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new file mode 100644
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diff --git a/_modules/dymos/phase/analytic_phase.html b/_modules/dymos/phase/analytic_phase.html
index a5a595f27..9289749f5 100644
--- a/_modules/dymos/phase/analytic_phase.html
+++ b/_modules/dymos/phase/analytic_phase.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/_modules/dymos/phase/phase.html b/_modules/dymos/phase/phase.html
index 6b6a94e46..45b30a8ef 100644
--- a/_modules/dymos/phase/phase.html
+++ b/_modules/dymos/phase/phase.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/_modules/dymos/run_problem.html b/_modules/dymos/run_problem.html
index 7d53745d2..cb4a4359f 100644
--- a/_modules/dymos/run_problem.html
+++ b/_modules/dymos/run_problem.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/_modules/dymos/trajectory/trajectory.html b/_modules/dymos/trajectory/trajectory.html
index 7c9e21c01..07eea9606 100644
--- a/_modules/dymos/trajectory/trajectory.html
+++ b/_modules/dymos/trajectory/trajectory.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/_modules/index.html b/_modules/index.html
index 4526c9f51..2015437ae 100644
--- a/_modules/index.html
+++ b/_modules/index.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/_sources/api/phase_api.ipynb b/_sources/api/phase_api.ipynb
index 89c25b6ca..5eeaf233f 100644
--- a/_sources/api/phase_api.ipynb
+++ b/_sources/api/phase_api.ipynb
@@ -47,14 +47,15 @@
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "# The Phase API"
+    "# Phase Options"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "## Options"
+    "## Phase.options\n",
+    "General options available to all dymos Phases."
    ]
   },
   {
@@ -67,14 +68,95 @@
    },
    "outputs": [],
    "source": [
-    "om.show_options_table('dymos.phase.Phase')"
+    "import dymos\n",
+    "phase = dymos.Phase()\n",
+    "\n",
+    "om.show_options_table(phase)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "The transcription is an instance of one of the [transcriptions](./transcriptions_api) available in Dymos.\n",
+    "\n",
+    "\n",
+    "Other options listed below control the behavior of various aspects of Phases.\n",
+    "While most have corresponding phase methods for setting these values, users may now use the `set` method of OpenMDAO's OptionsDictionary to set the values of these options."
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Phase.timeseries_options\n",
+    "\n",
+    "These options control the behavior of timeseries within a Phase."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "scrolled": true,
+    "tags": [
+     "remove-input"
+    ]
+   },
+   "outputs": [],
+   "source": [
+    "om.show_options_table(phase.timeseries_options)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Phase.refine_options\n",
+    "These options control grid refinement within each Phase."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "scrolled": true,
+    "tags": [
+     "remove-input"
+    ]
+   },
+   "outputs": [],
+   "source": [
+    "om.show_options_table(phase.refine_options)"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## Phase.simulate_options\n",
+    "These options control the behavior of phase explicit simulation."
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {
+    "scrolled": true,
+    "tags": [
+     "remove-input"
+    ]
+   },
+   "outputs": [],
+   "source": [
+    "om.show_options_table(phase.simulate_options)"
    ]
   },
   {
    "cell_type": "markdown",
    "metadata": {},
    "source": [
-    "The transcription is an instance of one of the [transcriptions](./transcriptions_api) available in Dymos.\n"
+    "# Phase Methods"
    ]
   },
   {
@@ -205,7 +287,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.10.5"
+   "version": "3.11.4"
   }
  },
  "nbformat": 4,
diff --git a/api/api.html b/api/api.html
index 4938785d3..e7b28b98a 100644
--- a/api/api.html
+++ b/api/api.html
@@ -240,7 +240,8 @@
 <ul class="current nav bd-sidenav">
 <li class="toctree-l1 current active has-children"><a class="current reference internal" href="#">Dymos Reference API</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/api/phase_api.html b/api/phase_api.html
index ee1201669..05577dfef 100644
--- a/api/phase_api.html
+++ b/api/phase_api.html
@@ -9,7 +9,7 @@
     <meta charset="utf-8" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />
 
-    <title>The Phase API &#8212; Dymos</title>
+    <title>Phase Options &#8212; Dymos</title>
   
   
   
@@ -240,7 +240,8 @@
 <ul class="current nav bd-sidenav">
 <li class="toctree-l1 current active has-children"><a class="reference internal" href="api.html">Dymos Reference API</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2 current active"><a class="current reference internal" href="#">The Phase API</a></li>
+<li class="toctree-l2 current active"><a class="current reference internal" href="#">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -463,7 +464,7 @@
               
 
 <div id="jb-print-docs-body" class="onlyprint">
-    <h1>The Phase API</h1>
+    <h1>Phase Options</h1>
     <!-- Table of contents -->
     <div id="print-main-content">
         <div id="jb-print-toc">
@@ -473,7 +474,14 @@ <h2> Contents </h2>
