MPC_New-copy_angle.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pyplot as plt \n",
    "from casadi import *\n",
    "import scipy.interpolate\n",
    "import math"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "**create constraints and initilize optimization variables**\n",
    "\n",
    "1. Here the constraints are bounday conditions around the magins(inequality constraint)\n",
    "2. waypoints are(equality constraint)\n",
    "3. Destination(equality constraint)\n",
    "4. Obstacles(inequality constraint)\n",
    "\n",
    "\n",
    "**The optimization varilables are control inputs**\n",
    "\n",
    "1. U1= Linear Velocity \n",
    "2. U2= Angular Velocity"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "from casadi import *\n",
    "from numpy import *\n",
    "%matplotlib inline\n",
    "#import matplotlib\n",
    "#matplotlib.use('TkAgg')\n",
    "import matplotlib.pyplot as plt\n",
    "class Iteration_Callback(Callback):\n",
    "    def __init__(self, name, nx, ng, opts={}):\n",
    "        Callback.__init__(self)\n",
    "\n",
    "        self.nx = nx\n",
    "        self.ng = ng\n",
    "\n",
    "        self.x_sols = []\n",
    "        self.f_sols = []\n",
    "        self.g_sols = []\n",
    "        self.lam_x_sols = []\n",
    "        self.lam_g_sols = []\n",
    "        self.lam_p_sols = []\n",
    "        '''\n",
    "        #for plotting the graph in realtime\n",
    "        self.fig= plt.figure()\n",
    "        self.ax1= self.fig.add_subplot(1,2,1)\n",
    "        self.ax2= self.fig.add_subplot(2,2,1)\n",
    "        self.fig.show()\n",
    "        '''\n",
    "        # Initialize internal objects\n",
    "        self.construct(name, opts)\n",
    "\n",
    "    def get_n_in(self): return nlpsol_n_out()\n",
    "    def get_n_out(self): return 1\n",
    "    def get_name_in(self, i): return nlpsol_out(i)\n",
    "    def get_name_out(self, i): return \"ret\"\n",
    "\n",
    "    def get_sparsity_in(self, i):\n",
    "        n = nlpsol_out(i)\n",
    "        if n == 'f':\n",
    "            return Sparsity.scalar()\n",
    "        elif n in ('x', 'lam_x'):\n",
    "            return Sparsity.dense(self.nx)\n",
    "        elif n in ('g', 'lam_g'):\n",
    "            return Sparsity.dense(self.ng)\n",
    "        else:\n",
    "            return Sparsity(0, 0)\n",
    "\n",
    "    def eval(self, arg):\n",
    "        \n",
    "        darg = {}\n",
    "        for (i, s) in enumerate(nlpsol_out()): darg[s] = arg[i]\n",
    "        x_sol = [float(elem) for elem in darg['x'].full()]\n",
    "        \n",
    "        self.x_sols.append(x_sol)\n",
    "        self.f_sols.append(darg['f'].full()[0][0])\n",
    "        self.g_sols.append(darg['g'].full()[0][0])\n",
    "        self.lam_x_sols.append(darg['lam_x'].full())\n",
    "        self.lam_g_sols.append(darg['lam_g'].full())\n",
    "        self.lam_p_sols.append(darg['lam_p'].full())\n",
    "        #print(\"solution\",self.f_sols)\n",
    "        '''\n",
    "        #for plotting the graph in realtime\n",
    "        self.ax1.plot(self.x_sols)\n",
    "        self.ax2.plot(self.f_sols)\n",
    "        self.fig.canvas.draw()\n",
    "        self.fig.canvas.flush_events()\n",
    "        plt.show()\n",
    "        '''\n",
    "        plt.plot(self.f_sols,color='C0')\n",
    "        #plt.plot(self.g_sols,color='C0')\n",
    "        #print(self.g_sols)\n",
    "        return[0]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#generating spline for angle\n",
    "import scipy.interpolate\n",
    "dest=[3,1,45]\n",
    "#way=[3,1]\n",
    "n=dest[0]/0.1\n",
    "time=dest[0]/0.2  \n",
    "angle_rad=dest[2]*(np.pi/180)\n",
    "print(angle_rad)\n",
    "tk = np.array([0.0, 5,10])\n",
    "t1 = np.arange(0.0,10,1) \n",
    "out=np.array([0,dest[1],angle_rad])\n",
    "fkp = scipy.interpolate.interp1d(tk, out, kind=\"quadratic\")\n",
    "kp = [fkp(ti) for ti in t1]\n",
    "plt.plot(kp)\n",
    "print(tk)\n",
    "print(t1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 706,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[ang_0, ang_1, ang_2, ang_3, ang_4, ang_5, ang_6, ang_7, ang_8, ang_9, ang_10, ang_11, ang_12, ang_13, ang_14, ang_15, ang_16, ang_17, ang_18, ang_19]\n",
      "@1=1.2, @2=(((v/@1)*tan(ang_0))*t), @3=(@2+(((v/@1)*tan(ang_1))*t)), @4=(@3+(((v/@1)*tan(ang_2))*t)), @5=(@4+(((v/@1)*tan(ang_3))*t)), @6=(@5+(((v/@1)*tan(ang_4))*t)), @7=(@6+(((v/@1)*tan(ang_5))*t)), @8=(@7+(((v/@1)*tan(ang_6))*t)), @9=(@8+(((v/@1)*tan(ang_7))*t)), @10=(@9+(((v/@1)*tan(ang_8))*t)), @11=(@10+(((v/@1)*tan(ang_9))*t)), @12=(@11+(((v/@1)*tan(ang_10))*t)), @13=(@12+(((v/@1)*tan(ang_11))*t)), @14=(@13+(((v/@1)*tan(ang_12))*t)), @15=(@14+(((v/@1)*tan(ang_13))*t)), @16=(@15+(((v/@1)*tan(ang_14))*t)), @17=(@16+(((v/@1)*tan(ang_15))*t)), @18=(@17+(((v/@1)*tan(ang_16))*t)), @19=(@18+(((v/@1)*tan(ang_17))*t)), @20=(@19+(((v/@1)*tan(ang_18))*t)), @21=-0.0177, @22=1.48, @23=3.39, ((sqrt(((0.0045+sq((((((((((((((((((((((v*t)+((v*cos(@2))*t))+((v*cos(@3))*t))+((v*cos(@4))*t))+((v*cos(@5))*t))+((v*cos(@6))*t))+((v*cos(@7))*t))+((v*cos(@8))*t))+((v*cos(@9))*t))+((v*cos(@10))*t))+((v*cos(@11))*t))+((v*cos(@12))*t))+((v*cos(@13))*t))+((v*cos(@14))*t))+((v*cos(@15))*t))+((v*cos(@16))*t))+((v*cos(@17))*t))+((v*cos(@18))*t))+((v*cos(@19))*t))+((v*cos(@20))*t))-4)))+sq((((((((((((((((((((((v*sin(@2))*t)+((v*sin(@3))*t))+((v*sin(@4))*t))+((v*sin(@5))*t))+((v*sin(@6))*t))+((v*sin(@7))*t))+((v*sin(@8))*t))+((v*sin(@9))*t))+((v*sin(@10))*t))+((v*sin(@11))*t))+((v*sin(@12))*t))+((v*sin(@13))*t))+((v*sin(@14))*t))+((v*sin(@15))*t))+((v*sin(@16))*t))+((v*sin(@17))*t))+((v*sin(@18))*t))+((v*sin(@19))*t))+((v*sin(@20))*t))-2))))+((((((((((((((((((((((@21*sq(v))+(@22*v))+@23)+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23))+(((@21*sq(v))+(@22*v))+@23)))+fabs(((@20+(((v/@1)*tan(ang_19))*t))-1.5708)))\n",
      "0\n",
      "F:(x0[22],p[],lbx[22],ubx[22],lbg,ubg,lam_x0[22],lam_g0)->(x[22],f,g,lam_x[22],lam_g,lam_p[]) IpoptInterface\n"
     ]
    }
   ],
   "source": [
    "from casadi import *\n",
    "import math\n",
    "dest=[4,2,90]\n",
    "#way=[3,1]  \n",
    "angle_rad=dest[2]*(np.pi/180)\n",
    "t=SX.sym('t')\n",
    "v=SX.sym('v')\n",
    "dt= 20\n",
    "rob_rad=0.1\n",
    "obs_rad=0.1\n",
    "ang=SX.sym(\"ang\",dt)\n",
    "#v=SX.sym(\"v\")\n",
    "#t=SX.sym(\"t\")\n",
    "print(ang)\n",
    "func,func1,func2=0,0,0\n",
    "g=0\n",
    "theta=0\n",
    "fuel_cost=0\n",
    "angle=0\n",
    "coff=0.0045\n",
    "ang_coeff=1\n",
    "for i in range(0,dt):\n",
    "        func1=func1+v*cos(theta)*t\n",
    "        func2=func2+v*sin(theta)*t\n",
    "        theta=theta + (v / 1.2)*tan(ang[i])*t\n",
    "        angle= sqrt((theta-angle_rad)**2)*ang_coeff\n",
    "        #if i>=dt/2:\n",
    "        fuel_cost=fuel_cost+(-0.0177*v**2+1.48*v+3.39)\n",
    "        #if i==dt/2:\n",
    "            #func_con=(sqrt(coff+(func1-way[0])**2+(func2-way[1])**2))\n",
    "        if i==dt-1:\n",
    "            func=(sqrt(coff+(func1-dest[0])**2+(func2-dest[1])**2))+fuel_cost+angle\n",
    "            #g=sqrt((func1-way[0])**2+(func2-way[1])**2)-(rob_rad+obs_rad)\n",
    "            #g=func_con\n",
    "            print(func)     \n",
    "            print(g)\n",
    "nlp= {}\n",
    "nlp['x']=vertcat(ang,v,t)\n",
    "nlp['f']=func\n",
    "nlp['g']=0\n",
    "mycallback = Iteration_Callback('mycallback',(dt+2), 1)\n",
    "opts = {}\n",
    "opts['iteration_callback'] = mycallback\n",
    "opts['ipopt.tol'] = 1e-8\n",
    "opts[\"ipopt.max_iter\"]=2000\n",
    "#create solver instance\n",
    "F = nlpsol('F','ipopt',nlp,opts);\n",
    "print(F)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 707,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.02, 0.2, 0.2]\n",
      "This is Ipopt version 3.12.3, running with linear solver mumps.\n",
      "NOTE: Other linear solvers might be more efficient (see Ipopt documentation).\n",
      "\n",
      "Number of nonzeros in equality constraint Jacobian...:        0\n",
      "Number of nonzeros in inequality constraint Jacobian.:        0\n",
      "Number of nonzeros in Lagrangian Hessian.............:      253\n",
      "\n",
      "Total number of variables............................:       22\n",
      "                     variables with only lower bounds:        0\n",
      "                variables with lower and upper bounds:       22\n",
      "                     variables with only upper bounds:        0\n",
      "Total number of equality constraints.................:        1\n",
      "Total number of inequality constraints...............:        0\n",
      "        inequality constraints with only lower bounds:        0\n",
      "   inequality constraints with lower and upper bounds:        0\n",
      "        inequality constraints with only upper bounds:        0\n",
      "\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "   0 7.9034826e+001 0.00e+000 2.60e+001  -1.0 0.00e+000    -  0.00e+000 0.00e+000   0\n",
      "   1 7.4408977e+001 0.00e+000 2.41e+001  -1.0 2.39e-001   2.0 9.43e-001 7.44e-001f  1\n",
      "   2 7.4847757e+001 0.00e+000 1.01e+001  -1.0 5.13e-001    -  3.44e-001 1.00e+000f  1\n",
      "   3 7.4181318e+001 0.00e+000 2.63e+000  -1.0 6.65e-002   1.5 1.00e+000 5.95e-001f  1\n",
      "   4 7.2494725e+001 0.00e+000 4.57e+001  -1.0 3.24e+000    -  2.13e-001 1.00e+000f  1\n",
      "   5 7.1471051e+001 0.00e+000 3.96e+000  -1.0 2.09e-001   1.0 1.26e-001 2.50e-001f  3\n",
      "   6 7.0653266e+001 0.00e+000 9.33e+001  -1.0 2.90e-001   0.6 1.00e+000 5.00e-001f  2\n",
      "   7 7.0410673e+001 0.00e+000 8.72e+001  -1.0 9.80e+000   0.1 3.67e-001 1.68e-002f  3\n",
      "   8 7.0354587e+001 0.00e+000 1.03e+002  -1.0 1.54e+001    -  1.94e-001 2.07e-002f  4\n",
      "   9 7.0095403e+001 0.00e+000 5.57e+001  -1.0 5.40e-001   0.5 1.00e+000 5.02e-002f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  10 6.9761203e+001 0.00e+000 6.10e+001  -1.0 8.42e-001    -  1.00e+000 1.00e+000f  1\n",
      "  11 6.9593112e+001 0.00e+000 8.56e+001  -1.0 8.71e-001    -  1.00e+000 1.00e+000f  1\n",
      "  12 6.9449875e+001 0.00e+000 2.65e+001  -1.0 7.98e-001    -  1.00e+000 1.00e+000f  1\n",
      "  13 6.9367188e+001 0.00e+000 8.63e+001  -1.0 1.33e+001    -  5.31e-001 5.20e-002f  3\n",
      "  14 6.9286138e+001 0.00e+000 6.11e+001  -1.0 7.29e-001    -  1.00e+000 1.00e+000f  1\n",
      "  15 6.9218502e+001 0.00e+000 8.69e+001  -1.0 7.97e-001    -  1.00e+000 1.00e+000f  1\n",
      "  16 6.9177961e+001 0.00e+000 7.33e+000  -1.0 4.60e-001    -  1.00e+000 1.00e+000f  1\n",
      "  17 6.9146285e+001 0.00e+000 2.53e+001  -1.0 4.38e-001    -  1.00e+000 1.00e+000f  1\n",
      "  18 6.9148677e+001 0.00e+000 9.71e-001  -1.0 2.59e-002    -  1.00e+000 1.00e+000f  1\n",
      "  19 6.8931449e+001 0.00e+000 1.40e+002  -1.7 1.04e+000    -  9.54e-001 1.00e+000f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  20 6.8667834e+001 0.00e+000 9.38e+001  -1.7 5.64e-001    -  1.00e+000 1.00e+000f  1\n",
      "  21 6.8641145e+001 0.00e+000 8.10e+000  -1.7 2.65e-001    -  1.00e+000 1.00e+000f  1\n",
      "  22 6.8627834e+001 0.00e+000 1.34e+000  -1.7 6.75e-002    -  1.00e+000 1.00e+000f  1\n",
      "  23 6.8630325e+001 0.00e+000 3.11e-002  -1.7 1.01e-002    -  1.00e+000 1.00e+000f  1\n",
      "  24 6.8498407e+001 0.00e+000 5.01e+001  -2.5 1.11e+000    -  7.14e-001 4.46e-001f  2\n",
      "  25 6.8475871e+001 0.00e+000 4.23e+001  -2.5 8.50e-001    -  1.00e+000 1.25e-001f  4\n",
      "  26 6.8473012e+001 0.00e+000 1.13e+002  -2.5 8.35e-001    -  1.00e+000 3.12e-002f  6\n",
      "  27 6.8472568e+001 0.00e+000 5.82e+001  -2.5 8.50e-002   0.0 5.83e-001 1.81e-002f  6\n",
      "  28 6.8471643e+001 0.00e+000 1.37e+002  -2.5 2.33e+000  -0.4 2.64e-001 1.02e-003f  5\n",
      "  29 6.8471581e+001 0.00e+000 2.00e+001  -2.5 2.50e-001  -0.0 3.43e-001 1.50e-003f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  30 6.8471328e+001 0.00e+000 1.99e+001  -2.5 8.93e-002   0.4 1.00e+000 1.57e-003f  9\n",
      "  31 6.8471314e+001 0.00e+000 2.16e+001  -2.5 4.42e+000    -  1.78e-001 1.35e-005f 14\n",
      "  32 6.8471312e+001 0.00e+000 1.17e+002  -2.5 1.94e+000    -  1.00e+000 5.56e-006f 17\n",
      "  33 6.8471312e+001 0.00e+000 5.28e+001  -2.5 9.43e-002  -0.1 5.90e-001 1.25e-007f 23\n",
      "  34 6.8486330e+001 0.00e+000 1.25e+002  -2.5 1.07e+001  -0.5 9.41e-002 3.34e-003w  1\n",
      "  35 6.8529618e+001 0.00e+000 6.85e+001  -2.5 2.40e-001  -0.1 1.67e-001 2.37e-001w  1\n",
      "  36 6.8497530e+001 0.00e+000 5.22e+001  -2.5 9.89e-002   0.3 2.48e-001 2.48e-001w  1\n",
      "  37 6.8471312e+001 0.00e+000 2.96e+001  -2.5 2.41e-001  -0.2 9.41e-002 1.59e-009f 21\n",
      "  38 6.8471312e+001 0.00e+000 1.26e+002  -2.5 5.20e+000    -  4.30e-001 1.12e-009f 27\n",
      "  39 6.8471312e+001 0.00e+000 4.28e+001  -2.5 2.21e-001  -0.6 4.67e-001 2.55e-009f 28\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  40 6.8471312e+001 0.00e+000 3.93e+001  -2.5 1.76e+001    -  5.83e-002 3.81e-011f 29\n",
      "  41 6.8471312e+001 0.00e+000 1.18e+002  -2.5 2.68e+000    -  1.00e+000 3.25e-011f 32\n",
      "  42 6.8471312e+001 0.00e+000 4.39e+001  -2.5 4.41e-001  -1.1 2.83e-001 2.98e-011f 35\n",
      "  43 6.8471312e+001 0.00e+000 1.13e+002  -2.5 1.69e+000    -  6.08e-001 1.11e-011f 34\n",
      "  44 6.8471312e+001 0.00e+000 5.60e+001  -2.5 8.62e-002   0.2 5.82e-001 8.60e-012f 37\n",
      "  45 6.8471312e+001 0.00e+000 1.37e+002  -2.5 7.95e-001  -0.3 3.60e-001 1.31e-012f 36\n",
      "  46 6.8471312e+001 0.00e+000 2.05e+001  -2.5 1.70e-001   0.2 4.03e-001 1.81e-012f 38\n",
      "  47 6.8530337e+001 0.00e+000 1.37e+002  -2.5 1.63e+000  -0.3 5.73e-002 2.21e-002w  1\n",
      "  48 6.8536170e+001 0.00e+000 7.08e+001  -2.5 5.42e-001   0.1 8.04e-001 2.02e-001w  1\n",
      "  49 6.8491020e+001 0.00e+000 6.92e+001  -2.5 4.27e-001  -0.4 6.22e-002 1.13e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  50 6.8471312e+001 0.00e+000 1.70e+001  -2.5 2.12e+000  -0.8 5.73e-002 1.61e-013f 37\n",
      "  51 6.8471312e+001 0.00e+000 1.32e+002  -2.5 1.47e+000  -0.4 6.81e-001 4.46e-014f 40\n",
      "  52 6.8471312e+001 0.00e+000 2.84e+001  -2.5 1.27e+000  -0.9 1.77e-001 1.19e-012f 38\n",
      "  53 6.8471312e+001 0.00e+000 1.37e+002  -2.5 1.25e+000  -1.4 6.27e-001 1.38e-012f 38\n",
      "  54 6.8471312e+001 0.00e+000 2.13e+001  -2.5 1.58e-001  -0.0 5.28e-001 4.17e-012f 37\n",
      "  55 6.8471312e+001 0.00e+000 1.72e+001  -2.5 9.22e-002   0.4 1.00e+000 2.85e-012f 38\n",
      "  56 6.8471312e+001 0.00e+000 1.35e+002  -2.5 4.99e+000    -  1.92e-001 2.00e-013f 40\n",
      "  57 6.8471312e+001 0.00e+000 2.47e+001  -2.5 2.06e-001  -0.1 4.35e-001 1.79e-012f 38\n",
      "  58 6.8471312e+001 0.00e+000 1.37e+002  -2.5 1.06e-001   0.3 5.51e-001 2.49e-012f 38\n",
      "  59 6.8471312e+001 0.00e+000 1.93e+001  -2.5 3.91e-001  -0.1 2.85e-001 1.04e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  60 6.8556594e+001 0.00e+000 1.38e+002  -2.5 1.24e-001   0.3 1.00e+000 2.91e-001w  1\n",
      "  61 6.8468482e+001 0.00e+000 9.07e+001  -2.5 4.07e-001  -0.2 2.29e-001 2.67e-001w  1\n",
      "  62 6.8497573e+001 0.00e+000 9.84e+001  -2.5 6.30e-002   0.2 1.00e+000 3.55e-001w  1\n",
      "  63 6.8556594e+001 0.00e+000 1.38e+002  -2.5 2.88e-001  -0.2 2.91e-001 2.91e-001S 20\n",
      "  64 6.8499790e+001 0.00e+000 9.28e+001  -2.5 2.13e-001   0.2 2.43e-001 3.06e-001f  1\n",
      "  65 6.8469491e+001 0.00e+000 8.86e+001  -2.5 7.51e-001  -0.3 5.14e-002 4.21e-002f  1\n",
      "  66 6.8476048e+001 0.00e+000 1.93e+001  -2.5 6.60e-001  -0.8 5.36e-001 2.04e-002f  2\n",
      "  67 6.8466438e+001 0.00e+000 1.44e+002  -2.5 2.27e+000  -1.3 7.63e-002 4.23e-002f  3\n",
      "  68 6.8465924e+001 0.00e+000 6.61e+001  -2.5 4.92e-001  -0.8 7.19e-001 1.84e-002f  6\n",
      "  69 6.8465498e+001 0.00e+000 9.18e+001  -2.5 4.34e+000  -1.3 6.39e-002 4.46e-003f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  70 6.8464678e+001 0.00e+000 5.47e+001  -2.5 2.43e-001  -0.9 1.00e+000 6.80e-003f  8\n",
      "  71 6.8464692e+001 0.00e+000 1.08e+002  -2.5 1.77e+000  -1.4 1.63e-001 7.60e-004f 10\n",
      "  72 6.8464600e+001 0.00e+000 6.66e+001  -2.5 4.52e-001  -0.9 7.31e-001 9.77e-004f 11\n",
      "  73 6.8464587e+001 0.00e+000 9.03e+001  -2.5 8.67e+000  -1.4 3.38e-002 4.16e-005f 10\n",
      "  74 6.8464579e+001 0.00e+000 1.06e+002  -2.5 2.67e-001  -1.0 1.00e+000 6.10e-005f 15\n",
      "  75 6.8464578e+001 0.00e+000 8.94e+001  -2.5 2.17e-001  -0.6 6.48e-001 7.63e-006f 18\n",
      "  76 6.8658895e+001 0.00e+000 6.97e+001  -2.5 2.57e-001  -1.0 1.00e+000 1.00e+000w  1\n",
      "  77 6.8517808e+001 0.00e+000 1.91e+001  -2.5 1.10e-001   0.3 4.92e-001 1.00e+000w  1\n",
      "  78 6.9182314e+001 0.00e+000 2.26e+002  -2.5 1.61e+000    -  1.59e-001 9.98e-001w  1\n",
      "  79 6.8464578e+001 0.00e+000 4.50e+001  -2.5 5.76e-001  -0.2 1.00e+000 1.19e-007f 23\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  80 6.8464578e+001 0.00e+000 1.36e+002  -2.5 2.80e-001  -0.7 5.33e-001 7.00e-009f 27\n",
      "  81 6.8465481e+001 0.00e+000 6.77e+001  -2.5 3.05e-001  -0.2 4.94e-001 2.51e-002f  4\n",
      "  82 6.8464929e+001 0.00e+000 9.67e+001  -2.5 4.19e-001  -0.7 3.49e-001 3.96e-003f  5\n",
      "  83 6.8464520e+001 0.00e+000 8.84e+001  -2.5 2.60e-001  -0.3 1.66e-001 1.38e-003f  7\n",
      "  84 6.8464479e+001 0.00e+000 5.05e+001  -2.5 3.41e-001  -0.8 7.87e-001 1.17e-004f 11\n",
      "  85 6.8464480e+001 0.00e+000 1.17e+002  -2.5 8.48e-001  -1.2 2.81e-001 5.80e-005f 14\n",
      "  86 6.8464473e+001 0.00e+000 8.85e+001  -2.5 5.16e-001  -0.8 5.43e-001 4.63e-005f 15\n",
      "  87 6.8464472e+001 0.00e+000 4.59e+001  -2.5 1.46e-001  -0.4 1.00e+000 6.89e-006f 18\n",
      "  88 6.8464472e+001 0.00e+000 1.35e+002  -2.5 4.48e-001  -0.9 5.37e-001 1.83e-006f 19\n",
      "  89 6.8471597e+001 0.00e+000 6.87e+001  -2.5 8.93e-001  -0.4 4.29e-001 1.63e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "  90 6.8472932e+001 0.00e+000 9.83e+001  -2.5 8.31e-001  -0.9 2.85e-001 4.79e-002w  1\n",
      "  91 6.8484256e+001 0.00e+000 7.02e+001  -2.5 3.92e-001  -0.5 1.18e-001 2.12e-001w  1\n",
      "  92 6.8471597e+001 0.00e+000 2.42e+001  -2.5 1.60e-001  -0.1 1.63e-002 1.63e-002S 15\n",
      "  93 6.8488046e+001 0.00e+000 1.47e+002  -2.5 5.87e-001  -0.5 2.75e-001 5.85e-002f  4\n",
      "  94 6.8474681e+001 0.00e+000 8.28e+001  -2.5 3.24e-001  -0.1 4.43e-001 4.58e-002f  2\n",
      "  95 6.8468848e+001 0.00e+000 5.65e+001  -2.5 2.29e-001  -0.6 1.00e+000 4.38e-002f  4\n",
      "  96 6.8468364e+001 0.00e+000 1.17e+002  -2.5 5.86e-001  -1.1 4.44e-001 2.82e-002f  5\n",
      "  97 6.8466473e+001 0.00e+000 7.75e+001  -2.5 4.49e-001  -0.6 5.05e-001 2.01e-002f  5\n",
      "  98 6.8466310e+001 0.00e+000 8.52e+001  -2.5 2.13e-001  -0.2 4.15e-001 8.54e-003f  5\n",
      "  99 6.8465793e+001 0.00e+000 7.77e+001  -2.5 8.89e-002   0.2 4.32e-001 8.38e-003f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 100 6.8465851e+001 0.00e+000 8.27e+001  -2.5 2.49e-001  -0.3 2.93e-001 3.14e-003f  6\n",
      " 101 6.8465275e+001 0.00e+000 7.79e+001  -2.5 1.23e-001   0.2 5.52e-001 3.09e-003f  7\n",
      " 102 6.8465265e+001 0.00e+000 9.37e+001  -2.5 1.51e-001  -0.3 1.00e+000 5.87e-005f 14\n",
      " 103 6.8601440e+001 0.00e+000 1.02e+002  -2.5 3.55e-001  -0.8 6.71e-001 1.00e+000w  1\n",
      " 104 6.8533256e+001 0.00e+000 5.67e+001  -2.5 6.83e-001  -0.4 2.05e-001 2.26e-001w  1\n",
      " 105 6.8526731e+001 0.00e+000 1.23e+001  -2.5 1.50e+000  -0.8 9.63e-002 2.12e-001w  1\n",
      " 106 6.8465263e+001 0.00e+000 7.79e+001  -2.5 1.53e+000  -0.4 6.71e-001 1.53e-005f 16\n",
      " 107 6.8465263e+001 0.00e+000 6.21e+001  -2.5 2.30e-001  -0.9 1.00e+000 1.78e-006f 20\n",
      " 108 6.8465263e+001 0.00e+000 1.03e+002  -2.5 7.75e-001  -1.4 3.15e-001 4.82e-007f 21\n",
      " 109 6.8465263e+001 0.00e+000 7.77e+001  -2.5 5.55e-001  -0.9 6.57e-001 3.27e-007f 22\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 110 6.8465263e+001 0.00e+000 8.56e+001  -2.5 3.19e-001  -0.5 4.67e-001 5.57e-008f 22\n",
      " 111 6.8465263e+001 0.00e+000 7.78e+001  -2.5 1.60e-001  -0.1 2.26e-001 3.36e-008f 23\n",
      " 112 6.8465263e+001 0.00e+000 8.16e+001  -2.5 4.49e-001  -0.6 2.28e-001 7.37e-009f 24\n",
      " 113 6.8465263e+001 0.00e+000 7.78e+001  -2.5 2.16e-001  -0.1 2.34e-001 5.09e-009f 25\n",
      " 114 6.8465263e+001 0.00e+000 8.13e+001  -2.5 4.79e-001  -0.6 2.12e-001 1.86e-009f 26\n",
      " 115 6.8465263e+001 0.00e+000 7.79e+001  -2.5 2.68e-001  -0.2 2.24e-001 1.02e-009f 27\n",
      " 116 6.8569938e+001 0.00e+000 6.58e+001  -2.5 2.66e-001  -0.7 1.00e+000 2.29e-001w  1\n",
      " 117 6.8473509e+001 0.00e+000 8.15e-001  -2.5 1.91e-001  -0.3 4.62e-001 6.47e-001w  1\n",
      " 118 6.9263678e+001 0.00e+000 2.41e+002  -2.5 2.00e+000    -  1.96e-001 1.00e+000w  1\n",
      " 119 6.8465263e+001 0.00e+000 9.36e+001  -2.5 3.97e+001  -0.7 1.00e+000 1.07e-010f 31\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 120 6.8465263e+001 0.00e+000 7.78e+001  -2.5 1.29e-001  -0.3 5.99e-001 5.82e-011f 35\n",
      " 121 6.8465263e+001 0.00e+000 8.58e+001  -2.5 4.65e-001  -0.8 4.81e-001 1.10e-011f 34\n",
      " 122 6.8465263e+001 0.00e+000 7.78e+001  -2.5 2.35e-001  -0.4 1.96e-001 5.40e-012f 36\n",
      " 123 6.8465263e+001 0.00e+000 8.21e+001  -2.5 1.19e+000  -0.8 2.60e-001 1.33e-012f 36\n",
      " 124 6.8465263e+001 0.00e+000 7.78e+001  -2.5 6.05e-001  -0.4 1.01e-001 5.65e-013f 37\n",
      " 125 6.8465263e+001 0.00e+000 8.09e+001  -2.5 1.71e+000  -0.9 1.84e-001 2.79e-013f 38\n",
      " 126 6.8465263e+001 0.00e+000 7.78e+001  -2.5 1.14e+000  -0.5 7.59e-002 1.75e-013f 37\n",
      " 127 6.8465263e+001 0.00e+000 7.89e+001  -2.5 4.80e+000  -0.9 6.39e-002 4.72e-013f 37\n",
      " 128 6.8465263e+001 0.00e+000 8.03e+001  -2.5 2.60e-001  -0.5 1.00e+000 6.60e-013f 38\n",
      " 129 6.8495264e+001 0.00e+000 9.39e+001  -2.5 1.56e+000  -1.0 2.61e-001 1.05e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 130 6.8475059e+001 0.00e+000 9.20e+001  -2.5 4.45e-001  -0.6 4.12e-001 1.65e-001w  1\n",
      " 131 6.8532584e+001 0.00e+000 7.59e+001  -2.5 1.05e+000  -1.0 2.40e-001 2.23e-001w  1\n",
      " 132 6.8495264e+001 0.00e+000 9.41e+001  -2.5 5.02e-001  -0.6 1.05e-001 1.05e-001S 18\n",
      " 133 6.8477800e+001 0.00e+000 9.48e+001  -2.5 2.13e-001  -0.2 5.08e-001 2.23e-001f  1\n",
      " 134 6.8464446e+001 0.00e+000 8.33e+001  -2.5 8.69e-001  -0.7 1.11e-001 2.58e-002f  2\n",
      " 135 6.8464924e+001 0.00e+000 5.28e-001  -2.5 3.40e+000  -1.1 2.45e-001 1.75e-003f  4\n",
      " 136 6.8465780e+001 0.00e+000 1.63e+002  -2.5 5.08e-001  -0.7 4.29e-001 3.12e-002f  6\n",
      " 137 6.8462953e+001 0.00e+000 7.49e+001  -2.5 6.58e-001  -0.3 5.27e-001 9.44e-003f  3\n",
      " 138 6.8462822e+001 0.00e+000 9.97e+001  -2.5 4.27e-001  -0.8 2.61e-001 3.25e-003f  5\n",
      " 139 6.8462457e+001 0.00e+000 7.52e+001  -2.5 8.47e-001  -0.3 2.71e-001 1.40e-003f  5\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 140 6.8462419e+001 0.00e+000 9.45e+001  -2.5 6.19e-001  -0.8 1.86e-001 3.39e-004f  8\n",
      " 141 6.8462388e+001 0.00e+000 7.52e+001  -2.5 1.22e+000  -0.4 2.20e-001 1.14e-004f  8\n",
      " 142 6.8462390e+001 0.00e+000 9.34e+001  -2.5 1.13e+000  -0.9 1.70e-001 7.84e-005f 10\n",
      " 143 6.8462378e+001 0.00e+000 8.15e+001  -2.5 2.13e+000  -0.4 1.86e-001 1.62e-005f 10\n",
      " 144 6.8559544e+001 0.00e+000 1.39e+001  -2.5 4.85e-001  -0.9 1.00e+000 1.77e-001w  1\n",
      " 145 6.8513413e+001 0.00e+000 2.02e+002  -2.5 1.95e-001  -0.5 5.53e-001 1.00e+000w  1\n",
      " 146 6.8489682e+001 0.00e+000 1.30e+002  -2.5 1.99e-001  -0.1 4.54e-001 1.31e-001w  1\n",
      " 147 6.8462375e+001 0.00e+000 9.07e+000  -2.5 2.03e-001  -0.5 1.00e+000 1.08e-005f 14\n",
      " 148 6.8462376e+001 0.00e+000 1.48e+002  -2.5 9.23e-001  -1.0 2.42e-001 1.32e-005f 17\n",
      " 149 6.8462375e+001 0.00e+000 6.62e+001  -2.5 8.14e-001  -1.5 9.53e-001 9.49e-006f 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 150 6.8462375e+001 0.00e+000 1.36e+002  -2.5 1.46e-001  -0.2 5.45e-001 5.70e-006f 17\n",
      " 151 6.8462375e+001 0.00e+000 7.51e+001  -2.5 7.97e-002   0.3 5.02e-001 6.76e-006f 16\n",
      " 152 6.8462375e+001 0.00e+000 1.03e+002  -2.5 1.31e-001  -0.2 2.97e-001 9.74e-007f 17\n",
      " 153 6.8462374e+001 0.00e+000 8.16e+001  -2.5 9.51e-002   0.2 3.44e-001 7.08e-007f 19\n",
      " 154 6.8462374e+001 0.00e+000 8.97e+000  -2.5 2.13e-001  -0.3 1.00e+000 2.33e-008f 25\n",
      " 155 6.8462374e+001 0.00e+000 1.56e+002  -2.5 4.71e-001  -0.7 5.35e-001 2.98e-008f 26\n",
      " 156 6.8462374e+001 0.00e+000 8.17e+001  -2.5 5.85e-001  -0.3 5.62e-001 7.20e-009f 23\n",
      " 157 6.8599043e+001 0.00e+000 1.86e+001  -2.5 3.90e-001  -0.8 1.00e+000 3.47e-001w  1\n",
      " 158 6.8490860e+001 0.00e+000 1.99e+002  -2.5 2.07e-001  -0.4 5.00e-001 1.00e+000w  1\n",
      " 159 6.8499034e+001 0.00e+000 4.18e+001  -2.5 1.16e-001   0.1 4.97e-001 2.66e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 160 6.8599043e+001 0.00e+000 5.55e+001  -2.5 2.40e-001  -0.4 3.47e-001 3.47e-001S 20\n",
      " 161 6.8502525e+001 0.00e+000 1.82e+002  -2.5 1.43e-001   0.0 4.01e-001 8.83e-001f  1\n",
      " 162 6.8473766e+001 0.00e+000 1.53e+002  -2.5 5.64e-001  -0.5 2.58e-001 6.29e-002f  1\n",
      " 163 6.8478290e+001 0.00e+000 1.29e+002  -2.5 1.48e+000  -1.0 6.15e-001 6.57e-003f  5\n",
      " 164 6.8481760e+001 0.00e+000 2.35e+002  -2.5 7.99e-001    -  4.71e-001 6.25e-002f  5\n",
      " 165 6.8477461e+001 0.00e+000 1.41e+002  -2.5 5.44e-001  -0.5 6.44e-001 7.86e-002f  2\n",
      " 166 6.8471593e+001 0.00e+000 1.58e+001  -2.5 9.72e-002  -0.1 1.00e+000 5.31e-002f  5\n",
      " 167 6.8471852e+001 0.00e+000 1.68e+002  -2.5 1.05e+000    -  3.24e-001 1.14e-002f  7\n",
      " 168 6.8470070e+001 0.00e+000 2.75e+001  -2.5 3.18e-001  -0.6 5.87e-001 1.47e-002f  6\n",
      " 169 6.8470030e+001 0.00e+000 1.40e+002  -2.5 4.50e-001  -1.1 4.64e-001 6.04e-004f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 170 6.8469976e+001 0.00e+000 2.76e+001  -2.5 1.20e-001   0.3 3.28e-001 6.58e-004f 10\n",
      " 171 6.8469988e+001 0.00e+000 1.35e+002  -2.5 1.85e-001  -0.2 2.87e-001 1.85e-004f 10\n",
      " 172 6.8469949e+001 0.00e+000 2.77e+001  -2.5 1.53e-001   0.2 3.91e-001 2.59e-004f 11\n",
      " 173 6.8469641e+001 0.00e+000 1.33e+002  -2.5 9.57e+000    -  1.51e-001 6.81e-003w  1\n",
      " 174 6.8483543e+001 0.00e+000 3.62e+001  -2.5 7.06e-001  -0.3 2.45e-001 6.03e-002w  1\n",
      " 175 6.8464883e+001 0.00e+000 1.26e+002  -2.5 3.06e-001  -0.7 1.01e-001 6.93e-002w  1\n",
      " 176 6.8469945e+001 0.00e+000 1.32e+002  -2.5 1.60e-001  -0.3 1.51e-001 1.33e-005f  9\n",
      " 177 6.8469943e+001 0.00e+000 2.63e+001  -2.5 1.99e-001   0.1 1.00e+000 4.96e-005f 13\n",
      " 178 6.8469944e+001 0.00e+000 1.37e+002  -2.5 1.07e+000    -  2.65e-001 2.79e-005f 14\n",
