_group.indep_controls.controls:u_94       c    -1.000000E+21     2.714892E-01     1.000000E+21           
        425  traj.phases.phase0.control_group.indep_controls.controls:u_95       c    -1.000000E+21     2.858881E-01     1.000000E+21           
        426  traj.phases.phase0.control_group.indep_controls.controls:u_96       c    -1.000000E+21     2.895111E-01     1.000000E+21           
        427  traj.phases.phase0.control_group.indep_controls.controls:u_97       c    -1.000000E+21     2.947046E-01     1.000000E+21           
        428  traj.phases.phase0.control_group.indep_controls.controls:u_98       c    -1.000000E+21     3.068453E-01     1.000000E+21           
        429  traj.phases.phase0.control_group.indep_controls.controls:u_99       c    -1.000000E+21     3.260655E-01     1.000000E+21           
        430  traj.phases.phase0.control_group.indep_controls.controls:u_100      c    -1.000000E+21     3.519542E-01     1.000000E+21           
        431  traj.phases.phase0.control_group.indep_controls.controls:u_101      c    -1.000000E+21     3.840415E-01     1.000000E+21           
        432  traj.phases.phase0.control_group.indep_controls.controls:u_102      c    -1.000000E+21     4.211932E-01     1.000000E+21           
        433  traj.phases.phase0.control_group.indep_controls.controls:u_103      c    -1.000000E+21     4.611709E-01     1.000000E+21           
        434  traj.phases.phase0.control_group.indep_controls.controls:u_104      c    -1.000000E+21     5.010790E-01     1.000000E+21           
        435  traj.phases.phase0.control_group.indep_controls.controls:u_105      c    -1.000000E+21     5.373678E-01     1.000000E+21           
        436  traj.phases.phase0.control_group.indep_controls.controls:u_106      c    -1.000000E+21     5.657238E-01     1.000000E+21           
        437  traj.phases.phase0.control_group.indep_controls.controls:u_107      c    -1.000000E+21     5.826413E-01     1.000000E+21           
        438  traj.phases.phase0.control_group.indep_controls.controls:u_108      c    -1.000000E+21     5.867517E-01     1.000000E+21           
        439  traj.phases.phase0.control_group.indep_controls.controls:u_109      c    -1.000000E+21     6.079509E-01     1.000000E+21           
        440  traj.phases.phase0.control_group.indep_controls.controls:u_110      c    -1.000000E+21     6.547306E-01     1.000000E+21           
        441  traj.phases.phase0.control_group.indep_controls.controls:u_111      c    -1.000000E+21     7.165830E-01     1.000000E+21           
        442  traj.phases.phase0.control_group.indep_controls.controls:u_112      c    -1.000000E+21     7.821332E-01     1.000000E+21           
        443  traj.phases.phase0.control_group.indep_controls.controls:u_113      c    -1.000000E+21     8.274993E-01     1.000000E+21           
        444  traj.phases.phase0.control_group.indep_controls.controls:u_114      c    -1.000000E+21     8.382529E-01     1.000000E+21           
        445  traj.phases.phase0.control_group.indep_controls.controls:u_115      c    -1.000000E+21     8.664761E-01     1.000000E+21           
        446  traj.phases.phase0.control_group.indep_controls.controls:u_116      c    -1.000000E+21     9.327844E-01     1.000000E+21           
        447  traj.phases.phase0.control_group.indep_controls.controls:u_117      c    -1.000000E+21     1.020110E+00     1.000000E+21           
        448  traj.phases.phase0.control_group.indep_controls.controls:u_118      c    -1.000000E+21     1.109796E+00     1.000000E+21           
        449  traj.phases.phase0.control_group.indep_controls.controls:u_119      c    -1.000000E+21     1.173985E+00     1.000000E+21           
        450  traj.phases.phase0.control_group.indep_controls.controls:u_120      c    -1.000000E+21     1.190142E+00     1.000000E+21           
        451  traj.phases.phase0.control_group.indep_controls.controls:u_121      c    -1.000000E+21     1.210841E+00     1.000000E+21           
        452  traj.phases.phase0.control_group.indep_controls.controls:u_122      c    -1.000000E+21     1.256247E+00     1.000000E+21           
        453  traj.phases.phase0.control_group.indep_controls.controls:u_123      c    -1.000000E+21     1.314041E+00     1.000000E+21           
        454  traj.phases.phase0.control_group.indep_controls.controls:u_124      c    -1.000000E+21     1.371770E+00     1.000000E+21           
        455  traj.phases.phase0.control_group.indep_controls.controls:u_125      c    -1.000000E+21     1.410893E+00     1.000000E+21           
        456  traj.phases.phase0.control_group.indep_controls.controls:u_126      c    -1.000000E+21     1.420258E+00     1.000000E+21           
        457  traj.phases.phase0.control_group.indep_controls.controls:u_127      c    -1.000000E+21     1.444321E+00     1.000000E+21           
        458  traj.phases.phase0.control_group.indep_controls.controls:u_128      c    -1.000000E+21     1.498752E+00     1.000000E+21           
        459  traj.phases.phase0.control_group.indep_controls.controls:u_129      c    -1.000000E+21     1.568675E+00     1.000000E+21           
        460  traj.phases.phase0.control_group.indep_controls.controls:u_130      c    -1.000000E+21     1.637656E+00     1.000000E+21           
        461  traj.phases.phase0.control_group.indep_controls.controls:u_131      c    -1.000000E+21     1.684823E+00     1.000000E+21           
        462  traj.phases.phase0.control_group.indep_controls.controls:u_132      c    -1.000000E+21     1.696394E+00     1.000000E+21           
        463  traj.phases.phase0.control_group.indep_controls.controls:u_133      c    -1.000000E+21     1.725504E+00     1.000000E+21           
        464  traj.phases.phase0.control_group.indep_controls.controls:u_134      c    -1.000000E+21     1.788703E+00     1.000000E+21           
        465  traj.phases.phase0.control_group.indep_controls.controls:u_135      c    -1.000000E+21     1.870591E+00     1.000000E+21           
        466  traj.phases.phase0.control_group.indep_controls.controls:u_136      c    -1.000000E+21     1.953696E+00     1.000000E+21           
        467  traj.phases.phase0.control_group.indep_controls.controls:u_137      c    -1.000000E+21     2.010262E+00     1.000000E+21           
        468  traj.phases.phase0.control_group.indep_controls.controls:u_138      c    -1.000000E+21     2.023883E+00     1.000000E+21           
        469  traj.phases.phase0.control_group.indep_controls.controls:u_139      c    -1.000000E+21     2.058329E+00     1.000000E+21           
        470  traj.phases.phase0.control_group.indep_controls.controls:u_140      c    -1.000000E+21     2.134442E+00     1.000000E+21           
        471  traj.phases.phase0.control_group.indep_controls.controls:u_141      c    -1.000000E+21     2.232017E+00     1.000000E+21           
        472  traj.phases.phase0.control_group.indep_controls.controls:u_142      c    -1.000000E+21     2.328133E+00     1.000000E+21           
        473  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.184238E-15    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.070818E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.291264E-16    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.591320E-15    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.590520E-16    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.625929E-16    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.251859E-17    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.141636E-16    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.035409E-15    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.996004E-16    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.405483E-16    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.255855E-16    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.996004E-16    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.035409E-16    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.661338E-16    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.665335E-16    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.608225E-16    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-16    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.273559E-16    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-16    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.163336E-17    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    9.714451E-17    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.469447E-18    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-18    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.927346E-18    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.451003E-18    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.897354E-19    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.409463E-18    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.421011E-18    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.951564E-18    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-18    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.673617E-19    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.239937E-18    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-18    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.637851E-18    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.127570E-17    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.642919E-17    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.071532E-18    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.255141E-17    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.908196E-17    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.428613E-17    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.838807E-16    0.000000E+00              9.00000E+100
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        200  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.017094E-13    0.000000E+00              9.00000E+100
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        224  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -8.319633E-13    0.000000E+00              9.00000E+100
        225  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -7.131559E-13    0.000000E+00              9.00000E+100
        226  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -1.078918E-12    0.000000E+00              9.00000E+100
        227  traj.phases.phase0.collocation_constraint.defects:xL              e   0.000000E+00   -3.329973E-12    0.000000E+00              9.00000E+100
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        368  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.276756E-13    0.000000E+00              9.00000E+100
        369  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.440892E-13    0.000000E+00              9.00000E+100
        370  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.165734E-13    0.000000E+00              9.00000E+100
        371  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.842171E-13    0.000000E+00              9.00000E+100
        372  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.928591E-13    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
==================================================
          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.
Model viewer data has already been recorded for Driver.