             </div>
             <nav aria-label="Page">
                 <ul class="visible nav section-nav flex-column">
-<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#options">Options</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#">Phase Options</a><ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Phase.options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-timeseries-options">Phase.timeseries_options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-refine-options">Phase.refine_options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-simulate-options">Phase.simulate_options</a></li>
+</ul>
+</li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-methods">Phase Methods</a><ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-time-options">set_time_options</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#add-state">add_state</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-state-options">set_state_options</a></li>
@@ -491,6 +499,9 @@ <h2> Contents </h2>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-refine-options">set_refine_options</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interp">interp</a></li>
 </ul>
+</li>
+</ul>
+
             </nav>
         </div>
     </div>
@@ -501,10 +512,11 @@ <h2> Contents </h2>
 <div id="searchbox"></div>
                 <article class="bd-article" role="main">
                   
-  <section class="tex2jax_ignore mathjax_ignore" id="the-phase-api">
-<h1>The Phase API<a class="headerlink" href="#the-phase-api" title="Permalink to this heading">#</a></h1>
-<section id="options">
-<h2>Options<a class="headerlink" href="#options" title="Permalink to this heading">#</a></h2>
+  <section class="tex2jax_ignore mathjax_ignore" id="phase-options">
+<h1>Phase Options<a class="headerlink" href="#phase-options" title="Permalink to this heading">#</a></h1>
+<section id="id1">
+<h2>Phase.options<a class="headerlink" href="#id1" title="Permalink to this heading">#</a></h2>
+<p>General options available to all dymos Phases.</p>
 <div class="cell tag_remove-input docutils container">
 <div class="cell_output docutils container">
 <div class="output text_html">
@@ -531,7 +543,102 @@ <h2></h2>
 </div></div>
 </div>
 <p>The transcription is an instance of one of the <a class="reference internal" href="transcriptions_api.html"><span class="doc std std-doc">transcriptions</span></a> available in Dymos.</p>
+<p>Other options listed below control the behavior of various aspects of Phases.
+While most have corresponding phase methods for setting these values, users may now use the <code class="docutils literal notranslate"><span class="pre">set</span></code> method of OpenMDAO’s OptionsDictionary to set the values of these options.</p>
 </section>
+<section id="phase-timeseries-options">
+<h2>Phase.timeseries_options<a class="headerlink" href="#phase-timeseries-options" title="Permalink to this heading">#</a></h2>
+<p>These options control the behavior of timeseries within a Phase.</p>
+<div class="cell tag_remove-input docutils container">
+<div class="cell_output docutils container">
+<div class="output text_html">
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <style>
+        h2 {
+            text-align: center;
+        }
+    </style>
+</head>
+<body>
+    <h2></h2>
+        <table style="border: 1px solid #999; border-collapse: collapse;">
+        <tr><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Option</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: center;">Default</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Values</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Types</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Description</th></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">include_control_rates</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: center;">False</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, include control rates in the timeseries outputs by default.</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">include_parameters</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: center;">False</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, include the parameters in the timeseries outputs by default.</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">include_state_rates</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: center;">False</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, include state rates in the timeseries outputs by default.</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">include_t_phase</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: center;">False</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, include the elapsed phase time in the timeseries outputs by default.</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">use_prefix</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: center;">False</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, prefix the timeseries variable output with the type of variable (this is legacy behavior that changed in Dymos 1.8.0)</td></tr>
+    </table>
+</body>
+</html>
+</div></div>
+</div>
+</section>
+<section id="phase-refine-options">