      " 179 6.8469941e+001 0.00e+000 2.77e+001  -2.5 9.61e-001  -0.4 3.45e-001 2.05e-005f 12\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 180 6.8469941e+001 0.00e+000 1.34e+002  -2.5 3.45e-001  -0.8 2.24e-001 1.99e-005f 13\n",
      " 181 6.8469938e+001 0.00e+000 2.77e+001  -2.5 1.93e+000  -0.4 3.01e-001 5.10e-006f 13\n",
      " 182 6.8469938e+001 0.00e+000 1.32e+002  -2.5 3.57e-001  -0.9 1.67e-001 2.36e-006f 16\n",
      " 183 6.8469938e+001 0.00e+000 1.28e+002  -2.5 3.30e+000  -0.5 2.77e-001 3.74e-007f 16\n",
      " 184 6.8469938e+001 0.00e+000 4.05e+000  -2.5 1.86e-001  -0.0 1.00e+000 8.29e-007f 19\n",
      " 185 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.08e+000    -  3.23e-001 3.34e-007f 22\n",
      " 186 6.8496229e+001 0.00e+000 5.03e+001  -2.5 2.74e-001  -0.5 4.99e-001 1.89e-001w  1\n",
      " 187 6.8471093e+001 0.00e+000 3.87e+001  -2.5 5.59e-001  -1.0 3.86e-001 7.63e-002w  1\n",
      " 188 6.8848027e+001 0.00e+000 1.37e+002  -2.5 3.24e+000  -1.5 1.58e-001 3.22e-001w  1\n",
      " 189 6.8469938e+001 0.00e+000 2.77e+001  -2.5 4.95e-001  -0.1 4.99e-001 3.60e-007f 19\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 190 6.8469938e+001 0.00e+000 1.39e+002  -2.5 2.69e-001  -0.6 4.23e-001 1.90e-007f 20\n",
      " 191 6.8469938e+001 0.00e+000 1.28e+002  -2.5 5.64e-001  -0.2 2.59e-001 6.83e-008f 21\n",
      " 192 6.8469938e+001 0.00e+000 1.52e+002  -2.5 5.26e-001  -0.7 1.00e+000 9.16e-009f 24\n",
      " 193 6.8469938e+001 0.00e+000 2.77e+001  -2.5 1.41e-001  -0.2 5.14e-001 3.73e-009f 29\n",
      " 194 6.8469938e+001 0.00e+000 1.38e+002  -2.5 4.10e+000    -  3.26e-001 4.32e-010f 26\n",
      " 195 6.8469938e+001 0.00e+000 2.77e+001  -2.5 3.15e-001  -0.7 4.94e-001 5.24e-010f 31\n",
      " 196 6.8469938e+001 0.00e+000 1.39e+002  -2.5 5.27e-001  -1.2 4.52e-001 6.38e-011f 31\n",
      " 197 6.8469938e+001 0.00e+000 1.28e+002  -2.5 1.55e-001   0.1 2.94e-001 6.06e-011f 33\n",
      " 198 6.8469938e+001 0.00e+000 4.29e+000  -2.5 1.85e-001  -0.3 1.00e+000 6.34e-012f 36\n",
      " 199 6.8672680e+001 0.00e+000 2.08e+002  -2.5 1.10e+000    -  3.21e-001 7.03e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 200 6.8550190e+001 0.00e+000 6.64e+001  -2.5 7.19e-001  -0.8 3.59e-002 4.14e-001w  1\n",
      " 201 6.8483853e+001 0.00e+000 1.16e+002  -2.5 1.93e-001  -0.4 5.56e-001 9.90e-001w  1\n",
      " 202 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.01e-001   0.0 3.21e-001 5.11e-012f 37\n",
      " 203 6.8469938e+001 0.00e+000 2.77e+001  -2.5 2.41e-001  -0.4 4.86e-001 1.43e-011f 36\n",
      " 204 6.8469938e+001 0.00e+000 1.39e+002  -2.5 3.92e-001  -0.9 4.44e-001 9.18e-012f 34\n",
      " 205 6.8469938e+001 0.00e+000 1.28e+002  -2.5 1.56e+000  -0.5 1.57e-001 1.50e-012f 35\n",
      " 206 6.8469938e+001 0.00e+000 4.26e+000  -2.5 1.40e-001  -0.1 1.00e+000 2.09e-012f 38\n",
      " 207 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.16e+000    -  3.27e-001 1.28e-012f 40\n",
      " 208 6.8469938e+001 0.00e+000 2.77e+001  -2.5 3.07e-001  -0.5 4.76e-001 2.24e-012f 38\n",
      " 209 6.8469938e+001 0.00e+000 1.39e+002  -2.5 4.38e-001  -1.0 4.26e-001 1.04e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 210 6.8469938e+001 0.00e+000 2.77e+001  -2.5 4.72e+000  -0.6 1.10e-001 1.25e-013f 37\n",
      " 211 6.8469938e+001 0.00e+000 1.33e+002  -2.5 3.91e-001  -1.1 1.92e-001 3.27e-013f 38\n",
      " 212 6.8522332e+001 0.00e+000 7.57e+001  -2.5 1.22e-001   0.3 6.73e-001 3.31e-001w  1\n",
      " 213 6.8463555e+001 0.00e+000 4.96e+001  -2.5 2.18e-001  -0.2 2.31e-001 2.32e-001w  1\n",
      " 214 6.8894604e+001 0.00e+000 6.10e+001  -2.5 1.04e+000  -0.7 2.46e-001 9.92e-001w  1\n",
      " 215 6.8469938e+001 0.00e+000 2.77e+001  -2.5 7.98e-001  -0.3 6.73e-001 2.41e-012f 37\n",
      " 216 6.8469938e+001 0.00e+000 1.33e+002  -2.5 1.15e+001    -  1.92e-001 2.72e-012f 32\n",
      " 217 6.8469938e+001 0.00e+000 2.77e+001  -2.5 6.49e-001  -0.7 4.25e-001 3.62e-012f 35\n",
      " 218 6.8469938e+001 0.00e+000 1.38e+002  -2.5 4.92e-001  -1.2 4.11e-001 3.72e-012f 35\n",
      " 219 6.8469938e+001 0.00e+000 1.28e+002  -2.5 1.94e-001   0.1 2.88e-001 3.03e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 220 6.8469938e+001 0.00e+000 4.26e+000  -2.5 2.56e-001  -0.4 1.00e+000 2.87e-013f 40\n",
      " 221 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.08e+000    -  3.24e-001 1.29e-012f 40\n",
      " 222 6.8469938e+001 0.00e+000 2.77e+001  -2.5 8.90e-002   0.1 4.34e-001 9.15e-012f 37\n",
      " 223 6.8469938e+001 0.00e+000 1.39e+002  -2.5 2.16e-001  -0.4 4.26e-001 6.27e-012f 35\n",
      " 224 6.8469938e+001 0.00e+000 1.28e+002  -2.5 2.92e-001   0.0 2.74e-001 4.03e-012f 36\n",
      " 225 6.8503215e+001 0.00e+000 2.12e+001  -2.5 4.03e-001  -0.5 1.00e+000 1.00e-001w  1\n",
      " 226 6.8520604e+001 0.00e+000 1.68e+002  -2.5 3.41e-001  -1.0 5.05e-001 5.53e-001w  1\n",
      " 227 6.8550280e+001 0.00e+000 1.17e+002  -2.5 1.63e+000  -0.5 4.45e-001 1.70e-001w  1\n",
      " 228 6.8469938e+001 0.00e+000 4.29e+000  -2.5 2.82e-001  -0.1 1.00e+000 3.65e-013f 38\n",
      " 229 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.05e+000    -  3.25e-001 1.32e-012f 40\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 230 6.8469938e+001 0.00e+000 2.77e+001  -2.5 3.02e-001  -0.6 5.24e-001 3.63e-012f 38\n",
      " 231 6.8469938e+001 0.00e+000 1.40e+002  -2.5 4.55e-001  -1.1 4.54e-001 2.19e-012f 36\n",
      " 232 6.8469938e+001 0.00e+000 1.28e+002  -2.5 3.50e+000  -0.6 1.28e-001 2.23e-013f 37\n",
      " 233 6.8469938e+001 0.00e+000 4.32e+000  -2.5 1.28e-001  -0.2 1.00e+000 4.41e-013f 40\n",
      " 234 6.8469938e+001 0.00e+000 1.54e+002  -2.5 1.15e+000    -  3.26e-001 1.28e-012f 40\n",
      " 235 6.8469938e+001 0.00e+000 2.77e+001  -2.5 3.84e-001  -0.7 5.12e-001 3.02e-012f 38\n",
      " 236 6.8469938e+001 0.00e+000 1.39e+002  -2.5 5.05e-001  -1.2 4.29e-001 1.97e-012f 36\n",
      " 237 6.8469938e+001 0.00e+000 2.77e+001  -2.5 1.36e-001   0.2 3.16e-001 4.32e-012f 37\n",
      " 238 6.8493697e+001 0.00e+000 1.35e+002  -2.5 1.95e-001  -0.3 2.78e-001 8.73e-002w  1\n",
      " 239 6.8488785e+001 0.00e+000 5.25e+001  -2.5 2.12e-001   0.1 1.32e-001 2.58e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 240 6.8470214e+001 0.00e+000 1.11e+002  -2.5 4.03e-001  -0.4 1.67e-001 6.38e-002w  1\n",
      " 241 6.8493697e+001 0.00e+000 1.30e+002  -2.5 1.23e-001   0.1 8.73e-002 8.73e-002S 18\n",
      " 242 6.8468633e+001 0.00e+000 2.40e+001  -2.5 3.30e-001  -0.4 1.00e+000 8.29e-002f  2\n",
      " 243 6.8468018e+001 0.00e+000 2.26e+001  -2.5 6.94e+002    -  4.17e-004 1.02e-004f  4\n",
      " 244 6.8468082e+001 0.00e+000 1.57e+002  -2.5 4.04e-001  -0.9 5.02e-001 6.54e-003f  7\n",
      " 245 6.8467459e+001 0.00e+000 1.18e+002  -2.5 2.41e+000  -0.5 3.66e-001 7.18e-004f  5\n",
      " 246 6.8467453e+001 0.00e+000 1.33e+001  -2.5 8.63e-002  -0.0 1.00e+000 1.02e-004f 13\n",
      " 247 6.8467451e+001 0.00e+000 1.44e+002  -2.5 1.92e+000    -  1.93e-001 2.26e-005f 14\n",
      " 248 6.8467449e+001 0.00e+000 1.18e+002  -2.5 2.55e-001  -0.5 5.41e-001 2.71e-005f 16\n",
      " 249 6.8467449e+001 0.00e+000 1.19e+002  -2.5 1.00e+001  -1.0 4.85e-002 2.09e-007f 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 250 6.8467449e+001 0.00e+000 2.31e+001  -2.5 4.90e-001  -0.6 1.00e+000 2.65e-008f 24\n",
      " 251 6.8467449e+001 0.00e+000 1.37e+002  -2.5 1.22e+000    -  2.88e-001 1.04e-008f 27\n",
      " 252 6.8541374e+001 0.00e+000 1.26e+002  -2.5 1.18e-001  -0.1 4.38e-001 8.63e-001w  1\n",
      " 253 6.8488081e+001 0.00e+000 9.56e+001  -2.5 1.41e+000  -0.6 2.74e-001 1.15e-001w  1\n",
      " 254 6.8571242e+001 0.00e+000 1.90e+001  -2.5 5.14e-001  -0.2 2.41e-001 1.00e+000w  1\n",
      " 255 6.8467449e+001 0.00e+000 3.84e+001  -2.5 1.49e-001   0.2 4.38e-001 2.57e-008f 25\n",
      " 256 6.8467449e+001 0.00e+000 1.30e+002  -2.5 1.72e-001  -0.2 4.58e-001 3.48e-009f 26\n",
      " 257 6.8467449e+001 0.00e+000 1.18e+002  -2.5 1.21e-001   0.2 3.03e-001 1.59e-009f 28\n",
      " 258 6.8467449e+001 0.00e+000 1.28e+001  -2.5 1.32e-001  -0.3 1.00e+000 1.26e-010f 32\n",
      " 259 6.8467449e+001 0.00e+000 1.44e+002  -2.5 1.26e+000    -  2.43e-001 9.03e-011f 33\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 260 6.8467449e+001 0.00e+000 3.84e+001  -2.5 4.00e-001  -0.8 6.04e-001 1.72e-010f 33\n",
      " 261 6.8467449e+001 0.00e+000 1.31e+002  -2.5 6.41e-001  -1.2 4.75e-001 2.96e-011f 32\n",
      " 262 6.8467449e+001 0.00e+000 3.84e+001  -2.5 1.31e-001   0.1 2.85e-001 2.31e-011f 34\n",
      " 263 6.8467449e+001 0.00e+000 1.25e+002  -2.5 2.35e-001  -0.4 2.55e-001 7.87e-012f 34\n",
      " 264 6.8467449e+001 0.00e+000 3.85e+001  -2.5 2.27e-001   0.0 2.95e-001 6.65e-012f 35\n",
      " 265 6.8489548e+001 0.00e+000 1.23e+002  -2.5 2.37e-001  -0.4 2.03e-001 7.26e-002w  1\n",
      " 266 6.8472285e+001 0.00e+000 4.99e+001  -2.5 3.08e-001  -0.0 1.36e-001 1.29e-001w  1\n",
      " 267 6.8474506e+001 0.00e+000 1.12e+002  -2.5 2.88e-001  -0.5 1.21e-001 4.70e-002w  1\n",
      " 268 6.8489548e+001 0.00e+000 1.20e+002  -2.5 1.53e-001  -0.1 7.26e-002 7.26e-002S 18\n",
      " 269 6.8480494e+001 0.00e+000 3.18e+001  -2.5 4.21e-001  -0.5 1.00e+000 9.40e-002f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 270 6.8493082e+001 0.00e+000 1.48e+002  -2.5 4.83e-001  -1.0 5.26e-001 2.50e-001f  2\n",
      " 271 6.8498635e+001 0.00e+000 1.07e+002  -2.5 3.13e+000  -0.6 5.14e-001 1.02e-002f  4\n",
      " 272 6.8471064e+001 0.00e+000 1.25e+002  -2.5 1.43e-001  -0.2 1.00e+000 1.47e-001f  2\n",
      " 273 6.8469460e+001 0.00e+000 7.25e+001  -2.5 2.99e-001  -0.6 7.25e-001 6.25e-002f  5\n",
      " 274 6.8469819e+001 0.00e+000 8.98e+001  -2.5 7.34e-001  -1.1 4.37e-001 2.34e-002f  3\n",
      " 275 6.8466156e+001 0.00e+000 7.43e+001  -2.5 5.48e-002   0.2 9.01e-001 3.64e-002f  5\n",
      " 276 6.8466167e+001 0.00e+000 8.72e+001  -2.5 2.08e-001  -0.3 4.24e-001 6.37e-004f  9\n",
      " 277 6.8466117e+001 0.00e+000 7.43e+001  -2.5 6.11e-002   0.2 6.47e-001 7.40e-004f 10\n",
      " 278 6.8466131e+001 0.00e+000 8.62e+001  -2.5 2.32e-001  -0.3 3.55e-001 2.73e-004f 10\n",
      " 279 6.8466090e+001 0.00e+000 8.12e+001  -2.5 6.96e-002   0.1 6.99e-001 2.94e-004f 11\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 280 6.8573209e+001 0.00e+000 1.03e+002  -2.5 1.53e-001  -0.4 1.00e+000 7.26e-001w  1\n",
      " 281 6.8482875e+001 0.00e+000 1.64e+002  -2.5 1.22e-001   0.1 4.35e-001 8.53e-001w  1\n",
      " 282 6.8501105e+001 0.00e+000 5.91e+001  -2.5 4.75e-001  -0.4 3.63e-001 3.15e-001w  1\n",
      " 283 6.8466090e+001 0.00e+000 6.04e+001  -2.5 4.05e-001  -0.9 1.00e+000 2.77e-006f 18\n",
      " 284 6.8466090e+001 0.00e+000 1.09e+002  -2.5 8.29e-001  -1.4 4.26e-001 5.20e-008f 24\n",
      " 285 6.8466090e+001 0.00e+000 7.43e+001  -2.5 9.59e-002  -0.0 5.40e-001 7.61e-008f 24\n",
      " 286 6.8466090e+001 0.00e+000 8.69e+001  -2.5 3.16e-001  -0.5 3.88e-001 1.47e-008f 24\n",
      " 287 6.8466090e+001 0.00e+000 8.12e+001  -2.5 1.14e-001  -0.1 3.28e-001 5.19e-009f 26\n",
      " 288 6.8466090e+001 0.00e+000 6.05e+001  -2.5 2.41e-001  -0.6 1.00e+000 2.54e-009f 28\n",
      " 289 6.8466090e+001 0.00e+000 1.15e+002  -2.5 4.58e-001  -1.1 5.44e-001 3.46e-010f 31\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 290 6.8466090e+001 0.00e+000 8.13e+001  -2.5 6.83e-002   0.3 5.13e-001 2.19e-010f 31\n",
      " 291 6.8466090e+001 0.00e+000 9.48e+001  -2.5 1.23e-001  -0.2 1.00e+000 3.68e-011f 35\n",
      " 292 6.8466090e+001 0.00e+000 7.43e+001  -2.5 2.63e-001  -0.7 7.11e-001 1.43e-011f 37\n",
      " 293 6.8480390e+001 0.00e+000 9.46e+001  -2.5 7.36e-001  -1.2 4.60e-001 7.95e-002w  1\n",
      " 294 6.8505780e+001 0.00e+000 1.03e+002  -2.5 5.12e-002   0.2 2.86e-001 5.13e-001w  1\n",
      " 295 6.8465191e+001 0.00e+000 8.49e+001  -2.5 2.70e-001  -0.3 2.24e-001 1.16e-001w  1\n",
      " 296 6.8466090e+001 0.00e+000 8.78e+001  -2.5 1.45e+000  -0.8 4.60e-001 2.31e-012f 35\n",
      " 297 6.8466090e+001 0.00e+000 7.43e+001  -2.5 1.80e-001  -0.4 2.87e-001 1.87e-012f 38\n",
      " 298 6.8466090e+001 0.00e+000 8.52e+001  -2.5 5.63e-001  -0.8 2.86e-001 1.02e-012f 37\n",
      " 299 6.8466090e+001 0.00e+000 7.43e+001  -2.5 3.46e-001  -0.4 1.70e-001 9.91e-013f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 300 6.8466090e+001 0.00e+000 8.43e+001  -2.5 5.84e-001  -0.9 2.17e-001 8.53e-013f 37\n",
      " 301 6.8466090e+001 0.00e+000 8.12e+001  -2.5 8.25e-001  -0.5 1.08e-001 3.29e-013f 37\n",
      " 302 6.8466090e+001 0.00e+000 6.04e+001  -2.5 1.03e-001  -0.0 1.00e+000 5.42e-013f 40\n",
      " 303 6.8466090e+001 0.00e+000 1.18e+002  -2.5 2.01e-001  -0.5 5.15e-001 2.28e-012f 38\n",
      " 304 6.8466090e+001 0.00e+000 7.42e+001  -2.5 1.48e-001  -0.1 4.48e-001 1.59e-012f 37\n",
      " 305 6.8466090e+001 0.00e+000 8.56e+001  -2.5 3.43e-001  -0.6 2.88e-001 7.30e-013f 38\n",
      " 306 6.8505296e+001 0.00e+000 8.35e+001  -2.5 1.58e-001  -0.1 3.43e-001 1.18e-001w  1\n",
      " 307 6.8470809e+001 0.00e+000 9.24e+001  -2.5 4.19e-001  -0.6 1.95e-001 1.35e-001w  1\n",
      " 308 6.8479369e+001 0.00e+000 1.72e+001  -2.5 2.16e-001  -0.2 1.00e+000 1.13e-001w  1\n",
      " 309 6.8505296e+001 0.00e+000 8.06e+001  -2.5 3.56e-001  -0.7 1.18e-001 1.18e-001S 18\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 310 6.8482128e+001 0.00e+000 9.41e+001  -2.5 8.12e-001  -1.1 1.31e-001 9.93e-002f  1\n",
      " 311 6.8467064e+001 0.00e+000 7.62e+001  -2.5 5.46e-002   0.2 2.52e-001 1.69e-001f  2\n",
      " 312 6.8465445e+001 0.00e+000 4.20e+001  -2.5 2.09e-001  -0.3 1.00e+000 3.92e-002f  4\n",
      " 313 6.8464853e+001 0.00e+000 1.30e+002  -2.5 4.06e-001  -0.8 5.35e-001 2.76e-002f  6\n",
      " 314 6.8463470e+001 0.00e+000 7.16e+001  -2.5 3.19e-001  -0.3 6.09e-001 1.00e-002f  3\n",
      " 315 6.8463328e+001 0.00e+000 6.20e+001  -2.5 4.04e-001  -0.8 1.00e+000 1.74e-003f  9\n",
      " 316 6.8463359e+001 0.00e+000 1.08e+002  -2.5 6.82e-001  -1.3 5.43e-001 9.02e-004f 11\n",
      " 317 6.8463726e+001 0.00e+000 8.57e+001  -2.5 8.32e-002   0.0 5.76e-001 2.15e-002f  6\n",
      " 318 6.8463997e+001 0.00e+000 7.97e+001  -2.5 2.56e-001  -0.4 3.61e-001 5.28e-003f  5\n",
      " 319 6.8463335e+001 0.00e+000 8.61e+001  -2.5 7.63e-002  -0.0 4.34e-001 1.06e-002f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 320 6.8463311e+001 0.00e+000 7.76e+001  -2.5 2.81e-001  -0.5 3.09e-001 5.67e-004f  8\n",
      " 321 6.8496795e+001 0.00e+000 1.02e+002  -2.5 8.72e-002  -0.1 4.45e-001 2.88e-001w  1\n",
      " 322 6.8468573e+001 0.00e+000 7.42e+001  -2.5 3.57e-001  -0.5 2.24e-001 1.32e-001w  1\n",
      " 323 6.8489785e+001 0.00e+000 4.40e+001  -2.5 2.40e-001  -0.1 1.00e+000 1.94e-001w  1\n",
      " 324 6.8463280e+001 0.00e+000 8.62e+001  -2.5 3.04e-001  -0.6 4.45e-001 1.12e-003f  8\n",
      " 325 6.8463263e+001 0.00e+000 7.69e+001  -2.5 6.04e-001  -1.1 2.82e-001 1.75e-004f  9\n",
      " 326 6.8463239e+001 0.00e+000 8.62e+001  -2.5 2.50e+000  -0.6 1.12e-001 7.91e-005f  8\n",
      " 327 6.8463241e+001 0.00e+000 7.51e+001  -2.5 6.48e-001  -1.1 2.03e-001 1.47e-005f 12\n",
      " 328 6.8463237e+001 0.00e+000 7.43e+001  -2.5 5.77e-002   0.2 1.00e+000 6.16e-005f 14\n",
      " 329 6.8463236e+001 0.00e+000 7.65e+001  -2.5 1.24e-001  -0.3 1.00e+000 1.52e-005f 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 330 6.8463236e+001 0.00e+000 7.15e+001  -2.5 2.56e-001  -0.7 1.00e+000 2.14e-007f 23\n",
      " 331 6.8463236e+001 0.00e+000 8.18e+001  -2.5 4.68e+000    -  1.86e-001 1.04e-008f 23\n",
      " 332 6.8463236e+001 0.00e+000 9.57e+001  -2.5 4.80e-001  -1.2 5.31e-001 1.29e-008f 25\n",
      " 333 6.8463236e+001 0.00e+000 8.61e+001  -2.5 6.85e-002   0.1 5.11e-001 4.16e-008f 25\n",
      " 334 6.8480075e+001 0.00e+000 8.40e+001  -2.5 2.36e-001  -0.4 3.49e-001 8.28e-002w  1\n",
      " 335 6.8486966e+001 0.00e+000 9.66e+001  -2.5 8.83e-002   0.1 2.13e-001 3.96e-001w  1\n",
      " 336 6.8460332e+001 0.00e+000 8.56e+001  -2.5 2.86e-001  -0.4 2.06e-001 6.45e-002w  1\n",
      " 337 6.8463236e+001 0.00e+000 7.88e+001  -2.5 1.65e+000  -0.9 3.49e-001 4.93e-009f 24\n",
      " 338 6.8463236e+001 0.00e+000 8.62e+001  -2.5 2.79e-001  -0.5 2.40e-001 4.89e-009f 25\n",
      " 339 6.8463236e+001 0.00e+000 7.57e+001  -2.5 5.29e-001  -1.0 2.28e-001 1.28e-009f 26\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 340 6.8463236e+001 0.00e+000 8.62e+001  -2.5 4.49e-001  -0.5 1.86e-001 1.28e-009f 26\n",
      " 341 6.8463236e+001 0.00e+000 7.52e+001  -2.5 5.63e-001  -1.0 2.12e-001 2.88e-010f 28\n",
      " 342 6.8463236e+001 0.00e+000 7.00e+001  -2.5 8.90e-001  -0.6 1.53e-001 3.23e-010f 27\n",
      " 343 6.8463236e+001 0.00e+000 6.81e+001  -2.5 6.95e-001  -1.1 7.55e-001 3.61e-013f 40\n",
      " 344 6.8463236e+001 0.00e+000 1.13e+002  -2.5 2.64e-001  -0.6 5.01e-001 2.97e-012f 38\n",
      " 345 6.8463236e+001 0.00e+000 8.61e+001  -2.5 1.50e-001  -0.2 5.90e-001 1.06e-011f 37\n",
      " 346 6.8463236e+001 0.00e+000 7.96e+001  -2.5 3.40e-001  -0.7 3.68e-001 4.29e-012f 35\n",
      " 347 6.8493820e+001 0.00e+000 9.55e+001  -2.5 1.49e-001  -0.3 3.13e-001 2.13e-001w  1\n",
      " 348 6.8466386e+001 0.00e+000 7.48e+001  -2.5 4.75e-001  -0.7 1.81e-001 8.96e-002w  1\n",
      " 349 6.8480360e+001 0.00e+000 4.05e+001  -2.5 3.32e-001  -0.3 1.00e+000 1.22e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 350 6.8493820e+001 0.00e+000 9.25e+001  -2.5 4.12e-001  -0.8 2.13e-001 2.13e-001S 19\n",
      " 351 6.8478495e+001 0.00e+000 8.36e+001  -2.5 2.43e-001  -0.4 2.19e-001 1.37e-001f  1\n",
      " 352 6.8462639e+001 0.00e+000 6.91e+001  -2.5 8.86e-002   0.1 2.37e-001 1.17e-001f  2\n",
      " 353 6.8461991e+001 0.00e+000 7.61e+000  -2.5 3.34e-001  -0.4 1.00e+000 7.96e-003f  6\n",
      " 354 6.8461985e+001 0.00e+000 1.42e+002  -2.5 4.85e-001  -0.9 5.42e-001 7.81e-003f  8\n",
      " 355 6.8462302e+001 0.00e+000 9.22e+001  -2.5 2.71e-001  -0.5 6.97e-001 1.10e-001f  4\n",
      " 356 6.8461932e+001 0.00e+000 8.72e+001  -2.5 4.01e-001  -0.9 4.32e-001 4.02e-003f  5\n",
      " 357 6.8461631e+001 0.00e+000 9.23e+001  -2.5 3.75e-001  -0.5 3.34e-001 1.42e-003f  7\n",
      " 358 6.8461620e+001 0.00e+000 8.00e+001  -2.5 4.43e-001  -1.0 2.90e-001 1.55e-004f  9\n",
      " 359 6.8461599e+001 0.00e+000 6.44e+001  -2.5 4.92e-001  -0.6 2.41e-001 6.06e-005f 11\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 360 6.8461599e+001 0.00e+000 5.66e+001  -2.5 7.74e-001  -1.0 7.15e-001 1.38e-005f 15\n",
      " 361 6.8461601e+001 0.00e+000 1.23e+002  -2.5 3.34e-001  -0.6 5.11e-001 6.10e-005f 15\n",
      " 362 6.8476659e+001 0.00e+000 9.62e+001  -2.5 3.60e-001  -0.2 6.20e-001 9.21e-002w  1\n",
      " 363 6.8461934e+001 0.00e+000 7.92e+001  -2.5 2.84e-001  -0.7 2.77e-001 6.11e-002w  1\n",
      " 364 6.8789034e+001 0.00e+000 8.15e+001  -2.5 3.21e+000  -1.1 1.94e-001 3.24e-001w  1\n",
      " 365 6.8461599e+001 0.00e+000 9.22e+001  -2.5 3.71e-001   0.2 6.20e-001 4.50e-005f 11\n",
      " 366 6.8461600e+001 0.00e+000 8.31e+001  -2.5 1.48e-001  -0.3 3.41e-001 3.68e-005f 12\n",
      " 367 6.8461596e+001 0.00e+000 6.44e+001  -2.5 1.79e-001   0.1 4.99e-001 4.52e-005f 13\n",
      " 368 6.8461596e+001 0.00e+000 4.10e+001  -2.5 2.17e-001  -0.3 1.00e+000 1.81e-006f 18\n",
      " 369 6.8461596e+001 0.00e+000 1.26e+002  -2.5 4.42e-001  -0.8 5.23e-001 9.54e-007f 21\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 370 6.8461596e+001 0.00e+000 6.45e+001  -2.5 1.41e+000  -0.4 5.91e-001 8.93e-008f 19\n",
      " 371 6.8461596e+001 0.00e+000 4.57e+001  -2.5 5.08e-001  -0.9 1.00e+000 7.17e-008f 23\n",
      " 372 6.8461596e+001 0.00e+000 1.12e+002  -2.5 7.84e-001  -1.3 4.49e-001 4.67e-008f 25\n",
      " 373 6.8461596e+001 0.00e+000 6.44e+001  -2.5 5.64e-001  -0.9 7.31e-001 1.75e-008f 25\n",
      " 374 6.8461596e+001 0.00e+000 7.96e+001  -2.5 3.05e+000    -  2.87e-001 2.07e-009f 26\n",
      " 375 6.8556359e+001 0.00e+000 1.50e+002  -2.5 1.10e+000  -1.4 3.49e-001 3.54e-001w  1\n",
      " 376 6.8493182e+001 0.00e+000 6.41e+001  -2.5 1.28e-001  -0.1 4.01e-001 5.73e-001w  1\n",
      " 377 6.8545241e+001 0.00e+000 1.11e+002  -2.5 2.99e-001  -0.5 1.00e+000 6.85e-001w  1\n",
      " 378 6.8461596e+001 0.00e+000 8.98e+001  -2.5 1.12e-001  -0.1 3.49e-001 2.63e-009f 27\n",
      " 379 6.8461596e+001 0.00e+000 7.13e+001  -2.5 2.22e+000    -  3.73e-001 3.76e-010f 30\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 380 6.8461596e+001 0.00e+000 1.13e+002  -2.5 3.51e-001  -0.6 4.28e-001 3.03e-010f 32\n",
      " 381 6.8461596e+001 0.00e+000 9.22e+001  -2.5 2.91e-001  -0.2 5.86e-001 2.12e-010f 30\n",
      " 382 6.8461596e+001 0.00e+000 8.24e+001  -2.5 2.53e-001  -0.6 3.30e-001 1.87e-012f 36\n",
      " 383 6.8461596e+001 0.00e+000 9.23e+001  -2.5 6.15e-001  -0.2 3.96e-001 1.57e-012f 36\n",
      " 384 6.8461596e+001 0.00e+000 7.48e+001  -2.5 2.82e-001  -0.7 1.96e-001 7.77e-013f 37\n",
      " 385 6.8461596e+001 0.00e+000 9.23e+001  -2.5 8.02e-001  -0.3 3.70e-001 1.20e-012f 36\n",
      " 386 6.8461596e+001 0.00e+000 7.41e+001  -2.5 2.98e-001  -0.7 1.84e-001 1.64e-012f 36\n",
      " 387 6.8461596e+001 0.00e+000 9.23e+001  -2.5 1.06e+000  -0.3 3.60e-001 9.08e-013f 36\n",
      " 388 6.8476383e+001 0.00e+000 7.55e+001  -2.5 3.17e-001  -0.8 1.79e-001 5.90e-002w  1\n",
      " 389 6.8460503e+001 0.00e+000 6.49e+001  -2.5 1.47e+000  -0.4 2.42e-001 3.20e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 390 6.8587952e+001 0.00e+000 3.76e+001  -2.5 2.07e+000  -0.9 4.40e-001 1.45e-001w  1\n",
      " 391 6.8461596e+001 0.00e+000 7.38e+001  -2.5 2.02e-001  -0.4 1.79e-001 8.58e-013f 36\n",
      " 392 6.8461596e+001 0.00e+000 9.23e+001  -2.5 2.75e-001   0.0 6.31e-001 1.75e-012f 37\n",
      " 393 6.8461596e+001 0.00e+000 7.75e+001  -2.5 1.95e-001  -0.5 2.49e-001 1.06e-012f 37\n",
      " 394 6.8461596e+001 0.00e+000 9.23e+001  -2.5 3.24e-001  -0.1 5.06e-001 1.49e-012f 37\n",
      " 395 6.8461596e+001 0.00e+000 7.62e+001  -2.5 2.12e-001  -0.5 2.24e-001 9.92e-013f 37\n",
      " 396 6.8461596e+001 0.00e+000 9.23e+001  -2.5 3.89e-001  -0.1 4.93e-001 1.24e-012f 37\n",
      " 397 6.8461596e+001 0.00e+000 7.59e+001  -2.5 2.29e-001  -0.6 2.17e-001 9.69e-013f 37\n",
      " 398 6.8461596e+001 0.00e+000 9.23e+001  -2.5 4.72e-001  -0.2 4.72e-001 2.04e-012f 36\n",
      " 399 6.8461596e+001 0.00e+000 7.55e+001  -2.5 2.46e-001  -0.6 2.10e-001 1.90e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 400 6.8461596e+001 0.00e+000 9.23e+001  -2.5 5.83e-001  -0.2 4.50e-001 1.65e-012f 36\n",
      " 401 6.8475474e+001 0.00e+000 7.70e+001  -2.5 2.65e-001  -0.7 2.03e-001 6.45e-002w  1\n",
      " 402 6.8461942e+001 0.00e+000 9.33e+001  -2.5 7.69e-001  -0.3 3.11e-001 5.99e-002w  1\n",
      " 403 6.8644203e+001 0.00e+000 8.81e+001  -2.5 1.34e+000  -0.7 8.67e-002 1.00e+000w  1\n",
      " 404 6.8475474e+001 0.00e+000 6.97e+001  -2.5 7.93e-001  -0.3 6.45e-002 6.45e-002S 17\n",
      " 405 6.8462600e+001 0.00e+000 6.99e+001  -2.5 4.82e-001  -0.8 1.00e+000 4.78e-002f  2\n",
      " 406 6.8461026e+001 0.00e+000 8.42e+001  -2.5 3.10e+000    -  2.83e-001 4.23e-003f  5\n",
      " 407 6.8461044e+001 0.00e+000 9.57e+001  -2.5 7.58e-001  -1.3 5.47e-001 4.88e-004f 12\n",
      " 408 6.8461002e+001 0.00e+000 6.27e+001  -2.5 1.02e-001   0.1 4.43e-001 4.42e-004f 10\n",
      " 409 6.8460996e+001 0.00e+000 2.87e+001  -2.5 3.02e-001  -0.4 1.00e+000 4.13e-005f 14\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 410 6.8460995e+001 0.00e+000 1.30e+002  -2.5 5.06e-001  -0.9 5.41e-001 7.63e-006f 18\n",
      " 411 6.8460995e+001 0.00e+000 6.69e+001  -2.5 1.98e+000  -0.5 5.16e-001 7.09e-007f 15\n",
      " 412 6.8460995e+001 0.00e+000 9.29e+001  -2.5 3.95e-001  -0.9 1.00e+000 2.40e-007f 22\n",
      " 413 6.8460995e+001 0.00e+000 1.04e+002  -2.5 2.36e-001  -0.5 5.46e-001 1.93e-007f 21\n",
      " 414 6.8460995e+001 0.00e+000 9.40e+001  -2.5 2.51e-001  -0.1 4.91e-001 8.75e-008f 21\n",
      " 415 6.8473532e+001 0.00e+000 8.29e+001  -2.5 2.32e-001  -0.6 2.73e-001 6.05e-002w  1\n",
      " 416 6.8460448e+001 0.00e+000 9.49e+001  -2.5 4.14e-001  -0.1 3.09e-001 7.00e-002w  1\n",
      " 417 6.8613108e+001 0.00e+000 1.23e+002  -2.5 1.59e+000  -0.6 1.15e-001 1.00e+000w  1\n",
      " 418 6.8473532e+001 0.00e+000 6.78e+001  -2.5 6.01e-001  -0.2 6.05e-002 6.05e-002S 17\n",
      " 419 6.8475618e+001 0.00e+000 1.01e+002  -2.5 2.50e-001  -0.7 6.00e-001 1.48e-001f  2\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 420 6.8460564e+001 0.00e+000 8.50e+001  -2.5 9.51e-001  -1.1 4.03e-001 4.21e-002f  1\n",
      " 421 6.8472839e+001 0.00e+000 8.82e+001  -2.5 9.86e-001  -0.7 1.41e-001 3.12e-002f  6\n",
      " 422 6.8466387e+001 0.00e+000 5.76e+001  -2.5 7.43e-001  -0.3 3.00e-001 1.51e-002f  2\n",
      " 423 6.8466804e+001 0.00e+000 5.19e+000  -2.5 1.43e+000  -0.8 4.18e-001 1.20e-002f  4\n",
      " 424 6.8468080e+001 0.00e+000 1.36e+002  -2.5 8.46e-001  -1.2 4.17e-001 4.48e-002f  5\n",
      " 425 6.8464088e+001 0.00e+000 5.57e+001  -2.5 8.97e-002   0.1 6.67e-001 5.36e-002f  3\n",
      " 426 6.8463319e+001 0.00e+000 7.81e+001  -2.5 1.94e-001  -0.4 1.00e+000 1.34e-002f  7\n",
      " 427 6.8463417e+001 0.00e+000 9.97e+001  -2.5 4.23e-001  -0.9 5.32e-001 4.48e-003f  8\n",
      " 428 6.8463112e+001 0.00e+000 1.02e+002  -2.5 3.31e-001  -0.4 4.89e-001 2.66e-003f  6\n",
      " 429 6.8463060e+001 0.00e+000 6.28e+001  -2.5 4.78e-001  -0.9 3.21e-001 4.11e-004f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 430 6.8463011e+001 0.00e+000 5.45e+001  -2.5 4.36e-001  -0.5 1.28e-001 1.15e-004f 10\n",
      " 431 6.8537969e+001 0.00e+000 8.32e+001  -2.5 8.33e-001  -1.0 6.29e-001 9.21e-002w  1\n",
      " 432 6.8470018e+001 0.00e+000 1.30e+002  -2.5 2.59e-001  -0.5 4.33e-001 4.87e-001w  1\n",
      " 433 6.8473866e+001 0.00e+000 7.13e+001  -2.5 2.10e-001  -0.1 8.55e-001 1.92e-001w  1\n",
      " 434 6.8463010e+001 0.00e+000 8.74e+001  -2.5 5.35e-001  -0.6 6.29e-001 1.12e-005f 13\n",
      " 435 6.8463010e+001 0.00e+000 8.97e+001  -2.5 5.63e-001  -1.1 4.84e-001 2.52e-005f 15\n",
      " 436 6.8463008e+001 0.00e+000 1.02e+002  -2.5 5.62e-002   0.3 5.10e-001 4.46e-005f 14\n",
      " 437 6.8463008e+001 0.00e+000 6.26e+001  -2.5 1.89e-001  -0.2 3.29e-001 5.51e-006f 15\n",
      " 438 6.8463007e+001 0.00e+000 5.45e+001  -2.5 6.91e-002   0.2 4.65e-001 3.79e-006f 17\n",
      " 439 6.8463007e+001 0.00e+000 7.85e+001  -2.5 1.66e-001  -0.3 1.00e+000 2.11e-006f 19\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 440 6.8463007e+001 0.00e+000 1.02e+002  -2.5 3.60e-001  -0.8 5.33e-001 9.64e-007f 20\n",
      " 441 6.8463007e+001 0.00e+000 1.01e+002  -2.5 2.53e-001  -0.3 5.02e-001 4.42e-007f 19\n",
      " 442 6.8463007e+001 0.00e+000 6.29e+001  -2.5 4.11e-001  -0.8 3.24e-001 5.54e-008f 21\n",
      " 443 6.8463007e+001 0.00e+000 5.45e+001  -2.5 2.99e-001  -0.4 1.50e-001 1.82e-008f 23\n",
      " 444 6.8534614e+001 0.00e+000 8.17e+001  -2.5 6.32e-001  -0.9 8.23e-001 1.14e-001w  1\n",
      " 445 6.8473182e+001 0.00e+000 1.37e+002  -2.5 2.00e-001  -0.4 4.86e-001 5.77e-001w  1\n",
      " 446 6.8471044e+001 0.00e+000 7.09e+001  -2.5 1.74e-001  -0.0 5.86e-001 2.36e-001w  1\n",