Full total jacobian was computed 3 times, taking 1.519374 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  (93.3% improvement)

Sparsity computed using tolerance: 1e-25
Time to compute sparsity: 1.519374 sec.
Time to compute coloring: 0.482305 sec.
Memory to compute coloring: 0.000000 MB.
Optimization Problem -- Optimization using pyOpt_sparse
================================================================================
    Objective Function: _objfunc

    Solution: 
--------------------------------------------------------------------------------
    Total Time:                    1.2336
       User Objective Time :       0.0045
       User Sensitivity Time :     0.0405
       Interface Time :            0.0262
       Opt Solver Time:            1.1624
    Calls to Objective Function :       2
    Calls to Sens Function :            1


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

   Variables (c - continuous, i - integer, d - discrete)
      Index  Name                                                             Type      Lower Bound            Value      Upper Bound     Status
          0  traj.phases.phase0.indep_states.states:x_0                          c    -1.000000E+21     1.465632E+00     1.000000E+21           
          1  traj.phases.phase0.indep_states.states:x_1                          c    -1.000000E+21     1.396191E+00     1.000000E+21           
          2  traj.phases.phase0.indep_states.states:x_2                          c    -1.000000E+21     1.313983E+00     1.000000E+21           
          3  traj.phases.phase0.indep_states.states:x_3                          c    -1.000000E+21     1.241730E+00     1.000000E+21           
          4  traj.phases.phase0.indep_states.states:x_4                          c    -1.000000E+21     1.196280E+00     1.000000E+21           
          5  traj.phases.phase0.indep_states.states:x_5                          c    -1.000000E+21     1.185107E+00     1.000000E+21           
          6  traj.phases.phase0.indep_states.states:x_6                          c    -1.000000E+21     1.185107E+00     1.000000E+21           
          7  traj.phases.phase0.indep_states.states:x_7                          c    -1.000000E+21     1.157896E+00     1.000000E+21           
          8  traj.phases.phase0.indep_states.states:x_8                          c    -1.000000E+21     1.103010E+00     1.000000E+21           
          9  traj.phases.phase0.indep_states.states:x_9                          c    -1.000000E+21     1.038062E+00     1.000000E+21           
         10  traj.phases.phase0.indep_states.states:x_10                         c    -1.000000E+21     9.809827E-01     1.000000E+21           
         11  traj.phases.phase0.indep_states.states:x_11                         c    -1.000000E+21     9.450685E-01     1.000000E+21           
         12  traj.phases.phase0.indep_states.states:x_12                         c    -1.000000E+21     9.362380E-01     1.000000E+21           
         13  traj.phases.phase0.indep_states.states:x_13                         c    -1.000000E+21     9.362380E-01     1.000000E+21           
         14  traj.phases.phase0.indep_states.states:x_14                         c    -1.000000E+21     9.147322E-01     1.000000E+21           
         15  traj.phases.phase0.indep_states.states:x_15                         c    -1.000000E+21     8.713667E-01     1.000000E+21           
         16  traj.phases.phase0.indep_states.states:x_16                         c    -1.000000E+21     8.200568E-01     1.000000E+21           
         17  traj.phases.phase0.indep_states.states:x_17                         c    -1.000000E+21     7.749591E-01     1.000000E+21           
         18  traj.phases.phase0.indep_states.states:x_18                         c    -1.000000E+21     7.465979E-01     1.000000E+21           
         19  traj.phases.phase0.indep_states.states:x_19                         c    -1.000000E+21     7.396265E-01     1.000000E+21           
         20  traj.phases.phase0.indep_states.states:x_20                         c    -1.000000E+21     7.396265E-01     1.000000E+21           
         21  traj.phases.phase0.indep_states.states:x_21                         c    -1.000000E+21     7.166487E-01     1.000000E+21           
         22  traj.phases.phase0.indep_states.states:x_22                         c    -1.000000E+21     6.678517E-01     1.000000E+21           
         23  traj.phases.phase0.indep_states.states:x_23                         c    -1.000000E+21     6.038570E-01     1.000000E+21           
         24  traj.phases.phase0.indep_states.states:x_24                         c    -1.000000E+21     5.362321E-01     1.000000E+21           
         25  traj.phases.phase0.indep_states.states:x_25                         c    -1.000000E+21     4.744289E-01     1.000000E+21           
         26  traj.phases.phase0.indep_states.states:x_26                         c    -1.000000E+21     4.243998E-01     1.000000E+21           
         27  traj.phases.phase0.indep_states.states:x_27                         c    -1.000000E+21     3.890532E-01     1.000000E+21           
         28  traj.phases.phase0.indep_states.states:x_28                         c    -1.000000E+21     3.693416E-01     1.000000E+21           
         29  traj.phases.phase0.indep_states.states:x_29                         c    -1.000000E+21     3.647281E-01     1.000000E+21           
         30  traj.phases.phase0.indep_states.states:x_30                         c    -1.000000E+21     3.647281E-01     1.000000E+21           
         31  traj.phases.phase0.indep_states.states:x_31                         c    -1.000000E+21     3.401846E-01     1.000000E+21           
         32  traj.phases.phase0.indep_states.states:x_32                         c    -1.000000E+21     2.940742E-01     1.000000E+21           
         33  traj.phases.phase0.indep_states.states:x_33                         c    -1.000000E+21     2.451226E-01     1.000000E+21           
         34  traj.phases.phase0.indep_states.states:x_34                         c    -1.000000E+21     2.068691E-01     1.000000E+21           
         35  traj.phases.phase0.indep_states.states:x_35                         c    -1.000000E+21     1.849763E-01     1.000000E+21           
         36  traj.phases.phase0.indep_states.states:x_36                         c    -1.000000E+21     1.798424E-01     1.000000E+21           
         37  traj.phases.phase0.indep_states.states:x_37                         c    -1.000000E+21     1.798424E-01     1.000000E+21           
         38  traj.phases.phase0.indep_states.states:x_38                         c    -1.000000E+21     1.677400E-01     1.000000E+21           
         39  traj.phases.phase0.indep_states.states:x_39                         c    -1.000000E+21     1.450064E-01     1.000000E+21           
         40  traj.phases.phase0.indep_states.states:x_40                         c    -1.000000E+21     1.208735E-01     1.000000E+21           
         41  traj.phases.phase0.indep_states.states:x_41                         c    -1.000000E+21     1.020139E-01     1.000000E+21           
         42  traj.phases.phase0.indep_states.states:x_42                         c    -1.000000E+21     9.122068E-02     1.000000E+21           
         43  traj.phases.phase0.indep_states.states:x_43                         c    -1.000000E+21     8.868950E-02     1.000000E+21           
         44  traj.phases.phase0.indep_states.states:x_44                         c    -1.000000E+21     8.868950E-02     1.000000E+21           
         45  traj.phases.phase0.indep_states.states:x_45                         c    -1.000000E+21     7.715576E-02     1.000000E+21           
         46  traj.phases.phase0.indep_states.states:x_46                         c    -1.000000E+21     5.766312E-02     1.000000E+21           
         47  traj.phases.phase0.indep_states.states:x_47                         c    -1.000000E+21     4.008074E-02     1.000000E+21           
         48  traj.phases.phase0.indep_states.states:x_48                         c    -1.000000E+21     2.856687E-02     1.000000E+21           
         49  traj.phases.phase0.indep_states.states:x_49                         c    -1.000000E+21     2.285694E-02     1.000000E+21           
         50  traj.phases.phase0.indep_states.states:x_50                         c    -1.000000E+21     2.161093E-02     1.000000E+21           
         51  traj.phases.phase0.indep_states.states:x_51                         c    -1.000000E+21     2.161093E-02     1.000000E+21           
         52  traj.phases.phase0.indep_states.states:x_52                         c    -1.000000E+21     1.881370E-02     1.000000E+21           
         53  traj.phases.phase0.indep_states.states:x_53                         c    -1.000000E+21     1.409283E-02     1.000000E+21           
         54  traj.phases.phase0.indep_states.states:x_54                         c    -1.000000E+21     9.849555E-03     1.000000E+21           
         55  traj.phases.phase0.indep_states.states:x_55                         c    -1.000000E+21     7.092519E-03     1.000000E+21           
         56  traj.phases.phase0.indep_states.states:x_56                         c    -1.000000E+21     5.740921E-03     1.000000E+21           
         57  traj.phases.phase0.indep_states.states:x_57                         c    -1.000000E+21     5.448571E-03     1.000000E+21           
         58  traj.phases.phase0.indep_states.states:x_58                         c    -1.000000E+21     5.448571E-03     1.000000E+21           
         59  traj.phases.phase0.indep_states.states:x_59                         c    -1.000000E+21     4.797482E-03     1.000000E+21           
         60  traj.phases.phase0.indep_states.states:x_60                         c    -1.000000E+21     3.725042E-03     1.000000E+21           
         61  traj.phases.phase0.indep_states.states:x_61                         c    -1.000000E+21     2.825520E-03     1.000000E+21           
         62  traj.phases.phase0.indep_states.states:x_62                         c    -1.000000E+21     2.329973E-03     1.000000E+21           
         63  traj.phases.phase0.indep_states.states:x_63                         c    -1.000000E+21     2.152086E-03     1.000000E+21           
         64  traj.phases.phase0.indep_states.states:x_64                         c    -1.000000E+21     2.124548E-03     1.000000E+21           
         65  traj.phases.phase0.indep_states.states:x_65                         c    -1.000000E+21     2.124548E-03     1.000000E+21           