+<h2>Phase.refine_options<a class="headerlink" href="#phase-refine-options" title="Permalink to this heading">#</a></h2>
+<p>These options control grid refinement within each Phase.</p>
+<div class="cell tag_remove-input docutils container">
+<div class="cell_output docutils container">
+<div class="output text_html">
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <style>
+        h2 {
+            text-align: center;
+        }
+    </style>
+</head>
+<body>
+    <h2></h2>
+        <table style="border: 1px solid #999; border-collapse: collapse;">
+        <tr><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Option</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Default</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Values</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Types</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Description</th></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">max_order</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">14</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;int&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Maximum transcription order for segments in this phase.</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">min_order</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">3</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;int&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Minimum transcription order for segments in this phase.</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">refine</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">True</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[True, False]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;bool&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">If True, this Phase may be refined during the grid refinement procedure.</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">smoothness_factor</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">1.2</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Maximum allowed ratio of state second derivatives across refinement iterations</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">tolerance</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">0.0001</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Default tolerance for grid refinement in this phase.</td></tr>
+    </table>
+</body>
+</html>
+</div></div>
+</div>
+</section>
+<section id="phase-simulate-options">
+<h2>Phase.simulate_options<a class="headerlink" href="#phase-simulate-options" title="Permalink to this heading">#</a></h2>
+<p>These options control the behavior of phase explicit simulation.</p>
+<div class="cell tag_remove-input docutils container">
+<div class="cell_output docutils container">
+<div class="output text_html">
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <style>
+        h2 {
+            text-align: center;
+        }
+    </style>
+</head>
+<body>
+    <h2></h2>
+        <table style="border: 1px solid #999; border-collapse: collapse;">
+        <tr><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Option</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Default</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Values</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Acceptable Types</th><th style="border: 1px solid #999; border-collapse: collapse; padding: 5px; background-color: #E9E9E9; text-align: left;">Description</th></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">atol</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">1e-06</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;, &#x27;array&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Absolute error tolerance for variable step integration.</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">first_step</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Initial step size, or None if the algorithm should choose.</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">max_step</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">inf</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Maximum allowable step size</td></tr>
+       <tr style="background-color: #F3F3F3;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">method</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">DOP853</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;RK23&#x27;, &#x27;RK45&#x27;, &#x27;DOP853&#x27;, &#x27;BDF&#x27;, &#x27;Radau&#x27;, &#x27;LSODA&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">The method used by simulate to propagate the ODE.</td></tr>
+       <tr style="background-color: ghostwhite;"><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">rtol</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">0.001</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">N/A</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">[&#x27;float&#x27;, &#x27;array&#x27;]</td><td style="border: 1px solid #999; border-collapse: collapse; padding: 5px; text-align: left;">Relative error tolerance for variable step integration.</td></tr>
+    </table>
+</body>
+</html>
+</div></div>
+</div>
+</section>
+</section>
+<section class="tex2jax_ignore mathjax_ignore" id="phase-methods">
+<h1>Phase Methods<a class="headerlink" href="#phase-methods" title="Permalink to this heading">#</a></h1>