      " 447 6.8534614e+001 0.00e+000 9.78e+001  -2.5 3.98e-001  -0.5 1.14e-001 1.14e-001S 18\n",
      " 448 6.8462483e+001 0.00e+000 6.74e+001  -2.5 7.22e-001  -1.0 1.82e-001 1.49e-001f  1\n",
      " 449 6.8484080e+001 0.00e+000 1.14e+002  -2.5 8.64e-001  -0.5 1.80e-001 6.03e-002f  5\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 450 6.8473917e+001 0.00e+000 7.40e+001  -2.5 3.46e-001  -0.1 3.88e-001 3.68e-002f  2\n",
      " 451 6.8464361e+001 0.00e+000 1.55e+002  -2.5 4.39e-001  -0.6 1.00e+000 3.74e-002f  4\n",
      " 452 6.8464032e+001 0.00e+000 8.87e+001  -2.5 5.07e-001  -1.1 9.74e-001 1.75e-002f  6\n",
      " 453 6.8464323e+001 0.00e+000 8.14e+001  -2.5 2.41e-001  -0.6 5.08e-001 1.45e-002f  4\n",
      " 454 6.8463243e+001 0.00e+000 6.80e+001  -2.5 1.76e-001  -0.2 2.57e-001 4.79e-003f  6\n",
      " 455 6.8463071e+001 0.00e+000 6.23e+001  -2.5 3.59e-001  -0.7 1.00e+000 1.74e-003f  8\n",
      " 456 6.8463151e+001 0.00e+000 1.09e+002  -2.5 5.98e-001  -1.2 5.44e-001 1.86e-003f 10\n",
      " 457 6.8462957e+001 0.00e+000 6.79e+001  -2.5 7.57e-002   0.2 5.01e-001 1.90e-003f  8\n",
      " 458 6.8462957e+001 0.00e+000 9.29e+001  -2.5 1.66e-001  -0.3 1.00e+000 7.93e-006f 17\n",
      " 459 6.8563536e+001 0.00e+000 1.23e+002  -2.5 3.24e-001  -0.8 8.11e-001 9.85e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 460 6.8522823e+001 0.00e+000 9.47e+001  -2.5 4.48e-001  -0.4 3.95e-001 1.59e-001w  1\n",
      " 461 6.8547502e+001 0.00e+000 2.28e+001  -2.5 2.55e-001   0.1 2.93e-001 1.00e+000w  1\n",
      " 462 6.8462956e+001 0.00e+000 8.84e+001  -2.5 1.94e+000  -0.4 8.11e-001 9.39e-007f 20\n",
      " 463 6.8462956e+001 0.00e+000 8.11e+001  -2.5 3.66e-001  -0.9 4.97e-001 1.60e-007f 20\n",
      " 464 6.8462956e+001 0.00e+000 6.78e+001  -2.5 3.31e-001  -0.5 2.39e-001 5.29e-008f 22\n",
      " 465 6.8462956e+001 0.00e+000 6.42e+001  -2.5 5.84e-001  -0.9 9.55e-001 1.38e-008f 25\n",
      " 466 6.8462956e+001 0.00e+000 9.45e+001  -2.5 3.71e+000  -1.4 9.99e-002 9.16e-009f 25\n",
      " 467 6.8462956e+001 0.00e+000 6.42e+001  -2.5 1.21e+001    -  7.00e-002 1.03e-009f 25\n",
      " 468 6.8462956e+001 0.00e+000 1.10e+002  -2.5 4.89e-001  -1.0 5.04e-001 2.69e-009f 29\n",
      " 469 6.8462956e+001 0.00e+000 6.79e+001  -2.5 2.61e+000  -0.6 3.42e-001 1.35e-010f 26\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 470 6.8462956e+001 0.00e+000 6.95e+001  -2.5 1.17e+001    -  7.93e-002 1.95e-011f 30\n",
      " 471 6.8462956e+001 0.00e+000 7.79e+001  -2.5 5.03e-001  -1.0 1.00e+000 2.72e-011f 34\n",
      " 472 6.8498372e+001 0.00e+000 1.15e+002  -2.5 1.97e-001  -0.6 5.41e-001 3.12e-001w  1\n",
      " 473 6.8481086e+001 0.00e+000 7.77e+001  -2.5 3.21e-001  -0.2 3.26e-001 5.56e-002w  1\n",
      " 474 6.8558272e+001 0.00e+000 5.09e+001  -2.5 2.06e+000  -0.7 3.41e-001 8.60e-002w  1\n",
      " 475 6.8462956e+001 0.00e+000 1.05e+002  -2.5 6.15e-001  -1.1 5.41e-001 3.63e-011f 33\n",
      " 476 6.8462956e+001 0.00e+000 8.84e+001  -2.5 7.05e-002   0.2 4.92e-001 2.96e-011f 34\n",
      " 477 6.8462956e+001 0.00e+000 7.64e+001  -2.5 1.86e-001  -0.3 3.16e-001 1.23e-012f 37\n",
      " 478 6.8462956e+001 0.00e+000 8.85e+001  -2.5 1.14e-001   0.1 3.64e-001 2.40e-012f 37\n",
      " 479 6.8462956e+001 0.00e+000 7.43e+001  -2.5 2.07e-001  -0.3 2.48e-001 2.10e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 480 6.8462956e+001 0.00e+000 6.78e+001  -2.5 1.36e-001   0.1 3.91e-001 2.13e-012f 37\n",
      " 481 6.8462956e+001 0.00e+000 6.26e+001  -2.5 1.95e-001  -0.4 1.00e+000 1.35e-012f 39\n",
      " 482 6.8462956e+001 0.00e+000 1.14e+002  -2.5 4.09e-001  -0.9 5.34e-001 2.53e-012f 39\n",
      " 483 6.8462956e+001 0.00e+000 8.84e+001  -2.5 4.64e-001  -0.4 4.49e-001 7.41e-013f 36\n",
      " 484 6.8462956e+001 0.00e+000 7.72e+001  -2.5 4.20e-001  -0.9 3.28e-001 1.58e-012f 36\n",
      " 485 6.8488363e+001 0.00e+000 8.94e+001  -2.5 8.23e-001  -0.5 9.98e-002 2.66e-002w  1\n",
      " 486 6.8460273e+001 0.00e+000 8.29e+001  -2.5 5.07e-001  -1.0 1.18e-001 3.52e-002w  1\n",
      " 487 6.8798074e+001 0.00e+000 9.34e+001  -2.5 1.12e+000  -0.5 1.38e-001 5.66e-001w  1\n",
      " 488 6.8462956e+001 0.00e+000 6.78e+001  -2.5 3.73e-001  -0.1 9.98e-002 3.86e-013f 36\n",
      " 489 6.8462956e+001 0.00e+000 6.30e+001  -2.5 3.89e-001  -0.6 1.00e+000 2.99e-013f 39\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 490 6.8462956e+001 0.00e+000 1.11e+002  -2.5 5.62e-001  -1.1 5.54e-001 1.47e-012f 40\n",
      " 491 6.8462956e+001 0.00e+000 8.84e+001  -2.5 6.19e-002   0.3 5.17e-001 2.14e-012f 38\n",
      " 492 6.8462956e+001 0.00e+000 7.67e+001  -2.5 1.74e-001  -0.2 3.22e-001 1.26e-012f 37\n",
      " 493 6.8462956e+001 0.00e+000 8.85e+001  -2.5 9.40e-002   0.2 4.10e-001 2.98e-012f 37\n",
      " 494 6.8462956e+001 0.00e+000 7.48e+001  -2.5 1.88e-001  -0.3 2.67e-001 2.29e-012f 36\n",
      " 495 6.8462956e+001 0.00e+000 6.78e+001  -2.5 1.11e-001   0.2 4.43e-001 2.68e-012f 37\n",
      " 496 6.8462956e+001 0.00e+000 6.26e+001  -2.5 1.70e-001  -0.3 1.00e+000 7.81e-013f 40\n",
      " 497 6.8462956e+001 0.00e+000 1.15e+002  -2.5 3.73e-001  -0.8 5.32e-001 2.38e-012f 39\n",
      " 498 6.8476331e+001 0.00e+000 9.01e+001  -2.5 3.06e-001  -0.4 4.68e-001 3.96e-002w  1\n",
      " 499 6.8464573e+001 0.00e+000 8.00e+001  -2.5 3.99e-001  -0.9 3.21e-001 5.95e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 500 6.8462204e+001 0.00e+000 8.56e+001  -2.5 5.70e-001  -0.4 1.06e-001 3.20e-002w  1\n",
      " 501 6.8476331e+001 0.00e+000 4.71e+001  -2.5 3.11e+000  -0.9 3.96e-002 3.96e-002S 17\n",
      " 502 6.8490933e+001 0.00e+000 1.13e+002  -2.5 4.75e-001  -0.5 1.02e-001 1.03e-001f  3\n",
      " 503 6.8466710e+001 0.00e+000 6.18e+001  -2.5 2.98e-001  -0.1 4.39e-001 8.87e-002f  1\n",
      " 504 6.8469629e+001 0.00e+000 7.27e+001  -2.5 2.72e-001  -0.5 1.00e+000 5.07e-002f  4\n",
      " 505 6.8471194e+001 0.00e+000 1.03e+002  -2.5 4.82e-001  -1.0 5.35e-001 8.06e-002f  4\n",
      " 506 6.8473762e+001 0.00e+000 6.04e+001  -2.5 2.61e+000  -0.6 5.75e-001 5.44e-003f  5\n",
      " 507 6.8466240e+001 0.00e+000 7.31e+001  -2.5 7.37e-001  -1.1 8.11e-001 2.96e-002f  4\n",
      " 508 6.8465815e+001 0.00e+000 8.03e+001  -2.5 1.37e+000    -  5.51e-001 8.13e-003f  6\n",
      " 509 6.8465627e+001 0.00e+000 9.60e+001  -2.5 1.76e-001  -0.6 5.37e-001 1.37e-002f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 510 6.8464809e+001 0.00e+000 5.82e+001  -2.5 3.52e-001  -0.2 4.45e-001 3.10e-003f  5\n",
      " 511 6.8464788e+001 0.00e+000 9.20e+001  -2.5 2.18e+000    -  3.67e-001 7.10e-005f 12\n",
      " 512 6.8464790e+001 0.00e+000 7.95e+001  -2.5 2.43e-001  -0.7 4.21e-001 9.79e-005f 12\n",
      " 513 6.8464779e+001 0.00e+000 9.75e+001  -2.5 4.37e-001  -0.3 3.35e-001 3.66e-005f 11\n",
      " 514 6.8489424e+001 0.00e+000 6.94e+001  -2.5 4.05e-001  -0.7 2.39e-001 7.56e-002w  1\n",
      " 515 6.8474222e+001 0.00e+000 6.55e+001  -2.5 8.64e-001  -0.3 5.96e-002 2.74e-002w  1\n",
      " 516 6.8507679e+001 0.00e+000 7.44e+001  -2.5 6.18e+000    -  9.01e-002 1.29e-002w  1\n",
      " 517 6.8464779e+001 0.00e+000 6.19e+001  -2.5 3.21e-001  -0.8 2.39e-001 1.15e-006f 16\n",
      " 518 6.8464779e+001 0.00e+000 5.81e+001  -2.5 9.74e-001  -0.4 1.63e-001 2.56e-007f 17\n",
      " 519 6.8464779e+001 0.00e+000 6.17e+001  -2.5 3.09e+000    -  2.40e-001 6.50e-008f 21\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 520 6.8464779e+001 0.00e+000 6.98e+001  -2.5 1.39e+000    -  5.24e-001 5.29e-008f 24\n",
      " 521 6.8464779e+001 0.00e+000 7.51e+001  -2.5 9.64e-001    -  1.00e+000 2.28e-009f 29\n",
      " 522 6.8464779e+001 0.00e+000 9.73e+001  -2.5 2.63e-001  -0.8 5.42e-001 2.19e-009f 29\n",
      " 523 6.8464779e+001 0.00e+000 9.75e+001  -2.5 9.03e-001  -0.4 4.26e-001 2.70e-010f 27\n",
      " 524 6.8464779e+001 0.00e+000 6.31e+001  -2.5 4.58e-001  -0.9 3.01e-001 1.74e-011f 33\n",
      " 525 6.8464779e+001 0.00e+000 9.76e+001  -2.5 2.94e+000  -0.5 7.61e-002 2.59e-012f 32\n",
      " 526 6.8464779e+001 0.00e+000 6.02e+001  -2.5 5.67e-001  -0.9 1.36e-001 5.97e-013f 37\n",
      " 527 6.8506583e+001 0.00e+000 1.08e+002  -2.5 5.40e-002   0.4 1.00e+000 3.03e-001w  1\n",
      " 528 6.8478534e+001 0.00e+000 9.75e+001  -2.5 1.33e-001  -0.1 3.82e-001 3.64e-001w  1\n",
      " 529 6.8472434e+001 0.00e+000 7.87e+001  -2.5 1.05e+000  -0.6 1.80e-001 1.87e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 530 6.8464779e+001 0.00e+000 8.80e+001  -2.5 4.73e+000  -1.0 1.00e+000 4.40e-012f 36\n",
      " 531 6.8464779e+001 0.00e+000 8.75e+001  -2.5 2.27e-001  -0.6 4.15e-001 3.30e-012f 37\n",
      " 532 6.8464779e+001 0.00e+000 5.81e+001  -2.5 2.74e-001  -0.2 3.54e-001 1.73e-012f 36\n",
      " 533 6.8464779e+001 0.00e+000 8.29e+001  -2.5 3.23e-001  -0.7 1.00e+000 5.23e-013f 40\n",
      " 534 6.8464779e+001 0.00e+000 9.21e+001  -2.5 4.90e-001  -1.1 5.45e-001 1.52e-012f 39\n",
      " 535 6.8464779e+001 0.00e+000 1.97e+001  -2.5 8.55e-002   0.2 4.89e-001 1.39e-012f 38\n",
      " 536 6.8464173e+001 0.00e+000 7.86e+001  -2.5 5.71e+000    -  1.00e+000 4.65e-003f  3\n",
      " 537 6.8463577e+001 0.00e+000 5.83e+001  -2.5 3.31e-001  -0.3 2.55e-001 1.56e-003f  6\n",
      " 538 6.8463458e+001 0.00e+000 7.84e+001  -2.5 4.52e-001  -0.8 1.00e+000 4.37e-004f 10\n",
      " 539 6.8463458e+001 0.00e+000 9.51e+001  -2.5 6.72e-001  -1.2 5.55e-001 3.81e-005f 15\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 540 6.8485881e+001 0.00e+000 1.01e+002  -2.5 1.09e-001   0.1 4.59e-001 1.47e-001w  1\n",
      " 541 6.8467376e+001 0.00e+000 7.06e+001  -2.5 2.69e-001  -0.4 2.69e-001 9.78e-002w  1\n",
      " 542 6.8469524e+001 0.00e+000 5.73e+001  -2.5 5.35e-001   0.0 3.02e-001 2.02e-001w  1\n",
      " 543 6.8463455e+001 0.00e+000 9.77e+001  -2.5 2.21e-001  -0.4 4.59e-001 3.59e-005f 12\n",
      " 544 6.8463455e+001 0.00e+000 6.42e+001  -2.5 5.35e-001  -0.9 2.69e-001 6.25e-006f 14\n",
      " 545 6.8463454e+001 0.00e+000 5.82e+001  -2.5 1.07e+000  -0.5 6.95e-002 1.30e-006f 15\n",
      " 546 6.8463454e+001 0.00e+000 9.04e+001  -2.5 1.51e+000  -1.0 3.85e-001 1.44e-007f 18\n",
      " 547 6.8463454e+001 0.00e+000 8.73e+001  -2.5 2.07e-001  -0.5 4.27e-001 7.33e-007f 19\n",
      " 548 6.8463454e+001 0.00e+000 9.77e+001  -2.5 2.34e-001  -0.1 4.12e-001 5.21e-007f 18\n",
      " 549 6.8463454e+001 0.00e+000 6.40e+001  -2.5 3.30e-001  -0.6 2.69e-001 1.39e-007f 20\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 550 6.8463454e+001 0.00e+000 5.82e+001  -2.5 3.17e-001  -0.2 2.55e-001 4.79e-008f 21\n",
      " 551 6.8463454e+001 0.00e+000 7.81e+001  -2.5 3.36e-001  -0.6 1.00e+000 2.06e-008f 25\n",
      " 552 6.8463454e+001 0.00e+000 9.74e+001  -2.5 5.55e-001  -1.1 1.00e+000 2.28e-008f 25\n",
      " 553 6.8479413e+001 0.00e+000 7.95e+001  -2.5 2.87e-001  -0.7 5.05e-001 1.18e-001w  1\n",
      " 554 6.8481206e+001 0.00e+000 8.92e+001  -2.5 2.82e-001  -0.3 1.50e-001 1.64e-001w  1\n",
      " 555 6.8468505e+001 0.00e+000 7.53e+001  -2.5 3.49e-001  -0.8 1.82e-001 2.82e-002w  1\n",
      " 556 6.8463454e+001 0.00e+000 7.00e+001  -2.5 2.65e+000  -1.2 5.05e-001 1.40e-008f 23\n",
      " 557 6.8463454e+001 0.00e+000 9.77e+001  -2.5 7.75e-002   0.1 3.55e-001 8.34e-009f 26\n",
      " 558 6.8463454e+001 0.00e+000 6.39e+001  -2.5 2.62e-001  -0.4 2.76e-001 5.50e-010f 28\n",
      " 559 6.8463454e+001 0.00e+000 9.77e+001  -2.5 1.27e-001   0.0 3.54e-001 6.12e-010f 29\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 560 6.8463454e+001 0.00e+000 6.32e+001  -2.5 2.73e-001  -0.4 2.46e-001 1.35e-010f 30\n",
      " 561 6.8463454e+001 0.00e+000 9.78e+001  -2.5 1.52e-001  -0.0 3.49e-001 1.25e-010f 31\n",
      " 562 6.8463454e+001 0.00e+000 6.30e+001  -2.5 2.89e-001  -0.5 2.37e-001 1.66e-011f 33\n",
      " 563 6.8463454e+001 0.00e+000 9.78e+001  -2.5 1.82e-001  -0.1 3.18e-001 1.30e-011f 34\n",
      " 564 6.8463454e+001 0.00e+000 6.27e+001  -2.5 3.11e-001  -0.5 2.24e-001 1.97e-012f 36\n",
      " 565 6.8463454e+001 0.00e+000 9.78e+001  -2.5 2.25e-001  -0.1 2.86e-001 2.62e-012f 36\n",
      " 566 6.8484532e+001 0.00e+000 6.78e+001  -2.5 3.35e-001  -0.6 2.08e-001 6.34e-002w  1\n",
      " 567 6.8465273e+001 0.00e+000 9.38e+001  -2.5 2.95e-001  -0.2 8.59e-002 1.00e-001w  1\n",
      " 568 6.8471603e+001 0.00e+000 7.28e+001  -2.5 3.37e-001  -0.6 2.08e-001 2.80e-002w  1\n",
      " 569 6.8484532e+001 0.00e+000 6.49e+001  -2.5 2.37e-001  -0.2 6.34e-002 6.34e-002S 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 570 6.8466014e+001 0.00e+000 6.82e+001  -2.5 4.28e-001  -0.7 1.00e+000 6.14e-002f  2\n",
      " 571 6.8465165e+001 0.00e+000 1.04e+002  -2.5 6.35e-001  -1.2 5.54e-001 2.60e-002f  6\n",
      " 572 6.8463869e+001 0.00e+000 9.55e+001  -2.5 1.05e-001   0.2 5.06e-001 2.13e-002f  4\n",
      " 573 6.8464034e+001 0.00e+000 6.75e+001  -2.5 2.19e-001  -0.3 2.94e-001 5.57e-003f  5\n",
      " 574 6.8463339e+001 0.00e+000 6.06e+001  -2.5 1.12e-001   0.1 4.82e-001 4.46e-003f  6\n",
      " 575 6.8463231e+001 0.00e+000 7.37e+001  -2.5 1.85e-001  -0.4 1.00e+000 2.09e-003f  9\n",
      " 576 6.8463231e+001 0.00e+000 1.05e+002  -2.5 3.81e-001  -0.8 5.33e-001 1.02e-003f 10\n",
      " 577 6.8463168e+001 0.00e+000 6.06e+001  -2.5 8.30e-001  -0.4 4.46e-001 1.46e-004f  8\n",
      " 578 6.8463163e+001 0.00e+000 7.51e+001  -2.5 4.89e-001  -0.9 1.00e+000 9.70e-005f 13\n",
      " 579 6.8463162e+001 0.00e+000 9.55e+001  -2.5 8.23e-001  -1.4 5.30e-001 6.01e-005f 14\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 580 6.8495822e+001 0.00e+000 9.82e+001  -2.5 9.04e-001  -0.9 4.58e-001 8.15e-002w  1\n",
      " 581 6.8469774e+001 0.00e+000 8.23e+001  -2.5 2.98e-001  -0.5 3.40e-001 9.29e-002w  1\n",
      " 582 6.9231703e+001 0.00e+000 2.26e+002  -2.5 1.73e+000  -1.0 1.07e-001 1.00e+000w  1\n",
      " 583 6.8463158e+001 0.00e+000 9.55e+001  -2.5 2.64e+000  -0.6 4.58e-001 1.99e-005f 12\n",
      " 584 6.8463157e+001 0.00e+000 6.86e+001  -2.5 5.96e-001  -1.0 3.41e-001 1.28e-005f 13\n",
      " 585 6.8463155e+001 0.00e+000 6.05e+001  -2.5 9.23e-001  -0.6 1.11e-001 3.67e-006f 14\n",
      " 586 6.8463155e+001 0.00e+000 9.13e+001  -2.5 1.06e+000  -1.1 2.04e-001 5.00e-008f 21\n",
      " 587 6.8463155e+001 0.00e+000 8.21e+001  -2.5 2.60e-001  -0.7 3.32e-001 2.92e-008f 23\n",
      " 588 6.8463155e+001 0.00e+000 6.05e+001  -2.5 2.26e-001  -0.2 2.95e-001 9.17e-009f 24\n",
      " 589 6.8463155e+001 0.00e+000 7.45e+001  -2.5 3.84e-001  -0.7 1.00e+000 4.71e-009f 27\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 590 6.8463155e+001 0.00e+000 9.86e+001  -2.5 6.24e-001  -1.2 5.48e-001 2.58e-009f 29\n",
      " 591 6.8463155e+001 0.00e+000 6.05e+001  -2.5 9.29e-002   0.1 4.93e-001 1.23e-009f 28\n",
      " 592 6.8463155e+001 0.00e+000 7.46e+001  -2.5 1.83e-001  -0.3 1.00e+000 1.99e-012f 39\n",
      " 593 6.8531841e+001 0.00e+000 1.30e+002  -2.5 3.72e-001  -0.8 5.34e-001 4.96e-001w  1\n",
      " 594 6.8516773e+001 0.00e+000 8.62e+001  -2.5 1.24e+000  -0.4 3.17e-001 2.16e-002w  1\n",
      " 595 6.8518576e+001 0.00e+000 7.28e+000  -2.5 3.38e+000  -0.9 1.33e-001 4.81e-002w  1\n",
      " 596 6.8463155e+001 0.00e+000 1.04e+002  -2.5 1.66e-001  -0.4 5.34e-001 3.61e-012f 37\n",
      " 597 6.8463155e+001 0.00e+000 9.55e+001  -2.5 1.48e-001  -0.0 5.08e-001 3.03e-012f 36\n",
      " 598 6.8463155e+001 0.00e+000 6.78e+001  -2.5 2.75e-001  -0.5 3.11e-001 1.14e-012f 37\n",
      " 599 6.8463155e+001 0.00e+000 6.05e+001  -2.5 1.97e-001  -0.1 2.97e-001 1.14e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 600 6.8463155e+001 0.00e+000 7.40e+001  -2.5 2.82e-001  -0.5 1.00e+000 5.79e-013f 40\n",
      " 601 6.8463155e+001 0.00e+000 1.02e+002  -2.5 5.00e-001  -1.0 5.42e-001 2.19e-012f 39\n",
      " 602 6.8463155e+001 0.00e+000 9.55e+001  -2.5 5.79e-002   0.3 5.46e-001 3.87e-012f 37\n",
      " 603 6.8463155e+001 0.00e+000 6.82e+001  -2.5 1.74e-001  -0.2 3.35e-001 1.50e-012f 37\n",
      " 604 6.8463155e+001 0.00e+000 9.56e+001  -2.5 7.02e-002   0.3 5.95e-001 3.19e-012f 37\n",
      " 605 6.8463155e+001 0.00e+000 6.79e+001  -2.5 1.83e-001  -0.2 3.41e-001 1.49e-012f 37\n",
      " 606 6.8494507e+001 0.00e+000 1.07e+002  -2.5 7.80e-002   0.2 5.33e-001 1.97e-001w  1\n",
      " 607 6.8466741e+001 0.00e+000 7.12e+001  -2.5 2.19e-001  -0.3 2.70e-001 1.48e-001w  1\n",
      " 608 6.8480633e+001 0.00e+000 7.34e+001  -2.5 1.11e-001   0.2 1.00e+000 2.35e-001w  1\n",
      " 609 6.8494507e+001 0.00e+000 1.02e+002  -2.5 1.77e-001  -0.3 1.97e-001 1.97e-001S 19\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 610 6.8479916e+001 0.00e+000 7.30e+001  -2.5 3.66e-001  -0.8 1.48e-001 1.19e-001f  1\n",
      " 611 6.8469074e+001 0.00e+000 6.15e+001  -2.5 3.33e-001  -0.4 1.63e-001 5.90e-002f  1\n",
      " 612 6.8472195e+001 0.00e+000 2.57e+001  -2.5 1.24e+000  -0.9 4.23e-001 2.06e-002f  3\n",
      " 613 6.8470861e+001 0.00e+000 1.25e+002  -2.5 8.88e-001  -1.3 4.30e-001 6.28e-002f  4\n",
      " 614 6.8469114e+001 0.00e+000 5.93e+001  -2.5 3.15e-001  -0.0 7.65e-001 5.13e-002f  2\n",
      " 615 6.8466415e+001 0.00e+000 8.42e+001  -2.5 2.08e-001  -0.5 1.00e+000 5.75e-002f  5\n",
      " 616 6.8466234e+001 0.00e+000 9.09e+001  -2.5 3.37e-001  -1.0 5.32e-001 1.35e-002f  6\n",
      " 617 6.8465486e+001 0.00e+000 5.55e+001  -2.5 4.06e-001  -0.5 4.32e-001 2.99e-003f  5\n",
      " 618 6.8465219e+001 0.00e+000 6.79e+001  -2.5 6.26e-001  -1.0 9.17e-001 1.28e-003f  9\n",
      " 619 6.8465219e+001 0.00e+000 8.38e+001  -2.5 1.78e+000    -  5.85e-001 5.89e-006f 16\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 620 6.8465219e+001 0.00e+000 9.06e+001  -2.5 1.58e-001  -0.6 5.41e-001 1.35e-005f 16\n",
      " 621 6.8465218e+001 0.00e+000 1.00e+002  -2.5 1.35e-001  -0.2 5.46e-001 1.00e-005f 15\n",
      " 622 6.8488701e+001 0.00e+000 7.15e+001  -2.5 3.12e-001  -0.6 3.36e-001 1.10e-001w  1\n",
      " 623 6.8467800e+001 0.00e+000 6.56e+001  -2.5 2.83e-001  -0.2 9.56e-002 8.47e-002w  1\n",
      " 624 6.8494398e+001 0.00e+000 4.82e+001  -2.5 6.17e-001  -0.7 7.96e-001 6.59e-002w  1\n",
      " 625 6.8465218e+001 0.00e+000 6.05e+001  -2.5 6.08e-001  -1.2 3.36e-001 3.35e-006f 15\n",
      " 626 6.8465218e+001 0.00e+000 9.96e+001  -2.5 8.34e-002   0.2 1.00e+000 6.46e-006f 16\n",
      " 627 6.8465218e+001 0.00e+000 6.32e+001  -2.5 1.92e-001  -0.3 4.17e-001 1.30e-006f 18\n",
      " 628 6.8465218e+001 0.00e+000 5.53e+001  -2.5 9.07e-002   0.1 6.35e-001 1.48e-006f 18\n",
      " 629 6.8465218e+001 0.00e+000 8.60e+001  -2.5 1.68e-001  -0.4 1.00e+000 8.95e-008f 24\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 630 6.8465218e+001 0.00e+000 8.99e+001  -2.5 2.80e-001  -0.8 5.32e-001 1.10e-008f 26\n",
      " 631 6.8465218e+001 0.00e+000 1.00e+002  -2.5 3.12e-001  -0.4 4.43e-001 6.73e-009f 24\n",
      " 632 6.8465218e+001 0.00e+000 5.98e+001  -2.5 4.69e-001  -0.9 2.85e-001 2.25e-009f 26\n",
      " 633 6.8465218e+001 0.00e+000 5.53e+001  -2.5 4.09e-001  -0.5 1.61e-001 9.08e-010f 27\n",
      " 634 6.8465218e+001 0.00e+000 6.61e+001  -2.5 6.61e-001  -0.9 7.63e-001 2.81e-010f 30\n",
      " 635 6.8508075e+001 0.00e+000 1.10e+002  -2.5 1.38e+000  -1.4 6.61e-001 1.51e-001w  1\n",
      " 636 6.8461582e+001 0.00e+000 9.01e+001  -2.5 1.29e-001  -0.1 5.15e-001 2.99e-001w  1\n",
      " 637 6.8485889e+001 0.00e+000 8.37e+001  -2.5 6.29e-001  -0.6 1.57e-001 5.58e-002w  1\n",
      " 638 6.8508075e+001 0.00e+000 1.05e+002  -2.5 4.07e+000  -1.0 1.51e-001 1.51e-001S 19\n",
      " 639 6.8466634e+001 0.00e+000 9.62e+001  -2.5 3.63e-001  -0.6 4.98e-001 2.61e-001f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 640 6.8461855e+001 0.00e+000 8.91e+001  -2.5 2.42e-001  -0.2 2.85e-001 3.24e-002f  3\n",
      " 641 6.8469099e+001 0.00e+000 1.33e+001  -2.5 3.87e+000  -0.7 2.09e-001 1.09e-002f  5\n",
      " 642 6.8469015e+001 0.00e+000 1.71e+002  -2.5 5.58e-001  -0.2 2.18e-001 3.12e-002f  6\n",
      " 643 6.8464323e+001 0.00e+000 6.12e+001  -2.5 9.05e-002   0.2 6.82e-001 5.15e-002f  3\n",
      " 644 6.8464116e+001 0.00e+000 8.41e+001  -2.5 1.31e+000    -  4.92e-001 3.33e-003f  7\n",
      " 645 6.8464138e+001 0.00e+000 9.80e+001  -2.5 1.15e-001  -0.3 4.75e-001 8.61e-003f  6\n",
      " 646 6.8463700e+001 0.00e+000 9.55e+001  -2.5 1.10e-001   0.1 4.93e-001 6.89e-003f  6\n",
      " 647 6.8463676e+001 0.00e+000 6.90e+001  -2.5 2.13e-001  -0.3 3.17e-001 1.33e-003f  7\n",
      " 648 6.8463527e+001 0.00e+000 9.55e+001  -2.5 1.92e-001   0.1 3.46e-001 1.04e-003f  8\n",
      " 649 6.8463515e+001 0.00e+000 6.63e+001  -2.5 2.44e-001  -0.4 2.22e-001 1.36e-004f 10\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 650 6.8489969e+001 0.00e+000 1.03e+002  -2.5 2.28e-001   0.0 4.61e-001 1.11e-001w  1\n",
      " 651 6.8465125e+001 0.00e+000 6.88e+001  -2.5 2.85e-001  -0.4 1.88e-001 1.06e-001w  1\n",
      " 652 6.8501382e+001 0.00e+000 8.09e+001  -2.5 2.77e-001  -0.0 1.00e+000 4.11e-001w  1\n",
      " 653 6.8463498e+001 0.00e+000 9.55e+001  -2.5 1.99e-001  -0.5 4.61e-001 1.09e-004f 10\n",
      " 654 6.8463497e+001 0.00e+000 6.62e+001  -2.5 5.92e-001  -1.0 2.17e-001 1.16e-005f 13\n",
      " 655 6.8463495e+001 0.00e+000 9.11e+001  -2.5 8.85e-002   0.4 1.00e+000 1.75e-005f 15\n",
      " 656 6.8463495e+001 0.00e+000 8.24e+001  -2.5 1.19e-001  -0.1 3.68e-001 3.20e-007f 20\n",
      " 657 6.8463495e+001 0.00e+000 9.55e+001  -2.5 9.99e-002   0.3 5.16e-001 4.86e-007f 20\n",
      " 658 6.8463495e+001 0.00e+000 6.79e+001  -2.5 1.66e-001  -0.2 2.81e-001 4.82e-008f 22\n",
      " 659 6.8463495e+001 0.00e+000 9.55e+001  -2.5 1.17e-001   0.3 8.18e-001 5.20e-008f 23\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 660 6.8463495e+001 0.00e+000 6.90e+001  -2.5 1.73e-001  -0.2 3.30e-001 7.92e-010f 28\n",
      " 661 6.8463495e+001 0.00e+000 6.07e+001  -2.5 1.34e-001   0.2 6.32e-001 7.06e-010f 29\n",
      " 662 6.8463495e+001 0.00e+000 8.40e+001  -2.5 1.29e+000    -  4.66e-001 8.48e-011f 32\n",
      " 663 6.8494302e+001 0.00e+000 1.06e+002  -2.5 1.12e-001  -0.3 4.62e-001 2.74e-001w  1\n",
      " 664 6.8467781e+001 0.00e+000 6.69e+001  -2.5 1.76e-001   0.1 3.85e-001 2.13e-001w  1\n",
      " 665 6.8641061e+001 0.00e+000 3.14e+001  -2.5 3.68e+000    -  3.83e-001 2.04e-001w  1\n",
      " 666 6.8463495e+001 0.00e+000 9.79e+001  -2.5 2.34e+000    -  4.62e-001 1.28e-010f 31\n",
      " 667 6.8463495e+001 0.00e+000 9.55e+001  -2.5 9.05e-001  -0.3 4.70e-001 2.62e-011f 31\n",
      " 668 6.8463495e+001 0.00e+000 6.72e+001  -2.5 4.11e-001  -0.8 2.41e-001 1.48e-011f 33\n",
      " 669 6.8463495e+001 0.00e+000 6.07e+001  -2.5 1.44e+000  -0.4 2.58e-001 4.10e-012f 33\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 670 6.8463495e+001 0.00e+000 8.35e+001  -2.5 1.33e+000    -  4.85e-001 1.64e-012f 37\n",
      " 671 6.8463495e+001 0.00e+000 9.51e+001  -2.5 3.64e-001  -0.9 4.57e-001 4.87e-012f 37\n",
      " 672 6.8463495e+001 0.00e+000 6.07e+001  -2.5 1.87e+000  -0.4 3.64e-001 7.92e-013f 35\n",
      " 673 6.8463495e+001 0.00e+000 8.01e+001  -2.5 1.29e+000    -  6.36e-001 4.26e-013f 40\n",
      " 674 6.8463495e+001 0.00e+000 9.80e+001  -2.5 3.97e-001  -0.9 4.96e-001 3.25e-012f 38\n",
      " 675 6.8463495e+001 0.00e+000 9.55e+001  -2.5 3.09e+000  -0.5 3.17e-001 4.79e-013f 35\n",
      " 676 6.8478952e+001 0.00e+000 7.07e+001  -2.5 5.67e-001  -1.0 2.42e-001 4.83e-002w  1\n",
      " 677 6.8469436e+001 0.00e+000 6.44e+001  -2.5 3.24e+001  -0.5 1.68e-002 9.71e-004w  1\n",
      " 678 6.8580033e+001 0.00e+000 4.24e+000  -2.5 4.69e+001    -  5.00e-002 1.27e-002w  1\n",
      " 679 6.8463495e+001 0.00e+000 6.73e+001  -2.5 6.42e-001  -1.0 2.42e-001 1.41e-012f 35\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 680 6.8463495e+001 0.00e+000 9.55e+001  -2.5 9.73e-002   0.3 8.20e-001 3.80e-012f 37\n",
      " 681 6.8463495e+001 0.00e+000 6.92e+001  -2.5 1.59e-001  -0.2 3.38e-001 1.56e-012f 37\n",
      " 682 6.8463495e+001 0.00e+000 9.55e+001  -2.5 1.11e-001   0.3 6.30e-001 3.33e-012f 37\n",
      " 683 6.8463495e+001 0.00e+000 6.82e+001  -2.5 1.75e-001  -0.2 2.98e-001 2.89e-012f 36\n",
      " 684 6.8463495e+001 0.00e+000 9.55e+001  -2.5 1.28e-001   0.2 6.87e-001 5.77e-012f 36\n",
      " 685 6.8463495e+001 0.00e+000 6.83e+001  -2.5 1.86e-001  -0.3 3.02e-001 2.86e-012f 36\n",
      " 686 6.8463495e+001 0.00e+000 9.55e+001  -2.5 1.49e-001   0.2 6.36e-001 4.99e-012f 36\n",
      " 687 6.8463495e+001 0.00e+000 6.79e+001  -2.5 2.01e-001  -0.3 2.88e-001 2.72e-012f 36\n",
      " 688 6.8463495e+001 0.00e+000 9.55e+001  -2.5 1.73e-001   0.1 6.22e-001 4.28e-012f 36\n",
      " 689 6.8481144e+001 0.00e+000 7.40e+001  -2.5 2.16e-001  -0.4 2.80e-001 8.98e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 690 6.8465580e+001 0.00e+000 9.68e+001  -2.5 2.29e-001   0.1 2.75e-001 1.53e-001w  1\n",
      " 691 6.8470318e+001 0.00e+000 6.76e+001  -2.5 2.11e-001  -0.4 1.16e-001 5.05e-002w  1\n",
      " 692 6.8481144e+001 0.00e+000 6.92e+001  -2.5 2.04e-001   0.0 8.98e-002 8.98e-002S 18\n",
      " 693 6.8477234e+001 0.00e+000 8.04e+001  -2.5 1.41e+000    -  4.12e-001 6.75e-002f  2\n",
      " 694 6.8465212e+001 0.00e+000 1.08e+002  -2.5 2.23e-001  -0.5 4.35e-001 1.32e-001f  2\n",
      " 695 6.8461168e+001 0.00e+000 6.65e+001  -2.5 2.70e-001  -0.0 4.29e-001 2.33e-002f  3\n",
      " 696 6.8461127e+001 0.00e+000 5.45e+001  -2.5 9.36e-001    -  6.75e-001 2.53e-004f 11\n",
      " 697 6.8461140e+001 0.00e+000 1.27e+002  -2.5 2.95e-001  -0.5 4.97e-001 4.88e-004f 12\n",
      " 698 6.8461115e+001 0.00e+000 6.66e+001  -2.5 2.52e-001  -0.1 5.31e-001 1.47e-004f 10\n",
      " 699 6.8461116e+001 0.00e+000 5.48e+001  -2.5 8.50e-001    -  7.17e-001 4.56e-005f 14\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 700 6.8461117e+001 0.00e+000 1.26e+002  -2.5 3.14e-001  -0.6 5.06e-001 1.22e-004f 14\n",
      " 701 6.8461111e+001 0.00e+000 6.65e+001  -2.5 3.01e-001  -0.1 5.23e-001 3.07e-005f 12\n",
      " 702 6.8461111e+001 0.00e+000 5.42e+001  -2.5 8.53e-001    -  7.29e-001 5.54e-006f 17\n",
      " 703 6.8577655e+001 0.00e+000 1.55e+002  -2.5 3.36e-001  -0.6 5.08e-001 1.00e+000w  1\n",
      " 704 6.8542954e+001 0.00e+000 9.59e+001  -2.5 5.47e-001  -0.2 4.08e-001 8.75e-002w  1\n",
      " 705 6.8562559e+001 0.00e+000 2.80e+001  -2.5 5.36e-001  -0.7 1.00e+000 3.21e-001w  1\n",
      " 706 6.8461111e+001 0.00e+000 1.25e+002  -2.5 1.12e+000  -1.1 5.08e-001 1.53e-005f 16\n",
      " 707 6.8461110e+001 0.00e+000 6.65e+001  -2.5 1.08e-001   0.2 5.22e-001 1.07e-005f 15\n",
      " 708 6.8461110e+001 0.00e+000 5.38e+001  -2.5 8.75e-001    -  7.38e-001 8.10e-008f 23\n",
      " 709 6.8461110e+001 0.00e+000 1.33e+002  -2.5 2.04e-001  -0.3 5.15e-001 2.38e-007f 23\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 710 6.8461110e+001 0.00e+000 6.66e+001  -2.5 1.24e-001   0.1 5.57e-001 7.25e-008f 22\n",
      " 711 6.8461110e+001 0.00e+000 5.61e+001  -2.5 8.31e-001    -  7.05e-001 1.16e-008f 26\n",
      " 712 6.8461110e+001 0.00e+000 1.30e+002  -2.5 2.24e-001  -0.3 5.06e-001 2.98e-008f 26\n",
      " 713 6.8461110e+001 0.00e+000 6.66e+001  -2.5 1.45e-001   0.1 5.48e-001 1.56e-008f 24\n",