         66  traj.phases.phase0.indep_states.states:x_66                         c    -1.000000E+21     2.085462E-03     1.000000E+21           
         67  traj.phases.phase0.indep_states.states:x_67                         c    -1.000000E+21     2.135322E-03     1.000000E+21           
         68  traj.phases.phase0.indep_states.states:x_68                         c    -1.000000E+21     2.460598E-03     1.000000E+21           
         69  traj.phases.phase0.indep_states.states:x_69                         c    -1.000000E+21     3.057933E-03     1.000000E+21           
         70  traj.phases.phase0.indep_states.states:x_70                         c    -1.000000E+21     3.634943E-03     1.000000E+21           
         71  traj.phases.phase0.indep_states.states:x_71                         c    -1.000000E+21     3.807566E-03     1.000000E+21           
         72  traj.phases.phase0.indep_states.states:x_72                         c    -1.000000E+21     3.807566E-03     1.000000E+21           
         73  traj.phases.phase0.indep_states.states:x_73                         c    -1.000000E+21     4.038408E-03     1.000000E+21           
         74  traj.phases.phase0.indep_states.states:x_74                         c    -1.000000E+21     4.585818E-03     1.000000E+21           
         75  traj.phases.phase0.indep_states.states:x_75                         c    -1.000000E+21     5.408106E-03     1.000000E+21           
         76  traj.phases.phase0.indep_states.states:x_76                         c    -1.000000E+21     6.336150E-03     1.000000E+21           
         77  traj.phases.phase0.indep_states.states:x_77                         c    -1.000000E+21     7.046095E-03     1.000000E+21           
         78  traj.phases.phase0.indep_states.states:x_78                         c    -1.000000E+21     7.238202E-03     1.000000E+21           
         79  traj.phases.phase0.indep_states.states:x_79                         c    -1.000000E+21     7.238202E-03     1.000000E+21           
         80  traj.phases.phase0.indep_states.states:x_80                         c    -1.000000E+21     7.738589E-03     1.000000E+21           
         81  traj.phases.phase0.indep_states.states:x_81                         c    -1.000000E+21     8.909364E-03     1.000000E+21           
         82  traj.phases.phase0.indep_states.states:x_82                         c    -1.000000E+21     1.064320E-02     1.000000E+21           
         83  traj.phases.phase0.indep_states.states:x_83                         c    -1.000000E+21     1.257600E-02     1.000000E+21           
         84  traj.phases.phase0.indep_states.states:x_84                         c    -1.000000E+21     1.404437E-02     1.000000E+21           
         85  traj.phases.phase0.indep_states.states:x_85                         c    -1.000000E+21     1.444078E-02     1.000000E+21           
         86  traj.phases.phase0.indep_states.states:x_86                         c    -1.000000E+21     1.444078E-02     1.000000E+21           
         87  traj.phases.phase0.indep_states.states:x_87                         c    -1.000000E+21     1.547194E-02     1.000000E+21           
         88  traj.phases.phase0.indep_states.states:x_88                         c    -1.000000E+21     1.787730E-02     1.000000E+21           
         89  traj.phases.phase0.indep_states.states:x_89                         c    -1.000000E+21     2.142584E-02     1.000000E+21           
         90  traj.phases.phase0.indep_states.states:x_90                         c    -1.000000E+21     2.537122E-02     1.000000E+21           
         91  traj.phases.phase0.indep_states.states:x_91                         c    -1.000000E+21     2.836428E-02     1.000000E+21           
         92  traj.phases.phase0.indep_states.states:x_92                         c    -1.000000E+21     2.917171E-02     1.000000E+21           
         93  traj.phases.phase0.indep_states.states:x_93                         c    -1.000000E+21     2.917171E-02     1.000000E+21           
         94  traj.phases.phase0.indep_states.states:x_94                         c    -1.000000E+21     3.127075E-02     1.000000E+21           
         95  traj.phases.phase0.indep_states.states:x_95                         c    -1.000000E+21     3.616211E-02     1.000000E+21           
         96  traj.phases.phase0.indep_states.states:x_96                         c    -1.000000E+21     4.337382E-02     1.000000E+21           
         97  traj.phases.phase0.indep_states.states:x_97                         c    -1.000000E+21     5.138648E-02     1.000000E+21           
         98  traj.phases.phase0.indep_states.states:x_98                         c    -1.000000E+21     5.746138E-02     1.000000E+21           
         99  traj.phases.phase0.indep_states.states:x_99                         c    -1.000000E+21     5.910054E-02     1.000000E+21           
        100  traj.phases.phase0.indep_states.states:x_100                        c    -1.000000E+21     5.910054E-02     1.000000E+21           
        101  traj.phases.phase0.indep_states.states:x_101                        c    -1.000000E+21     6.099565E-02     1.000000E+21           
        102  traj.phases.phase0.indep_states.states:x_102                        c    -1.000000E+21     6.546201E-02     1.000000E+21           
        103  traj.phases.phase0.indep_states.states:x_103                        c    -1.000000E+21     7.240411E-02     1.000000E+21           
        104  traj.phases.phase0.indep_states.states:x_104                        c    -1.000000E+21     8.155712E-02     1.000000E+21           
        105  traj.phases.phase0.indep_states.states:x_105                        c    -1.000000E+21     9.223023E-02     1.000000E+21           
        106  traj.phases.phase0.indep_states.states:x_106                        c    -1.000000E+21     1.031032E-01     1.000000E+21           
        107  traj.phases.phase0.indep_states.states:x_107                        c    -1.000000E+21     1.124645E-01     1.000000E+21           
        108  traj.phases.phase0.indep_states.states:x_108                        c    -1.000000E+21     1.184645E-01     1.000000E+21           
        109  traj.phases.phase0.indep_states.states:x_109                        c    -1.000000E+21     1.199622E-01     1.000000E+21           
        110  traj.phases.phase0.indep_states.states:x_110                        c    -1.000000E+21     1.199622E-01     1.000000E+21           
        111  traj.phases.phase0.indep_states.states:x_111                        c    -1.000000E+21     1.221239E-01     1.000000E+21           
        112  traj.phases.phase0.indep_states.states:x_112                        c    -1.000000E+21     1.272092E-01     1.000000E+21           
        113  traj.phases.phase0.indep_states.states:x_113                        c    -1.000000E+21     1.351841E-01     1.000000E+21           
        114  traj.phases.phase0.indep_states.states:x_114                        c    -1.000000E+21     1.459553E-01     1.000000E+21           
        115  traj.phases.phase0.indep_states.states:x_115                        c    -1.000000E+21     1.592666E-01     1.000000E+21           
        116  traj.phases.phase0.indep_states.states:x_116                        c    -1.000000E+21     1.746151E-01     1.000000E+21           
        117  traj.phases.phase0.indep_states.states:x_117                        c    -1.000000E+21     1.911498E-01     1.000000E+21           
        118  traj.phases.phase0.indep_states.states:x_118                        c    -1.000000E+21     2.076423E-01     1.000000E+21           
        119  traj.phases.phase0.indep_states.states:x_119                        c    -1.000000E+21     2.225691E-01     1.000000E+21           
        120  traj.phases.phase0.indep_states.states:x_120                        c    -1.000000E+21     2.342928E-01     1.000000E+21           
        121  traj.phases.phase0.indep_states.states:x_121                        c    -1.000000E+21     2.413580E-01     1.000000E+21           
        122  traj.phases.phase0.indep_states.states:x_122                        c    -1.000000E+21     2.430735E-01     1.000000E+21           
        123  traj.phases.phase0.indep_states.states:x_123                        c    -1.000000E+21     2.430735E-01     1.000000E+21           
        124  traj.phases.phase0.indep_states.states:x_124                        c    -1.000000E+21     2.473449E-01     1.000000E+21           
        125  traj.phases.phase0.indep_states.states:x_125                        c    -1.000000E+21     2.565313E-01     1.000000E+21           
        126  traj.phases.phase0.indep_states.states:x_126                        c    -1.000000E+21     2.685086E-01     1.000000E+21           
        127  traj.phases.phase0.indep_states.states:x_127                        c    -1.000000E+21     2.801804E-01     1.000000E+21           
        128  traj.phases.phase0.indep_states.states:x_128                        c    -1.000000E+21     2.881553E-01     1.000000E+21           
        129  traj.phases.phase0.indep_states.states:x_129                        c    -1.000000E+21     2.901958E-01     1.000000E+21           
        130  traj.phases.phase0.indep_states.states:x_130                        c    -1.000000E+21     2.901958E-01     1.000000E+21           
        131  traj.phases.phase0.indep_states.states:x_131                        c    -1.000000E+21     2.953033E-01     1.000000E+21           
        132  traj.phases.phase0.indep_states.states:x_132                        c    -1.000000E+21     3.062822E-01     1.000000E+21           
        133  traj.phases.phase0.indep_states.states:x_133                        c    -1.000000E+21     3.206099E-01     1.000000E+21           
        134  traj.phases.phase0.indep_states.states:x_134                        c    -1.000000E+21     3.345746E-01     1.000000E+21           
        135  traj.phases.phase0.indep_states.states:x_135                        c    -1.000000E+21     3.441117E-01     1.000000E+21           
        136  traj.phases.phase0.indep_states.states:x_136                        c    -1.000000E+21     3.465512E-01     1.000000E+21           
        137  traj.phases.phase0.indep_states.states:x_137                        c    -1.000000E+21     3.465512E-01     1.000000E+21           
        138  traj.phases.phase0.indep_states.states:x_138                        c    -1.000000E+21     3.526544E-01     1.000000E+21           
        139  traj.phases.phase0.indep_states.states:x_139                        c    -1.000000E+21     3.657493E-01     1.000000E+21           