 <section id="set-time-options">
 <h2>set_time_options<a class="headerlink" href="#set-time-options" title="Permalink to this heading">#</a></h2>
 <blockquote>
@@ -1581,7 +1688,14 @@ <h2>interp<a class="headerlink" href="#interp" title="Permalink to this heading"
   </div>
   <nav class="bd-toc-nav page-toc">
     <ul class="visible nav section-nav flex-column">
-<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#options">Options</a></li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#">Phase Options</a><ul class="visible nav section-nav flex-column">
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#id1">Phase.options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-timeseries-options">Phase.timeseries_options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-refine-options">Phase.refine_options</a></li>
+<li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-simulate-options">Phase.simulate_options</a></li>
+</ul>
+</li>
+<li class="toc-h1 nav-item toc-entry"><a class="reference internal nav-link" href="#phase-methods">Phase Methods</a><ul class="visible nav section-nav flex-column">
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-time-options">set_time_options</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#add-state">add_state</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-state-options">set_state_options</a></li>
@@ -1599,6 +1713,9 @@ <h2>interp<a class="headerlink" href="#interp" title="Permalink to this heading"
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#set-refine-options">set_refine_options</a></li>
 <li class="toc-h2 nav-item toc-entry"><a class="reference internal nav-link" href="#interp">interp</a></li>
 </ul>
+</li>
+</ul>
+
   </nav></div>
 
 </div></div>
diff --git a/api/run_problem_function.html b/api/run_problem_function.html
index 9c357f131..85f5290ff 100644
--- a/api/run_problem_function.html
+++ b/api/run_problem_function.html
@@ -65,7 +65,7 @@
     <script>DOCUMENTATION_OPTIONS.pagename = 'api/run_problem_function';</script>
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
-    <link rel="next" title="The Phase API" href="phase_api.html" />
+    <link rel="next" title="Phase Options" href="phase_api.html" />
     <link rel="prev" title="Dymos Reference API" href="api.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
@@ -240,7 +240,8 @@
 <ul class="current nav bd-sidenav">
 <li class="toctree-l1 current active has-children"><a class="reference internal" href="api.html">Dymos Reference API</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
 <li class="toctree-l2 current active"><a class="current reference internal" href="#">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -589,7 +590,7 @@ <h1>The run_problem function<a class="headerlink" href="#the-run-problem-functio
        title="next page">
       <div class="prev-next-info">
         <p class="prev-next-subtitle">next</p>
-        <p class="prev-next-title">The Phase API</p>
+        <p class="prev-next-title">Phase Options</p>
       </div>
       <i class="fa-solid fa-angle-right"></i>
     </a>
diff --git a/api/trajectory_api.html b/api/trajectory_api.html
index 861a2142f..e77b6dd33 100644
--- a/api/trajectory_api.html
+++ b/api/trajectory_api.html
@@ -240,7 +240,8 @@
 <ul class="current nav bd-sidenav">
 <li class="toctree-l1 current active has-children"><a class="reference internal" href="api.html">Dymos Reference API</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2 current active"><a class="current reference internal" href="#">The Trajectory API</a></li>
 </ul>
diff --git a/api/transcriptions_api.html b/api/transcriptions_api.html
index 4292e9887..8a4cda22a 100644
--- a/api/transcriptions_api.html
+++ b/api/transcriptions_api.html
@@ -66,7 +66,7 @@
     <link rel="index" title="Index" href="../genindex.html" />
     <link rel="search" title="Search" href="../search.html" />
     <link rel="next" title="The Trajectory API" href="trajectory_api.html" />
-    <link rel="prev" title="The Phase API" href="phase_api.html" />
+    <link rel="prev" title="Phase Options" href="phase_api.html" />
   <meta name="viewport" content="width=device-width, initial-scale=1"/>
   <meta name="docsearch:language" content="en"/>
   </head>
@@ -240,7 +240,8 @@
 <ul class="current nav bd-sidenav">
 <li class="toctree-l1 current active has-children"><a class="reference internal" href="api.html">Dymos Reference API</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2 current active"><a class="current reference internal" href="#">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -631,7 +632,7 @@ <h2></h2>
       <i class="fa-solid fa-angle-left"></i>
       <div class="prev-next-info">
         <p class="prev-next-subtitle">previous</p>
-        <p class="prev-next-title">The Phase API</p>
+        <p class="prev-next-title">Phase Options</p>
       </div>
     </a>
     <a class="right-next"
diff --git a/contributing/contributing.html b/contributing/contributing.html
index 82aee075b..c83dc2000 100644
--- a/contributing/contributing.html
+++ b/contributing/contributing.html
@@ -241,7 +241,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -730,21 +731,21 @@ <h2>Notebook Creation<a class="headerlink" href="#notebook-creation" title="Perm