      " 714 6.8461110e+001 0.00e+000 5.54e+001  -2.5 8.32e-001    -  7.14e-001 7.13e-010f 30\n",
      " 715 6.8461110e+001 0.00e+000 1.30e+002  -2.5 2.43e-001  -0.4 5.07e-001 3.73e-009f 29\n",
      " 716 6.8476561e+001 0.00e+000 9.30e+001  -2.5 1.69e-001   0.0 5.44e-001 1.12e-001w  1\n",
      " 717 6.8462445e+001 0.00e+000 7.64e+001  -2.5 2.14e-001  -0.4 2.58e-001 5.62e-002w  1\n",
      " 718 6.8796701e+001 0.00e+000 7.48e+001  -2.5 3.03e+000  -0.9 1.62e-001 3.45e-001w  1\n",
      " 719 6.8461110e+001 0.00e+000 6.66e+001  -2.5 3.11e+000  -0.5 5.44e-001 1.66e-009f 26\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 720 6.8461110e+001 0.00e+000 5.51e+001  -2.5 8.34e-001    -  7.18e-001 1.76e-010f 32\n",
      " 721 6.8461110e+001 0.00e+000 1.16e+002  -2.5 5.44e-001  -1.0 5.05e-001 4.66e-010f 32\n",
      " 722 6.8461110e+001 0.00e+000 6.04e+001  -2.5 1.01e+001  -0.5 1.01e-001 1.39e-011f 28\n",
      " 723 6.8461110e+001 0.00e+000 1.06e+002  -2.5 9.76e-001  -1.0 1.86e-001 1.46e-011f 37\n",
      " 724 6.8461110e+001 0.00e+000 9.02e+001  -2.5 6.55e-002   0.3 4.36e-001 3.36e-011f 34\n",
      " 725 6.8461110e+001 0.00e+000 8.52e+001  -2.5 1.41e-001  -0.2 2.94e-001 1.51e-012f 36\n",
      " 726 6.8461110e+001 0.00e+000 9.03e+001  -2.5 8.70e-002   0.3 3.20e-001 3.16e-012f 37\n",
      " 727 6.8461110e+001 0.00e+000 8.18e+001  -2.5 1.56e-001  -0.2 2.46e-001 1.33e-012f 36\n",
      " 728 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.07e-001   0.2 2.95e-001 2.57e-012f 37\n",
      " 729 6.8473027e+001 0.00e+000 8.11e+001  -2.5 1.69e-001  -0.3 2.26e-001 4.38e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 730 6.8474050e+001 0.00e+000 9.28e+001  -2.5 1.51e-001   0.1 2.07e-001 1.62e-001w  1\n",
      " 731 6.8460450e+001 0.00e+000 8.17e+001  -2.5 1.88e-001  -0.3 1.22e-001 4.14e-002w  1\n",
      " 732 6.8461110e+001 0.00e+000 8.05e+001  -2.5 1.69e+000  -0.8 2.26e-001 1.27e-012f 35\n",
      " 733 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.23e+000  -0.4 1.87e-001 4.49e-013f 36\n",
      " 734 6.8461110e+001 0.00e+000 7.61e+001  -2.5 3.94e-001  -0.9 1.54e-001 2.71e-013f 38\n",
      " 735 6.8461110e+001 0.00e+000 9.03e+001  -2.5 2.13e+000  -0.4 1.48e-001 2.59e-013f 36\n",
      " 736 6.8461110e+001 0.00e+000 7.50e+001  -2.5 4.38e-001  -0.9 1.38e-001 1.08e-012f 36\n",
      " 737 6.8461110e+001 0.00e+000 9.03e+001  -2.5 5.70e+000  -0.5 9.66e-002 1.93e-013f 35\n",
      " 738 6.8461110e+001 0.00e+000 7.39e+001  -2.5 4.84e-001  -1.0 1.21e-001 2.68e-013f 38\n",
      " 739 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.79e-002   0.4 5.71e-001 2.03e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 740 6.8461110e+001 0.00e+000 8.60e+001  -2.5 1.25e-001  -0.1 3.17e-001 1.75e-012f 36\n",
      " 741 6.8461110e+001 0.00e+000 9.03e+001  -2.5 7.62e-002   0.3 3.61e-001 3.61e-012f 37\n",
      " 742 6.8472486e+001 0.00e+000 8.34e+001  -2.5 1.39e-001  -0.2 2.58e-001 5.19e-002w  1\n",
      " 743 6.8475110e+001 0.00e+000 9.46e+001  -2.5 1.07e-001   0.3 2.49e-001 2.27e-001w  1\n",
      " 744 6.8461867e+001 0.00e+000 8.31e+001  -2.5 1.43e-001  -0.2 1.42e-001 4.41e-002w  1\n",
      " 745 6.8461110e+001 0.00e+000 8.26e+001  -2.5 1.66e+000  -0.7 2.58e-001 1.51e-012f 35\n",
      " 746 6.8461110e+001 0.00e+000 9.03e+001  -2.5 5.62e-001  -0.3 2.50e-001 9.79e-013f 36\n",
      " 747 6.8461110e+001 0.00e+000 7.77e+001  -2.5 3.22e-001  -0.7 1.80e-001 5.82e-013f 37\n",
      " 748 6.8461110e+001 0.00e+000 9.03e+001  -2.5 7.61e-001  -0.3 2.11e-001 7.23e-013f 36\n",
      " 749 6.8461110e+001 0.00e+000 7.66e+001  -2.5 3.55e-001  -0.8 1.63e-001 1.13e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 750 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.09e+000  -0.4 1.95e-001 1.01e-012f 35\n",
      " 751 6.8461110e+001 0.00e+000 7.61e+001  -2.5 3.90e-001  -0.8 1.55e-001 1.15e-012f 36\n",
      " 752 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.74e+000  -0.4 1.75e-001 3.17e-013f 36\n",
      " 753 6.8461110e+001 0.00e+000 7.56e+001  -2.5 4.31e-001  -0.9 1.47e-001 2.91e-013f 38\n",
      " 754 6.8461110e+001 0.00e+000 9.03e+001  -2.5 3.68e+000  -0.5 1.33e-001 1.49e-013f 36\n",
      " 755 6.8476352e+001 0.00e+000 7.50e+001  -2.5 4.77e-001  -0.9 1.32e-001 4.00e-002w  1\n",
      " 756 6.8467567e+001 0.00e+000 6.70e+001  -2.5 1.79e+001  -0.5 3.70e-002 1.62e-003w  1\n",
      " 757 6.8662408e+001 0.00e+000 1.20e+002  -2.5 4.82e+001    -  1.18e-001 3.40e-002w  1\n",
      " 758 6.8461110e+001 0.00e+000 7.46e+001  -2.5 1.00e+000    -  1.32e-001 5.82e-013f 36\n",
      " 759 6.8461110e+001 0.00e+000 9.03e+001  -2.5 2.78e-001  -0.1 2.49e-001 9.91e-013f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 760 6.8461110e+001 0.00e+000 7.79e+001  -2.5 2.55e-001  -0.6 1.85e-001 5.98e-013f 37\n",
      " 761 6.8461110e+001 0.00e+000 9.03e+001  -2.5 3.34e-001  -0.1 2.51e-001 8.24e-013f 37\n",
      " 762 6.8461110e+001 0.00e+000 7.78e+001  -2.5 2.74e-001  -0.6 1.83e-001 5.92e-013f 37\n",
      " 763 6.8461110e+001 0.00e+000 9.03e+001  -2.5 4.13e-001  -0.2 2.43e-001 6.66e-013f 37\n",
      " 764 6.8461110e+001 0.00e+000 7.75e+001  -2.5 2.96e-001  -0.7 1.78e-001 5.85e-013f 37\n",
      " 765 6.8461110e+001 0.00e+000 9.03e+001  -2.5 5.25e-001  -0.2 2.33e-001 1.05e-012f 36\n",
      " 766 6.8461110e+001 0.00e+000 7.72e+001  -2.5 3.20e-001  -0.7 1.73e-001 1.16e-012f 36\n",
      " 767 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.90e-001  -0.3 2.23e-001 7.97e-013f 36\n",
      " 768 6.8473766e+001 0.00e+000 7.73e+001  -2.5 3.48e-001  -0.8 1.67e-001 4.01e-002w  1\n",
      " 769 6.8462750e+001 0.00e+000 6.67e+001  -2.5 1.14e+000  -0.3 1.59e-001 2.27e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 770 6.8630255e+001 0.00e+000 7.91e+001  -2.5 1.52e+001    -  2.72e-001 7.97e-002w  1\n",
      " 771 6.8461110e+001 0.00e+000 7.68e+001  -2.5 2.09e+000    -  1.67e-001 5.83e-013f 36\n",
      " 772 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.54e-001   0.1 2.94e-001 1.78e-012f 37\n",
      " 773 6.8461110e+001 0.00e+000 7.96e+001  -2.5 1.99e-001  -0.4 2.12e-001 1.29e-012f 36\n",
      " 774 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.80e-001   0.0 2.85e-001 3.05e-012f 36\n",
      " 775 6.8461110e+001 0.00e+000 7.92e+001  -2.5 2.14e-001  -0.4 2.05e-001 2.50e-012f 35\n",
      " 776 6.8461110e+001 0.00e+000 6.64e+001  -2.5 2.14e-001  -0.0 2.71e-001 2.57e-012f 36\n",
      " 777 6.8461110e+001 0.00e+000 5.60e+001  -2.5 1.05e+000    -  5.94e-001 3.51e-013f 40\n",
      " 778 6.8461110e+001 0.00e+000 1.27e+002  -2.5 2.97e-001  -0.5 4.80e-001 3.64e-012f 39\n",
      " 779 6.8461110e+001 0.00e+000 9.02e+001  -2.5 2.39e-001  -0.1 5.28e-001 2.31e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 780 6.8461110e+001 0.00e+000 8.47e+001  -2.5 2.24e-001  -0.6 2.82e-001 1.61e-012f 36\n",
      " 781 6.8474660e+001 0.00e+000 9.28e+001  -2.5 3.04e-001  -0.1 3.00e-001 6.21e-002w  1\n",
      " 782 6.8459876e+001 0.00e+000 7.46e+001  -2.5 3.14e-001  -0.6 1.70e-001 4.28e-002w  1\n",
      " 783 6.8592289e+001 0.00e+000 5.16e+001  -2.5 1.93e+000  -0.2 4.02e-001 3.91e-001w  1\n",
      " 784 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.46e+000    -  3.00e-001 1.81e-012f 35\n",
      " 785 6.8461110e+001 0.00e+000 7.90e+001  -2.5 2.81e-001  -0.7 2.00e-001 1.24e-012f 36\n",
      " 786 6.8461110e+001 0.00e+000 9.03e+001  -2.5 4.80e-001  -0.2 2.44e-001 1.15e-012f 36\n",
      " 787 6.8461110e+001 0.00e+000 7.75e+001  -2.5 3.10e-001  -0.7 1.78e-001 2.94e-013f 38\n",
      " 788 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.27e-001  -0.3 2.26e-001 4.39e-013f 37\n",
      " 789 6.8461110e+001 0.00e+000 7.70e+001  -2.5 3.38e-001  -0.8 1.69e-001 5.82e-013f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 790 6.8461110e+001 0.00e+000 9.03e+001  -2.5 8.53e-001  -0.3 2.14e-001 6.45e-013f 36\n",
      " 791 6.8461110e+001 0.00e+000 7.66e+001  -2.5 3.69e-001  -0.8 1.63e-001 1.17e-012f 36\n",
      " 792 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.25e+000  -0.4 1.98e-001 8.79e-013f 35\n",
      " 793 6.8461110e+001 0.00e+000 7.61e+001  -2.5 4.05e-001  -0.9 1.56e-001 1.18e-012f 36\n",
      " 794 6.8468382e+001 0.00e+000 9.12e+001  -2.5 2.13e+000  -0.4 1.71e-001 8.87e-003w  1\n",
      " 795 6.8466181e+001 0.00e+000 7.36e+001  -2.5 4.93e-001  -0.9 1.15e-001 3.68e-002w  1\n",
      " 796 6.8710577e+001 0.00e+000 1.91e+002  -2.5 1.66e+001  -0.5 1.00e+000 6.26e-002w  1\n",
      " 797 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.84e+000    -  1.71e-001 5.16e-013f 34\n",
      " 798 6.8461110e+001 0.00e+000 7.54e+001  -2.5 4.99e-001  -1.0 1.44e-001 1.23e-012f 36\n",
      " 799 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.77e-002   0.4 4.87e-001 4.06e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 800 6.8461110e+001 0.00e+000 8.47e+001  -2.5 1.26e-001  -0.1 2.96e-001 1.72e-012f 36\n",
      " 801 6.8461110e+001 0.00e+000 9.03e+001  -2.5 7.65e-002   0.3 3.64e-001 3.60e-012f 37\n",
      " 802 6.8461110e+001 0.00e+000 8.26e+001  -2.5 1.39e-001  -0.2 2.59e-001 1.53e-012f 36\n",
      " 803 6.8461110e+001 0.00e+000 9.03e+001  -2.5 8.84e-002   0.3 3.37e-001 3.11e-012f 37\n",
      " 804 6.8461110e+001 0.00e+000 8.17e+001  -2.5 1.50e-001  -0.2 2.45e-001 7.17e-013f 37\n",
      " 805 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.02e-001   0.2 3.17e-001 1.35e-012f 38\n",
      " 806 6.8461110e+001 0.00e+000 8.10e+001  -2.5 1.63e-001  -0.3 2.33e-001 6.79e-013f 37\n",
      " 807 6.8484635e+001 0.00e+000 9.68e+001  -2.5 1.19e-001   0.2 3.00e-001 1.59e-001w  1\n",
      " 808 6.8463380e+001 0.00e+000 8.65e+001  -2.5 2.35e-001  -0.3 1.77e-001 6.11e-002w  1\n",
      " 809 6.8860386e+001 0.00e+000 7.49e+001  -2.5 1.91e+000  -0.8 1.65e-001 5.46e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 810 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.01e+000  -0.4 3.00e-001 2.32e-012f 36\n",
      " 811 6.8461110e+001 0.00e+000 7.85e+001  -2.5 3.85e-001  -0.8 1.93e-001 1.17e-012f 36\n",
      " 812 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.69e+000  -0.4 1.80e-001 6.50e-013f 35\n",
      " 813 6.8461110e+001 0.00e+000 7.59e+001  -2.5 4.29e-001  -0.9 1.51e-001 1.10e-012f 36\n",
      " 814 6.8461110e+001 0.00e+000 9.03e+001  -2.5 3.72e+000  -0.5 1.26e-001 2.96e-013f 35\n",
      " 815 6.8461110e+001 0.00e+000 7.45e+001  -2.5 4.75e-001  -0.9 1.30e-001 5.46e-013f 37\n",
      " 816 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.49e-002   0.4 5.37e-001 2.12e-012f 38\n",
      " 817 6.8461110e+001 0.00e+000 8.56e+001  -2.5 1.23e-001  -0.1 3.10e-001 1.74e-012f 36\n",
      " 818 6.8461110e+001 0.00e+000 9.03e+001  -2.5 7.30e-002   0.3 3.65e-001 3.77e-012f 37\n",
      " 819 6.8461110e+001 0.00e+000 8.28e+001  -2.5 1.35e-001  -0.1 2.62e-001 1.53e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 820 6.8487758e+001 0.00e+000 9.93e+001  -2.5 8.44e-002   0.3 3.37e-001 2.24e-001w  1\n",
      " 821 6.8464123e+001 0.00e+000 8.75e+001  -2.5 2.00e-001  -0.2 1.95e-001 7.44e-002w  1\n",
      " 822 6.8871553e+001 0.00e+000 6.54e+001  -2.5 1.64e+000  -0.7 1.67e-001 6.35e-001w  1\n",
      " 823 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.08e-001  -0.2 3.37e-001 3.26e-012f 36\n",
      " 824 6.8461110e+001 0.00e+000 7.95e+001  -2.5 3.14e-001  -0.7 2.09e-001 5.88e-013f 37\n",
      " 825 6.8461110e+001 0.00e+000 9.03e+001  -2.5 6.85e-001  -0.3 2.17e-001 4.01e-013f 37\n",
      " 826 6.8461110e+001 0.00e+000 7.68e+001  -2.5 3.47e-001  -0.8 1.67e-001 5.46e-013f 37\n",
      " 827 6.8461110e+001 0.00e+000 9.03e+001  -2.5 9.66e-001  -0.3 1.93e-001 5.69e-013f 36\n",
      " 828 6.8461110e+001 0.00e+000 7.61e+001  -2.5 3.81e-001  -0.8 1.55e-001 1.10e-012f 36\n",
      " 829 6.8461110e+001 0.00e+000 9.03e+001  -2.5 1.48e+000  -0.4 1.76e-001 7.44e-013f 35\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 830 6.8461110e+001 0.00e+000 7.56e+001  -2.5 4.19e-001  -0.9 1.48e-001 1.12e-012f 36\n",
      " 831 6.8461110e+001 0.00e+000 9.03e+001  -2.5 2.77e+000  -0.4 1.46e-001 3.97e-013f 35\n",
      " 832 6.8461110e+001 0.00e+000 7.49e+001  -2.5 4.62e-001  -0.9 1.37e-001 5.70e-013f 37\n",
      " 833 6.8467092e+001 0.00e+000 9.08e+001  -2.5 1.26e+001  -0.5 6.09e-002 1.50e-003w  1\n",
      " 834 6.8469993e+001 0.00e+000 7.13e+001  -2.5 5.34e-001  -1.0 7.33e-002 3.50e-002w  1\n",
      " 835 6.8519244e+001 0.00e+000 1.01e+002  -2.5 5.51e-002   0.4 1.00e+000 4.86e-001w  1\n",
      " 836 6.8467092e+001 0.00e+000 8.25e+001  -2.5 1.21e-001  -0.1 1.50e-003 1.50e-003S 12\n",
      " 837 6.8474928e+001 0.00e+000 8.47e+001  -2.5 7.34e+000  -0.6 1.99e-001 8.89e-003f  5\n",
      " 838 6.8468073e+001 0.00e+000 6.45e+001  -2.5 3.16e-001  -0.2 2.65e-001 3.00e-002f  2\n",
      " 839 6.8463021e+001 0.00e+000 6.45e+001  -2.5 1.02e+000    -  6.03e-001 1.38e-002f  5\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 840 6.8463141e+001 0.00e+000 1.13e+002  -2.5 3.24e-001  -0.7 4.72e-001 4.70e-003f  8\n",
      " 841 6.8462771e+001 0.00e+000 9.30e+001  -2.5 1.86e-001  -0.2 5.50e-001 3.69e-003f  7\n",
      " 842 6.8462777e+001 0.00e+000 7.40e+001  -2.5 4.23e-001  -0.7 3.67e-001 1.19e-004f 10\n",
      " 843 6.8462756e+001 0.00e+000 9.31e+001  -2.5 2.82e-001  -0.3 1.59e-001 5.94e-005f 11\n",
      " 844 6.8462756e+001 0.00e+000 6.82e+001  -2.5 5.60e-001  -0.8 1.82e-001 3.97e-006f 14\n",
      " 845 6.8462755e+001 0.00e+000 6.31e+001  -2.5 5.56e-001  -0.3 1.08e-001 1.88e-006f 15\n",
      " 846 6.8462755e+001 0.00e+000 7.48e+001  -2.5 2.62e+000    -  4.38e-001 2.30e-007f 19\n",
      " 847 6.8583879e+001 0.00e+000 2.63e+001  -2.5 9.02e-001    -  6.67e-001 5.92e-001w  1\n",
      " 848 6.8587137e+001 0.00e+000 2.18e+002  -2.5 8.59e-001    -  2.85e-001 9.97e-001w  1\n",
      " 849 6.8595507e+001 0.00e+000 2.50e+002  -2.5 2.84e-001   0.1 1.59e-001 8.38e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 850 6.8462755e+001 0.00e+000 7.37e+001  -2.5 7.63e-002   0.5 6.67e-001 5.65e-007f 20\n",
      " 851 6.8462755e+001 0.00e+000 1.13e+002  -2.5 6.65e-002   0.0 5.37e-001 7.38e-007f 20\n",
      " 852 6.8462755e+001 0.00e+000 9.30e+001  -2.5 3.74e-001  -0.4 5.73e-001 3.27e-007f 20\n",
      " 853 6.8462755e+001 0.00e+000 7.46e+001  -2.5 6.03e-001  -0.9 3.86e-001 2.12e-007f 19\n",
      " 854 6.8462755e+001 0.00e+000 9.31e+001  -2.5 8.53e-001  -0.5 1.11e-001 5.79e-008f 20\n",
      " 855 6.8462755e+001 0.00e+000 6.81e+001  -2.5 9.14e-001  -1.0 1.75e-001 2.42e-008f 21\n",
      " 856 6.8462755e+001 0.00e+000 9.31e+001  -2.5 6.90e+000  -0.5 2.38e-002 2.37e-009f 21\n",
      " 857 6.8462755e+001 0.00e+000 6.73e+001  -2.5 9.72e-001  -1.0 1.51e-001 6.34e-010f 26\n",
      " 858 6.8462755e+001 0.00e+000 8.86e+001  -2.5 1.22e-001   0.3 1.00e+000 4.98e-009f 27\n",
      " 859 6.8462755e+001 0.00e+000 8.73e+001  -2.5 1.63e-001  -0.2 3.64e-001 2.15e-009f 27\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 860 6.8511694e+001 0.00e+000 1.10e+002  -2.5 1.45e-001   0.3 4.64e-001 4.42e-001w  1\n",
      " 861 6.8468404e+001 0.00e+000 9.15e+001  -2.5 2.29e-001  -0.2 1.34e-001 1.37e-001w  1\n",
      " 862 6.8806839e+001 0.00e+000 9.06e+001  -2.5 1.05e+000  -0.7 3.27e-001 1.00e+000w  1\n",
      " 863 6.8462755e+001 0.00e+000 6.32e+001  -2.5 7.65e-001  -0.3 4.64e-001 1.65e-009f 28\n",
      " 864 6.8462755e+001 0.00e+000 8.74e+001  -2.5 4.53e+000    -  2.20e-001 1.32e-011f 31\n",
      " 865 6.8462755e+001 0.00e+000 9.33e+001  -2.5 2.94e-001  -0.7 4.42e-001 7.93e-011f 32\n",
      " 866 6.8462755e+001 0.00e+000 6.32e+001  -2.5 3.54e-001  -0.3 3.27e-001 2.26e-011f 32\n",
      " 867 6.8462755e+001 0.00e+000 7.26e+001  -2.5 1.29e+000    -  7.88e-001 3.19e-012f 37\n",
      " 868 6.8462755e+001 0.00e+000 1.07e+002  -2.5 3.55e-001  -0.8 5.29e-001 1.95e-012f 39\n",
      " 869 6.8462755e+001 0.00e+000 9.30e+001  -2.5 4.50e-001  -0.4 4.71e-001 1.73e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 870 6.8462755e+001 0.00e+000 7.31e+001  -2.5 5.88e-001  -0.8 3.37e-001 1.47e-012f 36\n",
      " 871 6.8462755e+001 0.00e+000 9.31e+001  -2.5 9.40e-001  -0.4 1.07e-001 4.11e-013f 37\n",
      " 872 6.8462755e+001 0.00e+000 6.77e+001  -2.5 7.52e-001  -0.9 1.62e-001 3.93e-013f 37\n",
      " 873 6.8475927e+001 0.00e+000 9.40e+001  -2.5 1.92e+000  -0.5 5.74e-002 8.91e-003w  1\n",
      " 874 6.8471760e+001 0.00e+000 6.78e+001  -2.5 8.99e-001  -0.9 1.08e-001 2.87e-002w  1\n",
      " 875 6.8469692e+001 0.00e+000 8.19e+001  -2.5 3.99e+000  -0.5 8.67e-001 3.53e-002w  1\n",
      " 876 6.8462755e+001 0.00e+000 9.31e+001  -2.5 1.09e+000    -  5.74e-002 2.59e-013f 35\n",
      " 877 6.8462755e+001 0.00e+000 6.70e+001  -2.5 9.63e-001  -1.0 1.40e-001 7.10e-013f 36\n",
      " 878 6.8462755e+001 0.00e+000 8.71e+001  -2.5 1.17e-001   0.3 1.00e+000 4.48e-012f 37\n",
      " 879 6.8462755e+001 0.00e+000 9.07e+001  -2.5 1.60e-001  -0.1 3.68e-001 2.32e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 880 6.8462755e+001 0.00e+000 9.31e+001  -2.5 1.38e-001   0.3 4.76e-001 3.37e-012f 38\n",
      " 881 6.8462755e+001 0.00e+000 7.35e+001  -2.5 2.36e-001  -0.2 3.71e-001 6.10e-013f 38\n",
      " 882 6.8462755e+001 0.00e+000 9.31e+001  -2.5 1.60e-001   0.2 3.52e-001 1.84e-012f 38\n",
      " 883 6.8462755e+001 0.00e+000 7.05e+001  -2.5 2.62e-001  -0.2 2.69e-001 9.53e-013f 37\n",
      " 884 6.8462755e+001 0.00e+000 9.31e+001  -2.5 1.74e-001   0.2 3.70e-001 1.51e-012f 38\n",
      " 885 6.8462755e+001 0.00e+000 7.04e+001  -2.5 2.45e-001  -0.3 2.67e-001 9.52e-013f 37\n",
      " 886 6.8502514e+001 0.00e+000 1.03e+002  -2.5 2.03e-001   0.1 3.38e-001 1.79e-001w  1\n",
      " 887 6.8462563e+001 0.00e+000 6.99e+001  -2.5 2.97e-001  -0.3 1.98e-001 1.07e-001w  1\n",
      " 888 6.8500063e+001 0.00e+000 6.42e+001  -2.5 2.39e-001   0.1 1.00e+000 1.90e-001w  1\n",
      " 889 6.8502514e+001 0.00e+000 9.96e+001  -2.5 2.30e-001  -0.4 1.79e-001 1.79e-001S 19\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 890 6.8472838e+001 0.00e+000 7.32e+001  -2.5 6.72e-001  -0.9 1.36e-001 9.37e-002f  1\n",
      " 891 6.8463738e+001 0.00e+000 6.34e+001  -2.5 2.15e+000  -0.5 1.52e-001 1.44e-002f  2\n",
      " 892 6.8466284e+001 0.00e+000 3.64e+001  -2.5 1.81e+001    -  1.63e-001 2.67e-003f  3\n",
      " 893 6.8465786e+001 0.00e+000 1.25e+002  -2.5 5.71e-001  -0.9 3.89e-001 3.12e-002f  6\n",
      " 894 6.8463449e+001 0.00e+000 6.32e+001  -2.5 1.87e+000  -0.5 3.31e-001 2.22e-003f  3\n",
      " 895 6.8463017e+001 0.00e+000 8.18e+001  -2.5 1.45e+000    -  7.97e-001 9.62e-004f  9\n",
      " 896 6.8462996e+001 0.00e+000 6.95e+001  -2.5 8.61e-001    -  1.00e+000 3.25e-004f 12\n",
      " 897 6.8462987e+001 0.00e+000 1.04e+002  -2.5 4.20e-001  -1.0 5.45e-001 1.87e-004f 13\n",
      " 898 6.8462979e+001 0.00e+000 8.63e+001  -2.5 1.19e+001  -0.6 8.56e-002 1.98e-006f 11\n",
      " 899 6.8462978e+001 0.00e+000 8.09e+001  -2.5 2.26e+000    -  5.45e-001 2.68e-006f 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 900 6.8462978e+001 0.00e+000 7.02e+001  -2.5 9.10e-001    -  1.00e+000 7.51e-008f 24\n",
      " 901 6.8578665e+001 0.00e+000 1.67e+002  -2.5 4.52e-001  -1.0 5.48e-001 7.78e-001w  1\n",
      " 902 6.8534361e+001 0.00e+000 1.11e+002  -2.5 1.18e-001   0.3 3.19e-001 3.47e-001w  1\n",
      " 903 6.8478367e+001 0.00e+000 1.71e+002  -2.5 2.51e-001  -0.2 1.00e+000 2.86e-001w  1\n",
      " 904 6.8542708e+001 0.00e+000 1.42e+002  -2.5 3.39e+000    -  5.48e-001 5.48e-001S 21\n",
      " 905 6.8505108e+001 0.00e+000 9.22e+001  -2.5 1.33e-001   0.2 3.73e-001 2.76e-001f  1\n",
      " 906 6.8480513e+001 0.00e+000 1.09e+002  -2.5 1.82e-001  -0.2 1.00e+000 2.00e-001f  2\n",
      " 907 6.8470253e+001 0.00e+000 5.40e+001  -2.5 2.14e+000    -  2.62e-001 3.56e-002f  3\n",
      " 908 6.8470034e+001 0.00e+000 1.14e+002  -2.5 2.28e-001  -0.7 5.34e-001 2.15e-002f  6\n",
      " 909 6.8469136e+001 0.00e+000 8.68e+001  -2.5 1.97e-001  -0.3 5.69e-001 1.63e-002f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 910 6.8469080e+001 0.00e+000 7.14e+001  -2.5 4.22e-001  -0.8 2.97e-001 4.11e-003f  6\n",
      " 911 6.8468487e+001 0.00e+000 8.69e+001  -2.5 2.19e-001  -0.3 5.61e-001 3.49e-003f  6\n",
      " 912 6.8468487e+001 0.00e+000 7.09e+001  -2.5 4.55e-001  -0.8 2.95e-001 2.43e-004f 10\n",
      " 913 6.8468454e+001 0.00e+000 6.80e+001  -2.5 2.66e-001  -0.4 6.02e-001 1.74e-004f 10\n",
      " 914 6.8468451e+001 0.00e+000 8.12e+001  -2.5 2.18e+000    -  5.79e-001 2.18e-005f 14\n",
      " 915 6.8468450e+001 0.00e+000 8.60e+001  -2.5 4.29e-001  -0.9 4.83e-001 3.21e-005f 14\n",
      " 916 6.8492134e+001 0.00e+000 9.21e+001  -2.5 2.49e-001  -0.4 4.05e-001 1.19e-001w  1\n",
      " 917 6.8482811e+001 0.00e+000 8.74e+001  -2.5 9.95e-001  -0.9 2.00e-001 1.22e-001w  1\n",
      " 918 6.8472192e+001 0.00e+000 1.56e+002  -2.5 1.50e+000  -0.5 1.00e+000 6.81e-002w  1\n",
      " 919 6.8468448e+001 0.00e+000 6.80e+001  -2.5 1.01e+000    -  4.05e-001 1.46e-005f 13\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 920 6.8468447e+001 0.00e+000 7.98e+001  -2.5 2.17e+000    -  7.12e-001 8.87e-007f 19\n",
      " 921 6.8468447e+001 0.00e+000 8.44e+001  -2.5 1.05e-001  -0.1 5.13e-001 1.73e-006f 19\n",
      " 922 6.8468447e+001 0.00e+000 8.68e+001  -2.5 3.05e-001  -0.5 3.97e-001 6.01e-007f 18\n",
      " 923 6.8468447e+001 0.00e+000 7.13e+001  -2.5 1.58e-001  -0.1 3.32e-001 4.67e-007f 20\n",
      " 924 6.8468447e+001 0.00e+000 6.80e+001  -2.5 3.06e+000  -0.6 8.28e-002 2.87e-008f 18\n",
      " 925 6.8468447e+001 0.00e+000 8.14e+001  -2.5 2.43e+000    -  5.60e-001 7.06e-008f 22\n",
      " 926 6.8468447e+001 0.00e+000 8.19e+001  -2.5 1.29e-001  -0.2 4.52e-001 9.00e-008f 23\n",
      " 927 6.8468447e+001 0.00e+000 6.80e+001  -2.5 4.01e-002   0.3 7.23e-001 8.59e-008f 23\n",
      " 928 6.8468447e+001 0.00e+000 7.98e+001  -2.5 1.93e+000    -  7.15e-001 8.67e-009f 26\n",
      " 929 6.8511043e+001 0.00e+000 1.14e+002  -2.5 1.30e-001  -0.2 5.21e-001 4.17e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 930 6.8483914e+001 0.00e+000 8.90e+001  -2.5 1.11e-001   0.2 2.28e-001 2.13e-001w  1\n",
      " 931 6.8541802e+001 0.00e+000 3.35e+001  -2.5 1.88e+000    -  3.05e-001 1.12e-001w  1\n",
      " 932 6.8468447e+001 0.00e+000 8.53e+001  -2.5 1.53e-001  -0.3 5.21e-001 2.49e-008f 24\n",
      " 933 6.8468447e+001 0.00e+000 6.80e+001  -2.5 6.70e-002   0.2 6.23e-001 2.52e-008f 24\n",
      " 934 6.8468447e+001 0.00e+000 7.97e+001  -2.5 1.99e+000    -  7.22e-001 2.87e-010f 31\n",
      " 935 6.8468447e+001 0.00e+000 8.58e+001  -2.5 1.49e-001  -0.3 5.14e-001 7.35e-010f 30\n",
      " 936 6.8468447e+001 0.00e+000 6.80e+001  -2.5 7.82e-002   0.1 5.96e-001 6.73e-010f 29\n",
      " 937 6.8468447e+001 0.00e+000 7.96e+001  -2.5 2.00e+000    -  7.30e-001 1.76e-011f 35\n",
      " 938 6.8468447e+001 0.00e+000 8.61e+001  -2.5 1.60e-001  -0.4 5.13e-001 4.49e-011f 34\n",
      " 939 6.8468447e+001 0.00e+000 6.80e+001  -2.5 8.74e-002   0.1 5.73e-001 3.76e-011f 33\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 940 6.8468447e+001 0.00e+000 7.96e+001  -2.5 2.01e+000    -  7.37e-001 1.09e-012f 39\n",
      " 941 6.8468447e+001 0.00e+000 8.64e+001  -2.5 1.72e-001  -0.4 5.12e-001 5.50e-012f 37\n",
      " 942 6.8486992e+001 0.00e+000 9.54e+001  -2.5 9.60e-002   0.0 5.52e-001 1.47e-001w  1\n",
      " 943 6.8493092e+001 0.00e+000 8.74e+001  -2.5 2.84e-001  -0.5 3.09e-001 2.03e-001w  1\n",
      " 944 6.8475633e+001 0.00e+000 6.79e+001  -2.5 1.25e-001  -0.0 1.00e+000 2.23e-001w  1\n",
      " 945 6.8486992e+001 0.00e+000 8.19e+001  -2.5 1.80e-001  -0.5 1.47e-001 1.47e-001S 19\n",
      " 946 6.8492114e+001 0.00e+000 8.77e+001  -2.5 1.37e-001  -0.1 1.69e-001 1.46e-001f  2\n",
      " 947 6.8474454e+001 0.00e+000 5.97e+001  -2.5 5.66e-002   0.3 4.84e-001 1.79e-001f  2\n",
      " 948 6.8471129e+001 0.00e+000 9.09e+001  -2.5 2.22e+000    -  5.23e-001 2.91e-002f  4\n",
      " 949 6.8469904e+001 0.00e+000 8.22e+001  -2.5 1.24e-001  -0.1 4.66e-001 7.67e-002f  3\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 950 6.8466583e+001 0.00e+000 6.12e+001  -2.5 4.49e-002   0.3 4.93e-001 4.49e-002f  4\n",
      " 951 6.8464899e+001 0.00e+000 8.21e+001  -2.5 1.78e+000    -  8.14e-001 4.87e-003f  7\n",
      " 952 6.8464934e+001 0.00e+000 9.34e+001  -2.5 1.06e-001  -0.2 5.32e-001 1.47e-003f  9\n",
      " 953 6.8464850e+001 0.00e+000 9.49e+001  -2.5 5.30e-002   0.2 5.53e-001 1.80e-003f  9\n",
      " 954 6.8464854e+001 0.00e+000 6.66e+001  -2.5 1.98e-001  -0.2 3.50e-001 1.32e-004f 11\n",
      " 955 6.8464841e+001 0.00e+000 6.08e+001  -2.5 6.45e-002   0.2 6.87e-001 1.24e-004f 12\n",
      " 956 6.8554833e+001 0.00e+000 5.82e+001  -2.5 1.79e+000    -  6.43e-001 2.54e-001w  1\n",
      " 957 6.8520935e+001 0.00e+000 2.83e+001  -2.5 1.39e-001  -0.3 5.09e-001 2.82e-001w  1\n",
      " 958 6.9083278e+001 0.00e+000 3.25e+002  -2.5 1.06e+000  -0.8 1.00e+000 1.00e+000w  1\n",
      " 959 6.8464837e+001 0.00e+000 8.47e+001  -2.5 4.52e-001  -0.3 6.43e-001 1.55e-005f 14\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 960 6.8464838e+001 0.00e+000 9.10e+001  -2.5 3.19e-001  -0.8 5.13e-001 1.86e-005f 15\n",
      " 961 6.8464836e+001 0.00e+000 9.49e+001  -2.5 3.49e-001  -0.4 3.42e-001 6.30e-006f 14\n",
      " 962 6.8464836e+001 0.00e+000 6.50e+001  -2.5 5.64e-001  -0.9 2.43e-001 1.23e-007f 20\n",
      " 963 6.8464836e+001 0.00e+000 6.08e+001  -2.5 9.10e-001  -0.5 1.06e-001 3.42e-008f 20\n",
      " 964 6.8464836e+001 0.00e+000 8.99e+001  -2.5 3.58e+000    -  3.21e-001 1.97e-009f 26\n",
      " 965 6.8464836e+001 0.00e+000 8.13e+001  -2.5 4.47e-001  -0.9 3.97e-001 1.32e-009f 28\n",
      " 966 6.8464836e+001 0.00e+000 9.49e+001  -2.5 9.39e-001  -0.5 2.43e-001 4.45e-010f 26\n",
      " 967 6.8464836e+001 0.00e+000 6.45e+001  -2.5 6.45e-001  -1.0 2.18e-001 2.08e-010f 29\n",
      " 968 6.8464836e+001 0.00e+000 8.92e+001  -2.5 4.61e-002   0.3 1.00e+000 7.21e-010f 30\n",
      " 969 6.8494046e+001 0.00e+000 9.62e+001  -2.5 1.34e-001  -0.1 4.57e-001 2.20e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 970 6.8488866e+001 0.00e+000 7.45e+001  -2.5 5.41e+000  -0.6 1.10e-001 5.04e-003w  1\n",
      " 971 6.8466309e+001 0.00e+000 9.61e+001  -2.5 9.54e+000  -1.1 6.42e-002 3.61e-003w  1\n",
      " 972 6.8494046e+001 0.00e+000 8.75e+001  -2.5 4.70e-001  -0.7 2.20e-001 2.20e-001S 19\n",
      " 973 6.8475152e+001 0.00e+000 6.81e+001  -2.5 2.12e+000    -  4.71e-001 9.11e-002f  2\n",
      " 974 6.8467169e+001 0.00e+000 1.16e+002  -2.5 8.65e-001  -1.1 4.40e-001 9.99e-002f  4\n",
      " 975 6.8461943e+001 0.00e+000 6.42e+001  -2.5 2.61e+000    -  7.73e-001 8.89e-003f  4\n",
      " 976 6.8463300e+001 0.00e+000 1.25e+002  -2.5 3.78e-001  -0.7 5.29e-001 3.12e-002f  6\n",
      " 977 6.8460882e+001 0.00e+000 7.79e+001  -2.5 3.62e-001  -0.3 4.81e-001 1.02e-002f  3\n",
      " 978 6.8460916e+001 0.00e+000 2.79e+001  -2.5 1.40e+000    -  7.67e-001 1.39e-004f 12\n",
      " 979 6.8460908e+001 0.00e+000 1.38e+002  -2.5 3.74e-001  -0.8 5.08e-001 4.88e-004f 12\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 980 6.8460885e+001 0.00e+000 7.80e+001  -2.5 2.49e-001  -0.3 5.68e-001 1.34e-004f 10\n",