        140  traj.phases.phase0.indep_states.states:x_140                        c    -1.000000E+21     3.828040E-01     1.000000E+21           
        141  traj.phases.phase0.indep_states.states:x_141                        c    -1.000000E+21     3.994182E-01     1.000000E+21           
        142  traj.phases.phase0.indep_states.states:x_142                        c    -1.000000E+21     4.107647E-01     1.000000E+21           
        143  traj.phases.phase0.indep_states.states:x_143                        c    -1.000000E+21     4.136676E-01     1.000000E+21           
        144  traj.phases.phase0.indep_states.states:x_144                        c    -1.000000E+21     4.136676E-01     1.000000E+21           
        145  traj.phases.phase0.indep_states.states:x_145                        c    -1.000000E+21     4.209331E-01     1.000000E+21           
        146  traj.phases.phase0.indep_states.states:x_146                        c    -1.000000E+21     4.365303E-01     1.000000E+21           
        147  traj.phases.phase0.indep_states.states:x_147                        c    -1.000000E+21     4.568319E-01     1.000000E+21           
        148  traj.phases.phase0.indep_states.states:x_148                        c    -1.000000E+21     4.765880E-01     1.000000E+21           
        149  traj.phases.phase0.indep_states.states:x_149                        c    -1.000000E+21     4.900843E-01     1.000000E+21           
        150  traj.phases.phase0.indep_states.states:x_150                        c    -1.000000E+21     4.935393E-01     1.000000E+21           
        151  traj.phases.phase0.indep_states.states:x_151                        c    -1.000000E+21     4.935393E-01     1.000000E+21           
        152  traj.phases.phase0.indep_states.states:x_152                        c    -1.000000E+21     4.974401E-01     1.000000E+21           
        153  traj.phases.phase0.indep_states.states:x_153                        c    -1.000000E+21     5.062681E-01     1.000000E+21           
        154  traj.phases.phase0.indep_states.states:x_154                        c    -1.000000E+21     5.191551E-01     1.000000E+21           
        155  traj.phases.phase0.indep_states.states:x_155                        c    -1.000000E+21     5.347752E-01     1.000000E+21           
        156  traj.phases.phase0.indep_states.states:x_156                        c    -1.000000E+21     5.513749E-01     1.000000E+21           
        157  traj.phases.phase0.indep_states.states:x_157                        c    -1.000000E+21     5.669272E-01     1.000000E+21           
        158  traj.phases.phase0.indep_states.states:x_158                        c    -1.000000E+21     5.793737E-01     1.000000E+21           
        159  traj.phases.phase0.indep_states.states:x_159                        c    -1.000000E+21     5.869472E-01     1.000000E+21           
        160  traj.phases.phase0.indep_states.states:x_160                        c    -1.000000E+21     5.887924E-01     1.000000E+21           
        161  traj.phases.phase0.indep_states.states:x_161                        c    -1.000000E+21     5.887924E-01     1.000000E+21           
        162  traj.phases.phase0.indep_states.states:x_162                        c    -1.000000E+21     5.914246E-01     1.000000E+21           
        163  traj.phases.phase0.indep_states.states:x_163                        c    -1.000000E+21     5.974820E-01     1.000000E+21           
        164  traj.phases.phase0.indep_states.states:x_164                        c    -1.000000E+21     6.066282E-01     1.000000E+21           
        165  traj.phases.phase0.indep_states.states:x_165                        c    -1.000000E+21     6.183676E-01     1.000000E+21           
        166  traj.phases.phase0.indep_states.states:x_166                        c    -1.000000E+21     6.320205E-01     1.000000E+21           
        167  traj.phases.phase0.indep_states.states:x_167                        c    -1.000000E+21     6.467363E-01     1.000000E+21           
        168  traj.phases.phase0.indep_states.states:x_168                        c    -1.000000E+21     6.615374E-01     1.000000E+21           
        169  traj.phases.phase0.indep_states.states:x_169                        c    -1.000000E+21     6.753771E-01     1.000000E+21           
        170  traj.phases.phase0.indep_states.states:x_170                        c    -1.000000E+21     6.872055E-01     1.000000E+21           
        171  traj.phases.phase0.indep_states.states:x_171                        c    -1.000000E+21     6.960838E-01     1.000000E+21           
        172  traj.phases.phase0.indep_states.states:x_172                        c    -1.000000E+21     7.012762E-01     1.000000E+21           
        173  traj.phases.phase0.indep_states.states:x_173                        c    -1.000000E+21     7.025197E-01     1.000000E+21           
        174  traj.phases.phase0.indep_states.states:x_174                        c    -1.000000E+21     7.025197E-01     1.000000E+21           
        175  traj.phases.phase0.indep_states.states:x_175                        c    -1.000000E+21     7.086652E-01     1.000000E+21           
        176  traj.phases.phase0.indep_states.states:x_176                        c    -1.000000E+21     7.216822E-01     1.000000E+21           
        177  traj.phases.phase0.indep_states.states:x_177                        c    -1.000000E+21     7.382799E-01     1.000000E+21           
        178  traj.phases.phase0.indep_states.states:x_178                        c    -1.000000E+21     7.540852E-01     1.000000E+21           
        179  traj.phases.phase0.indep_states.states:x_179                        c    -1.000000E+21     7.646897E-01     1.000000E+21           
        180  traj.phases.phase0.indep_states.states:x_180                        c    -1.000000E+21     7.673806E-01     1.000000E+21           
        181  traj.phases.phase0.indep_states.states:x_181                        c    -1.000000E+21     7.673806E-01     1.000000E+21           
        182  traj.phases.phase0.indep_states.states:x_182                        c    -1.000000E+21     7.740791E-01     1.000000E+21           
        183  traj.phases.phase0.indep_states.states:x_183                        c    -1.000000E+21     7.882757E-01     1.000000E+21           
        184  traj.phases.phase0.indep_states.states:x_184                        c    -1.000000E+21     8.064017E-01     1.000000E+21           
        185  traj.phases.phase0.indep_states.states:x_185                        c    -1.000000E+21     8.236820E-01     1.000000E+21           
        186  traj.phases.phase0.indep_states.states:x_186                        c    -1.000000E+21     8.352845E-01     1.000000E+21           
        187  traj.phases.phase0.indep_states.states:x_187                        c    -1.000000E+21     8.382295E-01     1.000000E+21           
        188  traj.phases.phase0.indep_states.states:x_188                        c    -1.000000E+21     8.382295E-01     1.000000E+21           
        189  traj.phases.phase0.indep_states.states:x_189                        c    -1.000000E+21     8.455601E-01     1.000000E+21           
        190  traj.phases.phase0.indep_states.states:x_190                        c    -1.000000E+21     8.610859E-01     1.000000E+21           
        191  traj.phases.phase0.indep_states.states:x_191                        c    -1.000000E+21     8.808869E-01     1.000000E+21           
        192  traj.phases.phase0.indep_states.states:x_192                        c    -1.000000E+21     8.997467E-01     1.000000E+21           
        193  traj.phases.phase0.indep_states.states:x_193                        c    -1.000000E+21     9.124002E-01     1.000000E+21           
        194  traj.phases.phase0.indep_states.states:x_194                        c    -1.000000E+21     9.156112E-01     1.000000E+21           
        195  traj.phases.phase0.indep_states.states:x_195                        c    -1.000000E+21     9.156112E-01     1.000000E+21           
        196  traj.phases.phase0.indep_states.states:x_196                        c    -1.000000E+21     9.236043E-01     1.000000E+21           
        197  traj.phases.phase0.indep_states.states:x_197                        c    -1.000000E+21     9.405361E-01     1.000000E+21           
        198  traj.phases.phase0.indep_states.states:x_198                        c    -1.000000E+21     9.621313E-01     1.000000E+21           
        199  traj.phases.phase0.indep_states.states:x_199                        c    -1.000000E+21     9.826981E-01     1.000000E+21           
        200  traj.phases.phase0.indep_states.states:x_200                        c    -1.000000E+21     9.964980E-01     1.000000E+21           
        201  traj.phases.phase0.indep_states.states:x_201                        c    -1.000000E+21     1.000000E+00     1.000000E+21           
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        215  traj.phases.phase0.indep_states.states:xL_13                        c    -1.000000E+21     2.844527E-01     1.000000E+21           
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        220  traj.phases.phase0.indep_states.states:xL_18                        c    -1.000000E+21     3.505473E-01     1.000000E+21           
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        232  traj.phases.phase0.indep_states.states:xL_30                        c    -1.000000E+21     4.384397E-01     1.000000E+21           
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        239  traj.phases.phase0.indep_states.states:xL_37                        c    -1.000000E+21     4.592919E-01     1.000000E+21           
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        247  traj.phases.phase0.indep_states.states:xL_45                        c    -1.000000E+21     4.647576E-01     1.000000E+21           
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        249  traj.phases.phase0.indep_states.states:xL_47                        c    -1.000000E+21     4.656578E-01     1.000000E+21           
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        253  traj.phases.phase0.indep_states.states:xL_51                        c    -1.000000E+21     4.658937E-01     1.000000E+21           
        254  traj.phases.phase0.indep_states.states:xL_52                        c    -1.000000E+21     4.659171E-01     1.000000E+21           
        255  traj.phases.phase0.indep_states.states:xL_53                        c    -1.000000E+21     4.659493E-01     1.000000E+21           