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | of &#39;&lt;variable&gt;&#39; | wrt &#39;&lt;variable&gt;&#39; |   calc mag. |  check mag. |  a(cal-chk) |  r(cal-chk) | error desc |
 +=================+==================+=============+=============+=============+=============+============+
-| &#39;check&#39;         | &#39;theta&#39;          |  4.3887e+01 |  4.3887e+01 |  1.5993e-14 |  3.6442e-16 |            |
+| &#39;check&#39;         | &#39;theta&#39;          |  1.3684e+01 |  1.3684e+01 |  1.8874e-15 |  1.3793e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;check&#39;         | &#39;v&#39;              |  3.4590e+00 |  3.4590e+00 |  4.9651e-16 |  1.4354e-16 |            |
+| &#39;check&#39;         | &#39;v&#39;              |  2.7765e+00 |  2.7765e+00 |  2.2204e-16 |  7.9972e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;vdot&#39;          | &#39;theta&#39;          |  1.6571e+01 |  1.6571e+01 |  3.6621e-15 |  2.2100e-16 |            |
+| &#39;vdot&#39;          | &#39;theta&#39;          |  1.8494e+01 |  1.8494e+01 |  0.0000e+00 |  0.0000e+00 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | &#39;vdot&#39;          | &#39;v&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;theta&#39;          |  1.2690e+01 |  1.2690e+01 |  1.3323e-15 |  1.0499e-16 |            |
+| &#39;xdot&#39;          | &#39;theta&#39;          |  6.9786e+00 |  6.9786e+00 |  6.6613e-16 |  9.5453e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;v&#39;              |  1.6897e+00 |  1.6897e+00 |  3.5108e-16 |  2.0778e-16 |            |
+| &#39;xdot&#39;          | &#39;v&#39;              |  1.8859e+00 |  1.8859e+00 |  1.1102e-16 |  5.8870e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;theta&#39;          |  1.4053e+01 |  1.4053e+01 |  1.9860e-15 |  1.4133e-16 |            |
+| &#39;ydot&#39;          | &#39;theta&#39;          |  1.0907e+01 |  1.0907e+01 |  0.0000e+00 |  0.0000e+00 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;v&#39;              |  1.4645e+00 |  1.4645e+00 |  3.1891e-16 |  2.1775e-16 |            |
+| &#39;ydot&#39;          | &#39;v&#39;              |  1.2014e+00 |  1.2014e+00 |  0.0000e+00 |  0.0000e+00 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 
 ##################################################################
@@ -753,7 +754,7 @@ <h2>Notebook Creation<a class="headerlink" href="#notebook-creation" title="Perm
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 | of &#39;&lt;variable&gt;&#39; | wrt &#39;&lt;variable&gt;&#39; |   calc mag. |  check mag. |  a(cal-chk) |  r(cal-chk) |
 +=================+==================+=============+=============+=============+=============+
-| &#39;check&#39;         | &#39;theta&#39;          |  4.3887e+01 |  4.3887e+01 |  1.5993e-14 |  3.6442e-16 |
+| &#39;check&#39;         | &#39;theta&#39;          |  1.3684e+01 |  1.3684e+01 |  1.8874e-15 |  1.3793e-16 |
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 </pre></div>
 </div>
diff --git a/examples/balanced_field/balanced_field.html b/examples/balanced_field/balanced_field.html
index b4b77df77..4046acdb6 100644
--- a/examples/balanced_field/balanced_field.html
+++ b/examples/balanced_field/balanced_field.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -576,13 +577,13 @@ <h2>The ODE System<a class="headerlink" href="#the-ode-system" title="Permalink
 <h3>The Aerodynamic Model<a class="headerlink" href="#the-aerodynamic-model" title="Permalink to this heading">#</a></h3>
 <p>Both sets of equations of motion have common aerodynamic models.</p>
 <p>First, the lift coefficient is computed using a model which assumes linearity in lift wrt the angle of attack.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-be37a592-925a-4729-adf1-63ac3e125323">
-<span class="eqno">(21)<a class="headerlink" href="#equation-be37a592-925a-4729-adf1-63ac3e125323" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-be441d82-a998-4ba6-86ed-040710d88b0d">
+<span class="eqno">(21)<a class="headerlink" href="#equation-be441d82-a998-4ba6-86ed-040710d88b0d" title="Permalink to this equation">#</a></span>\[\begin{align}
     C_L &amp;= C_{L0} + \frac{\alpha}{\alpha_{max}} \left(C_{L-max} - C_{L0}\right)
 \end{align}\]</div>
 <p>Next, the drag-due-to-lift factor is computed (Equations 12.48 and 12.61 in Raymer[&#64;raymer2012aircraft]).</p>
-<div class="amsmath math notranslate nohighlight" id="equation-854862a6-40fd-48fe-b0da-420f9135bb92">
-<span class="eqno">(22)<a class="headerlink" href="#equation-854862a6-40fd-48fe-b0da-420f9135bb92" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-1c7b41c7-f176-421d-92c6-6273165c2c6c">
+<span class="eqno">(22)<a class="headerlink" href="#equation-1c7b41c7-f176-421d-92c6-6273165c2c6c" title="Permalink to this equation">#</a></span>\[\begin{align}
     K_{nom} &amp;= \frac{1}{ \pi  AR  e} \\
     b &amp;= \frac{span}{2} \\
     K &amp;= 33 K_{nom} \frac{ \left(\frac{h + h_w}{b} \right) ^{\frac{3}{2}}}{1.0 + 33 \left( \frac{h + h_w}{b}\right) ^{\frac{3}{2}}}
@@ -591,8 +592,8 @@ <h3>The Aerodynamic Model<a class="headerlink" href="#the-aerodynamic-model" tit
 This causes this problem to be difficult to solve using a shooting method.