      " 981 6.8460887e+001 0.00e+000 2.52e+001  -2.5 1.27e+000    -  8.59e-001 1.18e-005f 16\n",
      " 982 6.8460886e+001 0.00e+000 1.38e+002  -2.5 3.88e-001  -0.8 5.27e-001 3.05e-005f 16\n",
      " 983 6.8471739e+001 0.00e+000 8.15e+001  -2.5 2.82e-001  -0.4 5.64e-001 5.37e-002w  1\n",
      " 984 6.8488625e+001 0.00e+000 1.06e+002  -2.5 5.43e-001  -0.9 3.70e-001 2.03e-001w  1\n",
      " 985 6.8541140e+001 0.00e+000 7.51e+001  -2.5 2.78e+000  -0.4 4.18e-001 1.12e-001w  1\n",
      " 986 6.8460885e+001 0.00e+000 7.80e+001  -2.5 1.26e+001    -  5.64e-001 6.55e-006f 13\n",
      " 987 6.8460886e+001 0.00e+000 2.57e+001  -2.5 1.26e+000    -  8.52e-001 2.66e-006f 18\n",
      " 988 6.8460886e+001 0.00e+000 1.36e+002  -2.5 4.47e-001  -0.9 5.27e-001 7.63e-006f 18\n",
      " 989 6.8460885e+001 0.00e+000 7.79e+001  -2.5 4.30e-001  -0.5 5.51e-001 1.57e-006f 15\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      " 990 6.8460885e+001 0.00e+000 2.51e+001  -2.5 1.29e+000    -  8.55e-001 1.03e-008f 26\n",
      " 991 6.8460885e+001 0.00e+000 1.36e+002  -2.5 4.84e-001  -1.0 5.29e-001 2.53e-008f 26\n",
      " 992 6.8460885e+001 0.00e+000 7.79e+001  -2.5 7.52e-001  -0.5 5.39e-001 3.52e-009f 23\n",
      " 993 6.8460885e+001 0.00e+000 2.47e+001  -2.5 1.30e+000    -  8.59e-001 3.25e-010f 31\n",
      " 994 6.8460885e+001 0.00e+000 1.35e+002  -2.5 5.76e-001  -1.0 5.31e-001 1.09e-009f 30\n",
      " 995 6.8460885e+001 0.00e+000 7.79e+001  -2.5 2.08e+000  -0.6 4.88e-001 7.95e-011f 27\n",
      " 996 6.8620674e+001 0.00e+000 2.71e+001  -2.5 1.32e+000    -  8.94e-001 3.79e-001w  1\n",
      " 997 6.8565686e+001 0.00e+000 3.92e+001  -2.5 1.64e+000    -  3.18e-001 3.11e-001w  1\n",
      " 998 6.8729356e+001 0.00e+000 1.57e+002  -2.5 9.51e-001  -1.1 3.26e-001 9.45e-001w  1\n",
      " 999 6.8460885e+001 0.00e+000 2.24e+001  -2.5 2.91e-001   0.3 8.94e-001 3.53e-010f 30\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1000 6.8460885e+001 0.00e+000 1.55e+002  -2.5 1.67e-001  -0.2 5.39e-001 1.86e-009f 30\n",
      "1001 6.8460885e+001 0.00e+000 7.80e+001  -2.5 7.61e-002   0.2 6.05e-001 8.28e-010f 30\n",
      "1002 6.8460885e+001 0.00e+000 2.80e+001  -2.5 1.12e+000    -  8.60e-001 1.95e-010f 32\n",
      "1003 6.8460885e+001 0.00e+000 1.51e+002  -2.5 1.84e-001  -0.3 5.29e-001 9.31e-010f 31\n",
      "1004 6.8460885e+001 0.00e+000 7.88e+001  -2.5 8.49e-002   0.2 5.96e-001 7.76e-010f 30\n",
      "1005 6.8460885e+001 0.00e+000 1.11e+002  -2.5 1.81e-001  -0.3 3.89e-001 1.61e-010f 30\n",
      "1006 6.8460885e+001 0.00e+000 7.89e+001  -2.5 9.74e-002   0.1 3.98e-001 2.07e-010f 31\n",
      "1007 6.8460885e+001 0.00e+000 1.03e+002  -2.5 2.00e-001  -0.4 2.96e-001 5.40e-011f 31\n",
      "1008 6.8460885e+001 0.00e+000 7.78e+001  -2.5 1.07e-001   0.1 3.41e-001 3.92e-011f 33\n",
      "1009 6.8607259e+001 0.00e+000 5.95e+000  -2.5 1.56e+000    -  5.89e-001 2.37e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1010 6.8497410e+001 0.00e+000 1.89e+002  -2.5 1.91e-001  -0.4 4.47e-001 1.00e+000w  1\n",
      "1011 6.8524904e+001 0.00e+000 2.15e+001  -2.5 1.90e-001   0.0 5.16e-001 1.45e-001w  1\n",
      "1012 6.8607259e+001 0.00e+000 3.13e+001  -2.5 1.58e+001    -  2.37e-001 2.37e-001S 19\n",
      "1013 6.8554808e+001 0.00e+000 1.99e+002  -2.5 2.51e-001  -0.5 3.30e-001 1.00e+000f  1\n",
      "1014 6.8490003e+001 0.00e+000 1.58e+002  -2.5 2.55e-001  -0.0 2.05e-001 1.64e-001f  1\n",
      "1015 6.8487420e+001 0.00e+000 8.24e+000  -2.5 1.54e-001  -0.5 1.00e+000 1.21e-001f  2\n",
      "1016 6.8486538e+001 0.00e+000 1.55e+002  -2.5 3.55e-001  -1.0 4.89e-001 1.09e-001f  3\n",
      "1017 6.8478052e+001 0.00e+000 1.29e+002  -2.5 3.44e-001  -0.6 4.39e-001 4.17e-002f  2\n",
      "1018 6.8475940e+001 0.00e+000 2.05e+001  -2.5 8.45e-002  -0.1 1.00e+000 3.11e-002f  6\n",
      "1019 6.8476555e+001 0.00e+000 1.45e+002  -2.5 2.29e-001  -0.6 5.22e-001 1.30e-002f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1020 6.8475483e+001 0.00e+000 1.24e+002  -2.5 1.92e-001  -0.2 4.75e-001 5.51e-003f  5\n",
      "1021 6.8475162e+001 0.00e+000 1.33e+002  -2.5 2.10e-001  -0.7 1.00e+000 2.49e-003f  9\n",
      "1022 6.8475140e+001 0.00e+000 1.60e+001  -2.5 1.08e+000    -  1.00e+000 5.96e-004f  9\n",
      "1023 6.8475163e+001 0.00e+000 1.50e+002  -2.5 4.95e-001  -1.2 5.39e-001 1.04e-003f 10\n",
      "1024 6.8475103e+001 0.00e+000 3.09e+001  -2.5 6.79e-002   0.2 5.69e-001 1.82e-003f  8\n",
      "1025 6.8523049e+001 0.00e+000 1.36e+002  -2.5 1.86e-001  -0.3 3.39e-001 2.79e-001w  1\n",
      "1026 6.8477840e+001 0.00e+000 1.17e+002  -2.5 1.67e-001   0.1 1.00e+000 1.89e-001w  1\n",
      "1027 6.8532726e+001 0.00e+000 1.35e+002  -2.5 1.39e-001  -0.3 5.98e-001 1.00e+000w  1\n",
      "1028 6.8475175e+001 0.00e+000 1.27e+002  -2.5 1.25e-001   0.1 3.39e-001 1.09e-003f  8\n",
      "1029 6.8475044e+001 0.00e+000 1.24e+002  -2.5 7.82e-001  -0.4 6.82e-001 3.15e-004f  7\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1030 6.8475011e+001 0.00e+000 2.22e+001  -2.5 2.65e-001  -0.9 1.00e+000 3.14e-004f 12\n",
      "1031 6.8475011e+001 0.00e+000 1.46e+002  -2.5 1.00e+000  -1.4 5.36e-001 3.97e-005f 14\n",
      "1032 6.8475007e+001 0.00e+000 3.10e+001  -2.5 1.09e-001  -0.0 5.33e-001 3.48e-005f 13\n",
      "1033 6.8475007e+001 0.00e+000 1.27e+002  -2.5 2.46e-001  -0.5 3.31e-001 7.01e-006f 16\n",
      "1034 6.8475006e+001 0.00e+000 1.25e+002  -2.5 1.72e-001  -0.1 1.00e+000 5.51e-006f 15\n",
      "1035 6.8475006e+001 0.00e+000 2.51e+001  -2.5 1.54e-001  -0.6 1.00e+000 3.81e-006f 19\n",
      "1036 6.8475006e+001 0.00e+000 1.41e+002  -2.5 3.92e-001  -1.0 5.21e-001 1.20e-006f 19\n",
      "1037 6.8475006e+001 0.00e+000 3.10e+001  -2.5 1.24e+000  -0.6 5.03e-001 8.62e-007f 17\n",
      "1038 6.8504152e+001 0.00e+000 1.33e+002  -2.5 4.89e-001  -1.1 3.52e-001 1.40e-001w  1\n",
      "1039 6.8485313e+001 0.00e+000 5.10e+001  -2.5 7.08e-002   0.2 1.00e+000 3.07e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1040 6.8506145e+001 0.00e+000 1.34e+002  -2.5 1.16e-001  -0.2 4.08e-001 5.11e-001w  1\n",
      "1041 6.8475006e+001 0.00e+000 1.27e+002  -2.5 7.47e-002   0.2 3.52e-001 1.07e-006f 17\n",
      "1042 6.8475006e+001 0.00e+000 3.05e+001  -2.5 1.44e-001  -0.3 1.00e+000 1.17e-006f 18\n",
      "1043 6.8475006e+001 0.00e+000 1.29e+002  -2.5 3.21e-001  -0.8 4.54e-001 4.43e-007f 20\n",
      "1044 6.8475006e+001 0.00e+000 1.24e+002  -2.5 1.34e-001  -0.3 5.47e-001 3.10e-007f 20\n",
      "1045 6.8475006e+001 0.00e+000 2.22e+001  -2.5 2.59e-001  -0.8 1.00e+000 6.86e-008f 24\n",
      "1046 6.8475006e+001 0.00e+000 1.46e+002  -2.5 6.63e-001  -1.3 5.32e-001 1.06e-008f 26\n",
      "1047 6.8475006e+001 0.00e+000 1.24e+002  -2.5 8.47e-002   0.0 5.43e-001 1.09e-008f 25\n",
      "1048 6.8475006e+001 0.00e+000 1.32e+002  -2.5 1.41e-001  -0.4 1.00e+000 8.66e-010f 31\n",
      "1049 6.8475006e+001 0.00e+000 1.37e+002  -2.5 1.19e+000    -  9.45e-001 4.95e-011f 32\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1050 6.8475006e+001 0.00e+000 1.28e+001  -2.5 8.00e-001    -  1.00e+000 3.53e-012f 39\n",
      "1051 6.8543138e+001 0.00e+000 1.57e+002  -2.5 2.55e-001  -0.9 5.33e-001 6.38e-001w  1\n",
      "1052 6.8531680e+001 0.00e+000 1.29e+002  -2.5 2.29e+000  -0.5 2.12e-001 9.78e-003w  1\n",
      "1053 6.8490306e+001 0.00e+000 3.10e+002  -2.5 1.63e+000  -0.1 3.81e-001 5.79e-002w  1\n",
      "1054 6.8475006e+001 0.00e+000 1.52e+002  -2.5 2.57e-001  -0.5 5.33e-001 4.64e-012f 37\n",
      "1055 6.8475006e+001 0.00e+000 3.10e+001  -2.5 1.21e-001  -0.1 5.57e-001 3.73e-012f 36\n",
      "1056 6.8475006e+001 0.00e+000 1.27e+002  -2.5 2.64e-001  -0.6 3.48e-001 1.63e-012f 38\n",
      "1057 6.8475006e+001 0.00e+000 3.02e+001  -2.5 2.32e-001  -0.2 1.00e+000 1.94e-012f 36\n",
      "1058 6.8475006e+001 0.00e+000 1.29e+002  -2.5 2.72e-001  -0.6 4.35e-001 3.83e-012f 37\n",
      "1059 6.8475006e+001 0.00e+000 3.11e+001  -2.5 2.70e-001  -0.2 6.13e-001 3.34e-012f 35\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1060 6.8475006e+001 0.00e+000 1.27e+002  -2.5 3.06e-001  -0.7 3.40e-001 1.51e-012f 38\n",
      "1061 6.8475006e+001 0.00e+000 1.25e+002  -2.5 3.56e-001  -0.3 1.00e+000 1.27e-012f 36\n",
      "1062 6.8475006e+001 0.00e+000 2.44e+001  -2.5 2.15e-001  -0.7 1.00e+000 7.91e-013f 41\n",
      "1063 6.8475006e+001 0.00e+000 1.43e+002  -2.5 5.47e-001  -1.2 5.31e-001 2.26e-012f 38\n",
      "1064 6.8494975e+001 0.00e+000 5.50e+001  -2.5 7.77e-002   0.1 5.45e-001 1.99e-001w  1\n",
      "1065 6.8504199e+001 0.00e+000 1.24e+002  -2.5 2.24e-001  -0.4 3.04e-001 2.87e-001w  1\n",
      "1066 6.8475191e+001 0.00e+000 1.62e+001  -2.5 1.18e-001   0.1 1.00e+000 2.31e-001w  1\n",
      "1067 6.8494975e+001 0.00e+000 4.28e+001  -2.5 1.88e-001  -0.4 1.99e-001 1.99e-001S 19\n",
      "1068 6.8498617e+001 0.00e+000 1.22e+002  -2.5 3.09e-001  -0.9 1.65e-001 1.44e-001f  2\n",
      "1069 6.8488373e+001 0.00e+000 1.01e+002  -2.5 3.08e-001  -0.5 3.46e-001 4.09e-002f  2\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1070 6.8476173e+001 0.00e+000 5.17e+001  -2.5 4.21e-001  -0.9 1.00e+000 1.08e-001f  3\n",
      "1071 6.8479755e+001 0.00e+000 1.18e+002  -2.5 2.02e-001  -0.5 5.22e-001 1.14e-001f  3\n",
      "1072 6.8473083e+001 0.00e+000 9.13e+001  -2.5 1.30e-001  -0.1 4.22e-001 4.36e-002f  3\n",
      "1073 6.8470368e+001 0.00e+000 5.64e+001  -2.5 2.17e-001  -0.6 1.00e+000 2.84e-002f  5\n",
      "1074 6.8470086e+001 0.00e+000 1.14e+002  -2.5 4.51e-001  -1.0 5.31e-001 5.25e-003f  7\n",
      "1075 6.8469787e+001 0.00e+000 8.85e+001  -2.5 5.34e-001  -0.6 3.37e-001 7.56e-004f  7\n",
      "1076 6.8469733e+001 0.00e+000 6.43e+001  -2.5 2.15e+000  -1.1 2.20e-001 4.52e-004f  8\n",
      "1077 6.8469760e+001 0.00e+000 9.72e+001  -2.5 3.24e-001  -0.7 3.47e-001 3.42e-004f 10\n",
      "1078 6.8506534e+001 0.00e+000 7.82e+001  -2.5 1.36e-001  -0.2 3.77e-001 1.65e-001w  1\n",
      "1079 6.8484687e+001 0.00e+000 1.02e+002  -2.5 4.19e-001  -0.7 2.12e-001 1.81e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1080 6.8469215e+001 0.00e+000 1.11e+000  -2.5 2.80e-001  -0.3 1.00e+000 9.01e-002w  1\n",
      "1081 6.8469702e+001 0.00e+000 8.84e+001  -2.5 3.70e-001  -0.8 3.77e-001 3.22e-004f  9\n",
      "1082 6.8469701e+001 0.00e+000 6.62e+001  -2.5 4.00e+001    -  1.36e-002 2.22e-006f 11\n",
      "1083 6.8469703e+001 0.00e+000 9.17e+001  -2.5 1.38e+000  -1.3 2.74e-001 1.79e-005f 13\n",
      "1084 6.8469698e+001 0.00e+000 9.09e+001  -2.5 7.29e-002   0.1 1.00e+000 4.13e-005f 14\n",
      "1085 6.8469697e+001 0.00e+000 9.06e+001  -2.5 1.57e+001    -  4.79e-002 9.59e-007f 14\n",
      "1086 6.8469697e+001 0.00e+000 6.07e+001  -2.5 1.46e-001  -0.4 1.00e+000 2.48e-008f 26\n",
      "1087 6.8469697e+001 0.00e+000 1.07e+002  -2.5 3.62e-001  -0.9 5.17e-001 8.01e-009f 26\n",
      "1088 6.8469697e+001 0.00e+000 8.85e+001  -2.5 2.96e-001  -0.5 3.55e-001 1.97e-009f 27\n",
      "1089 6.8469697e+001 0.00e+000 9.78e+001  -2.5 3.98e-001  -0.9 1.00e+000 7.05e-010f 30\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1090 6.8469697e+001 0.00e+000 4.90e+001  -2.5 1.15e+000    -  1.00e+000 3.55e-010f 30\n",
      "1091 6.8524704e+001 0.00e+000 1.38e+002  -2.5 1.58e-001  -0.5 5.41e-001 5.59e-001w  1\n",
      "1092 6.8504214e+001 0.00e+000 1.06e+002  -2.5 2.40e-001  -0.1 2.74e-001 8.33e-002w  1\n",
      "1093 6.8490921e+001 0.00e+000 1.07e+002  -2.5 1.63e+001    -  2.95e-002 7.77e-003w  1\n",
      "1094 6.8522914e+001 0.00e+000 1.37e+002  -2.5 2.21e-001  -0.6 5.41e-001 5.41e-001S 21\n",
      "1095 6.8513169e+001 0.00e+000 1.07e+002  -2.5 2.82e-001  -0.1 2.77e-001 3.48e-002f  2\n",
      "1096 6.8475573e+001 0.00e+000 2.25e+002  -2.5 7.17e-001  -0.6 7.89e-001 7.52e-002f  2\n",
      "1097 6.8472103e+001 0.00e+000 6.34e+001  -2.5 5.68e-001  -1.1 9.65e-001 3.17e-002f  4\n",
      "1098 6.8472179e+001 0.00e+000 9.51e+001  -2.5 2.68e-001  -0.7 4.78e-001 4.50e-003f  7\n",
      "1099 6.8471855e+001 0.00e+000 6.39e+001  -2.5 1.27e-001  -0.2 6.67e-001 3.52e-003f  7\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1100 6.8471972e+001 0.00e+000 9.31e+001  -2.5 3.50e-001  -0.7 3.52e-001 1.54e-003f  8\n",
      "1101 6.8471781e+001 0.00e+000 9.12e+001  -2.5 1.47e-001  -0.3 1.00e+000 1.28e-003f  8\n",
      "1102 6.8471715e+001 0.00e+000 5.76e+001  -2.5 2.73e-001  -0.8 1.00e+000 6.52e-004f 11\n",
      "1103 6.8471715e+001 0.00e+000 1.08e+002  -2.5 1.70e+000  -1.2 4.26e-001 2.69e-006f 17\n",
      "1104 6.8471715e+001 0.00e+000 9.03e+001  -2.5 3.82e-001  -0.8 6.82e-001 2.57e-006f 19\n",
      "1105 6.8501238e+001 0.00e+000 7.22e+001  -2.5 1.77e+000    -  5.90e-001 1.22e-001w  1\n",
      "1106 6.8471623e+001 0.00e+000 1.16e+002  -2.5 1.98e-001  -0.4 4.89e-001 3.06e-001w  1\n",
      "1107 6.8486206e+001 0.00e+000 6.90e+001  -2.5 1.23e-001   0.0 2.09e-001 2.57e-001w  1\n",
      "1108 6.8501238e+001 0.00e+000 7.58e+001  -2.5 2.12e-001  -0.4 1.22e-001 1.22e-001S 18\n",
      "1109 6.8461474e+001 0.00e+000 5.34e+001  -2.5 8.25e-001  -0.9 4.30e-001 1.32e-001f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1110 6.8473397e+001 0.00e+000 1.23e+002  -2.5 6.89e-001  -0.5 1.46e-001 3.12e-002f  6\n",
      "1111 6.8465554e+001 0.00e+000 8.96e+001  -2.5 2.22e-001  -0.1 3.41e-001 3.99e-002f  2\n",
      "1112 6.8466457e+001 0.00e+000 2.19e+001  -2.5 3.53e+000    -  3.75e-001 9.68e-003f  4\n",
      "1113 6.8468632e+001 0.00e+000 1.47e+002  -2.5 2.80e-001  -0.5 3.97e-001 5.22e-002f  5\n",
      "1114 6.8465656e+001 0.00e+000 7.20e+001  -2.5 1.52e-001  -0.1 5.71e-001 5.98e-002f  3\n",
      "1115 6.8466356e+001 0.00e+000 9.49e+001  -2.5 2.75e-001  -0.6 3.74e-001 2.13e-002f  3\n",
      "1116 6.8463441e+001 0.00e+000 8.44e+001  -2.5 1.84e-001  -0.2 1.93e-001 1.17e-002f  4\n",
      "1117 6.8463289e+001 0.00e+000 1.01e+002  -2.5 1.32e+000    -  5.78e-001 2.60e-004f 10\n",
      "1118 6.8463277e+001 0.00e+000 4.84e+001  -2.5 7.07e-001    -  1.00e+000 9.19e-005f 14\n",
      "1119 6.8463277e+001 0.00e+000 1.30e+002  -2.5 2.45e-001  -0.6 5.33e-001 2.05e-005f 16\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1120 6.8494062e+001 0.00e+000 8.92e+001  -2.5 1.75e-001  -0.2 5.40e-001 3.59e-001w  1\n",
      "1121 6.8468557e+001 0.00e+000 7.46e+001  -2.5 3.74e-001  -0.7 3.30e-001 8.86e-002w  1\n",
      "1122 6.8751681e+001 0.00e+000 8.17e+001  -2.5 5.90e-001  -0.3 2.33e-001 7.23e-001w  1\n",
      "1123 6.8463276e+001 0.00e+000 7.18e+001  -2.5 2.22e+002  -0.7 5.40e-001 2.19e-005f 14\n",
      "1124 6.8463276e+001 0.00e+000 9.65e+001  -2.5 1.83e-001  -0.3 3.86e-001 5.47e-006f 15\n",
      "1125 6.8463276e+001 0.00e+000 8.44e+001  -2.5 6.96e-002   0.1 3.25e-001 3.80e-006f 17\n",
      "1126 6.8463275e+001 0.00e+000 5.33e+001  -2.5 9.22e-001    -  6.39e-001 4.25e-007f 20\n",
      "1127 6.8463276e+001 0.00e+000 1.30e+002  -2.5 1.67e-001  -0.4 4.87e-001 1.58e-006f 19\n",
      "1128 6.8463275e+001 0.00e+000 8.45e+001  -2.5 9.91e-002   0.1 5.22e-001 1.59e-006f 19\n",
      "1129 6.8463275e+001 0.00e+000 1.13e+002  -2.5 7.59e-001    -  1.00e+000 9.22e-008f 23\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1130 6.8463275e+001 0.00e+000 4.77e+001  -2.5 6.12e-001    -  1.00e+000 2.59e-008f 26\n",
      "1131 6.8463275e+001 0.00e+000 1.33e+002  -2.5 1.71e-001  -0.4 5.32e-001 3.53e-008f 25\n",
      "1132 6.8463275e+001 0.00e+000 8.45e+001  -2.5 1.08e-001   0.0 5.52e-001 3.13e-008f 25\n",
      "1133 6.8559632e+001 0.00e+000 4.91e+001  -2.5 7.00e-001    -  8.33e-001 3.49e-001w  1\n",
      "1134 6.8479625e+001 0.00e+000 2.49e+000  -2.5 2.09e-001  -0.5 5.13e-001 6.32e-001w  1\n",
      "1135 6.9224195e+001 0.00e+000 3.10e+002  -2.5 1.17e+000  -0.9 1.00e+000 1.00e+000w  1\n",
      "1136 6.8463275e+001 0.00e+000 4.82e+001  -2.5 7.90e-001  -0.5 8.33e-001 1.30e-009f 28\n",
      "1137 6.8463275e+001 0.00e+000 1.25e+002  -2.5 1.98e+000  -1.0 3.58e-001 9.77e-010f 28\n",
      "1138 6.8463275e+001 0.00e+000 4.78e+001  -2.5 8.90e-001    -  8.72e-001 5.96e-010f 31\n",
      "1139 6.8463275e+001 0.00e+000 1.31e+002  -2.5 2.29e-001  -0.6 5.14e-001 1.17e-009f 30\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1140 6.8463275e+001 0.00e+000 7.18e+001  -2.5 1.50e-001  -0.1 5.46e-001 1.54e-009f 29\n",
      "1141 6.8463275e+001 0.00e+000 9.63e+001  -2.5 2.74e-001  -0.6 3.75e-001 2.76e-010f 29\n",
      "1142 6.8463275e+001 0.00e+000 7.19e+001  -2.5 1.80e-001  -0.2 2.25e-001 1.95e-010f 30\n",
      "1143 6.8463275e+001 0.00e+000 9.10e+001  -2.5 3.25e-001  -0.7 2.16e-001 4.25e-011f 31\n",
      "1144 6.8463275e+001 0.00e+000 8.44e+001  -2.5 2.44e-001  -0.2 1.87e-001 3.32e-011f 32\n",
      "1145 6.8463275e+001 0.00e+000 5.61e+001  -2.5 1.21e+000    -  5.39e-001 8.01e-012f 35\n",
      "1146 6.8521399e+001 0.00e+000 1.29e+002  -2.5 3.21e-001  -0.7 4.53e-001 4.20e-001w  1\n",
      "1147 6.8505809e+001 0.00e+000 9.00e+001  -2.5 6.00e-001  -0.3 3.00e-001 3.24e-002w  1\n",
      "1148 6.8491991e+001 0.00e+000 3.36e+001  -2.5 6.91e+000    -  8.80e-002 3.76e-002w  1\n",
      "1149 6.8463275e+001 0.00e+000 1.23e+002  -2.5 3.40e-001  -0.8 4.53e-001 1.22e-011f 35\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1150 6.8463275e+001 0.00e+000 7.18e+001  -2.5 2.56e-001  -0.4 4.72e-001 8.56e-012f 35\n",
      "1151 6.8463275e+001 0.00e+000 9.52e+001  -2.5 3.77e-001  -0.8 3.40e-001 8.80e-013f 37\n",
      "1152 6.8463275e+001 0.00e+000 7.19e+001  -2.5 3.93e-001  -0.4 1.62e-001 6.08e-013f 37\n",
      "1153 6.8463275e+001 0.00e+000 9.01e+001  -2.5 4.10e-001  -0.9 1.86e-001 5.41e-013f 37\n",
      "1154 6.8463275e+001 0.00e+000 7.19e+001  -2.5 7.90e-001  -0.5 1.12e-001 5.28e-013f 36\n",
      "1155 6.8463275e+001 0.00e+000 8.91e+001  -2.5 4.23e-001  -0.9 1.56e-001 5.16e-013f 37\n",
      "1156 6.8463275e+001 0.00e+000 7.19e+001  -2.5 1.88e+000  -0.5 8.79e-002 4.45e-013f 35\n",
      "1157 6.8463275e+001 0.00e+000 8.87e+001  -2.5 4.37e-001  -1.0 1.45e-001 9.99e-013f 36\n",
      "1158 6.8463275e+001 0.00e+000 6.59e+001  -2.5 4.45e-002   0.3 1.00e+000 5.44e-012f 37\n",
      "1159 6.8484504e+001 0.00e+000 1.19e+002  -2.5 1.06e-001  -0.1 4.80e-001 1.81e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1160 6.8480937e+001 0.00e+000 1.15e+002  -2.5 3.29e+001  -0.6 6.39e-003 7.20e-004w  1\n",
      "1161 6.8471745e+001 0.00e+000 8.39e+001  -2.5 5.06e-001  -0.2 3.43e-001 8.94e-002w  1\n",
      "1162 6.8484504e+001 0.00e+000 1.02e+002  -2.5 6.01e+000    -  1.81e-001 1.81e-001S 19\n",
      "1163 6.8471075e+001 0.00e+000 5.99e+001  -2.5 1.52e+000    -  6.45e-001 9.21e-002f  2\n",
      "1164 6.8479771e+001 0.00e+000 1.30e+002  -2.5 4.05e-001  -0.7 5.15e-001 2.50e-001f  3\n",
      "1165 6.8471189e+001 0.00e+000 7.86e+001  -2.5 3.79e-001  -0.2 3.86e-001 2.25e-002f  2\n",
      "1166 6.8465993e+001 0.00e+000 2.50e+001  -2.5 7.99e-001    -  1.00e+000 2.50e-002f  4\n",
      "1167 6.8467976e+001 0.00e+000 1.37e+002  -2.5 2.88e-001  -0.7 5.53e-001 6.25e-002f  5\n",
      "1168 6.8464517e+001 0.00e+000 7.57e+001  -2.5 2.21e-001  -0.3 5.77e-001 2.66e-002f  4\n",
      "1169 6.8463711e+001 0.00e+000 6.01e+001  -2.5 1.08e+000    -  1.00e+000 3.51e-003f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1170 6.8463710e+001 0.00e+000 1.17e+002  -2.5 2.71e-001  -0.8 5.41e-001 5.28e-004f 11\n",
      "1171 6.8463678e+001 0.00e+000 7.53e+001  -2.5 2.52e-001  -0.3 4.79e-001 1.90e-004f 11\n",
      "1172 6.8463678e+001 0.00e+000 9.58e+001  -2.5 1.16e+000    -  1.00e+000 2.78e-006f 18\n",
      "1173 6.8583633e+001 0.00e+000 2.57e+001  -2.5 5.95e-001    -  1.00e+000 9.87e-001w  1\n",
      "1174 6.8510361e+001 0.00e+000 2.87e+000  -2.5 3.44e-001  -0.8 5.20e-001 6.32e-001w  1\n",
      "1175 6.9120147e+001 0.00e+000 2.22e+002  -2.5 2.00e+000    -  1.49e-001 7.28e-001w  1\n",
      "1176 6.8463678e+001 0.00e+000 5.62e+001  -2.5 7.40e-001  -0.4 1.00e+000 4.71e-007f 21\n",
      "1177 6.8463678e+001 0.00e+000 1.17e+002  -2.5 3.35e-001  -0.9 5.32e-001 1.58e-007f 23\n",
      "1178 6.8463678e+001 0.00e+000 8.07e+001  -2.5 3.12e-001  -0.4 4.91e-001 5.58e-008f 22\n",
      "1179 6.8463678e+001 0.00e+000 8.32e+001  -2.5 5.19e-001  -0.9 3.54e-001 9.37e-010f 27\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1180 6.8463678e+001 0.00e+000 8.08e+001  -2.5 1.02e+000  -0.5 8.59e-002 1.82e-010f 28\n",
      "1181 6.8463678e+001 0.00e+000 7.88e+001  -2.5 6.16e-001  -1.0 1.67e-001 1.17e-010f 29\n",
      "1182 6.8463678e+001 0.00e+000 7.49e+001  -2.5 5.80e-002   0.4 1.00e+000 6.34e-010f 30\n",
      "1183 6.8463678e+001 0.00e+000 1.02e+002  -2.5 1.25e-001  -0.1 4.42e-001 3.35e-010f 30\n",
      "1184 6.8463678e+001 0.00e+000 7.52e+001  -2.5 5.38e-002   0.3 4.47e-001 3.64e-010f 31\n",
      "1185 6.8463678e+001 0.00e+000 9.50e+001  -2.5 1.35e+000    -  9.66e-001 1.80e-012f 38\n",
      "1186 6.8581554e+001 0.00e+000 2.58e+001  -2.5 5.99e-001    -  1.00e+000 9.68e-001w  1\n",
      "1187 6.8540191e+001 0.00e+000 8.13e+000  -2.5 1.23e-001  -0.2 5.26e-001 4.10e-001w  1\n",
      "1188 6.8841160e+001 0.00e+000 1.56e+002  -2.5 7.31e-001  -0.6 1.94e-001 1.00e+000w  1\n",
      "1189 6.8463678e+001 0.00e+000 5.62e+001  -2.5 3.57e-001  -0.2 1.00e+000 1.76e-012f 39\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1190 6.8463678e+001 0.00e+000 1.20e+002  -2.5 2.55e-001  -0.7 5.32e-001 4.34e-012f 38\n",
      "1191 6.8463678e+001 0.00e+000 8.07e+001  -2.5 2.12e-001  -0.3 5.05e-001 3.55e-012f 37\n",
      "1192 6.8463678e+001 0.00e+000 8.31e+001  -2.5 3.91e-001  -0.7 3.52e-001 2.11e-012f 36\n",
      "1193 6.8463678e+001 0.00e+000 7.52e+001  -2.5 4.04e-001  -0.3 1.32e-001 7.59e-013f 37\n",
      "1194 6.8463678e+001 0.00e+000 7.85e+001  -2.5 4.15e+000    -  1.15e-001 6.39e-014f 40\n",
      "1195 6.8463678e+001 0.00e+000 8.97e+001  -2.5 3.83e-001  -0.8 2.79e-001 1.31e-012f 37\n",
      "1196 6.8463678e+001 0.00e+000 8.08e+001  -2.5 5.28e-001  -0.4 2.02e-001 8.93e-013f 36\n",
      "1197 6.8463678e+001 0.00e+000 7.92e+001  -2.5 4.98e-001  -0.8 1.85e-001 3.56e-013f 38\n",
      "1198 6.8463678e+001 0.00e+000 7.52e+001  -2.5 1.09e+000  -0.4 1.05e-001 2.17e-013f 37\n",
      "1199 6.8511535e+001 0.00e+000 7.96e+001  -2.5 2.30e+000    -  1.77e-001 4.83e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1200 6.8465072e+001 0.00e+000 5.81e+001  -2.5 5.31e-001  -0.9 2.74e-001 1.35e-001w  1\n",
      "1201 6.8912781e+001 0.00e+000 1.38e+002  -2.5 6.47e-001  -0.5 2.02e-001 1.00e+000w  1\n",
      "1202 6.8463678e+001 0.00e+000 7.72e+001  -2.5 5.02e+000  -0.9 1.77e-001 8.79e-014f 39\n",
      "1203 6.8463678e+001 0.00e+000 9.31e+001  -2.5 2.39e-001  -0.5 3.04e-001 1.77e-012f 37\n",
      "1204 6.8463678e+001 0.00e+000 8.08e+001  -2.5 1.51e-001  -0.1 3.15e-001 3.12e-012f 36\n",
      "1205 6.8463678e+001 0.00e+000 8.02e+001  -2.5 3.29e-001  -0.6 2.34e-001 1.98e-012f 36\n",
      "1206 6.8463678e+001 0.00e+000 8.08e+001  -2.5 2.18e-001  -0.1 2.42e-001 2.16e-012f 36\n",
      "1207 6.8463678e+001 0.00e+000 7.95e+001  -2.5 3.67e-001  -0.6 2.06e-001 1.73e-012f 36\n",
      "1208 6.8463678e+001 0.00e+000 7.52e+001  -2.5 2.75e-001  -0.2 2.21e-001 1.71e-012f 36\n",
      "1209 6.8463678e+001 0.00e+000 6.46e+001  -2.5 1.64e+000    -  7.89e-001 1.58e-013f 41\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1210 6.8463678e+001 0.00e+000 1.14e+002  -2.5 2.25e-001  -0.7 5.20e-001 3.04e-012f 38\n",
      "1211 6.8463678e+001 0.00e+000 8.08e+001  -2.5 2.10e-001  -0.3 4.61e-001 2.69e-012f 37\n",
      "1212 6.8481723e+001 0.00e+000 8.72e+001  -2.5 3.93e-001  -0.7 3.30e-001 7.10e-002w  1\n",
      "1213 6.8463139e+001 0.00e+000 7.62e+001  -2.5 3.78e-001  -0.3 7.77e-002 5.94e-002w  1\n",
      "1214 6.8543575e+001 0.00e+000 9.28e+001  -2.5 8.97e-001  -0.8 1.43e-001 1.79e-001w  1\n",
      "1215 6.8481723e+001 0.00e+000 8.15e+001  -2.5 1.20e+000  -0.4 7.10e-002 7.10e-002S 18\n",
      "1216 6.8471917e+001 0.00e+000 4.85e+001  -2.5 8.03e-001    -  1.00e+000 7.00e-002f  3\n",
      "1217 6.8467223e+001 0.00e+000 1.26e+002  -2.5 3.51e-001  -0.8 5.52e-001 1.09e-001f  4\n",
      "1218 6.8463149e+001 0.00e+000 7.90e+001  -2.5 5.98e-001  -0.4 4.54e-001 1.16e-002f  2\n",
      "1219 6.8463007e+001 0.00e+000 8.67e+001  -2.5 4.69e-001  -0.9 3.18e-001 1.72e-003f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1220 6.8463417e+001 0.00e+000 7.65e+001  -2.5 1.28e+000  -0.5 1.93e-001 2.33e-002f  3\n",
      "1221 6.8463317e+001 0.00e+000 7.56e+001  -2.5 1.77e+000    -  1.75e-001 3.92e-004f  9\n",
      "1222 6.8463286e+001 0.00e+000 9.75e+001  -2.5 4.04e-001  -0.9 3.24e-001 4.91e-004f  9\n",
      "1223 6.8463242e+001 0.00e+000 7.65e+001  -2.5 6.79e-001  -0.5 2.24e-001 6.37e-005f  9\n",
      "1224 6.8463232e+001 0.00e+000 5.67e+001  -2.5 3.83e-001  -1.0 1.00e+000 6.06e-005f 13\n",
      "1225 6.8463231e+001 0.00e+000 1.25e+002  -2.5 2.22e-001  -0.6 5.54e-001 6.28e-005f 14\n",
      "1226 6.8488614e+001 0.00e+000 8.58e+001  -2.5 2.68e-001  -0.1 5.13e-001 1.37e-001w  1\n",
      "1227 6.8462927e+001 0.00e+000 7.31e+001  -2.5 3.45e-001  -0.6 2.67e-001 8.14e-002w  1\n",
      "1228 6.8846796e+001 0.00e+000 1.03e+002  -2.5 2.59e+000  -1.1 1.64e-001 4.03e-001w  1\n",
      "1229 6.8463228e+001 0.00e+000 7.66e+001  -2.5 3.65e-001   0.2 5.13e-001 1.67e-005f 13\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1230 6.8463228e+001 0.00e+000 5.63e+001  -2.5 9.91e-001    -  1.00e+000 1.31e-006f 19\n",
      "1231 6.8463228e+001 0.00e+000 1.26e+002  -2.5 1.10e-001  -0.2 5.59e-001 3.79e-006f 18\n",
      "1232 6.8463227e+001 0.00e+000 7.66e+001  -2.5 1.20e-001   0.2 5.57e-001 2.34e-006f 18\n",
      "1233 6.8463227e+001 0.00e+000 9.99e+001  -2.5 9.10e-001    -  1.00e+000 2.24e-009f 28\n",
      "1234 6.8463227e+001 0.00e+000 1.01e+002  -2.5 5.70e-001    -  1.00e+000 4.66e-010f 32\n",
      "1235 6.8463227e+001 0.00e+000 5.47e+001  -2.5 5.56e-001    -  1.00e+000 5.82e-011f 35\n",
      "1236 6.8463227e+001 0.00e+000 1.27e+002  -2.5 1.29e-001  -0.3 5.50e-001 3.00e-011f 35\n",
      "1237 6.8463227e+001 0.00e+000 7.66e+001  -2.5 1.65e-001   0.1 5.57e-001 1.30e-011f 35\n",
      "1238 6.8463227e+001 0.00e+000 5.62e+001  -2.5 9.18e-001    -  1.00e+000 7.65e-013f 39\n",
      "1239 6.8508465e+001 0.00e+000 1.32e+002  -2.5 1.36e-001  -0.3 5.56e-001 5.12e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1240 6.8480417e+001 0.00e+000 8.11e+001  -2.5 1.59e-001   0.1 4.06e-001 1.71e-001w  1\n",
      "1241 6.8629095e+001 0.00e+000 5.43e+001  -2.5 4.32e+000    -  5.29e-001 1.92e-001w  1\n",
      "1242 6.8463227e+001 0.00e+000 1.26e+002  -2.5 1.52e-001  -0.4 5.56e-001 3.72e-012f 37\n",
      "1243 6.8463227e+001 0.00e+000 7.96e+001  -2.5 1.44e-001   0.0 5.45e-001 3.71e-012f 37\n",
      "1244 6.8463227e+001 0.00e+000 8.53e+001  -2.5 2.42e-001  -0.4 3.45e-001 2.51e-012f 36\n",
      "1245 6.8463227e+001 0.00e+000 7.65e+001  -2.5 3.02e-001  -0.0 2.86e-001 1.77e-012f 37\n",
      "1246 6.8463227e+001 0.00e+000 5.97e+001  -2.5 1.36e+000    -  8.47e-001 3.68e-013f 38\n",
      "1247 6.8463227e+001 0.00e+000 1.21e+002  -2.5 1.74e-001  -0.5 5.39e-001 6.97e-012f 37\n",
      "1248 6.8463227e+001 0.00e+000 7.66e+001  -2.5 1.28e-001  -0.1 5.22e-001 4.76e-012f 37\n",