        256  traj.phases.phase0.indep_states.states:xL_54                        c    -1.000000E+21     4.659704E-01     1.000000E+21           
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        258  traj.phases.phase0.indep_states.states:xL_56                        c    -1.000000E+21     4.659837E-01     1.000000E+21           
        259  traj.phases.phase0.indep_states.states:xL_57                        c    -1.000000E+21     4.659844E-01     1.000000E+21           
        260  traj.phases.phase0.indep_states.states:xL_58                        c    -1.000000E+21     4.659844E-01     1.000000E+21           
        261  traj.phases.phase0.indep_states.states:xL_59                        c    -1.000000E+21     4.659858E-01     1.000000E+21           
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        263  traj.phases.phase0.indep_states.states:xL_61                        c    -1.000000E+21     4.659891E-01     1.000000E+21           
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        275  traj.phases.phase0.indep_states.states:xL_73                        c    -1.000000E+21     4.660070E-01     1.000000E+21           
        276  traj.phases.phase0.indep_states.states:xL_74                        c    -1.000000E+21     4.660127E-01     1.000000E+21           
        277  traj.phases.phase0.indep_states.states:xL_75                        c    -1.000000E+21     4.660226E-01     1.000000E+21           
        278  traj.phases.phase0.indep_states.states:xL_76                        c    -1.000000E+21     4.660358E-01     1.000000E+21           
        279  traj.phases.phase0.indep_states.states:xL_77                        c    -1.000000E+21     4.660473E-01     1.000000E+21           
        280  traj.phases.phase0.indep_states.states:xL_78                        c    -1.000000E+21     4.660506E-01     1.000000E+21           
        281  traj.phases.phase0.indep_states.states:xL_79                        c    -1.000000E+21     4.660506E-01     1.000000E+21           
        282  traj.phases.phase0.indep_states.states:xL_80                        c    -1.000000E+21     4.660596E-01     1.000000E+21           
        283  traj.phases.phase0.indep_states.states:xL_81                        c    -1.000000E+21     4.660832E-01     1.000000E+21           
        284  traj.phases.phase0.indep_states.states:xL_82                        c    -1.000000E+21     4.661241E-01     1.000000E+21           
        285  traj.phases.phase0.indep_states.states:xL_83                        c    -1.000000E+21     4.661783E-01     1.000000E+21           
        286  traj.phases.phase0.indep_states.states:xL_84                        c    -1.000000E+21     4.662255E-01     1.000000E+21           
        287  traj.phases.phase0.indep_states.states:xL_85                        c    -1.000000E+21     4.662391E-01     1.000000E+21           
        288  traj.phases.phase0.indep_states.states:xL_86                        c    -1.000000E+21     4.662391E-01     1.000000E+21           
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        290  traj.phases.phase0.indep_states.states:xL_88                        c    -1.000000E+21     4.663732E-01     1.000000E+21           
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        442  traj.phases.phase0.control_group.indep_controls.controls:u_38       c    -1.000000E+21    -3.773866E-02     1.000000E+21           
        443  traj.phases.phase0.control_group.indep_controls.controls:u_39       c    -1.000000E+21    -3.669595E-02     1.000000E+21           
        444  traj.phases.phase0.control_group.indep_controls.controls:u_40       c    -1.000000E+21    -3.193452E-02     1.000000E+21           
        445  traj.phases.phase0.control_group.indep_controls.controls:u_41       c    -1.000000E+21    -2.382747E-02     1.000000E+21           
        446  traj.phases.phase0.control_group.indep_controls.controls:u_42       c    -1.000000E+21    -1.651046E-02     1.000000E+21           
        447  traj.phases.phase0.control_group.indep_controls.controls:u_43       c    -1.000000E+21    -1.172471E-02     1.000000E+21           
        448  traj.phases.phase0.control_group.indep_controls.controls:u_44       c    -1.000000E+21    -9.335399E-03     1.000000E+21           
        449  traj.phases.phase0.control_group.indep_controls.controls:u_45       c    -1.000000E+21    -8.811586E-03     1.000000E+21           
        450  traj.phases.phase0.control_group.indep_controls.controls:u_46       c    -1.000000E+21    -7.631784E-03     1.000000E+21           
        451  traj.phases.phase0.control_group.indep_controls.controls:u_47       c    -1.000000E+21    -5.618657E-03     1.000000E+21           
        452  traj.phases.phase0.control_group.indep_controls.controls:u_48       c    -1.000000E+21    -3.761991E-03     1.000000E+21           
        453  traj.phases.phase0.control_group.indep_controls.controls:u_49       c    -1.000000E+21    -2.495973E-03     1.000000E+21           
        454  traj.phases.phase0.control_group.indep_controls.controls:u_50       c    -1.000000E+21    -1.827717E-03     1.000000E+21           
        455  traj.phases.phase0.control_group.indep_controls.controls:u_51       c    -1.000000E+21    -1.674158E-03     1.000000E+21           
        456  traj.phases.phase0.control_group.indep_controls.controls:u_52       c    -1.000000E+21    -1.316985E-03     1.000000E+21           
        457  traj.phases.phase0.control_group.indep_controls.controls:u_53       c    -1.000000E+21    -6.448328E-04     1.000000E+21           
        458  traj.phases.phase0.control_group.indep_controls.controls:u_54       c    -1.000000E+21     1.306604E-04     1.000000E+21           
        459  traj.phases.phase0.control_group.indep_controls.controls:u_55       c    -1.000000E+21     8.519692E-04     1.000000E+21           
        460  traj.phases.phase0.control_group.indep_controls.controls:u_56       c    -1.000000E+21     1.374172E-03     1.000000E+21           
        461  traj.phases.phase0.control_group.indep_controls.controls:u_57       c    -1.000000E+21     1.518622E-03     1.000000E+21           
        462  traj.phases.phase0.control_group.indep_controls.controls:u_58       c    -1.000000E+21     1.895615E-03     1.000000E+21           
        463  traj.phases.phase0.control_group.indep_controls.controls:u_59       c    -1.000000E+21     2.816108E-03     1.000000E+21           
        464  traj.phases.phase0.control_group.indep_controls.controls:u_60       c    -1.000000E+21     4.329931E-03     1.000000E+21           
        465  traj.phases.phase0.control_group.indep_controls.controls:u_61       c    -1.000000E+21     6.205908E-03     1.000000E+21           
        466  traj.phases.phase0.control_group.indep_controls.controls:u_62       c    -1.000000E+21     7.820489E-03     1.000000E+21           
        467  traj.phases.phase0.control_group.indep_controls.controls:u_63       c    -1.000000E+21     8.297124E-03     1.000000E+21           
        468  traj.phases.phase0.control_group.indep_controls.controls:u_64       c    -1.000000E+21     8.921322E-03     1.000000E+21           
        469  traj.phases.phase0.control_group.indep_controls.controls:u_65       c    -1.000000E+21     1.034978E-02     1.000000E+21           
        470  traj.phases.phase0.control_group.indep_controls.controls:u_66       c    -1.000000E+21     1.245598E-02     1.000000E+21           
        471  traj.phases.phase0.control_group.indep_controls.controls:u_67       c    -1.000000E+21     1.479371E-02     1.000000E+21           
        472  traj.phases.phase0.control_group.indep_controls.controls:u_68       c    -1.000000E+21     1.655656E-02     1.000000E+21           
        473  traj.phases.phase0.control_group.indep_controls.controls:u_69       c    -1.000000E+21     1.703129E-02     1.000000E+21           
        474  traj.phases.phase0.control_group.indep_controls.controls:u_70       c    -1.000000E+21     1.826750E-02     1.000000E+21           
        475  traj.phases.phase0.control_group.indep_controls.controls:u_71       c    -1.000000E+21     2.115517E-02     1.000000E+21           
        476  traj.phases.phase0.control_group.indep_controls.controls:u_72       c    -1.000000E+21     2.540431E-02     1.000000E+21           
        477  traj.phases.phase0.control_group.indep_controls.controls:u_73       c    -1.000000E+21     3.010929E-02     1.000000E+21           
        478  traj.phases.phase0.control_group.indep_controls.controls:u_74       c    -1.000000E+21     3.367699E-02     1.000000E+21           
        479  traj.phases.phase0.control_group.indep_controls.controls:u_75       c    -1.000000E+21     3.464095E-02     1.000000E+21           
        480  traj.phases.phase0.control_group.indep_controls.controls:u_76       c    -1.000000E+21     3.714823E-02     1.000000E+21           
        481  traj.phases.phase0.control_group.indep_controls.controls:u_77       c    -1.000000E+21     4.298963E-02     1.000000E+21           
        482  traj.phases.phase0.control_group.indep_controls.controls:u_78       c    -1.000000E+21     5.158948E-02     1.000000E+21           
        483  traj.phases.phase0.control_group.indep_controls.controls:u_79       c    -1.000000E+21     6.113017E-02     1.000000E+21           
        484  traj.phases.phase0.control_group.indep_controls.controls:u_80       c    -1.000000E+21     6.835989E-02     1.000000E+21           
        485  traj.phases.phase0.control_group.indep_controls.controls:u_81       c    -1.000000E+21     7.030989E-02     1.000000E+21           
        486  traj.phases.phase0.control_group.indep_controls.controls:u_82       c    -1.000000E+21     7.537711E-02     1.000000E+21           
        487  traj.phases.phase0.control_group.indep_controls.controls:u_83       c    -1.000000E+21     8.720872E-02     1.000000E+21           
        488  traj.phases.phase0.control_group.indep_controls.controls:u_84       c    -1.000000E+21     1.046613E-01     1.000000E+21           
        489  traj.phases.phase0.control_group.indep_controls.controls:u_85       c    -1.000000E+21     1.239745E-01     1.000000E+21           
        490  traj.phases.phase0.control_group.indep_controls.controls:u_86       c    -1.000000E+21     1.386467E-01     1.000000E+21           
        491  traj.phases.phase0.control_group.indep_controls.controls:u_87       c    -1.000000E+21     1.426275E-01     1.000000E+21           
        492  traj.phases.phase0.control_group.indep_controls.controls:u_88       c    -1.000000E+21     1.473395E-01     1.000000E+21           