      "1249 6.8463227e+001 0.00e+000 5.62e+001  -2.5 9.16e-001    -  1.00e+000 3.99e-013f 41\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1250 6.8463227e+001 0.00e+000 1.23e+002  -2.5 1.99e-001  -0.5 5.52e-001 4.06e-012f 38\n",
      "1251 6.8463227e+001 0.00e+000 7.66e+001  -2.5 2.95e-001  -0.1 5.16e-001 1.81e-012f 37\n",
      "1252 6.8548560e+001 0.00e+000 6.23e+001  -2.5 9.40e-001    -  1.00e+000 2.91e-001w  1\n",
      "1253 6.8490438e+001 0.00e+000 1.61e+001  -2.5 2.19e-001  -0.6 5.40e-001 5.25e-001w  1\n",
      "1254 6.9219513e+001 0.00e+000 2.53e+002  -2.5 1.31e+000  -1.1 1.02e-001 1.00e+000w  1\n",
      "1255 6.8463227e+001 0.00e+000 5.63e+001  -2.5 1.20e+000  -0.6 1.00e+000 2.65e-013f 40\n",
      "1256 6.8463227e+001 0.00e+000 1.15e+002  -2.5 1.71e+000  -1.1 4.06e-001 1.13e-012f 38\n",
      "1257 6.8463227e+001 0.00e+000 5.51e+001  -2.5 8.96e-001    -  8.61e-001 1.52e-012f 39\n",
      "1258 6.8463227e+001 0.00e+000 1.22e+002  -2.5 2.77e-001  -0.7 5.25e-001 4.37e-012f 38\n",
      "1259 6.8463227e+001 0.00e+000 7.66e+001  -2.5 3.77e-001  -0.3 5.08e-001 1.42e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1260 6.8463227e+001 0.00e+000 5.62e+001  -2.5 9.41e-001    -  1.00e+000 3.62e-013f 41\n",
      "1261 6.8463227e+001 0.00e+000 1.21e+002  -2.5 2.82e-001  -0.7 5.51e-001 2.28e-012f 39\n",
      "1262 6.8463227e+001 0.00e+000 7.96e+001  -2.5 4.02e-001  -0.3 4.88e-001 1.33e-012f 37\n",
      "1263 6.8463227e+001 0.00e+000 8.53e+001  -2.5 4.18e-001  -0.8 3.43e-001 1.88e-012f 36\n",
      "1264 6.8463227e+001 0.00e+000 7.97e+001  -2.5 1.51e+000  -0.4 1.20e-001 7.07e-013f 36\n",
      "1265 6.8485214e+001 0.00e+000 8.25e+001  -2.5 4.90e-001  -0.8 1.78e-001 3.59e-002w  1\n",
      "1266 6.8463070e+001 0.00e+000 7.78e+001  -2.5 2.02e+000  -0.4 3.34e-002 2.07e-002w  1\n",
      "1267 6.8960111e+001 0.00e+000 1.73e+002  -2.5 2.34e+000  -0.9 1.61e-001 7.33e-001w  1\n",
      "1268 6.8485214e+001 0.00e+000 7.90e+001  -2.5 8.72e-001  -0.5 3.59e-002 3.59e-002S 17\n",
      "1269 6.8467912e+001 0.00e+000 7.85e+001  -2.5 3.02e+001  -0.9 3.01e-003 1.71e-003f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1270 6.8465160e+001 0.00e+000 7.34e+001  -2.5 1.50e+001    -  1.10e-002 1.86e-003f  4\n",
      "1271 6.8469177e+001 0.00e+000 9.24e+001  -2.5 2.49e-001  -0.5 1.36e-001 2.37e-002f  3\n",
      "1272 6.8473036e+001 0.00e+000 7.69e+001  -2.5 1.63e+000  -0.1 3.50e-001 1.28e-002f  5\n",
      "1273 6.8464468e+001 0.00e+000 5.13e+001  -2.5 2.56e-001  -0.6 1.00e+000 4.33e-002f  4\n",
      "1274 6.8464254e+001 0.00e+000 1.19e+002  -2.5 5.47e-001  -1.1 5.45e-001 4.91e-003f  8\n",
      "1275 6.8464034e+001 0.00e+000 8.33e+001  -2.5 9.92e-002   0.3 5.23e-001 3.62e-003f  7\n",
      "1276 6.8464057e+001 0.00e+000 7.84e+001  -2.5 1.96e-001  -0.2 2.88e-001 8.32e-004f  8\n",
      "1277 6.8463941e+001 0.00e+000 7.24e+001  -2.5 1.18e-001   0.2 6.65e-001 7.50e-004f  9\n",
      "1278 6.8463925e+001 0.00e+000 6.45e+001  -2.5 1.26e+000    -  9.99e-001 8.05e-005f 13\n",
      "1279 6.8463927e+001 0.00e+000 1.16e+002  -2.5 1.00e-001  -0.3 5.61e-001 1.07e-004f 13\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1280 6.8490454e+001 0.00e+000 9.11e+001  -2.5 1.19e-001   0.2 5.10e-001 1.90e-001w  1\n",
      "1281 6.8465804e+001 0.00e+000 8.18e+001  -2.5 2.26e-001  -0.3 2.43e-001 1.27e-001w  1\n",
      "1282 6.8480399e+001 0.00e+000 8.79e+001  -2.5 2.67e-001   0.1 1.00e+000 3.41e-001w  1\n",
      "1283 6.8463921e+001 0.00e+000 7.25e+001  -2.5 1.66e-001  -0.4 5.10e-001 4.64e-005f 12\n",
      "1284 6.8463921e+001 0.00e+000 6.44e+001  -2.5 1.25e+000    -  1.00e+000 2.84e-006f 18\n",
      "1285 6.8463921e+001 0.00e+000 1.12e+002  -2.5 2.86e-001  -0.8 5.56e-001 1.96e-006f 19\n",
      "1286 6.8463920e+001 0.00e+000 7.25e+001  -2.5 6.97e-001  -0.4 3.77e-001 1.92e-007f 18\n",
      "1287 6.8463920e+001 0.00e+000 9.13e+001  -2.5 1.39e+000    -  1.00e+000 6.35e-008f 23\n",
      "1288 6.8463920e+001 0.00e+000 9.71e+001  -2.5 6.00e-001    -  1.00e+000 2.81e-008f 26\n",
      "1289 6.8463920e+001 0.00e+000 5.87e+001  -2.5 5.86e-001    -  1.00e+000 4.66e-010f 32\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1290 6.8463920e+001 0.00e+000 1.15e+002  -2.5 3.39e-001  -0.9 5.39e-001 1.52e-010f 33\n",
      "1291 6.8463920e+001 0.00e+000 7.25e+001  -2.5 1.97e+000  -0.5 3.89e-001 1.07e-011f 31\n",
      "1292 6.8463920e+001 0.00e+000 6.45e+001  -2.5 1.32e+000    -  1.00e+000 1.46e-011f 35\n",
      "1293 6.8542164e+001 0.00e+000 1.48e+002  -2.5 4.10e-001  -0.9 5.58e-001 5.28e-001w  1\n",
      "1294 6.8527321e+001 0.00e+000 1.10e+002  -2.5 2.66e+000  -0.5 2.23e-001 1.00e-002w  1\n",
      "1295 6.8528190e+001 0.00e+000 3.74e+002  -2.5 1.93e+000  -0.1 4.03e-001 6.14e-002w  1\n",
      "1296 6.8463920e+001 0.00e+000 1.11e+002  -2.5 3.68e+000    -  5.58e-001 1.54e-011f 35\n",
      "1297 6.8463920e+001 0.00e+000 8.34e+001  -2.5 3.08e+000  -0.6 2.60e-001 1.17e-012f 33\n",
      "1298 6.8463920e+001 0.00e+000 7.81e+001  -2.5 7.29e-001  -1.0 2.61e-001 2.86e-012f 35\n",
      "1299 6.8463920e+001 0.00e+000 8.35e+001  -2.5 7.40e-002   0.3 6.73e-001 7.88e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1300 6.8463920e+001 0.00e+000 7.90e+001  -2.5 1.88e-001  -0.2 3.41e-001 6.40e-012f 35\n",
      "1301 6.8463920e+001 0.00e+000 8.35e+001  -2.5 8.86e-002   0.2 5.13e-001 7.43e-012f 36\n",
      "1302 6.8463920e+001 0.00e+000 7.82e+001  -2.5 2.05e-001  -0.2 3.01e-001 7.31e-013f 38\n",
      "1303 6.8463920e+001 0.00e+000 8.35e+001  -2.5 1.10e-001   0.2 5.17e-001 1.49e-012f 38\n",
      "1304 6.8463920e+001 0.00e+000 7.81e+001  -2.5 2.19e-001  -0.3 2.94e-001 1.43e-012f 37\n",
      "1305 6.8463920e+001 0.00e+000 8.35e+001  -2.5 1.36e-001   0.1 4.65e-001 2.42e-012f 37\n",
      "1306 6.8488384e+001 0.00e+000 8.40e+001  -2.5 2.37e-001  -0.3 2.77e-001 9.21e-002w  1\n",
      "1307 6.8470566e+001 0.00e+000 8.44e+001  -2.5 2.06e-001   0.1 1.39e-001 1.54e-001w  1\n",
      "1308 6.8471539e+001 0.00e+000 7.86e+001  -2.5 2.49e-001  -0.4 1.23e-001 4.22e-002w  1\n",
      "1309 6.8488384e+001 0.00e+000 8.05e+001  -2.5 9.26e-002   0.0 9.21e-002 9.21e-002S 18\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1310 6.8485609e+001 0.00e+000 6.07e+001  -2.5 1.20e+000    -  6.89e-001 7.77e-002f  2\n",
      "1311 6.8485347e+001 0.00e+000 1.30e+002  -2.5 1.71e-001  -0.4 5.18e-001 4.26e-001f  1\n",
      "1312 6.8462670e+001 0.00e+000 7.37e+001  -2.5 2.30e-001  -0.0 3.72e-001 1.15e-001f  1\n",
      "1313 6.8484932e+001 0.00e+000 5.58e+001  -2.5 1.45e+000  -0.5 1.57e-001 1.64e-001f  3\n",
      "1314 6.8486569e+001 0.00e+000 9.97e+001  -2.5 1.23e+000  -1.0 1.31e-001 2.37e-002f  6\n",
      "1315 6.8476699e+001 0.00e+000 1.07e+002  -2.5 8.37e-002   0.4 7.02e-001 7.98e-002f  3\n",
      "1316 6.8476700e+001 0.00e+000 4.72e+001  -2.5 1.97e-001  -0.1 2.99e-001 1.46e-003f  9\n",
      "1317 6.8476580e+001 0.00e+000 1.04e+002  -2.5 8.38e-002   0.3 1.00e+000 1.89e-003f  8\n",
      "1318 6.8476555e+001 0.00e+000 5.24e+001  -2.5 1.93e-001  -0.2 3.83e-001 8.19e-004f 10\n",
      "1319 6.8476472e+001 0.00e+000 4.55e+001  -2.5 1.02e-001   0.3 7.40e-001 4.57e-004f 10\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1320 6.8476464e+001 0.00e+000 1.02e+002  -2.5 2.72e+000    -  1.00e+000 2.81e-005f 14\n",
      "1321 6.8476464e+001 0.00e+000 5.49e+001  -2.5 1.48e-001  -0.2 5.58e-001 3.82e-005f 15\n",
      "1322 6.8476461e+001 0.00e+000 4.55e+001  -2.5 1.12e-001   0.2 5.86e-001 1.23e-005f 15\n",
      "1323 6.8576378e+001 0.00e+000 6.53e+001  -2.5 2.84e+000    -  1.00e+000 2.74e-001w  1\n",
      "1324 6.8565722e+001 0.00e+000 6.02e+001  -2.5 3.18e-001  -0.3 5.49e-001 1.00e+000w  1\n",
      "1325 6.8504504e+001 0.00e+000 1.53e+002  -2.5 8.35e+000    -  5.79e-002 4.77e-002w  1\n",
      "1326 6.8476461e+001 0.00e+000 5.05e+001  -2.5 8.98e+000  -0.7 1.00e+000 1.05e-006f 18\n",
      "1327 6.8476461e+001 0.00e+000 9.04e+001  -2.5 1.32e+000    -  1.00e+000 4.00e-007f 21\n",
      "1328 6.8476461e+001 0.00e+000 7.25e+001  -2.5 9.51e-001  -1.2 4.42e-001 7.70e-008f 23\n",
      "1329 6.8476461e+001 0.00e+000 6.56e+001  -2.5 2.20e+000    -  6.14e-001 1.22e-008f 25\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1330 6.8476461e+001 0.00e+000 6.78e+001  -2.5 9.27e-001    -  1.00e+000 2.77e-009f 29\n",
      "1331 6.8476461e+001 0.00e+000 8.42e+001  -2.5 8.39e-001    -  1.00e+000 1.08e-010f 34\n",
      "1332 6.8476461e+001 0.00e+000 7.77e+001  -2.5 3.11e-001  -0.8 5.44e-001 9.52e-012f 37\n",
      "1333 6.8476461e+001 0.00e+000 1.07e+002  -2.5 9.73e-001  -0.4 2.95e-001 1.20e-012f 35\n",
      "1334 6.8476461e+001 0.00e+000 4.68e+001  -2.5 7.59e-001  -0.8 2.23e-001 2.00e-012f 37\n",
      "1335 6.8476461e+001 0.00e+000 4.55e+001  -2.5 7.18e+000  -0.4 2.30e-002 8.12e-014f 36\n",
      "1336 6.8524185e+001 0.00e+000 1.09e+002  -2.5 1.67e-001   0.0 1.00e+000 1.20e-001w  1\n",
      "1337 6.8511760e+001 0.00e+000 1.23e+002  -2.5 3.22e-001  -0.5 3.53e-001 4.19e-001w  1\n",
      "1338 6.8475824e+001 0.00e+000 9.77e+001  -2.5 1.36e-001  -0.0 1.57e-001 2.63e-001w  1\n",
      "1339 6.8476461e+001 0.00e+000 1.02e+002  -2.5 2.86e-001  -0.5 1.00e+000 8.72e-013f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1340 6.8476461e+001 0.00e+000 5.81e+001  -2.5 7.11e-001  -1.0 3.62e-001 1.67e-012f 38\n",
      "1341 6.8476461e+001 0.00e+000 1.07e+002  -2.5 7.13e-002   0.3 7.02e-001 3.34e-012f 38\n",
      "1342 6.8476461e+001 0.00e+000 4.73e+001  -2.5 2.21e-001  -0.1 3.49e-001 1.23e-012f 39\n",
      "1343 6.8476461e+001 0.00e+000 1.04e+002  -2.5 9.89e-002   0.3 1.00e+000 2.44e-012f 38\n",
      "1344 6.8476461e+001 0.00e+000 5.19e+001  -2.5 2.11e-001  -0.2 3.65e-001 2.78e-012f 38\n",
      "1345 6.8476461e+001 0.00e+000 4.55e+001  -2.5 1.13e-001   0.2 7.29e-001 2.13e-012f 38\n",
      "1346 6.8476461e+001 0.00e+000 1.02e+002  -2.5 2.76e+000    -  1.00e+000 7.45e-013f 39\n",
      "1347 6.8476461e+001 0.00e+000 5.49e+001  -2.5 1.54e-001  -0.3 5.57e-001 4.48e-012f 38\n",
      "1348 6.8476461e+001 0.00e+000 1.07e+002  -2.5 1.20e-001   0.2 5.60e-001 2.62e-012f 37\n",
      "1349 6.8558167e+001 0.00e+000 9.62e+001  -2.5 2.82e-001  -0.3 2.75e-001 2.74e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1350 6.8485057e+001 0.00e+000 2.03e+001  -2.5 2.17e-001   0.1 1.00e+000 2.30e-001w  1\n",
      "1351 6.8629249e+001 0.00e+000 2.11e+002  -2.5 2.53e-001  -0.4 2.62e-001 1.00e+000w  1\n",
      "1352 6.8558167e+001 0.00e+000 9.62e+001  -2.5 1.93e-001   0.1 2.74e-001 2.74e-001S 20\n",
      "1353 6.8499361e+001 0.00e+000 9.61e+001  -2.5 1.01e+000  -0.4 2.55e-002 5.23e-002f  1\n",
      "1354 6.8489225e+001 0.00e+000 1.02e+002  -2.5 2.05e+000  -0.9 2.81e-001 1.01e-002f  1\n",
      "1355 6.8473091e+001 0.00e+000 8.58e+001  -2.5 1.99e-001  -0.5 4.49e-001 1.16e-001f  2\n",
      "1356 6.8470111e+001 0.00e+000 6.14e+001  -2.5 6.36e-001  -0.9 1.00e+000 4.40e-002f  3\n",
      "1357 6.8468535e+001 0.00e+000 9.93e+001  -2.5 6.37e+000  -1.4 1.14e-001 6.27e-003f  4\n",
      "1358 6.8467880e+001 0.00e+000 5.37e+001  -2.5 8.98e-001    -  7.35e-001 4.20e-003f  8\n",
      "1359 6.8467915e+001 0.00e+000 1.17e+002  -2.5 6.44e-001  -1.0 5.32e-001 8.51e-004f 10\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1360 6.8467837e+001 0.00e+000 5.54e+001  -2.5 6.48e+000  -0.6 1.58e-001 5.04e-005f  7\n",
      "1361 6.8467865e+001 0.00e+000 1.09e+002  -2.5 5.77e-001  -1.0 2.03e-001 1.73e-004f 12\n",
      "1362 6.8469890e+001 0.00e+000 8.67e+001  -2.5 2.06e-001   0.3 8.41e-001 1.73e-001f  2\n",
      "1363 6.8470727e+001 0.00e+000 7.44e+001  -2.5 1.86e-001  -0.2 3.94e-001 3.00e-002f  4\n",
      "1364 6.8468397e+001 0.00e+000 7.16e+001  -2.5 5.65e-002   0.2 1.00e+000 2.73e-002f  5\n",
      "1365 6.8536778e+001 0.00e+000 6.55e+001  -2.5 1.50e+000    -  8.84e-001 2.80e-001w  1\n",
      "1366 6.8497858e+001 0.00e+000 3.06e+001  -2.5 1.21e-001  -0.2 5.37e-001 3.47e-001w  1\n",
      "1367 6.9011975e+001 0.00e+000 2.81e+002  -2.5 8.36e-001  -0.7 9.96e-001 1.00e+000w  1\n",
      "1368 6.8467383e+001 0.00e+000 7.26e+001  -2.5 3.42e-001  -0.3 8.84e-001 4.38e-003f  6\n",
      "1369 6.8467389e+001 0.00e+000 9.91e+001  -2.5 2.92e-001  -0.8 5.41e-001 1.63e-003f  9\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1370 6.8467274e+001 0.00e+000 8.69e+001  -2.5 2.53e-001  -0.3 4.22e-001 5.90e-004f  8\n",
      "1371 6.8467281e+001 0.00e+000 7.14e+001  -2.5 5.40e-001  -0.8 2.87e-001 9.82e-005f 11\n",
      "1372 6.8467264e+001 0.00e+000 8.70e+001  -2.5 6.73e-001  -0.4 1.69e-001 5.56e-005f 11\n",
      "1373 6.8467270e+001 0.00e+000 7.02e+001  -2.5 6.29e-001  -0.9 2.02e-001 3.44e-005f 12\n",
      "1374 6.8467259e+001 0.00e+000 6.80e+001  -2.5 1.23e+000  -0.4 1.13e-001 1.24e-005f 12\n",
      "1375 6.8467257e+001 0.00e+000 7.93e+001  -2.5 1.04e+000  -0.9 7.25e-001 4.51e-006f 14\n",
      "1376 6.8467257e+001 0.00e+000 9.04e+001  -2.5 2.32e-001  -0.5 4.89e-001 4.37e-006f 17\n",
      "1377 6.8467257e+001 0.00e+000 6.81e+001  -2.5 1.09e-001  -0.1 4.47e-001 3.23e-006f 17\n",
      "1378 6.8529603e+001 0.00e+000 7.67e+001  -2.5 2.14e+000    -  7.81e-001 1.52e-001w  1\n",
      "1379 6.8486909e+001 0.00e+000 4.14e+001  -2.5 2.47e-001  -0.5 5.06e-001 2.81e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1380 6.8941703e+001 0.00e+000 2.13e+002  -2.5 1.35e+000  -1.0 1.20e-001 6.68e-001w  1\n",
      "1381 6.8467257e+001 0.00e+000 7.85e+001  -2.5 1.24e+000  -0.6 7.81e-001 1.45e-007f 20\n",
      "1382 6.8467257e+001 0.00e+000 8.84e+001  -2.5 2.62e+000  -1.1 2.78e-001 1.03e-007f 21\n",
      "1383 6.8467257e+001 0.00e+000 6.60e+001  -2.5 1.00e+000    -  6.60e-001 6.81e-008f 24\n",
      "1384 6.8467257e+001 0.00e+000 1.04e+002  -2.5 2.29e-001  -0.6 4.91e-001 6.03e-008f 24\n",
      "1385 6.8467257e+001 0.00e+000 6.81e+001  -2.5 1.68e-001  -0.2 5.21e-001 3.41e-008f 23\n",
      "1386 6.8467257e+001 0.00e+000 7.67e+001  -2.5 1.84e+000    -  9.31e-001 4.34e-009f 27\n",
      "1387 6.8467257e+001 0.00e+000 9.40e+001  -2.5 2.67e-001  -0.7 5.38e-001 5.37e-009f 27\n",
      "1388 6.8467257e+001 0.00e+000 8.69e+001  -2.5 2.06e-001  -0.3 4.02e-001 1.61e-009f 27\n",
      "1389 6.8467257e+001 0.00e+000 7.13e+001  -2.5 4.78e-001  -0.7 2.84e-001 4.93e-011f 32\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1390 6.8467257e+001 0.00e+000 6.80e+001  -2.5 5.15e-001  -0.3 1.91e-001 1.97e-011f 32\n",
      "1391 6.8527161e+001 0.00e+000 7.91e+001  -2.5 3.02e+000    -  5.22e-001 6.28e-002w  1\n",
      "1392 6.8471998e+001 0.00e+000 4.20e+001  -2.5 4.76e-001  -0.8 4.23e-001 2.54e-001w  1\n",
      "1393 6.8920884e+001 0.00e+000 2.29e+002  -2.5 1.56e+000  -1.3 1.24e-001 6.65e-001w  1\n",
      "1394 6.8467257e+001 0.00e+000 7.36e+001  -2.5 5.10e-001   0.1 5.22e-001 9.14e-013f 36\n",
      "1395 6.8467257e+001 0.00e+000 6.71e+001  -2.5 1.00e+000    -  1.00e+000 1.12e-012f 40\n",
      "1396 6.8467257e+001 0.00e+000 1.03e+002  -2.5 1.46e-001  -0.4 5.38e-001 3.82e-012f 38\n",
      "1397 6.8467257e+001 0.00e+000 8.69e+001  -2.5 1.00e-001   0.0 5.45e-001 4.85e-012f 37\n",
      "1398 6.8467257e+001 0.00e+000 7.19e+001  -2.5 2.93e-001  -0.5 3.33e-001 2.22e-012f 37\n",
      "1399 6.8467257e+001 0.00e+000 8.70e+001  -2.5 2.45e-001  -0.0 5.61e-001 2.27e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1400 6.8467257e+001 0.00e+000 7.08e+001  -2.5 3.34e-001  -0.5 2.51e-001 9.64e-013f 38\n",
      "1401 6.8467257e+001 0.00e+000 8.57e+001  -2.5 3.02e-001  -0.1 1.00e+000 1.85e-012f 37\n",
      "1402 6.8467257e+001 0.00e+000 7.45e+001  -2.5 3.17e-001  -0.6 3.03e-001 2.51e-012f 37\n",
      "1403 6.8467257e+001 0.00e+000 8.70e+001  -2.5 3.48e-001  -0.2 4.75e-001 3.20e-012f 36\n",
      "1404 6.8498322e+001 0.00e+000 8.38e+001  -2.5 3.84e-001  -0.6 2.23e-001 1.29e-001w  1\n",
      "1405 6.8465648e+001 0.00e+000 8.48e+001  -2.5 4.63e-001  -0.2 1.00e+000 1.41e-001w  1\n",
      "1406 6.8484906e+001 0.00e+000 7.71e+001  -2.5 1.77e+000    -  5.21e-001 5.78e-002w  1\n",
      "1407 6.8467257e+001 0.00e+000 7.05e+001  -2.5 2.57e-001  -0.7 2.23e-001 1.87e-012f 36\n",
      "1408 6.8467257e+001 0.00e+000 8.64e+001  -2.5 5.48e-001  -0.3 1.00e+000 2.03e-012f 36\n",
      "1409 6.8467257e+001 0.00e+000 7.27e+001  -2.5 4.15e-001  -0.7 2.90e-001 2.15e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1410 6.8467257e+001 0.00e+000 6.81e+001  -2.5 6.60e-001  -0.3 3.88e-001 1.69e-012f 36\n",
      "1411 6.8467257e+001 0.00e+000 7.93e+001  -2.5 2.15e+000    -  7.13e-001 1.73e-013f 40\n",
      "1412 6.8467257e+001 0.00e+000 9.09e+001  -2.5 3.27e-001  -0.8 5.20e-001 2.13e-012f 38\n",
      "1413 6.8467257e+001 0.00e+000 8.69e+001  -2.5 2.69e-001  -0.4 3.46e-001 1.34e-012f 37\n",
      "1414 6.8467257e+001 0.00e+000 7.09e+001  -2.5 5.73e-001  -0.8 2.48e-001 6.47e-013f 38\n",
      "1415 6.8467257e+001 0.00e+000 6.80e+001  -2.5 4.43e-001  -0.4 1.95e-001 3.78e-013f 38\n",
      "1416 6.8467257e+001 0.00e+000 8.10e+001  -2.5 2.89e+000    -  5.60e-001 8.74e-014f 41\n",
      "1417 6.8506125e+001 0.00e+000 1.07e+002  -2.5 4.33e-001  -0.9 4.59e-001 2.39e-001w  1\n",
      "1418 6.8473322e+001 0.00e+000 8.80e+001  -2.5 4.91e-001  -0.5 1.93e-001 9.05e-002w  1\n",
      "1419 6.8535950e+001 0.00e+000 5.29e+001  -2.5 1.25e+000  -0.9 7.12e-001 9.38e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1420 6.8467257e+001 0.00e+000 8.77e+001  -2.5 1.64e-001  -0.5 4.59e-001 1.74e-012f 37\n",
      "1421 6.8467257e+001 0.00e+000 8.69e+001  -2.5 1.27e-001  -0.1 4.24e-001 2.94e-012f 37\n",
      "1422 6.8467257e+001 0.00e+000 7.13e+001  -2.5 3.56e-001  -0.6 2.87e-001 1.85e-012f 37\n",
      "1423 6.8467257e+001 0.00e+000 8.70e+001  -2.5 2.62e-001  -0.1 4.58e-001 1.55e-012f 37\n",
      "1424 6.8467257e+001 0.00e+000 7.09e+001  -2.5 3.92e-001  -0.6 2.64e-001 8.49e-013f 38\n",
      "1425 6.8467257e+001 0.00e+000 8.70e+001  -2.5 4.00e-001  -0.2 5.08e-001 1.39e-012f 37\n",
      "1426 6.8467257e+001 0.00e+000 7.05e+001  -2.5 4.18e-001  -0.7 2.29e-001 1.68e-012f 37\n",
      "1427 6.8467257e+001 0.00e+000 8.70e+001  -2.5 5.04e-001  -0.2 8.80e-001 2.21e-012f 36\n",
      "1428 6.8467257e+001 0.00e+000 7.10e+001  -2.5 4.24e-001  -0.7 2.72e-001 1.96e-012f 37\n",
      "1429 6.8467257e+001 0.00e+000 8.70e+001  -2.5 6.28e-001  -0.3 6.28e-001 1.77e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1430 6.8494868e+001 0.00e+000 8.33e+001  -2.5 4.72e-001  -0.8 2.35e-001 1.21e-001w  1\n",
      "1431 6.8472361e+001 0.00e+000 7.66e+001  -2.5 7.49e-001  -0.3 2.55e-001 8.07e-002w  1\n",
      "1432 6.8538094e+001 0.00e+000 6.36e+001  -2.5 3.88e-001  -0.8 1.00e+000 3.83e-001w  1\n",
      "1433 6.8467257e+001 0.00e+000 7.06e+001  -2.5 2.07e-001  -0.4 2.35e-001 1.77e-012f 36\n",
      "1434 6.8467257e+001 0.00e+000 7.27e+001  -2.5 2.00e-001   0.0 1.00e+000 2.79e-012f 37\n",
      "1435 6.8467257e+001 0.00e+000 7.02e+001  -2.5 1.38e+000    -  9.70e-001 5.56e-013f 40\n",
      "1436 6.8467257e+001 0.00e+000 1.00e+002  -2.5 1.59e-001  -0.4 5.45e-001 3.52e-012f 38\n",
      "1437 6.8467257e+001 0.00e+000 8.69e+001  -2.5 1.01e-001  -0.0 5.17e-001 4.12e-012f 37\n",
      "1438 6.8467257e+001 0.00e+000 7.18e+001  -2.5 3.07e-001  -0.5 3.29e-001 2.11e-012f 37\n",
      "1439 6.8467257e+001 0.00e+000 6.80e+001  -2.5 2.46e-001  -0.1 4.67e-001 1.63e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1440 6.8467257e+001 0.00e+000 7.88e+001  -2.5 2.18e+000    -  7.58e-001 2.47e-013f 40\n",
      "1441 6.8467257e+001 0.00e+000 9.01e+001  -2.5 2.14e-001  -0.5 5.16e-001 2.42e-012f 38\n",
      "1442 6.8467257e+001 0.00e+000 8.69e+001  -2.5 1.37e-001  -0.1 4.06e-001 1.85e-012f 37\n",
      "1443 6.8501438e+001 0.00e+000 8.36e+001  -2.5 3.74e-001  -0.6 2.62e-001 1.19e-001w  1\n",
      "1444 6.8472356e+001 0.00e+000 7.74e+001  -2.5 2.97e-001  -0.2 9.02e-002 9.47e-002w  1\n",
      "1445 6.8508746e+001 0.00e+000 6.36e+001  -2.5 2.41e+000    -  4.14e-001 3.98e-002w  1\n",
      "1446 6.8467257e+001 0.00e+000 7.10e+001  -2.5 2.61e-001  -0.6 2.62e-001 1.73e-012f 36\n",
      "1447 6.8467257e+001 0.00e+000 8.70e+001  -2.5 2.89e-001  -0.2 4.01e-001 1.75e-012f 36\n",
      "1448 6.8467257e+001 0.00e+000 7.08e+001  -2.5 4.46e-001  -0.7 2.52e-001 7.81e-013f 38\n",
      "1449 6.8467257e+001 0.00e+000 8.70e+001  -2.5 3.70e-001  -0.3 3.77e-001 6.87e-013f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1450 6.8467257e+001 0.00e+000 7.07e+001  -2.5 4.89e-001  -0.7 2.43e-001 7.37e-013f 38\n",
      "1451 6.8467257e+001 0.00e+000 6.80e+001  -2.5 4.85e-001  -0.3 3.20e-001 5.23e-013f 37\n",
      "1452 6.8467257e+001 0.00e+000 7.63e+001  -2.5 3.15e-001  -0.8 1.00e+000 4.72e-013f 40\n",
      "1453 6.8467257e+001 0.00e+000 9.45e+001  -2.5 1.72e-001  -0.4 5.42e-001 2.68e-012f 38\n",
      "1454 6.8467257e+001 0.00e+000 6.81e+001  -2.5 1.11e-001   0.1 4.74e-001 1.82e-012f 38\n",
      "1455 6.8467257e+001 0.00e+000 7.84e+001  -2.5 2.10e+000    -  7.90e-001 2.17e-013f 41\n",
      "1456 6.8507657e+001 0.00e+000 1.13e+002  -2.5 1.76e-001  -0.4 5.22e-001 3.58e-001w  1\n",
      "1457 6.8483597e+001 0.00e+000 8.92e+001  -2.5 1.64e-001   0.0 2.28e-001 1.24e-001w  1\n",
      "1458 6.8557815e+001 0.00e+000 7.48e+000  -2.5 3.15e+000    -  4.34e-001 8.83e-002w  1\n",
      "1459 6.8467257e+001 0.00e+000 9.03e+001  -2.5 1.87e-001  -0.5 5.22e-001 2.60e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1460 6.8467257e+001 0.00e+000 8.69e+001  -2.5 1.26e-001  -0.0 4.28e-001 2.45e-012f 37\n",
      "1461 6.8467257e+001 0.00e+000 7.12e+001  -2.5 3.34e-001  -0.5 2.77e-001 1.87e-012f 37\n",
      "1462 6.8467257e+001 0.00e+000 8.70e+001  -2.5 2.38e-001  -0.1 5.72e-001 2.80e-012f 36\n",
      "1463 6.8467257e+001 0.00e+000 7.11e+001  -2.5 3.60e-001  -0.6 2.84e-001 1.88e-012f 37\n",
      "1464 6.8467257e+001 0.00e+000 8.70e+001  -2.5 3.54e-001  -0.2 5.96e-001 1.57e-012f 37\n",
      "1465 6.8467257e+001 0.00e+000 7.07e+001  -2.5 3.88e-001  -0.6 2.43e-001 9.16e-013f 38\n",
      "1466 6.8467257e+001 0.00e+000 8.67e+001  -2.5 4.41e-001  -0.2 1.00e+000 1.26e-012f 37\n",
      "1467 6.8467257e+001 0.00e+000 7.19e+001  -2.5 3.89e-001  -0.7 2.92e-001 1.08e-012f 38\n",
      "1468 6.8467257e+001 0.00e+000 8.70e+001  -2.5 5.35e-001  -0.3 5.21e-001 1.04e-012f 37\n",
      "1469 6.8496090e+001 0.00e+000 8.32e+001  -2.5 4.50e-001  -0.7 2.21e-001 1.21e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1470 6.8470724e+001 0.00e+000 7.66e+001  -2.5 6.68e-001  -0.3 1.00e+000 9.44e-002w  1\n",
      "1471 6.8464195e+001 0.00e+000 7.23e+001  -2.5 2.13e+003    -  3.51e-004 4.80e-005w  1\n",
      "1472 6.8496090e+001 0.00e+000 8.21e+001  -2.5 7.21e-001  -0.8 1.21e-001 1.21e-001S 18\n",
      "1473 6.8472730e+001 0.00e+000 8.49e+001  -2.5 1.81e+000  -1.3 6.96e-001 3.49e-002f  1\n",
      "1474 6.8470032e+001 0.00e+000 6.15e+001  -2.5 9.38e-001    -  1.00e+000 8.08e-002f  2\n",
      "1475 6.8476571e+001 0.00e+000 1.21e+002  -2.5 3.73e-001  -0.8 5.41e-001 1.74e-001f  3\n",
      "1476 6.8472344e+001 0.00e+000 7.66e+001  -2.5 8.49e-001  -0.4 4.44e-001 9.65e-003f  2\n",
      "1477 6.8463982e+001 0.00e+000 1.02e+002  -2.5 8.48e-001    -  7.63e-001 2.56e-002f  4\n",
      "1478 6.8463356e+001 0.00e+000 5.84e+001  -2.5 6.54e-001    -  1.00e+000 6.73e-003f  8\n",
      "1479 6.8463390e+001 0.00e+000 1.16e+002  -2.5 3.68e-001  -0.9 5.32e-001 2.65e-003f  9\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1480 6.8463963e+001 0.00e+000 8.33e+001  -2.5 3.50e-001  -0.5 5.55e-001 1.72e-002f  4\n",
      "1481 6.8464338e+001 0.00e+000 8.23e+001  -2.5 5.85e-001  -0.9 3.69e-001 7.50e-003f  4\n",
      "1482 6.8463131e+001 0.00e+000 8.35e+001  -2.5 2.79e+000  -0.5 2.74e-001 1.37e-002f  2\n",
      "1483 6.8463098e+001 0.00e+000 7.84e+001  -2.5 6.88e-001  -1.0 2.28e-001 3.08e-004f  8\n",
      "1484 6.8464170e+001 0.00e+000 8.33e+001  -2.5 3.29e+000  -0.6 1.00e+000 1.94e-002w  1\n",
      "1485 6.8551417e+001 0.00e+000 4.22e+001  -2.5 8.86e-001    -  9.86e-001 4.92e-001w  1\n",
      "1486 6.8480401e+001 0.00e+000 1.75e+002  -2.5 4.68e-001  -1.0 4.72e-001 6.59e-001w  1\n",
      "1487 6.8463478e+001 0.00e+000 8.40e+001  -2.5 1.26e+000    -  1.00e+000 4.84e-003f  2\n",
      "1488 6.8463307e+001 0.00e+000 6.16e+001  -2.5 8.89e-001    -  1.00e+000 3.71e-003f  8\n",
      "1489 6.8463228e+001 0.00e+000 1.18e+002  -2.5 2.32e-001  -0.6 5.40e-001 4.31e-003f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1490 6.8463066e+001 0.00e+000 7.21e+001  -2.5 1.94e-001  -0.2 5.26e-001 1.08e-003f  7\n",
      "1491 6.8463023e+001 0.00e+000 6.04e+001  -2.5 1.00e+000    -  1.00e+000 1.80e-004f 12\n",
      "1492 6.8463024e+001 0.00e+000 1.18e+002  -2.5 2.53e-001  -0.7 5.47e-001 7.32e-005f 14\n",
      "1493 6.8463020e+001 0.00e+000 8.41e+001  -2.5 2.26e-001  -0.2 5.27e-001 2.86e-005f 12\n",
      "1494 6.8463020e+001 0.00e+000 8.10e+001  -2.5 3.85e-001  -0.7 3.43e-001 2.11e-006f 16\n",
      "1495 6.8463019e+001 0.00e+000 8.42e+001  -2.5 3.66e-001  -0.3 2.08e-001 1.10e-006f 16\n",
      "1496 6.8463019e+001 0.00e+000 7.69e+001  -2.5 4.66e-001  -0.8 1.98e-001 3.43e-007f 18\n",
      "1497 6.8474950e+001 0.00e+000 8.60e+001  -2.5 5.72e-001  -0.3 1.67e-001 2.31e-002w  1\n",
      "1498 6.8472651e+001 0.00e+000 7.77e+001  -2.5 5.40e-001  -0.8 1.50e-001 4.86e-002w  1\n",
      "1499 6.8545768e+001 0.00e+000 7.94e+001  -2.5 3.92e+000  -0.4 1.00e+000 1.05e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1500 6.8463019e+001 0.00e+000 7.20e+001  -2.5 1.40e+000    -  1.67e-001 1.76e-007f 17\n",
      "1501 6.8463019e+001 0.00e+000 8.60e+001  -2.5 1.94e+000    -  5.85e-001 3.13e-008f 22\n",
      "1502 6.8463019e+001 0.00e+000 6.03e+001  -2.5 7.22e-001    -  1.00e+000 6.25e-008f 24\n",
      "1503 6.8463019e+001 0.00e+000 1.16e+002  -2.5 3.73e-001  -0.9 5.37e-001 7.86e-008f 24\n",
      "1504 6.8463019e+001 0.00e+000 7.21e+001  -2.5 6.84e-001  -0.4 4.97e-001 1.84e-008f 21\n",
      "1505 6.8463019e+001 0.00e+000 9.35e+001  -2.5 9.95e-001    -  9.01e-001 1.22e-009f 29\n",
      "1506 6.8463019e+001 0.00e+000 5.96e+001  -2.5 6.43e-001    -  1.00e+000 7.87e-010f 31\n",
      "1507 6.8463019e+001 0.00e+000 1.15e+002  -2.5 3.97e-001  -0.9 5.35e-001 3.31e-010f 32\n",
      "1508 6.8463019e+001 0.00e+000 8.41e+001  -2.5 1.08e+000  -0.5 4.74e-001 4.58e-011f 29\n",
      "1509 6.8463019e+001 0.00e+000 8.13e+001  -2.5 6.30e-001  -1.0 3.50e-001 1.28e-011f 33\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1510 6.8486096e+001 0.00e+000 8.64e+001  -2.5 1.00e+000  -0.5 1.82e-001 4.69e-002w  1\n",
      "1511 6.8459812e+001 0.00e+000 7.87e+001  -2.5 8.72e-001  -1.0 1.72e-001 4.29e-002w  1\n",
      "1512 6.8469554e+001 0.00e+000 2.31e+002  -2.5 2.12e+001  -0.6 3.19e-001 5.58e-003w  1\n",
      "1513 6.8463019e+001 0.00e+000 7.20e+001  -2.5 1.13e+000    -  1.82e-001 5.46e-012f 33\n",
      "1514 6.8463019e+001 0.00e+000 7.78e+001  -2.5 2.06e+000    -  2.67e-001 4.55e-013f 38\n",
      "1515 6.8463019e+001 0.00e+000 9.77e+001  -2.5 5.87e-001  -1.1 3.71e-001 1.36e-012f 38\n",
      "1516 6.8463019e+001 0.00e+000 8.41e+001  -2.5 7.16e-002   0.3 4.72e-001 4.09e-012f 37\n",
      "1517 6.8463019e+001 0.00e+000 8.03e+001  -2.5 1.94e-001  -0.2 3.28e-001 1.29e-012f 37\n",
      "1518 6.8463019e+001 0.00e+000 8.42e+001  -2.5 1.10e-001   0.2 4.75e-001 3.31e-012f 37\n",
      "1519 6.8463019e+001 0.00e+000 7.99e+001  -2.5 2.12e-001  -0.3 3.21e-001 2.40e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1520 6.8463019e+001 0.00e+000 7.20e+001  -2.5 1.35e-001   0.2 4.32e-001 3.08e-012f 37\n",
      "1521 6.8463019e+001 0.00e+000 6.56e+001  -2.5 1.36e+000    -  7.73e-001 5.69e-013f 38\n",
      "1522 6.8463019e+001 0.00e+000 1.17e+002  -2.5 1.31e-001  -0.3 5.23e-001 6.00e-012f 37\n",
      "1523 6.8478923e+001 0.00e+000 9.19e+001  -2.5 8.14e-002   0.1 5.59e-001 1.84e-001w  1\n",
      "1524 6.8468373e+001 0.00e+000 8.05e+001  -2.5 2.43e-001  -0.4 3.30e-001 1.04e-001w  1\n",
      "1525 6.8510134e+001 0.00e+000 5.83e+001  -2.5 9.05e-001   0.1 2.83e-001 3.45e-001w  1\n",
      "1526 6.8463019e+001 0.00e+000 8.41e+001  -2.5 1.56e+000    -  5.59e-001 5.35e-012f 35\n",
      "1527 6.8463019e+001 0.00e+000 8.10e+001  -2.5 2.45e-001  -0.4 3.49e-001 1.26e-012f 37\n",
      "1528 6.8463019e+001 0.00e+000 8.42e+001  -2.5 1.41e-001   0.0 3.37e-001 1.76e-012f 37\n",
      "1529 6.8463019e+001 0.00e+000 7.85e+001  -2.5 2.93e-001  -0.5 2.63e-001 4.72e-013f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1530 6.8463019e+001 0.00e+000 8.42e+001  -2.5 2.04e-001  -0.1 3.11e-001 1.42e-012f 37\n",
      "1531 6.8463019e+001 0.00e+000 7.81e+001  -2.5 3.19e-001  -0.5 2.49e-001 1.75e-012f 36\n",
      "1532 6.8463019e+001 0.00e+000 8.42e+001  -2.5 2.64e-001  -0.1 2.72e-001 2.32e-012f 36\n",
      "1533 6.8463019e+001 0.00e+000 7.77e+001  -2.5 3.46e-001  -0.6 2.30e-001 8.05e-013f 37\n",
      "1534 6.8463019e+001 0.00e+000 8.42e+001  -2.5 3.12e-001  -0.2 2.48e-001 9.35e-013f 37\n",
      "1535 6.8463019e+001 0.00e+000 7.73e+001  -2.5 3.74e-001  -0.6 2.17e-001 7.63e-013f 37\n",
      "1536 6.8480548e+001 0.00e+000 8.78e+001  -2.5 3.62e-001  -0.2 2.26e-001 5.08e-002w  1\n",
      "1537 6.8470865e+001 0.00e+000 7.82e+001  -2.5 4.44e-001  -0.7 1.83e-001 6.35e-002w  1\n",
      "1538 6.8489709e+001 0.00e+000 7.05e+001  -2.5 1.69e+000  -0.3 2.34e-001 9.36e-002w  1\n",
      "1539 6.8463019e+001 0.00e+000 8.42e+001  -2.5 1.09e+000    -  2.26e-001 1.48e-012f 35\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1540 6.8463019e+001 0.00e+000 7.70e+001  -2.5 4.35e-001  -0.7 2.04e-001 1.40e-012f 36\n",
      "1541 6.8463019e+001 0.00e+000 8.42e+001  -2.5 5.15e-001  -0.3 1.75e-001 1.68e-012f 35\n",
      "1542 6.8463019e+001 0.00e+000 7.63e+001  -2.5 4.74e-001  -0.8 1.76e-001 1.29e-012f 36\n",
      "1543 6.8463019e+001 0.00e+000 8.42e+001  -2.5 6.65e-001  -0.4 1.65e-001 1.16e-012f 35\n",
      "1544 6.8463019e+001 0.00e+000 7.61e+001  -2.5 5.13e-001  -0.8 1.69e-001 1.25e-012f 36\n",
      "1545 6.8463019e+001 0.00e+000 8.42e+001  -2.5 1.07e+000  -0.4 1.49e-001 7.22e-013f 35\n",
      "1546 6.8463019e+001 0.00e+000 7.59e+001  -2.5 5.59e-001  -0.9 1.60e-001 1.21e-012f 36\n",
      "1547 6.8463019e+001 0.00e+000 8.42e+001  -2.5 2.26e+000  -0.5 1.20e-001 6.81e-013f 34\n",
      "1548 6.8463019e+001 0.00e+000 7.55e+001  -2.5 6.10e-001  -0.9 1.45e-001 1.14e-012f 36\n",
      "1549 6.8467307e+001 0.00e+000 8.45e+001  -2.5 7.34e+002  -0.5 9.49e-004 1.80e-005w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1550 6.8483535e+001 0.00e+000 7.66e+001  -2.5 6.47e-001  -1.0 1.30e-001 3.43e-002w  1\n",
      "1551 6.8493421e+001 0.00e+000 5.91e+001  -2.5 1.00e-001   0.3 1.00e+000 2.50e-001w  1\n",
      "1552 6.8467307e+001 0.00e+000 8.10e+001  -2.5 1.47e-001  -0.1 1.80e-005 1.80e-005S  6\n",
      "1553 6.8477471e+001 0.00e+000 7.66e+001  -2.5 1.57e+001  -0.6 1.64e-001 4.15e-003f  5\n",
      "1554 6.8468926e+001 0.00e+000 6.82e+001  -2.5 2.20e-001  -0.2 3.12e-001 4.24e-002f  2\n",
      "1555 6.8464314e+001 0.00e+000 8.15e+001  -2.5 1.52e+000    -  7.60e-001 1.29e-002f  5\n",
      "1556 6.8463921e+001 0.00e+000 6.49e+001  -2.5 6.97e-001    -  1.00e+000 3.07e-003f  9\n",
      "1557 6.8463940e+001 0.00e+000 1.11e+002  -2.5 2.32e-001  -0.7 5.41e-001 5.52e-004f 11\n",
      "1558 6.8464744e+001 0.00e+000 8.93e+001  -2.5 4.66e-001  -0.2 6.22e-001 8.64e-003f  5\n",
      "1559 6.8464379e+001 0.00e+000 7.34e+001  -2.5 4.19e-001  -0.7 3.26e-001 5.38e-003f  5\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1560 6.8463868e+001 0.00e+000 8.92e+001  -2.5 9.35e-001  -0.3 2.71e-001 2.05e-003f  6\n",
      "1561 6.8463904e+001 0.00e+000 7.10e+001  -2.5 4.94e-001  -0.8 2.15e-001 9.57e-004f  7\n",
      "1562 6.8463810e+001 0.00e+000 8.92e+001  -2.5 1.25e+000  -0.3 2.55e-001 7.46e-004f  7\n",
      "1563 6.8486900e+001 0.00e+000 7.51e+001  -2.5 5.44e-001  -0.8 2.11e-001 5.79e-002w  1\n",
      "1564 6.8469867e+001 0.00e+000 8.78e+001  -2.5 1.47e+000  -0.4 8.71e-002 5.76e-002w  1\n",
      "1565 6.8475147e+001 0.00e+000 8.52e+001  -2.5 9.35e-001  -0.9 2.28e-001 4.01e-002w  1\n",
      "1566 6.8463869e+001 0.00e+000 7.10e+001  -2.5 7.80e-001  -0.4 2.11e-001 9.05e-004f  6\n",
      "1567 6.8463648e+001 0.00e+000 8.93e+001  -2.5 3.34e-001  -0.0 8.88e-001 1.38e-003f  8\n",
      "1568 6.8463628e+001 0.00e+000 7.21e+001  -2.5 2.83e-001  -0.5 2.70e-001 2.02e-004f 10\n",
      "1569 6.8463620e+001 0.00e+000 8.93e+001  -2.5 3.90e-001  -0.1 9.52e-001 1.47e-004f 11\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1570 6.8463621e+001 0.00e+000 7.21e+001  -2.5 2.96e-001  -0.5 2.68e-001 1.06e-004f 11\n",
      "1571 6.8463609e+001 0.00e+000 6.77e+001  -2.5 4.64e-001  -0.1 1.00e+000 6.18e-005f 12\n",
      "1572 6.8463607e+001 0.00e+000 7.03e+001  -2.5 1.03e+000    -  8.96e-001 8.39e-006f 15\n",
      "1573 6.8463607e+001 0.00e+000 1.09e+002  -2.5 1.95e-001  -0.6 5.47e-001 3.52e-006f 18\n",
      "1574 6.8463607e+001 0.00e+000 8.92e+001  -2.5 2.14e-001  -0.2 5.45e-001 2.07e-006f 18\n",
      "1575 6.8463607e+001 0.00e+000 7.41e+001  -2.5 3.76e-001  -0.6 3.42e-001 6.21e-007f 18\n",
      "1576 6.8492949e+001 0.00e+000 9.38e+001  -2.5 4.00e-001  -0.2 2.25e-001 7.95e-002w  1\n",
      "1577 6.8466476e+001 0.00e+000 7.37e+001  -2.5 5.21e-001  -0.7 1.15e-001 7.32e-002w  1\n",
      "1578 6.8510653e+001 0.00e+000 4.99e+001  -2.5 2.74e-001  -0.3 1.00e+000 1.40e-001w  1\n",
      "1579 6.8492949e+001 0.00e+000 8.90e+001  -2.5 3.71e-001  -0.7 7.95e-002 7.95e-002S 18\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1580 6.8486234e+001 0.00e+000 8.59e+001  -2.5 3.56e-001  -0.3 2.08e-001 1.08e-001f  1\n",
      "1581 6.8466692e+001 0.00e+000 8.81e+001  -2.5 2.11e-001   0.1 2.04e-001 1.63e-001f  1\n",
      "1582 6.8468225e+001 0.00e+000 8.16e+001  -2.5 2.58e-001  -0.4 1.43e-001 4.22e-002f  1\n",
      "1583 6.8465124e+001 0.00e+000 6.30e+001  -2.5 4.17e-001   0.1 3.27e-001 1.38e-001f  1\n",
      "1584 6.8472606e+001 0.00e+000 5.07e+001  -2.5 2.75e+000    -  5.08e-001 2.17e-002f  4\n",
      "1585 6.8479468e+001 0.00e+000 1.21e+002  -2.5 1.87e-001  -0.4 4.13e-001 1.85e-001f  3\n",
      "1586 6.8481529e+001 0.00e+000 6.21e+001  -2.5 4.04e-001   0.0 6.26e-001 7.57e-002f  4\n",
      "1587 6.8465220e+001 0.00e+000 7.64e+001  -2.5 1.46e+000    -  1.00e+000 5.33e-002f  4\n",
      "1588 6.8463657e+001 0.00e+000 7.32e+001  -2.5 6.82e-001    -  1.00e+000 1.27e-002f  7\n",
      "1589 6.8463587e+001 0.00e+000 1.07e+002  -2.5 1.81e-001  -0.5 5.51e-001 2.00e-003f  9\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1590 6.8463500e+001 0.00e+000 9.77e+001  -2.5 3.20e-001  -0.1 5.20e-001 4.11e-004f  9\n",
      "1591 6.8463500e+001 0.00e+000 6.33e+001  -2.5 3.38e-001  -0.5 2.39e-001 1.01e-005f 14\n",
      "1592 6.8463498e+001 0.00e+000 5.81e+001  -2.5 4.08e-001  -0.1 4.44e-001 5.01e-006f 15\n",
      "1593 6.8463498e+001 0.00e+000 7.63e+001  -2.5 1.47e+000    -  9.34e-001 4.78e-007f 19\n",
      "1594 6.8576613e+001 0.00e+000 2.42e+001  -2.5 6.70e-001    -  1.00e+000 8.24e-001w  1\n",
      "1595 6.8518456e+001 0.00e+000 6.36e+000  -2.5 2.47e-001  -0.6 5.27e-001 5.31e-001w  1\n",
      "1596 6.9038507e+001 0.00e+000 2.41e+002  -2.5 1.10e+000  -1.1 1.73e-001 1.00e+000w  1\n",
      "1597 6.8463498e+001 0.00e+000 7.30e+001  -2.5 1.40e-001   0.3 1.00e+000 1.97e-007f 22\n",
      "1598 6.8463498e+001 0.00e+000 1.09e+002  -2.5 1.04e-001  -0.2 5.59e-001 1.43e-008f 26\n",
      "1599 6.8463498e+001 0.00e+000 5.82e+001  -2.5 1.41e-001   0.2 5.76e-001 7.08e-009f 26\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1600 6.8463498e+001 0.00e+000 7.63e+001  -2.5 1.38e+000    -  9.24e-001 1.01e-011f 35\n",
      "1601 6.8463498e+001 0.00e+000 7.29e+001  -2.5 6.65e-001    -  1.00e+000 6.36e-012f 38\n",
      "1602 6.8463498e+001 0.00e+000 1.09e+002  -2.5 1.16e-001  -0.3 5.57e-001 7.05e-012f 37\n",
      "1603 6.8463498e+001 0.00e+000 9.77e+001  -2.5 1.63e-001   0.2 5.66e-001 5.99e-012f 36\n",
      "1604 6.8463498e+001 0.00e+000 6.38e+001  -2.5 2.31e-001  -0.3 2.68e-001 2.96e-012f 36\n",
      "1605 6.8463498e+001 0.00e+000 9.79e+001  -2.5 1.97e-001   0.1 7.19e-001 4.96e-012f 36\n",
      "1606 6.8463498e+001 0.00e+000 6.36e+001  -2.5 2.51e-001  -0.4 2.79e-001 3.01e-012f 36\n",
      "1607 6.8497339e+001 0.00e+000 1.08e+002  -2.5 2.29e-001   0.1 7.80e-001 1.46e-001w  1\n",
      "1608 6.8462619e+001 0.00e+000 6.96e+001  -2.5 3.06e-001  -0.4 2.22e-001 1.42e-001w  1\n",
      "1609 6.8485009e+001 0.00e+000 5.78e+001  -2.5 2.15e-001   0.0 1.00e+000 1.77e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1610 6.8497339e+001 0.00e+000 1.03e+002  -2.5 2.59e-001  -0.5 1.46e-001 1.46e-001S 19\n",
      "1611 6.8481990e+001 0.00e+000 7.05e+001  -2.5 9.55e-001  -0.9 7.83e-002 1.08e-001f  1\n",
      "1612 6.8478164e+001 0.00e+000 6.22e+001  -2.5 1.66e+001  -0.5 3.94e-002 7.33e-004f  2\n",
      "1613 6.8470045e+001 0.00e+000 1.18e+002  -2.5 4.15e+001    -  7.52e-002 2.05e-003f  2\n",
      "1614 6.8466639e+001 0.00e+000 7.12e+001  -2.5 8.81e-001    -  9.21e-001 3.77e-002f  5\n",
      "1615 6.8464976e+001 0.00e+000 9.63e+001  -2.5 4.21e+000  -1.0 1.77e-001 7.70e-003f  4\n",
      "1616 6.8464545e+001 0.00e+000 7.10e+001  -2.5 7.75e-001    -  8.59e-001 2.67e-003f  9\n",
      "1617 6.8464544e+001 0.00e+000 1.04e+002  -2.5 1.90e-001  -0.6 5.20e-001 6.73e-005f 14\n",
      "1618 6.8464588e+001 0.00e+000 9.69e+001  -2.5 2.60e-001  -0.1 5.53e-001 7.18e-004f  9\n",
      "1619 6.8464591e+001 0.00e+000 6.46e+001  -2.5 3.66e-001  -0.6 3.50e-001 3.81e-004f  9\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1620 6.8464541e+001 0.00e+000 5.87e+001  -2.5 5.25e-001  -0.2 1.80e-001 1.21e-004f 10\n",
      "1621 6.8464532e+001 0.00e+000 6.41e+001  -2.5 3.88e+000    -  3.58e-001 5.85e-006f 13\n",
      "1622 6.8569604e+001 0.00e+000 2.98e+001  -2.5 9.33e-001    -  6.53e-001 6.39e-001w  1\n",
      "1623 6.8474755e+001 0.00e+000 4.96e+000  -2.5 3.41e-001  -0.7 4.98e-001 1.00e+000w  1\n",
      "1624 6.9349597e+001 0.00e+000 2.54e+002  -2.5 1.72e+000    -  1.42e-001 9.92e-001w  1\n",
      "1625 6.8464531e+001 0.00e+000 8.06e+001  -2.5 6.65e-001  -0.2 6.53e-001 1.95e-005f 15\n",
      "1626 6.8464531e+001 0.00e+000 9.52e+001  -2.5 2.36e-001  -0.7 5.09e-001 2.47e-005f 15\n",
      "1627 6.8464713e+001 0.00e+000 9.70e+001  -2.5 4.04e-001  -0.3 4.83e-001 2.25e-003f  7\n",
      "1628 6.8464717e+001 0.00e+000 6.41e+001  -2.5 4.91e-001  -0.8 3.21e-001 1.25e-003f  7\n",
      "1629 6.8464489e+001 0.00e+000 5.87e+001  -2.5 4.28e-001  -0.3 1.22e-001 4.19e-004f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1630 6.8464488e+001 0.00e+000 6.28e+001  -2.5 5.47e+000    -  2.68e-001 4.73e-007f 17\n",
      "1631 6.8464488e+001 0.00e+000 9.15e+001  -2.5 3.68e-001  -0.8 1.00e+000 1.53e-006f 18\n",
      "1632 6.8464488e+001 0.00e+000 8.21e+001  -2.5 1.77e-001  -0.4 5.35e-001 8.94e-007f 19\n",
      "1633 6.8464488e+001 0.00e+000 5.87e+001  -2.5 1.65e-001   0.0 3.82e-001 3.63e-007f 20\n",
      "1634 6.8464488e+001 0.00e+000 6.80e+001  -2.5 2.13e+000    -  5.97e-001 2.15e-008f 24\n",
      "1635 6.8568739e+001 0.00e+000 2.72e+001  -2.5 8.33e-001    -  9.36e-001 6.79e-001w  1\n",
      "1636 6.8546735e+001 0.00e+000 2.09e+002  -2.5 7.89e-001    -  2.71e-001 1.00e+000w  1\n",
      "1637 6.8513092e+001 0.00e+000 3.01e+001  -2.5 4.52e+000  -0.4 2.05e-002 1.32e-001w  1\n",
      "1638 6.8568739e+001 0.00e+000 3.08e+001  -2.5 1.31e-001  -0.0 6.79e-001 6.79e-001S 21\n",
      "1639 6.8538306e+001 0.00e+000 1.84e+002  -2.5 8.14e-001    -  2.45e-001 1.00e+000f  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1640 6.8471888e+001 0.00e+000 7.57e+001  -2.5 3.58e-001  -0.5 3.28e-001 4.15e-001f  2\n",
      "1641 6.8471111e+001 0.00e+000 7.44e+001  -2.5 1.57e+000    -  4.76e-001 3.91e-003f  7\n",
      "1642 6.8471123e+001 0.00e+000 9.14e+001  -2.5 1.69e-001  -0.1 5.06e-001 1.39e-003f  9\n",
      "1643 6.8471015e+001 0.00e+000 7.55e+001  -2.5 1.49e+000  -0.5 1.53e-001 7.37e-005f  8\n",
      "1644 6.8471005e+001 0.00e+000 7.48e+001  -2.5 1.99e+000    -  4.34e-001 4.08e-005f 13\n",
      "1645 6.8471005e+001 0.00e+000 9.04e+001  -2.5 1.96e-001  -0.1 4.32e-001 7.11e-005f 13\n",
      "1646 6.8470999e+001 0.00e+000 7.97e+001  -2.5 6.21e-002   0.3 4.92e-001 7.01e-005f 13\n",
      "1647 6.8470999e+001 0.00e+000 7.90e+001  -2.5 3.04e-001  -0.2 3.07e-001 1.07e-005f 15\n",
      "1648 6.8470998e+001 0.00e+000 7.76e+001  -2.5 7.79e-002   0.3 1.00e+000 1.40e-005f 15\n",
      "1649 6.8470998e+001 0.00e+000 8.52e+001  -2.5 2.65e-001  -0.2 4.16e-001 6.98e-006f 16\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1650 6.8477579e+001 0.00e+000 7.99e+001  -2.5 2.96e+001  -0.7 2.00e-002 6.72e-004w  1\n",
      "1651 6.8514718e+001 0.00e+000 8.94e+001  -2.5 6.47e-001  -0.3 2.25e-001 9.40e-002w  1\n",
      "1652 6.8469203e+001 0.00e+000 1.06e+002  -2.5 1.68e-001   0.2 1.00e+000 1.69e-001w  1\n",
      "1653 6.8470997e+001 0.00e+000 7.54e+001  -2.5 1.32e+000    -  2.00e-002 8.21e-008f 13\n",
      "1654 6.8470997e+001 0.00e+000 8.64e+001  -2.5 3.28e-001  -0.3 1.00e+000 2.61e-007f 19\n",
      "1655 6.8470997e+001 0.00e+000 6.84e+001  -2.5 4.20e+000    -  4.51e-002 2.05e-007f 21\n",
      "1656 6.8470997e+001 0.00e+000 9.99e+001  -2.5 1.18e-001   0.1 4.97e-001 4.06e-007f 21\n",
      "1657 6.8470997e+001 0.00e+000 7.55e+001  -2.5 3.20e-001  -0.4 3.75e-001 1.34e-007f 20\n",
      "1658 6.8470997e+001 0.00e+000 7.40e+001  -2.5 1.74e+000    -  4.96e-001 1.79e-008f 25\n",
      "1659 6.8470997e+001 0.00e+000 9.13e+001  -2.5 1.30e-001   0.1 4.85e-001 5.47e-009f 27\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1660 6.8470997e+001 0.00e+000 7.55e+001  -2.5 4.10e-001  -0.4 2.40e-001 6.49e-010f 27\n",
      "1661 6.8470997e+001 0.00e+000 8.02e+001  -2.5 1.85e+000    -  4.20e-001 1.71e-010f 31\n",
      "1662 6.8470997e+001 0.00e+000 7.54e+001  -2.5 3.18e-001  -0.9 1.00e+000 1.82e-012f 40\n",
      "1663 6.8506157e+001 0.00e+000 1.08e+002  -2.5 3.01e-001  -0.5 3.37e-001 2.76e-001w  1\n",
      "1664 6.8551357e+001 0.00e+000 1.51e+002  -2.5 8.41e+000    -  1.63e-002 9.18e-002w  1\n",
      "1665 6.9252170e+001 0.00e+000 7.39e+001  -2.5 2.89e-001  -0.1 3.53e-001 1.00e+000w  1\n",
      "1666 6.8506157e+001 0.00e+000 1.07e+002  -2.5 5.97e-001   0.4 2.76e-001 2.76e-001S 20\n",
      "1667 6.8493003e+001 0.00e+000 5.21e+001  -2.5 6.93e+000    -  1.98e-002 5.69e-002f  2\n",
      "1668 6.8472336e+001 0.00e+000 1.19e+002  -2.5 1.05e-001  -0.1 3.26e-001 2.50e-001f  3\n",
      "1669 6.8472374e+001 0.00e+000 5.27e+001  -2.5 7.67e-002   0.3 4.91e-001 1.24e-003f  8\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1670 6.8472235e+001 0.00e+000 1.19e+002  -2.5 2.24e-001  -0.2 2.47e-001 5.05e-004f  8\n",
      "1671 6.8472237e+001 0.00e+000 4.89e+001  -2.5 1.02e-001   0.3 3.64e-001 2.66e-005f 13\n",
      "1672 6.8472233e+001 0.00e+000 3.72e+001  -2.5 2.95e-001  -0.2 2.35e-001 1.19e-005f 13\n",
      "1673 6.8472232e+001 0.00e+000 8.82e+001  -2.5 5.46e-001  -0.7 1.00e+000 4.84e-006f 17\n",
      "1674 6.8472232e+001 0.00e+000 9.61e+001  -2.5 1.50e-001  -0.3 5.49e-001 2.35e-006f 19\n",
      "1675 6.8472232e+001 0.00e+000 1.19e+002  -2.5 8.11e-002   0.2 5.60e-001 3.06e-006f 17\n",
      "1676 6.8472232e+001 0.00e+000 4.81e+001  -2.5 6.14e-001  -0.3 3.15e-001 4.65e-007f 18\n",
      "1677 6.8505104e+001 0.00e+000 1.18e+002  -2.5 7.61e-001  -0.8 1.76e-001 7.26e-002w  1\n",
      "1678 6.8465077e+001 0.00e+000 6.97e+001  -2.5 6.62e-002   0.5 3.75e-001 2.02e-001w  1\n",
      "1679 6.8492461e+001 0.00e+000 1.07e+002  -2.5 7.44e-002   0.1 2.40e-001 3.19e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1680 6.8505104e+001 0.00e+000 1.12e+002  -2.5 9.37e-001  -0.4 7.26e-002 7.26e-002S 18\n",
      "1681 6.8471138e+001 0.00e+000 6.58e+001  -2.5 2.09e-001   0.0 1.82e-001 1.34e-001f  1\n",
      "1682 6.8468182e+001 0.00e+000 4.83e+001  -2.5 1.02e+000  -0.5 2.03e-001 5.51e-003f  2\n",
      "1683 6.8466011e+001 0.00e+000 1.05e+002  -2.5 7.63e+002    -  3.97e-005 1.09e-004f  2\n",
      "1684 6.8475590e+001 0.00e+000 7.55e+001  -2.5 4.00e-001  -0.0 2.13e-001 1.92e-001f  3\n",
      "1685 6.8472516e+001 0.00e+000 6.11e+001  -2.5 1.84e+001  -0.5 5.64e-002 5.38e-004f  2\n",
      "1686 6.8469668e+001 0.00e+000 9.59e+001  -2.5 8.54e+000    -  2.91e-002 5.54e-003f  5\n",
      "1687 6.8470727e+001 0.00e+000 7.34e+001  -2.5 1.47e-001  -0.1 2.01e-001 2.58e-002f  5\n",
      "1688 6.8467440e+001 0.00e+000 1.34e+002  -2.5 6.86e-002   0.3 6.26e-001 4.34e-002f  4\n",
      "1689 6.8467708e+001 0.00e+000 2.51e+001  -2.5 2.44e-001  -0.1 2.83e-001 4.51e-003f  6\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1690 6.8467004e+001 0.00e+000 2.13e+001  -2.5 4.06e-001  -0.6 1.24e-001 1.07e-003f  7\n",
      "1691 6.8466929e+001 0.00e+000 1.34e+002  -2.5 2.43e+001    -  1.22e-002 6.02e-005f 10\n",
      "1692 6.8499916e+001 0.00e+000 4.24e+001  -2.5 5.54e-001  -0.2 2.92e-001 1.01e-001w  1\n",
      "1693 6.8471045e+001 0.00e+000 1.21e+002  -2.5 1.36e-001   0.2 2.74e-001 1.98e-001w  1\n",
      "1694 6.8480257e+001 0.00e+000 4.57e+001  -2.5 5.21e-001  -0.2 1.90e-001 5.26e-002w  1\n",
      "1695 6.8466911e+001 0.00e+000 2.55e+001  -2.5 4.29e-001   0.2 2.92e-001 1.98e-004f  9\n",
      "1696 6.8466877e+001 0.00e+000 2.13e+001  -2.5 1.07e+000  -0.3 6.29e-002 2.42e-005f 11\n",
      "1697 6.8466876e+001 0.00e+000 1.34e+002  -2.5 3.39e+001  -0.8 1.03e-002 2.56e-008f 16\n",
      "1698 6.8466876e+001 0.00e+000 2.34e+001  -2.5 4.45e-001  -0.3 1.67e-001 8.43e-007f 18\n",
      "1699 6.8466876e+001 0.00e+000 2.13e+001  -2.5 4.90e-001  -0.8 4.11e-001 4.09e-007f 20\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1700 6.8466876e+001 0.00e+000 1.26e+002  -2.5 9.27e-001  -1.3 6.23e-001 7.05e-008f 24\n",
      "1701 6.8466876e+001 0.00e+000 4.43e+001  -2.5 1.19e-001   0.0 5.07e-001 2.25e-009f 28\n",
      "1702 6.8466876e+001 0.00e+000 1.34e+002  -2.5 5.38e-001  -0.4 2.98e-001 3.18e-010f 27\n",
      "1703 6.8466876e+001 0.00e+000 2.53e+001  -2.5 2.73e-001  -0.0 3.13e-001 1.31e-010f 31\n",
      "1704 6.8466876e+001 0.00e+000 2.13e+001  -2.5 4.70e+000  -0.5 5.23e-002 9.11e-012f 29\n",
      "1705 6.8563552e+001 0.00e+000 1.23e+002  -2.5 1.08e+000  -1.0 3.11e-001 7.53e-002w  1\n",
      "1706 6.8475724e+001 0.00e+000 5.18e+001  -2.5 2.51e-001  -0.5 1.55e-001 3.76e-001w  1\n",
      "1707 6.8568908e+001 0.00e+000 3.11e+001  -2.5 2.89e-001  -0.1 2.76e-001 1.00e+000w  1\n",
      "1708 6.8466876e+001 0.00e+000 1.30e+002  -2.5 1.13e+001  -0.6 3.11e-001 2.19e-012f 35\n",
      "1709 6.8466876e+001 0.00e+000 3.45e+001  -2.5 2.11e-001  -0.2 3.38e-001 5.71e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1710 6.8466876e+001 0.00e+000 2.13e+001  -2.5 4.28e-001  -0.6 3.02e-001 2.32e-012f 37\n",
      "1711 6.8466876e+001 0.00e+000 1.25e+002  -2.5 7.45e-001  -1.1 7.69e-001 4.19e-013f 41\n",
      "1712 6.8466876e+001 0.00e+000 4.09e+001  -2.5 2.27e-001  -0.7 2.73e-001 1.99e-012f 38\n",
      "1713 6.8466876e+001 0.00e+000 1.34e+002  -2.5 6.84e-001  -1.2 9.39e-001 1.77e-012f 39\n",
      "1714 6.8466876e+001 0.00e+000 2.28e+001  -2.5 1.17e+000  -0.8 1.12e-001 1.57e-012f 37\n",
      "1715 6.8466876e+001 0.00e+000 1.32e+002  -2.5 1.27e+001    -  2.39e-002 8.61e-013f 37\n",
      "1716 6.8466876e+001 0.00e+000 3.47e+001  -2.5 9.59e-001  -0.3 4.50e-001 3.47e-012f 36\n",
      "1717 6.8466876e+001 0.00e+000 1.34e+002  -2.5 1.04e-001   0.1 3.37e-001 4.29e-012f 37\n",
      "1718 6.8497894e+001 0.00e+000 3.61e+001  -2.5 5.44e-001  -0.4 1.32e-001 7.64e-002w  1\n",
      "1719 6.8506908e+001 0.00e+000 1.09e+002  -2.5 1.18e+000  -0.9 2.23e-002 9.51e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1720 6.8477554e+001 0.00e+000 9.77e+001  -2.5 2.14e+000  -0.4 1.18e-001 3.39e-002w  1\n",
      "1721 6.8466876e+001 0.00e+000 2.30e+001  -2.5 5.04e-001  -0.0 1.32e-001 2.22e-012f 35\n",
      "1722 6.8466876e+001 0.00e+000 1.34e+002  -2.5 3.62e-001  -0.5 1.61e-001 1.57e-012f 37\n",
      "1723 6.8466876e+001 0.00e+000 2.54e+001  -2.5 3.78e-001  -0.1 3.31e-001 1.68e-012f 37\n",
      "1724 6.8466876e+001 0.00e+000 1.32e+002  -2.5 8.22e-002   0.4 1.00e+000 5.03e-012f 37\n",
      "1725 6.8466876e+001 0.00e+000 3.10e+001  -2.5 1.89e-001  -0.1 3.40e-001 4.75e-012f 36\n",
      "1726 6.8466876e+001 0.00e+000 1.34e+002  -2.5 1.04e+000  -0.6 9.21e-002 8.66e-013f 36\n",
      "1727 6.8466876e+001 0.00e+000 2.47e+001  -2.5 5.90e-001  -0.2 2.65e-001 6.19e-013f 38\n",
      "1728 6.8466876e+001 0.00e+000 1.33e+002  -2.5 1.15e-001   0.3 1.00e+000 1.75e-012f 38\n",
      "1729 6.8466876e+001 0.00e+000 2.83e+001  -2.5 2.18e-001  -0.2 2.96e-001 2.12e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1730 6.8466876e+001 0.00e+000 1.34e+002  -2.5 7.01e-001  -0.7 1.06e-001 6.89e-013f 37\n",
      "1731 6.8498570e+001 0.00e+000 3.90e+001  -2.5 8.20e-001  -0.3 2.30e-001 7.73e-002w  1\n",
      "1732 6.8473050e+001 0.00e+000 3.97e+001  -2.5 6.06e+000  -0.7 7.27e-003 7.01e-003w  1\n",
      "1733 6.8510724e+001 0.00e+000 3.09e+001  -2.5 1.59e+000  -0.3 2.60e-001 2.71e-002w  1\n",
      "1734 6.8466876e+001 0.00e+000 2.42e+001  -2.5 9.29e-002   0.1 2.30e-001 1.12e-012f 36\n",
      "1735 6.8466876e+001 0.00e+000 2.13e+001  -2.5 8.39e-001  -0.4 6.00e-002 2.68e-013f 38\n",
      "1736 6.8466876e+001 0.00e+000 1.32e+002  -2.5 1.97e+000  -0.8 1.55e-001 3.60e-014f 40\n",
      "1737 6.8466876e+001 0.00e+000 2.65e+001  -2.5 5.99e-001  -0.4 1.30e-001 1.71e-012f 37\n",
      "1738 6.8466876e+001 0.00e+000 1.34e+002  -2.5 4.46e-001  -0.9 4.57e-001 2.64e-012f 38\n",
      "1739 6.8466876e+001 0.00e+000 2.27e+001  -2.5 6.62e-001  -0.5 1.13e-001 3.21e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1740 6.8466876e+001 0.00e+000 1.27e+002  -2.5 4.29e-001  -0.9 1.00e+000 5.00e-012f 37\n",
      "1741 6.8466876e+001 0.00e+000 3.78e+001  -2.5 2.44e-001  -0.5 2.71e-001 7.30e-012f 36\n",
      "1742 6.8466876e+001 0.00e+000 1.34e+002  -2.5 4.82e-001  -1.0 8.58e-001 7.72e-012f 37\n",
      "1743 6.8466876e+001 0.00e+000 2.36e+001  -2.5 3.85e-001  -0.6 1.76e-001 8.23e-012f 35\n",
      "1744 6.8502421e+001 0.00e+000 1.22e+002  -2.5 2.25e+002    -  1.32e-003 3.33e-003w  1\n",
      "1745 6.8467309e+001 0.00e+000 6.96e+001  -2.5 3.32e-001  -0.1 4.30e-001 1.69e-001w  1\n",
      "1746 6.8486179e+001 0.00e+000 9.66e+001  -2.5 1.35e+000  -0.6 6.41e-002 2.95e-002w  1\n",
      "1747 6.8486178e+001 0.00e+000 1.44e+002  -2.5 7.29e-001  -0.2 1.32e-003 1.32e-003S 13\n",
      "1748 6.8470133e+001 0.00e+000 3.75e+001  -2.5 1.49e-001   0.2 4.70e-001 1.22e-001f  2\n",
      "1749 6.8465286e+001 0.00e+000 2.71e+001  -2.5 3.70e-001  -0.2 1.57e-001 9.98e-003f  3\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1750 6.8464927e+001 0.00e+000 3.22e+001  -2.5 3.63e+000    -  2.45e-001 2.49e-004f  9\n",
      "1751 6.8464838e+001 0.00e+000 1.05e+002  -2.5 1.75e+000    -  1.00e+000 3.80e-004f 11\n",
      "1752 6.8464845e+001 0.00e+000 6.79e+001  -2.5 3.20e-001  -0.7 3.94e-001 2.49e-004f 12\n",
      "1753 6.8464825e+001 0.00e+000 6.29e+001  -2.5 3.05e+000    -  2.25e-001 3.65e-005f 11\n",
      "1754 6.8464822e+001 0.00e+000 1.03e+002  -2.5 1.39e+000    -  8.06e-001 8.85e-006f 15\n",
      "1755 6.8464822e+001 0.00e+000 8.15e+001  -2.5 1.55e-001  -0.3 5.25e-001 2.11e-007f 22\n",
      "1756 6.8464822e+001 0.00e+000 1.29e+002  -2.5 9.06e-002   0.1 5.40e-001 1.48e-007f 22\n",
      "1757 6.8464822e+001 0.00e+000 3.22e+001  -2.5 5.81e-001  -0.3 2.10e-001 3.10e-008f 22\n",
      "1758 6.8491392e+001 0.00e+000 1.16e+002  -2.5 1.03e+001    -  8.98e-002 1.10e-002w  1\n",
      "1759 6.8461126e+001 0.00e+000 5.58e+001  -2.5 1.21e+000  -0.8 5.75e-003 7.39e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1760 6.8592567e+001 0.00e+000 1.04e+002  -2.5 8.79e-001  -1.3 3.71e-001 4.27e-001w  1\n",
      "1761 6.8491392e+001 0.00e+000 1.15e+002  -2.5 2.01e-001   0.0 1.10e-002 1.10e-002S 15\n",
      "1762 6.8461334e+001 0.00e+000 9.67e+001  -2.5 7.60e+000  -0.4 2.79e-003 1.87e-002f  1\n",
      "1763 6.8466995e+001 0.00e+000 1.13e+002  -2.5 1.29e+001  -0.9 1.19e-001 8.81e-003f  3\n",
      "1764 6.8461709e+001 0.00e+000 9.83e+001  -2.5 3.50e-001  -0.5 5.45e-001 5.53e-002f  3\n",
      "1765 6.8468487e+001 0.00e+000 1.85e+001  -2.5 3.64e+000  -1.0 3.51e-001 2.59e-002f  5\n",
      "1766 6.8469411e+001 0.00e+000 1.39e+002  -2.5 4.29e-001  -0.5 1.27e-001 2.88e-002f  6\n",
      "1767 6.8465722e+001 0.00e+000 5.42e+001  -2.5 3.10e-001  -0.1 6.32e-001 1.54e-002f  3\n",
      "1768 6.8464905e+001 0.00e+000 6.82e+001  -2.5 1.74e-001  -0.6 1.00e+000 5.51e-003f  8\n",
      "1769 6.8464693e+001 0.00e+000 6.01e+001  -2.5 4.17e-001  -1.1 1.00e+000 1.92e-003f 10\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1770 6.8464684e+001 0.00e+000 9.61e+001  -2.5 1.67e-001  -0.7 1.00e+000 2.44e-004f 13\n",
      "1771 6.8464683e+001 0.00e+000 7.21e+001  -2.5 7.20e-001  -1.1 2.99e-001 4.49e-005f 13\n",
      "1772 6.8464679e+001 0.00e+000 1.02e+002  -2.5 3.21e-001  -0.7 6.14e-001 4.54e-005f 15\n",
      "1773 6.8478576e+001 0.00e+000 6.48e+001  -2.5 2.62e+000  -1.2 9.69e-002 3.83e-002w  1\n",
      "1774 6.8584534e+001 0.00e+000 5.03e+001  -2.5 3.30e-001  -0.8 1.00e+000 4.94e-001w  1\n",
      "1775 6.8494403e+001 0.00e+000 1.96e+002  -2.5 2.29e-001  -0.3 5.34e-001 1.00e+000w  1\n",
      "1776 6.8464679e+001 0.00e+000 5.52e+001  -2.5 1.88e-001   0.1 9.69e-002 9.35e-006f 12\n",
      "1777 6.8464678e+001 0.00e+000 9.22e+001  -2.5 1.14e-001  -0.4 1.00e+000 2.97e-005f 16\n",
      "1778 6.8464677e+001 0.00e+000 8.64e+001  -2.5 4.80e-001  -0.9 4.99e-001 7.48e-006f 16\n",
      "1779 6.8464677e+001 0.00e+000 1.02e+002  -2.5 3.47e-001  -0.4 3.84e-001 2.48e-006f 17\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1780 6.8464677e+001 0.00e+000 5.83e+001  -2.5 1.17e+000  -0.9 2.75e-001 3.76e-007f 18\n",
      "1781 6.8464677e+001 0.00e+000 9.96e+001  -2.5 5.31e-002   0.4 1.00e+000 9.59e-007f 20\n",
      "1782 6.8464677e+001 0.00e+000 6.80e+001  -2.5 1.64e-001  -0.1 4.24e-001 3.10e-007f 20\n",
      "1783 6.8464677e+001 0.00e+000 1.02e+002  -2.5 6.96e-002   0.4 4.61e-001 3.61e-007f 21\n",
      "1784 6.8464677e+001 0.00e+000 5.83e+001  -2.5 2.20e-001  -0.1 3.01e-001 1.03e-007f 21\n",