        493  traj.phases.phase0.control_group.indep_controls.controls:u_89       c    -1.000000E+21     1.582271E-01     1.000000E+21           
        494  traj.phases.phase0.control_group.indep_controls.controls:u_90       c    -1.000000E+21     1.748025E-01     1.000000E+21           
        495  traj.phases.phase0.control_group.indep_controls.controls:u_91       c    -1.000000E+21     1.974011E-01     1.000000E+21           
        496  traj.phases.phase0.control_group.indep_controls.controls:u_92       c    -1.000000E+21     2.229031E-01     1.000000E+21           
        497  traj.phases.phase0.control_group.indep_controls.controls:u_93       c    -1.000000E+21     2.487599E-01     1.000000E+21           
        498  traj.phases.phase0.control_group.indep_controls.controls:u_94       c    -1.000000E+21     2.714579E-01     1.000000E+21           
        499  traj.phases.phase0.control_group.indep_controls.controls:u_95       c    -1.000000E+21     2.858777E-01     1.000000E+21           
        500  traj.phases.phase0.control_group.indep_controls.controls:u_96       c    -1.000000E+21     2.895052E-01     1.000000E+21           
        501  traj.phases.phase0.control_group.indep_controls.controls:u_97       c    -1.000000E+21     2.946947E-01     1.000000E+21           
        502  traj.phases.phase0.control_group.indep_controls.controls:u_98       c    -1.000000E+21     3.068237E-01     1.000000E+21           
        503  traj.phases.phase0.control_group.indep_controls.controls:u_99       c    -1.000000E+21     3.260435E-01     1.000000E+21           
        504  traj.phases.phase0.control_group.indep_controls.controls:u_100      c    -1.000000E+21     3.519265E-01     1.000000E+21           
        505  traj.phases.phase0.control_group.indep_controls.controls:u_101      c    -1.000000E+21     3.840216E-01     1.000000E+21           
        506  traj.phases.phase0.control_group.indep_controls.controls:u_102      c    -1.000000E+21     4.211580E-01     1.000000E+21           
        507  traj.phases.phase0.control_group.indep_controls.controls:u_103      c    -1.000000E+21     4.611412E-01     1.000000E+21           
        508  traj.phases.phase0.control_group.indep_controls.controls:u_104      c    -1.000000E+21     5.010365E-01     1.000000E+21           
        509  traj.phases.phase0.control_group.indep_controls.controls:u_105      c    -1.000000E+21     5.373313E-01     1.000000E+21           
        510  traj.phases.phase0.control_group.indep_controls.controls:u_106      c    -1.000000E+21     5.656851E-01     1.000000E+21           
        511  traj.phases.phase0.control_group.indep_controls.controls:u_107      c    -1.000000E+21     5.826258E-01     1.000000E+21           
        512  traj.phases.phase0.control_group.indep_controls.controls:u_108      c    -1.000000E+21     5.867667E-01     1.000000E+21           
        513  traj.phases.phase0.control_group.indep_controls.controls:u_109      c    -1.000000E+21     5.972987E-01     1.000000E+21           
        514  traj.phases.phase0.control_group.indep_controls.controls:u_110      c    -1.000000E+21     6.201079E-01     1.000000E+21           
        515  traj.phases.phase0.control_group.indep_controls.controls:u_111      c    -1.000000E+21     6.492660E-01     1.000000E+21           
        516  traj.phases.phase0.control_group.indep_controls.controls:u_112      c    -1.000000E+21     6.778309E-01     1.000000E+21           
        517  traj.phases.phase0.control_group.indep_controls.controls:u_113      c    -1.000000E+21     6.969090E-01     1.000000E+21           
        518  traj.phases.phase0.control_group.indep_controls.controls:u_114      c    -1.000000E+21     7.015271E-01     1.000000E+21           
        519  traj.phases.phase0.control_group.indep_controls.controls:u_115      c    -1.000000E+21     7.135298E-01     1.000000E+21           
        520  traj.phases.phase0.control_group.indep_controls.controls:u_116      c    -1.000000E+21     7.409714E-01     1.000000E+21           
        521  traj.phases.phase0.control_group.indep_controls.controls:u_117      c    -1.000000E+21     7.762234E-01     1.000000E+21           
        522  traj.phases.phase0.control_group.indep_controls.controls:u_118      c    -1.000000E+21     8.102290E-01     1.000000E+21           
        523  traj.phases.phase0.control_group.indep_controls.controls:u_119      c    -1.000000E+21     8.328182E-01     1.000000E+21           
        524  traj.phases.phase0.control_group.indep_controls.controls:u_120      c    -1.000000E+21     8.382625E-01     1.000000E+21           
        525  traj.phases.phase0.control_group.indep_controls.controls:u_121      c    -1.000000E+21     8.521543E-01     1.000000E+21           
        526  traj.phases.phase0.control_group.indep_controls.controls:u_122      c    -1.000000E+21     8.835923E-01     1.000000E+21           
        527  traj.phases.phase0.control_group.indep_controls.controls:u_123      c    -1.000000E+21     9.248979E-01     1.000000E+21           
        528  traj.phases.phase0.control_group.indep_controls.controls:u_124      c    -1.000000E+21     9.652971E-01     1.000000E+21           
        529  traj.phases.phase0.control_group.indep_controls.controls:u_125      c    -1.000000E+21     9.922629E-01     1.000000E+21           
        530  traj.phases.phase0.control_group.indep_controls.controls:u_126      c    -1.000000E+21     9.988488E-01     1.000000E+21           
        531  traj.phases.phase0.control_group.indep_controls.controls:u_127      c    -1.000000E+21     1.015723E+00     1.000000E+21           
        532  traj.phases.phase0.control_group.indep_controls.controls:u_128      c    -1.000000E+21     1.053328E+00     1.000000E+21           
        533  traj.phases.phase0.control_group.indep_controls.controls:u_129      c    -1.000000E+21     1.101682E+00     1.000000E+21           
        534  traj.phases.phase0.control_group.indep_controls.controls:u_130      c    -1.000000E+21     1.149445E+00     1.000000E+21           
        535  traj.phases.phase0.control_group.indep_controls.controls:u_131      c    -1.000000E+21     1.182076E+00     1.000000E+21           
        536  traj.phases.phase0.control_group.indep_controls.controls:u_132      c    -1.000000E+21     1.190108E+00     1.000000E+21           
        537  traj.phases.phase0.control_group.indep_controls.controls:u_133      c    -1.000000E+21     1.199293E+00     1.000000E+21           
        538  traj.phases.phase0.control_group.indep_controls.controls:u_134      c    -1.000000E+21     1.220775E+00     1.000000E+21           
        539  traj.phases.phase0.control_group.indep_controls.controls:u_135      c    -1.000000E+21     1.252053E+00     1.000000E+21           
        540  traj.phases.phase0.control_group.indep_controls.controls:u_136      c    -1.000000E+21     1.289677E+00     1.000000E+21           
        541  traj.phases.phase0.control_group.indep_controls.controls:u_137      c    -1.000000E+21     1.329616E+00     1.000000E+21           
        542  traj.phases.phase0.control_group.indep_controls.controls:u_138      c    -1.000000E+21     1.367570E+00     1.000000E+21           
        543  traj.phases.phase0.control_group.indep_controls.controls:u_139      c    -1.000000E+21     1.397960E+00     1.000000E+21           
        544  traj.phases.phase0.control_group.indep_controls.controls:u_140      c    -1.000000E+21     1.415962E+00     1.000000E+21           
        545  traj.phases.phase0.control_group.indep_controls.controls:u_141      c    -1.000000E+21     1.420281E+00     1.000000E+21           
        546  traj.phases.phase0.control_group.indep_controls.controls:u_142      c    -1.000000E+21     1.426316E+00     1.000000E+21           
        547  traj.phases.phase0.control_group.indep_controls.controls:u_143      c    -1.000000E+21     1.440438E+00     1.000000E+21           
        548  traj.phases.phase0.control_group.indep_controls.controls:u_144      c    -1.000000E+21     1.462762E+00     1.000000E+21           
        549  traj.phases.phase0.control_group.indep_controls.controls:u_145      c    -1.000000E+21     1.491495E+00     1.000000E+21           
        550  traj.phases.phase0.control_group.indep_controls.controls:u_146      c    -1.000000E+21     1.524764E+00     1.000000E+21           
        551  traj.phases.phase0.control_group.indep_controls.controls:u_147      c    -1.000000E+21     1.560248E+00     1.000000E+21           
        552  traj.phases.phase0.control_group.indep_controls.controls:u_148      c    -1.000000E+21     1.596484E+00     1.000000E+21           
        553  traj.phases.phase0.control_group.indep_controls.controls:u_149      c    -1.000000E+21     1.630312E+00     1.000000E+21           
        554  traj.phases.phase0.control_group.indep_controls.controls:u_150      c    -1.000000E+21     1.659236E+00     1.000000E+21           
        555  traj.phases.phase0.control_group.indep_controls.controls:u_151      c    -1.000000E+21     1.681106E+00     1.000000E+21           
        556  traj.phases.phase0.control_group.indep_controls.controls:u_152      c    -1.000000E+21     1.693411E+00     1.000000E+21           
        557  traj.phases.phase0.control_group.indep_controls.controls:u_153      c    -1.000000E+21     1.696298E+00     1.000000E+21           
        558  traj.phases.phase0.control_group.indep_controls.controls:u_154      c    -1.000000E+21     1.710750E+00     1.000000E+21           
        559  traj.phases.phase0.control_group.indep_controls.controls:u_155      c    -1.000000E+21     1.741706E+00     1.000000E+21           
        560  traj.phases.phase0.control_group.indep_controls.controls:u_156      c    -1.000000E+21     1.781088E+00     1.000000E+21           
        561  traj.phases.phase0.control_group.indep_controls.controls:u_157      c    -1.000000E+21     1.819162E+00     1.000000E+21           
        562  traj.phases.phase0.control_group.indep_controls.controls:u_158      c    -1.000000E+21     1.844455E+00     1.000000E+21           
        563  traj.phases.phase0.control_group.indep_controls.controls:u_159      c    -1.000000E+21     1.850632E+00     1.000000E+21           
        564  traj.phases.phase0.control_group.indep_controls.controls:u_160      c    -1.000000E+21     1.866406E+00     1.000000E+21           
        565  traj.phases.phase0.control_group.indep_controls.controls:u_161      c    -1.000000E+21     1.901401E+00     1.000000E+21           