      "1785 6.8464677e+001 0.00e+000 1.02e+002  -2.5 9.10e-002   0.3 9.49e-001 1.38e-007f 22\n",
      "1786 6.8491567e+001 0.00e+000 7.17e+001  -2.5 2.13e-001  -0.2 3.55e-001 1.29e-001w  1\n",
      "1787 6.8491255e+001 0.00e+000 1.03e+002  -2.5 1.10e-001   0.3 2.22e-001 3.29e-001w  1\n",
      "1788 6.8465996e+001 0.00e+000 6.58e+001  -2.5 2.88e-001  -0.2 1.52e-001 7.94e-002w  1\n",
      "1789 6.8491567e+001 0.00e+000 6.82e+001  -2.5 9.77e-002   0.2 1.29e-001 1.29e-001S 18\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1790 6.8482457e+001 0.00e+000 6.13e+001  -2.5 1.57e-001  -0.3 1.00e+000 1.72e-001f  2\n",
      "1791 6.8475200e+001 0.00e+000 1.18e+002  -2.5 3.77e-001  -0.7 5.33e-001 1.72e-001f  3\n",
      "1792 6.8466308e+001 0.00e+000 9.49e+001  -2.5 5.25e-001  -0.3 4.04e-001 2.14e-002f  2\n",
      "1793 6.8466114e+001 0.00e+000 6.52e+001  -2.5 7.14e-001  -0.8 2.22e-001 7.78e-003f  4\n",
      "1794 6.8464325e+001 0.00e+000 6.10e+001  -2.5 3.60e-001  -0.4 1.61e-001 4.28e-003f  4\n",
      "1795 6.8464303e+001 0.00e+000 9.38e+001  -2.5 1.94e+000  -0.8 5.91e-002 1.40e-004f 10\n",
      "1796 6.8464303e+001 0.00e+000 6.56e+001  -2.5 3.79e+000  -1.3 8.42e-002 6.81e-005f 10\n",
      "1797 6.8464279e+001 0.00e+000 9.43e+001  -2.5 7.57e-002   0.0 1.00e+000 2.51e-004f 12\n",
      "1798 6.8464278e+001 0.00e+000 7.00e+001  -2.5 3.11e-001  -0.5 4.45e-001 1.46e-005f 14\n",
      "1799 6.8464277e+001 0.00e+000 9.47e+001  -2.5 1.03e-001  -0.0 3.11e-001 8.54e-006f 16\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1800 6.8486915e+001 0.00e+000 7.22e+001  -2.5 4.38e-001  -0.5 2.65e-001 6.74e-002w  1\n",
      "1801 6.8481465e+001 0.00e+000 9.10e+001  -2.5 1.59e-001  -0.1 9.30e-002 2.01e-001w  1\n",
      "1802 6.8465013e+001 0.00e+000 7.34e+001  -2.5 4.95e-001  -0.6 1.53e-001 3.98e-002w  1\n",
      "1803 6.8464277e+001 0.00e+000 6.55e+001  -2.5 2.96e-001  -0.1 2.65e-001 1.03e-006f 16\n",
      "1804 6.8464277e+001 0.00e+000 9.27e+001  -2.5 6.48e-002   0.3 1.00e+000 2.81e-006f 18\n",
      "1805 6.8464277e+001 0.00e+000 7.45e+001  -2.5 1.91e-001  -0.2 4.10e-001 1.15e-006f 18\n",
      "1806 6.8464277e+001 0.00e+000 9.47e+001  -2.5 6.48e-002   0.2 4.52e-001 1.47e-006f 19\n",
      "1807 6.8464277e+001 0.00e+000 6.60e+001  -2.5 2.52e-001  -0.2 2.96e-001 4.81e-008f 22\n",
      "1808 6.8464277e+001 0.00e+000 9.47e+001  -2.5 8.64e-002   0.2 7.39e-001 6.36e-008f 23\n",
      "1809 6.8464277e+001 0.00e+000 6.66e+001  -2.5 2.56e-001  -0.3 3.34e-001 6.64e-009f 25\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1810 6.8464277e+001 0.00e+000 9.47e+001  -2.5 9.82e-002   0.1 5.58e-001 7.61e-009f 26\n",
      "1811 6.8464277e+001 0.00e+000 6.59e+001  -2.5 2.90e-001  -0.3 2.95e-001 3.66e-010f 29\n",
      "1812 6.8464277e+001 0.00e+000 9.47e+001  -2.5 1.16e-001   0.1 5.46e-001 4.10e-010f 30\n",
      "1813 6.8486767e+001 0.00e+000 7.45e+001  -2.5 3.16e-001  -0.4 2.86e-001 9.37e-002w  1\n",
      "1814 6.8481230e+001 0.00e+000 9.52e+001  -2.5 1.37e-001   0.0 1.60e-001 2.61e-001w  1\n",
      "1815 6.8469104e+001 0.00e+000 7.11e+001  -2.5 3.97e-001  -0.4 1.52e-001 6.32e-002w  1\n",
      "1816 6.8486767e+001 0.00e+000 7.13e+001  -2.5 1.21e-001  -0.0 9.37e-002 9.37e-002S 18\n",
      "1817 6.8475427e+001 0.00e+000 5.88e+001  -2.5 2.50e-001  -0.5 1.00e+000 1.19e-001f  2\n",
      "1818 6.8470511e+001 0.00e+000 1.14e+002  -2.5 5.33e-001  -1.0 4.72e-001 8.80e-002f  4\n",
      "1819 6.8467013e+001 0.00e+000 9.19e+001  -2.5 3.48e-001  -0.5 5.89e-001 5.16e-002f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1820 6.8467295e+001 0.00e+000 7.09e+001  -2.5 1.09e+000  -1.0 3.53e-001 1.63e-002f  3\n",
      "1821 6.8464389e+001 0.00e+000 6.36e+001  -2.5 4.66e-002   0.3 1.00e+000 3.14e-002f  5\n",
      "1822 6.8464102e+001 0.00e+000 7.79e+001  -2.5 1.03e-001  -0.2 1.00e+000 3.84e-003f  9\n",
      "1823 6.8464026e+001 0.00e+000 6.26e+001  -2.5 2.32e-001  -0.7 8.07e-001 9.77e-004f 11\n",
      "1824 6.8464020e+001 0.00e+000 7.62e+001  -2.5 3.53e-001  -1.1 1.00e+000 2.20e-004f 12\n",
      "1825 6.8464024e+001 0.00e+000 1.01e+002  -2.5 2.51e-001  -0.7 5.35e-001 2.05e-004f 12\n",
      "1826 6.8464011e+001 0.00e+000 6.27e+001  -2.5 2.15e-001  -0.3 4.76e-001 5.85e-005f 11\n",
      "1827 6.8578194e+001 0.00e+000 8.51e+001  -2.5 2.56e-001  -0.8 1.00e+000 5.04e-001w  1\n",
      "1828 6.8471828e+001 0.00e+000 9.34e+000  -2.5 2.62e-001  -0.3 4.52e-001 7.54e-001w  1\n",
      "1829 6.9144734e+001 0.00e+000 2.08e+002  -2.5 2.17e+000    -  2.01e-001 8.52e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1830 6.8464009e+001 0.00e+000 7.91e+001  -2.5 3.32e-001   0.1 1.00e+000 1.54e-005f 15\n",
      "1831 6.8464009e+001 0.00e+000 9.32e+001  -2.5 1.24e-001  -0.4 8.54e-001 1.53e-005f 17\n",
      "1832 6.8464009e+001 0.00e+000 7.12e+001  -2.5 5.57e-001  -0.9 4.84e-001 2.88e-006f 16\n",
      "1833 6.8464009e+001 0.00e+000 6.26e+001  -2.5 3.09e-001  -0.4 1.77e-001 7.75e-007f 18\n",
      "1834 6.8464008e+001 0.00e+000 7.96e+001  -2.5 9.92e-002  -0.0 1.00e+000 2.09e-007f 22\n",
      "1835 6.8464008e+001 0.00e+000 6.26e+001  -2.5 1.82e-001  -0.5 6.70e-001 1.19e-007f 24\n",
      "1836 6.8464008e+001 0.00e+000 7.95e+001  -2.5 3.54e-001  -1.0 1.00e+000 5.63e-009f 27\n",
      "1837 6.8464008e+001 0.00e+000 7.90e+001  -2.5 9.37e-001  -1.4 6.57e-001 1.83e-009f 29\n",
      "1838 6.8464008e+001 0.00e+000 9.54e+001  -2.5 1.17e+000  -1.0 4.04e-001 5.10e-010f 29\n",
      "1839 6.8464008e+001 0.00e+000 7.83e+001  -2.5 9.99e-001  -1.5 6.34e-001 2.64e-010f 32\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1840 6.8480694e+001 0.00e+000 1.02e+002  -2.5 5.09e+000  -1.1 1.64e-001 3.13e-002w  1\n",
      "1841 6.8538073e+001 0.00e+000 1.34e+002  -2.5 2.37e-001  -0.6 8.25e-001 1.00e+000w  1\n",
      "1842 6.8493414e+001 0.00e+000 9.28e+001  -2.5 2.12e-001  -0.2 4.24e-001 2.42e-001w  1\n",
      "1843 6.8464008e+001 0.00e+000 9.15e+001  -2.5 1.14e+000  -0.7 1.64e-001 2.92e-011f 30\n",
      "1844 6.8464008e+001 0.00e+000 8.30e+001  -2.5 4.64e-001  -1.2 8.34e-001 5.82e-011f 35\n",
      "1845 6.8464008e+001 0.00e+000 9.52e+001  -2.5 3.57e-001  -0.7 5.15e-001 3.27e-011f 34\n",
      "1846 6.8464008e+001 0.00e+000 6.27e+001  -2.5 2.45e-001  -0.3 4.31e-001 1.15e-011f 33\n",
      "1847 6.8464008e+001 0.00e+000 7.91e+001  -2.5 2.74e-001  -0.8 1.00e+000 1.78e-012f 39\n",
      "1848 6.8464008e+001 0.00e+000 8.40e+001  -2.5 5.02e-001  -1.3 1.00e+000 1.11e-012f 40\n",
      "1849 6.8464008e+001 0.00e+000 9.40e+001  -2.5 3.84e-001  -0.8 5.35e-001 2.01e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1850 6.8464008e+001 0.00e+000 9.31e+001  -2.5 4.30e-001  -0.4 3.78e-001 8.19e-013f 36\n",
      "1851 6.8464008e+001 0.00e+000 6.79e+001  -2.5 7.43e-001  -0.9 2.81e-001 1.73e-012f 36\n",
      "1852 6.8464008e+001 0.00e+000 9.32e+001  -2.5 6.16e-001  -0.5 9.37e-002 1.07e-012f 36\n",
      "1853 6.8486522e+001 0.00e+000 6.93e+001  -2.5 9.44e-001  -0.9 1.72e-001 3.51e-002w  1\n",
      "1854 6.8472446e+001 0.00e+000 6.74e+001  -2.5 3.18e+000  -0.5 1.55e-002 7.79e-003w  1\n",
      "1855 6.8473170e+001 0.00e+000 1.95e+002  -2.5 1.39e+000  -0.1 8.41e-001 3.05e-002w  1\n",
      "1856 6.8464008e+001 0.00e+000 6.56e+001  -2.5 3.80e-001  -0.6 1.72e-001 1.02e-012f 35\n",
      "1857 6.8464008e+001 0.00e+000 9.32e+001  -2.5 2.35e-001  -0.1 2.88e-001 2.20e-012f 36\n",
      "1858 6.8464008e+001 0.00e+000 6.63e+001  -2.5 4.68e-001  -0.6 2.16e-001 1.88e-012f 36\n",
      "1859 6.8464008e+001 0.00e+000 9.32e+001  -2.5 2.79e-001  -0.2 2.58e-001 1.85e-012f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1860 6.8464008e+001 0.00e+000 6.61e+001  -2.5 5.01e-001  -0.7 2.02e-001 9.11e-013f 37\n",
      "1861 6.8464008e+001 0.00e+000 6.26e+001  -2.5 3.57e-001  -0.2 2.53e-001 7.23e-013f 37\n",
      "1862 6.8464008e+001 0.00e+000 7.61e+001  -2.5 2.98e-001  -0.7 1.00e+000 2.80e-013f 41\n",
      "1863 6.8464008e+001 0.00e+000 9.21e+001  -2.5 1.37e+000  -1.2 2.95e-001 8.50e-013f 38\n",
      "1864 6.8464008e+001 0.00e+000 9.31e+001  -2.5 3.63e-001  -0.8 7.29e-001 2.91e-012f 39\n",
      "1865 6.8464008e+001 0.00e+000 6.52e+001  -2.5 3.19e+000  -1.2 1.27e-001 9.70e-013f 36\n",
      "1866 6.8590319e+001 0.00e+000 9.99e+001  -2.5 2.33e-001  -0.8 9.83e-001 8.03e-001w  1\n",
      "1867 6.8516830e+001 0.00e+000 2.97e+001  -2.5 8.94e-001  -0.4 2.44e-001 2.61e-001w  1\n",
      "1868 6.8574883e+001 0.00e+000 1.73e+002  -2.5 1.39e+000    -  3.22e-001 4.61e-001w  1\n",
      "1869 6.8464008e+001 0.00e+000 8.48e+001  -2.5 4.66e-001   0.0 9.83e-001 2.92e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1870 6.8464008e+001 0.00e+000 9.26e+001  -2.5 1.94e-001  -0.4 5.36e-001 1.94e-012f 38\n",
      "1871 6.8464008e+001 0.00e+000 6.27e+001  -2.5 1.14e-001  -0.0 4.41e-001 1.11e-012f 38\n",
      "1872 6.8464008e+001 0.00e+000 7.65e+001  -2.5 1.94e-001  -0.5 1.00e+000 4.76e-013f 41\n",
      "1873 6.8464008e+001 0.00e+000 1.01e+002  -2.5 4.98e-001  -1.0 5.38e-001 1.49e-012f 39\n",
      "1874 6.8464008e+001 0.00e+000 6.27e+001  -2.5 1.69e+000  -0.5 3.44e-001 2.08e-013f 36\n",
      "1875 6.8464008e+001 0.00e+000 7.65e+001  -2.5 1.09e-001  -0.1 1.00e+000 6.15e-013f 41\n",
      "1876 6.8464008e+001 0.00e+000 1.05e+002  -2.5 2.37e-001  -0.6 5.32e-001 2.50e-012f 38\n",
      "1877 6.8464008e+001 0.00e+000 9.31e+001  -2.5 1.78e-001  -0.2 4.84e-001 2.63e-012f 36\n",
      "1878 6.8464008e+001 0.00e+000 6.85e+001  -2.5 4.58e-001  -0.7 3.12e-001 2.22e-012f 36\n",
      "1879 6.8499223e+001 0.00e+000 9.71e+001  -2.5 1.94e-001  -0.2 1.95e-001 9.18e-002w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1880 6.8467353e+001 0.00e+000 7.39e+001  -2.5 6.41e-001  -0.7 1.50e-001 8.03e-002w  1\n",
      "1881 6.8470263e+001 0.00e+000 4.53e+001  -2.5 3.16e-001  -0.3 1.00e+000 6.56e-002w  1\n",
      "1882 6.8499223e+001 0.00e+000 9.40e+001  -2.5 4.42e-001  -0.8 9.18e-002 9.18e-002S 18\n",
      "1883 6.8484121e+001 0.00e+000 8.12e+001  -2.5 2.96e-001  -0.3 1.66e-001 1.13e-001f  1\n",
      "1884 6.8471036e+001 0.00e+000 7.01e+001  -2.5 1.22e-001   0.1 1.73e-001 7.79e-002f  2\n",
      "1885 6.8469467e+001 0.00e+000 1.51e+001  -2.5 3.72e-001  -0.4 1.00e+000 3.89e-002f  3\n",
      "1886 6.8474251e+001 0.00e+000 1.54e+002  -2.5 4.81e-001  -0.9 5.50e-001 1.25e-001f  4\n",
      "1887 6.8470648e+001 0.00e+000 6.67e+001  -2.5 3.03e-001  -0.4 6.68e-001 1.95e-002f  2\n",
      "1888 6.8466128e+001 0.00e+000 7.40e+001  -2.5 3.99e-001  -0.9 1.00e+000 4.03e-002f  4\n",
      "1889 6.8466170e+001 0.00e+000 1.04e+002  -2.5 1.75e-001  -0.5 5.38e-001 2.64e-002f  5\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1890 6.8464929e+001 0.00e+000 6.17e+001  -2.5 2.27e-001  -0.1 5.52e-001 8.06e-002f  3\n",
      "1891 6.8464924e+001 0.00e+000 7.57e+001  -2.5 1.98e-001  -0.5 1.00e+000 3.80e-005f 15\n",
      "1892 6.8464923e+001 0.00e+000 9.13e+001  -2.5 4.06e-001  -1.0 1.00e+000 1.75e-005f 16\n",
      "1893 6.8464923e+001 0.00e+000 7.74e+001  -2.5 2.76e-001  -0.6 5.16e-001 1.51e-006f 18\n",
      "1894 6.8492040e+001 0.00e+000 1.00e+002  -2.5 1.66e-001  -0.2 3.80e-001 1.47e-001w  1\n",
      "1895 6.8472336e+001 0.00e+000 7.38e+001  -2.5 4.99e-001  -0.6 2.21e-001 1.10e-001w  1\n",
      "1896 6.8485684e+001 0.00e+000 8.39e+001  -2.5 1.57e-001  -0.2 1.00e+000 1.58e-001w  1\n",
      "1897 6.8464923e+001 0.00e+000 9.39e+001  -2.5 3.03e-001  -0.7 3.80e-001 1.12e-006f 17\n",
      "1898 6.8464923e+001 0.00e+000 6.61e+001  -2.5 2.39e-001  -0.3 3.00e-001 4.62e-007f 19\n",
      "1899 6.8464923e+001 0.00e+000 9.13e+001  -2.5 1.08e-001   0.2 1.00e+000 8.64e-007f 19\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1900 6.8464923e+001 0.00e+000 7.52e+001  -2.5 2.06e-001  -0.3 4.22e-001 3.53e-007f 20\n",
      "1901 6.8464923e+001 0.00e+000 6.16e+001  -2.5 1.66e-001   0.1 5.42e-001 2.81e-007f 20\n",
      "1902 6.8464923e+001 0.00e+000 7.95e+001  -2.5 1.55e-001  -0.4 1.00e+000 4.59e-008f 24\n",
      "1903 6.8464923e+001 0.00e+000 9.80e+001  -2.5 3.93e-001  -0.8 5.33e-001 1.04e-008f 26\n",
      "1904 6.8464923e+001 0.00e+000 9.39e+001  -2.5 1.46e+000  -0.4 4.23e-001 2.00e-009f 24\n",
      "1905 6.8464923e+001 0.00e+000 6.59e+001  -2.5 7.39e-001  -0.9 2.62e-001 1.03e-009f 27\n",
      "1906 6.8464923e+001 0.00e+000 9.40e+001  -2.5 3.83e+000  -0.5 1.30e-001 1.91e-010f 26\n",
      "1907 6.8490103e+001 0.00e+000 6.95e+001  -2.5 8.67e-001  -0.9 1.46e-001 5.26e-002w  1\n",
      "1908 6.8477315e+001 0.00e+000 6.75e+001  -2.5 9.67e+000  -0.5 1.79e-002 4.12e-003w  1\n",
      "1909 6.8494486e+001 0.00e+000 9.96e+001  -2.5 2.86e+001  -1.0 5.22e-003 8.09e-003w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1910 6.8464923e+001 0.00e+000 6.38e+001  -2.5 5.52e-001  -0.6 1.46e-001 1.96e-010f 28\n",
      "1911 6.8464923e+001 0.00e+000 6.63e+001  -2.5 4.17e-001  -0.1 1.00e+000 2.19e-010f 29\n",
      "1912 6.8464923e+001 0.00e+000 9.04e+001  -2.5 1.87e-001  -0.6 1.00e+000 3.06e-010f 32\n",
      "1913 6.8464923e+001 0.00e+000 7.83e+001  -2.5 1.47e-001  -0.2 5.27e-001 2.39e-010f 31\n",
      "1914 6.8464923e+001 0.00e+000 9.39e+001  -2.5 8.52e-002   0.2 5.81e-001 2.68e-010f 31\n",
      "1915 6.8464923e+001 0.00e+000 6.68e+001  -2.5 2.17e-001  -0.2 3.45e-001 1.66e-011f 34\n",
      "1916 6.8464923e+001 0.00e+000 6.34e+001  -2.5 1.38e-001   0.2 1.00e+000 2.06e-011f 34\n",
      "1917 6.8464923e+001 0.00e+000 8.38e+001  -2.5 1.20e-001  -0.3 1.00e+000 2.57e-012f 39\n",
      "1918 6.8464923e+001 0.00e+000 9.34e+001  -2.5 3.57e-001  -0.8 5.32e-001 1.01e-012f 39\n",
      "1919 6.8464923e+001 0.00e+000 9.39e+001  -2.5 9.43e-001  -0.3 4.15e-001 7.57e-013f 36\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1920 6.8487791e+001 0.00e+000 7.30e+001  -2.5 6.40e-001  -0.8 2.45e-001 7.26e-002w  1\n",
      "1921 6.8474420e+001 0.00e+000 6.88e+001  -2.5 1.74e+000  -0.4 7.28e-002 1.92e-002w  1\n",
      "1922 6.8516749e+001 0.00e+000 4.29e+001  -2.5 1.32e+000  -0.9 2.21e-001 4.24e-002w  1\n",
      "1923 6.8464923e+001 0.00e+000 6.55e+001  -2.5 1.87e-001  -0.4 2.45e-001 1.06e-012f 36\n",
      "1924 6.8464923e+001 0.00e+000 6.27e+001  -2.5 2.64e-001  -0.0 1.00e+000 1.35e-012f 37\n",
      "1925 6.8464923e+001 0.00e+000 8.25e+001  -2.5 1.72e-001  -0.5 1.00e+000 6.12e-013f 41\n",
      "1926 6.8464923e+001 0.00e+000 9.43e+001  -2.5 8.22e-001  -1.0 4.85e-001 1.47e-012f 38\n",
      "1927 6.8464923e+001 0.00e+000 9.39e+001  -2.5 3.02e-001  -0.6 5.69e-001 2.55e-012f 37\n",
      "1928 6.8464923e+001 0.00e+000 6.74e+001  -2.5 9.99e-001  -1.0 3.61e-001 1.98e-012f 36\n",
      "1929 6.8464923e+001 0.00e+000 9.14e+001  -2.5 5.57e-002   0.3 1.00e+000 6.40e-012f 37\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1930 6.8464923e+001 0.00e+000 7.52e+001  -2.5 1.69e-001  -0.2 4.48e-001 1.45e-012f 38\n",
      "1931 6.8464923e+001 0.00e+000 9.39e+001  -2.5 9.56e-002   0.3 6.15e-001 3.73e-012f 37\n",
      "1932 6.8464923e+001 0.00e+000 6.65e+001  -2.5 2.12e-001  -0.2 3.29e-001 2.12e-012f 37\n",
      "1933 6.8488650e+001 0.00e+000 1.03e+002  -2.5 1.32e-001   0.2 1.00e+000 1.86e-001w  1\n",
      "1934 6.8480063e+001 0.00e+000 8.55e+001  -2.5 2.12e-001  -0.3 3.20e-001 2.47e-001w  1\n",
      "1935 6.8473771e+001 0.00e+000 1.29e+002  -2.5 1.53e-001   0.1 4.32e-001 9.71e-001w  1\n",
      "1936 6.8488650e+001 0.00e+000 1.02e+002  -2.5 2.93e-001  -0.3 1.86e-001 1.86e-001S 19\n",
      "1937 6.8491438e+001 0.00e+000 7.33e+001  -2.5 5.83e-001  -0.8 1.04e-001 1.29e-001f  1\n",
      "1938 6.8487898e+001 0.00e+000 6.43e+001  -2.5 1.04e+000  -0.4 1.51e-001 8.09e-003f  2\n",
      "1939 6.8486304e+001 0.00e+000 2.71e+001  -2.5 5.38e+000  -0.9 1.85e-001 1.78e-002f  2\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1940 6.8486466e+001 0.00e+000 1.72e+002  -2.5 1.96e-001  -0.4 3.20e-001 2.50e-001f  3\n",
      "1941 6.8480582e+001 0.00e+000 6.39e+001  -2.5 1.75e-001  -0.0 7.80e-001 5.00e-002f  2\n",
      "1942 6.8474358e+001 0.00e+000 9.15e+001  -2.5 1.58e-001  -0.5 1.00e+000 1.25e-001f  4\n",
      "1943 6.8473072e+001 0.00e+000 7.52e+001  -2.5 1.37e+000  -1.0 4.15e-001 1.61e-002f  4\n",
      "1944 6.8471693e+001 0.00e+000 9.80e+001  -2.5 2.35e-001  -0.5 6.02e-001 1.50e-002f  6\n",
      "1945 6.8471577e+001 0.00e+000 5.86e+001  -2.5 8.73e-001  -1.0 3.63e-001 2.12e-003f  7\n",
      "1946 6.8471352e+001 0.00e+000 5.60e+001  -2.5 1.31e+000  -0.6 1.25e-001 3.16e-004f  7\n",
      "1947 6.8471301e+001 0.00e+000 9.11e+001  -2.5 1.23e-001  -0.2 1.00e+000 8.95e-004f 10\n",
      "1948 6.8520749e+001 0.00e+000 1.06e+002  -2.5 3.35e-001  -0.6 4.57e-001 3.19e-001w  1\n",
      "1949 6.8470606e+001 0.00e+000 8.41e+001  -2.5 2.31e-001  -0.2 2.15e-001 2.96e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1950 6.8506442e+001 0.00e+000 3.22e+001  -2.5 4.64e-001  -0.7 1.00e+000 1.47e-001w  1\n",
      "1951 6.8471331e+001 0.00e+000 7.26e+001  -2.5 1.16e-001  -0.3 4.57e-001 6.23e-004f  9\n",
      "1952 6.8471263e+001 0.00e+000 9.79e+001  -2.5 5.28e-002   0.2 6.24e-001 8.84e-004f 10\n",
      "1953 6.8471273e+001 0.00e+000 5.85e+001  -2.5 2.51e-001  -0.3 3.56e-001 1.25e-004f 12\n",
      "1954 6.8471255e+001 0.00e+000 5.83e+001  -2.5 8.68e-002   0.1 1.00e+000 1.14e-004f 12\n",
      "1955 6.8471253e+001 0.00e+000 6.05e+001  -2.5 1.28e-001  -0.4 1.00e+000 3.05e-005f 16\n",
      "1956 6.8471252e+001 0.00e+000 5.98e+001  -2.5 2.82e-001  -0.8 1.00e+000 2.75e-006f 19\n",
      "1957 6.8471252e+001 0.00e+000 9.10e+001  -2.5 2.14e+000    -  2.65e-001 4.28e-007f 20\n",
      "1958 6.8471252e+001 0.00e+000 7.11e+001  -2.5 2.00e-001  -0.4 5.24e-001 8.42e-007f 20\n",
      "1959 6.8471252e+001 0.00e+000 5.60e+001  -2.5 1.12e-001   0.0 4.62e-001 3.24e-007f 20\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1960 6.8471252e+001 0.00e+000 6.27e+001  -2.5 1.76e-001  -0.5 1.00e+000 7.14e-008f 24\n",
      "1961 6.8484878e+001 0.00e+000 9.95e+001  -2.5 9.61e+001    -  8.15e-003 1.55e-003w  1\n",
      "1962 6.8517438e+001 0.00e+000 1.17e+002  -2.5 1.21e-001  -0.0 5.29e-001 5.20e-001w  1\n",
      "1963 6.8476829e+001 0.00e+000 1.06e+002  -2.5 6.66e-001  -0.5 1.04e-001 6.04e-002w  1\n",
      "1964 6.8471252e+001 0.00e+000 9.23e+001  -2.5 1.42e+000  -1.0 8.15e-003 1.84e-010f 23\n",
      "1965 6.8471252e+001 0.00e+000 7.02e+001  -2.5 2.77e-001  -0.6 4.99e-001 5.34e-009f 27\n",
      "1966 6.8471252e+001 0.00e+000 9.79e+001  -2.5 1.17e-001  -0.1 4.21e-001 2.94e-009f 27\n",
      "1967 6.8471252e+001 0.00e+000 5.79e+001  -2.5 4.36e-001  -0.6 2.68e-001 4.80e-012f 36\n",
      "1968 6.8471252e+001 0.00e+000 5.59e+001  -2.5 2.05e-001  -0.2 9.90e-001 2.96e-012f 36\n",
      "1969 6.8471252e+001 0.00e+000 9.11e+001  -2.5 2.29e-001  -0.7 1.00e+000 5.63e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1970 6.8471252e+001 0.00e+000 7.04e+001  -2.5 1.62e-001  -0.2 5.23e-001 6.85e-012f 37\n",
      "1971 6.8471252e+001 0.00e+000 5.60e+001  -2.5 7.59e-002   0.2 5.69e-001 3.64e-012f 37\n",
      "1972 6.8471252e+001 0.00e+000 9.12e+001  -2.5 1.27e-001  -0.3 1.00e+000 2.75e-012f 39\n",
      "1973 6.8471252e+001 0.00e+000 7.36e+001  -2.5 4.15e-001  -0.8 4.96e-001 2.27e-012f 38\n",
      "1974 6.8518357e+001 0.00e+000 1.01e+002  -2.5 2.33e-001  -0.3 3.52e-001 1.37e-001w  1\n",
      "1975 6.8479207e+001 0.00e+000 8.96e+001  -2.5 7.45e-001  -0.8 1.99e-001 1.63e-001w  1\n",
      "1976 6.8466641e+001 0.00e+000 1.48e+002  -2.5 4.56e-001  -0.4 1.00e+000 4.97e-002w  1\n",
      "1977 6.8471252e+001 0.00e+000 9.79e+001  -2.5 4.60e-001  -0.9 3.52e-001 9.96e-013f 37\n",
      "1978 6.8471252e+001 0.00e+000 5.79e+001  -2.5 3.46e-001  -0.4 2.75e-001 6.72e-013f 39\n",
      "1979 6.8471252e+001 0.00e+000 9.60e+001  -2.5 1.30e-001  -0.0 1.00e+000 1.14e-012f 38\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1980 6.8471252e+001 0.00e+000 6.26e+001  -2.5 3.00e-001  -0.5 3.90e-001 1.97e-012f 38\n",
      "1981 6.8471252e+001 0.00e+000 9.80e+001  -2.5 1.44e-001  -0.1 5.01e-001 2.12e-012f 37\n",
      "1982 6.8471252e+001 0.00e+000 5.78e+001  -2.5 3.77e-001  -0.6 2.69e-001 1.40e-012f 38\n",
      "1983 6.8471252e+001 0.00e+000 5.81e+001  -2.5 1.96e-001  -0.1 1.00e+000 1.55e-012f 37\n",
      "1984 6.8471252e+001 0.00e+000 9.34e+001  -2.5 1.91e-001  -0.6 1.00e+000 8.59e-013f 41\n",
      "1985 6.8471252e+001 0.00e+000 6.69e+001  -2.5 1.50e-001  -0.2 5.20e-001 3.40e-012f 38\n",
      "1986 6.8471252e+001 0.00e+000 9.80e+001  -2.5 6.44e-002   0.2 6.50e-001 4.31e-012f 37\n",
      "1987 6.8528089e+001 0.00e+000 9.35e+001  -2.5 2.15e-001  -0.2 3.32e-001 2.76e-001w  1\n",
      "1988 6.8478236e+001 0.00e+000 3.83e+001  -2.5 1.38e-001   0.2 1.00e+000 2.70e-001w  1\n",
      "1989 6.8559960e+001 0.00e+000 1.53e+002  -2.5 1.69e-001  -0.3 3.08e-001 7.41e-001w  1\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "1990 6.8528089e+001 0.00e+000 9.31e+001  -2.5 1.25e-001   0.1 2.76e-001 2.76e-001S 20\n",
      "1991 6.8472238e+001 0.00e+000 6.88e+001  -2.5 2.33e-001  -0.3 1.00e+000 1.65e-001f  1\n",
      "1992 6.8477064e+001 0.00e+000 1.01e+002  -2.5 3.88e-001  -0.8 4.12e-001 8.81e-002f  2\n",
      "1993 6.8484888e+001 0.00e+000 8.98e+001  -2.5 7.18e-001  -0.4 1.00e+000 6.45e-002f  2\n",
      "1994 6.8467586e+001 0.00e+000 8.55e+001  -2.5 3.27e-001  -0.9 1.00e+000 1.82e-001f  3\n",
      "1995 6.8467448e+001 0.00e+000 7.99e+001  -2.5 2.25e-001  -0.4 4.85e-001 2.46e-002f  4\n",
      "1996 6.8467101e+001 0.00e+000 8.69e+001  -2.5 1.46e-001  -0.0 5.82e-001 3.53e-002f  4\n",
      "1997 6.8467381e+001 0.00e+000 7.45e+001  -2.5 2.89e-001  -0.5 3.18e-001 1.54e-002f  4\n",
      "1998 6.8466417e+001 0.00e+000 8.73e+001  -2.5 2.43e-001  -0.1 5.66e-001 2.04e-002f  4\n",
      "1999 6.8467373e+001 0.00e+000 7.32e+001  -2.5 3.15e-001  -0.5 2.51e-001 1.35e-002f  4\n",
      "iter    objective    inf_pr   inf_du lg(mu)  ||d||  lg(rg) alpha_du alpha_pr  ls\n",
      "2000 6.8465435e+001 0.00e+000 8.76e+001  -2.5 2.99e-001  -0.1 7.06e-001 1.67e-002f  4\n",
      "\n",
      "Number of Iterations....: 2000\n",
      "\n",
      "                                   (scaled)                 (unscaled)\n",
      "Objective...............:  6.8465435410212166e+001   6.8465435410212166e+001\n",
      "Dual infeasibility......:  8.7609186447498814e+001   8.7609186447498814e+001\n",
      "Constraint violation....:  0.0000000000000000e+000   0.0000000000000000e+000\n",
      "Complementarity.........:  3.0655750862530924e-003   3.0655750862530924e-003\n",
      "Overall NLP error.......:  8.7609186447498814e+001   8.7609186447498814e+001\n",
      "\n",
      "\n",
      "Number of objective function evaluations             = 40467\n",
      "Number of objective gradient evaluations             = 2001\n",
      "Number of equality constraint evaluations            = 40467\n",
      "Number of inequality constraint evaluations          = 0\n",
      "Number of equality constraint Jacobian evaluations   = 2001\n",
      "Number of inequality constraint Jacobian evaluations = 0\n",
      "Number of Lagrangian Hessian evaluations             = 2000\n",
      "Total CPU secs in IPOPT (w/o function evaluations)   =     14.206\n",
      "Total CPU secs in NLP function evaluations           =      0.336\n",
      "\n",
      "EXIT: Maximum Number of Iterations Exceeded.\n",
      "           F  :   t_proc      (avg)   t_wall      (avg)    n_eval\n",
      "callback_fun  |  12.16 s (  6.08ms)  12.17 s (  6.08ms)      2001\n",
      "       nlp_f  | 176.00ms (  4.35us) 175.91ms (  4.35us)     40467\n",
      "       nlp_g  |   8.00ms (197.69ns)   6.86ms (169.55ns)     40467\n",
      "  nlp_grad_f  |  16.00ms (  7.99us)  15.69ms (  7.84us)      2002\n",
      "  nlp_hess_l  |  85.00ms ( 42.50us)  85.79ms ( 42.89us)      2000\n",
      "   nlp_jac_g  |   2.00ms (999.00ns)   1.95ms (975.02ns)      2002\n",
      "       total  |  14.54 s ( 14.54 s)  14.54 s ( 14.54 s)         1\n",
      "solved output [DM([-0.0901727, -0.0826995, 0.0187362, 0.0344543, -0.343289, 0.378001, 0.4247, 0.447563, 0.464752, 0.479539, 0.492323, 0.501543, 0.506661, 0.508888, 0.497821, 0.488573, 0.509354, 0.512944, 0.513404, 0.511203, 0.0201736, 12.6428])]\n",
      "solved function output 68.4654\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "#solver=F(x0=[0.1,2],lbx=lbx,ubx=ubx)\n",
    "x0=[]\n",
    "lbx=[]\n",
    "ubx=[]\n",
    "# the loop for setting angle\n",
    "for i in range(0,dt):\n",
    "    x0.append(0.02)\n",
    "    lbx.append(-0.52359)\n",
    "    ubx.append(0.52359)\n",
    "# the loop for setting velocity  \n",
    "for i in range(0,1):\n",
    "    x0.append(0.2)\n",
    "    lbx.append(0.02)\n",
    "    ubx.append(3)\n",
    "# the loop for setting sample time \n",
    "for i in range(0,1):\n",
    "    x0.append(0.2)\n",
    "    lbx.append(0.02)\n",
    "    #ubx.append(2) #previous value\n",
    "    ubx.append(100)\n",
    "print(x0)\n",
    "solver=F(x0=x0,lbx=lbx,ubx=ubx,lbg=0,ubg=0)\n",
    "out=[]\n",
    "out.append(solver[\"x\"])\n",
    "print(\"solved output\",out)\n",
    "print(\"solved function output\",solver[\"f\"])\n",
    "plt.legend([\"Cost\"])\n",
    "plt.xlabel(\"Iterations\")\n",
    "plt.ylabel(\"Cost Value\")\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 708,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "angle [DM(-0.0901727), DM(-0.0826995), DM(0.0187362), DM(0.0344543), DM(-0.343289), DM(0.378001), DM(0.4247), DM(0.447563), DM(0.464752), DM(0.479539), DM(0.492323), DM(0.501543), DM(0.506661), DM(0.508888), DM(0.497821), DM(0.488573), DM(0.509354), DM(0.512944), DM(0.513404), DM(0.511203)]\n",
      "v [DM(0.0201736)]\n",
      "T [DM(12.6428)]\n",
      "3.9886 1.99866\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "Text(0, 0.5, 'Y Coordinates')"
      ]
     },
     "execution_count": 708,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "import math\n",
    "ang=[]\n",
    "v=[]\n",
    "t=[]\n",
    "th=[]\n",
    "for i in range(0,dt):\n",
    "    ang.append(out[0][i])\n",
    "print(\"angle\",ang)\n",
    "v.append(out[0][dt])\n",
    "t.append(out[0][dt+1])\n",
    "print(\"v\",v)\n",
    "print(\"T\",t)\n",
    "xc,yc=[],[]\n",
    "theta=0.0\n",
    "x1,x2=0,0\n",
    "for i in range(0,dt):\n",
    "    x1=x1+v[0]*math.cos(theta)*t[0]\n",
    "    x2=x2+v[0]*math.sin(theta)*t[0]\n",
    "    theta = theta + (v[0] / 1.2) * math.tan(ang[i])*t[0]\n",
    "    xc.append(x1)\n",
    "    yc.append(x2)\n",
    "    th.append(theta)\n",
    "print(x1,x2)\n",
    "#plt.figure(figsize=(6, 4))\n",
    "plt.plot(xc,yc,dest[0],dest[1],\"o\")\n",
    "plt.legend([\"Trajectory\",\"Destination\"])\n",
    "plt.xlabel(\"X Coordinates\")\n",
    "plt.ylabel(\"Y Coordinates\")\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 602,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "0.0\n",
      "1.06734e-013\n"
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(th)\n",
    "plt.legend([\"heading angle theta\"]) \n",
    "print(angle_rad)\n",
    "print(th[-1])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.5"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}