        566  traj.phases.phase0.control_group.indep_controls.controls:u_162      c    -1.000000E+21     1.945973E+00     1.000000E+21           
        567  traj.phases.phase0.control_group.indep_controls.controls:u_163      c    -1.000000E+21     1.988694E+00     1.000000E+21           
        568  traj.phases.phase0.control_group.indep_controls.controls:u_164      c    -1.000000E+21     2.016929E+00     1.000000E+21           
        569  traj.phases.phase0.control_group.indep_controls.controls:u_165      c    -1.000000E+21     2.023763E+00     1.000000E+21           
        570  traj.phases.phase0.control_group.indep_controls.controls:u_166      c    -1.000000E+21     2.040800E+00     1.000000E+21           
        571  traj.phases.phase0.control_group.indep_controls.controls:u_167      c    -1.000000E+21     2.077763E+00     1.000000E+21           
        572  traj.phases.phase0.control_group.indep_controls.controls:u_168      c    -1.000000E+21     2.125160E+00     1.000000E+21           
        573  traj.phases.phase0.control_group.indep_controls.controls:u_169      c    -1.000000E+21     2.170650E+00     1.000000E+21           
        574  traj.phases.phase0.control_group.indep_controls.controls:u_170      c    -1.000000E+21     2.200806E+00     1.000000E+21           
        575  traj.phases.phase0.control_group.indep_controls.controls:u_171      c    -1.000000E+21     2.208232E+00     1.000000E+21           
        576  traj.phases.phase0.control_group.indep_controls.controls:u_172      c    -1.000000E+21     2.226937E+00     1.000000E+21           
        577  traj.phases.phase0.control_group.indep_controls.controls:u_173      c    -1.000000E+21     2.267491E+00     1.000000E+21           
        578  traj.phases.phase0.control_group.indep_controls.controls:u_174      c    -1.000000E+21     2.319063E+00     1.000000E+21           
        579  traj.phases.phase0.control_group.indep_controls.controls:u_175      c    -1.000000E+21     2.368672E+00     1.000000E+21           
        580  traj.phases.phase0.control_group.indep_controls.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.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.996803E-15    0.000000E+00              9.00000E+100
          2  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.073216E-15    0.000000E+00              9.00000E+100
          3  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
          4  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.700743E-16    0.000000E+00              9.00000E+100
          5  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.850372E-16    0.000000E+00              9.00000E+100
          6  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.091719E-15    0.000000E+00              9.00000E+100
          7  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.258253E-15    0.000000E+00              9.00000E+100
          8  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.401487E-17    0.000000E+00              9.00000E+100
          9  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.480297E-16    0.000000E+00              9.00000E+100
         10  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.401487E-16    0.000000E+00              9.00000E+100
         11  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.295260E-16    0.000000E+00              9.00000E+100
         12  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-15    0.000000E+00              9.00000E+100
         13  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.992007E-16    0.000000E+00              9.00000E+100
         14  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
         15  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.480297E-16    0.000000E+00              9.00000E+100
         16  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         17  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.996004E-16    0.000000E+00              9.00000E+100
         18  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
         19  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-15    0.000000E+00              9.00000E+100
         20  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         21  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         22  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         23  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         24  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.942890E-16    0.000000E+00              9.00000E+100
         25  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         26  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
         27  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         28  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         29  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.714451E-17    0.000000E+00              9.00000E+100
         30  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         31  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         32  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         33  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         34  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         35  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         36  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.020562E-17    0.000000E+00              9.00000E+100
         37  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
         38  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         39  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
         40  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         41  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.387779E-17    0.000000E+00              9.00000E+100
         42  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         43  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-17    0.000000E+00              9.00000E+100
         44  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         45  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
         46  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         47  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
         48  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.734723E-18    0.000000E+00              9.00000E+100
         49  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-18    0.000000E+00              9.00000E+100
         50  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         51  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-18    0.000000E+00              9.00000E+100
         52  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         53  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-18    0.000000E+00              9.00000E+100
         54  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-19    0.000000E+00              9.00000E+100
         55  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-19    0.000000E+00              9.00000E+100
         56  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
         57  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.686287E-18    0.000000E+00              9.00000E+100
         58  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.475221E-18    0.000000E+00              9.00000E+100
         59  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.002887E-18    0.000000E+00              9.00000E+100
         60  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.084202E-19    0.000000E+00              9.00000E+100
         61  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-19    0.000000E+00              9.00000E+100
         62  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
         63  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
         64  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.336809E-19    0.000000E+00              9.00000E+100
         65  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-19    0.000000E+00              9.00000E+100
         66  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.505213E-19    0.000000E+00              9.00000E+100
         67  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.168404E-19    0.000000E+00              9.00000E+100
         68  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
         69  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.673617E-18    0.000000E+00              9.00000E+100
         70  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.602085E-17    0.000000E+00              9.00000E+100
         71  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         72  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.168404E-18    0.000000E+00              9.00000E+100
         73  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.903128E-18    0.000000E+00              9.00000E+100
         74  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.602085E-18    0.000000E+00              9.00000E+100
         75  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         76  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.301043E-17    0.000000E+00              9.00000E+100
         77  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.908196E-17    0.000000E+00              9.00000E+100
         78  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.127570E-17    0.000000E+00              9.00000E+100
         79  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -7.806256E-18    0.000000E+00              9.00000E+100
         80  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.255141E-17    0.000000E+00              9.00000E+100
         81  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-18    0.000000E+00              9.00000E+100
         82  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.336809E-17    0.000000E+00              9.00000E+100
         83  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         84  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.204170E-18    0.000000E+00              9.00000E+100
         85  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.469447E-17    0.000000E+00              9.00000E+100
         86  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.734723E-17    0.000000E+00              9.00000E+100
         87  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
         88  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.700029E-16    0.000000E+00              9.00000E+100
         89  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-18    0.000000E+00              9.00000E+100
         90  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
         91  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.898060E-17    0.000000E+00              9.00000E+100
         92  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -6.938894E-17    0.000000E+00              9.00000E+100
         93  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.163336E-17    0.000000E+00              9.00000E+100
         94  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
         95  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.318390E-16    0.000000E+00              9.00000E+100
         96  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.816392E-16    0.000000E+00              9.00000E+100
         97  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.498002E-16    0.000000E+00              9.00000E+100
         98  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.526557E-16    0.000000E+00              9.00000E+100
         99  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.245005E-17    0.000000E+00              9.00000E+100
        100  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    4.857226E-17    0.000000E+00              9.00000E+100
        101  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.428613E-16    0.000000E+00              9.00000E+100
        102  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.857226E-17    0.000000E+00              9.00000E+100
        103  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-17    0.000000E+00              9.00000E+100
        104  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
        105  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.914335E-16    0.000000E+00              9.00000E+100
        106  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    8.326673E-17    0.000000E+00              9.00000E+100
        107  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.440892E-16    0.000000E+00              9.00000E+100
        108  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -5.273559E-16    0.000000E+00              9.00000E+100
        109  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.816392E-16    0.000000E+00              9.00000E+100
        110  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.318390E-16    0.000000E+00              9.00000E+100
        111  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.012279E-16    0.000000E+00              9.00000E+100
        112  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.214306E-16    0.000000E+00              9.00000E+100
        113  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.816392E-17    0.000000E+00              9.00000E+100
        114  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.151057E-16    0.000000E+00              9.00000E+100
        115  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -8.326673E-17    0.000000E+00              9.00000E+100
        116  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.226586E-16    0.000000E+00              9.00000E+100
        117  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.816392E-17    0.000000E+00              9.00000E+100
        118  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.740863E-16    0.000000E+00              9.00000E+100
        119  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.908196E-16    0.000000E+00              9.00000E+100
        120  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-15    0.000000E+00              9.00000E+100
        121  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.422473E-16    0.000000E+00              9.00000E+100
        122  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.567391E-16    0.000000E+00              9.00000E+100
        123  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.567391E-16    0.000000E+00              9.00000E+100
        124  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.289835E-16    0.000000E+00              9.00000E+100
        125  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        126  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.036838E-16    0.000000E+00              9.00000E+100
        127  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    7.840950E-16    0.000000E+00              9.00000E+100
        128  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.151057E-16    0.000000E+00              9.00000E+100
        129  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.191891E-16    0.000000E+00              9.00000E+100
        130  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-16    0.000000E+00              9.00000E+100
        131  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.428613E-16    0.000000E+00              9.00000E+100
        132  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
        133  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.297573E-15    0.000000E+00              9.00000E+100
        134  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
        135  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.249001E-16    0.000000E+00              9.00000E+100
        136  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.457168E-16    0.000000E+00              9.00000E+100
        137  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.428613E-16    0.000000E+00              9.00000E+100
        138  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.020562E-17    0.000000E+00              9.00000E+100
        139  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.608225E-16    0.000000E+00              9.00000E+100
        140  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -1.387779E-16    0.000000E+00              9.00000E+100
        141  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.033895E-15    0.000000E+00              9.00000E+100
        142  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    3.858025E-15    0.000000E+00              9.00000E+100
        143  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.873501E-16    0.000000E+00              9.00000E+100
        144  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.579670E-16    0.000000E+00              9.00000E+100
        145  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -3.122502E-16    0.000000E+00              9.00000E+100
        146  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -4.232725E-16    0.000000E+00              9.00000E+100
        147  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    6.938894E-18    0.000000E+00              9.00000E+100
        148  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    2.081668E-17    0.000000E+00              9.00000E+100
        149  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -2.081668E-16    0.000000E+00              9.00000E+100
        150  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    5.481726E-16    0.000000E+00              9.00000E+100
        151  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00   -9.089951E-16    0.000000E+00              9.00000E+100
        152  traj.phases.phase0.collocation_constraint.defects:x               e   0.000000E+00    1.020017E-15    0.000000E+00              9.00000E+100
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        433  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -5.689893E-15    0.000000E+00              9.00000E+100
        434  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -4.926615E-15    0.000000E+00              9.00000E+100
        435  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    3.816392E-16    0.000000E+00              9.00000E+100
        436  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    4.336809E-17    0.000000E+00              9.00000E+100
        437  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.214306E-16    0.000000E+00              9.00000E+100
        438  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.691355E-16    0.000000E+00              9.00000E+100
        439  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    7.025630E-16    0.000000E+00              9.00000E+100
        440  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -7.806256E-16    0.000000E+00              9.00000E+100
        441  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.387779E-15    0.000000E+00              9.00000E+100
        442  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    6.106227E-15    0.000000E+00              9.00000E+100
        443  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    8.326673E-15    0.000000E+00              9.00000E+100
        444  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.090794E-13    0.000000E+00              9.00000E+100
        445  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.365574E-13    0.000000E+00              9.00000E+100
        446  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.726397E-13    0.000000E+00              9.00000E+100
        447  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    7.105427E-14    0.000000E+00              9.00000E+100
        448  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    2.842171E-13    0.000000E+00              9.00000E+100
        449  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.421085E-13    0.000000E+00              9.00000E+100
        450  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.576517E-13    0.000000E+00              9.00000E+100
        451  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -1.176836E-12    0.000000E+00              9.00000E+100
        452  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    6.328271E-13    0.000000E+00              9.00000E+100
        453  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00    1.378897E-12    0.000000E+00              9.00000E+100
        454  traj.phases.phase0.continuity_comp.defect_control_rates:u_rate    e   0.000000E+00   -2.842171E-13    0.000000E+00              9.00000E+100

--------------------------------------------------------------------------------
==================================================
          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.
==================================================
Simulating trajectory traj
Done simulating trajectory traj
False
sol = om.CaseReader('dymos_solution.db').get_case('final')
sim = om.CaseReader('dymos_simulation.db').get_case('final')

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

plt.show()
../../_images/hypersensitive_6_0.png

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.