 If the optimizer proposes a combination of initial states and a control history that results in altitude dropping significantly below zero, the propagation will fail.</p>
 <p>Finally, the lift and drag are computed after computing the dynamic pressure.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-fd3da30e-1b75-4fe2-91a8-760c9c4fc21e">
-<span class="eqno">(23)<a class="headerlink" href="#equation-fd3da30e-1b75-4fe2-91a8-760c9c4fc21e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-2085991f-3f4c-437e-9c49-175d68da3317">
+<span class="eqno">(23)<a class="headerlink" href="#equation-2085991f-3f4c-437e-9c49-175d68da3317" title="Permalink to this equation">#</a></span>\[\begin{align}
     q &amp;= 0.5 \rho v^2 \\
     L &amp;= q  S  C_L \\
     D &amp;= q S \left( C_{D0} + K C_{L}^2 \right)
@@ -603,8 +604,8 @@ <h3>Stall Speed<a class="headerlink" href="#stall-speed" title="Permalink to thi
 <p>This model relies on the ratio of the current true airspeed to stall speed (<span class="math notranslate nohighlight">\(\frac{v}{v_{stall}}\)</span>).
 This constraint is used to trigger the beginning of rotation and is used as a boundary constraint at the end of the initial climb.
 Stall speed is given by Equation 5.6 in Raymer[&#64;raymer2012aircraft].</p>
-<div class="amsmath math notranslate nohighlight" id="equation-0d239304-2df7-4a8d-990a-f582990aecd5">
-<span class="eqno">(24)<a class="headerlink" href="#equation-0d239304-2df7-4a8d-990a-f582990aecd5" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-92ae8bcc-7fd9-4162-9184-34bf2bbfcf6b">
+<span class="eqno">(24)<a class="headerlink" href="#equation-92ae8bcc-7fd9-4162-9184-34bf2bbfcf6b" title="Permalink to this equation">#</a></span>\[\begin{align}
     W &amp;= m g \\
     v_{stall} &amp;= \sqrt{\frac{2 * W}{\rho S C_{L-max}}}
 \end{align}\]</div>
@@ -612,8 +613,8 @@ <h3>Stall Speed<a class="headerlink" href="#stall-speed" title="Permalink to thi
 <section id="runway-equations-of-motion">
 <h3>Runway Equations of Motion<a class="headerlink" href="#runway-equations-of-motion" title="Permalink to this heading">#</a></h3>
 <p>The runway equations of motion are used to integrate range and speed as the vehicle rolls along the runway.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-1fd45f2b-2bc9-4265-985c-18fc4488552a">
-<span class="eqno">(25)<a class="headerlink" href="#equation-1fd45f2b-2bc9-4265-985c-18fc4488552a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-6cb15f6f-b348-41ff-8bdc-1de003acbcd1">
+<span class="eqno">(25)<a class="headerlink" href="#equation-6cb15f6f-b348-41ff-8bdc-1de003acbcd1" title="Permalink to this equation">#</a></span>\[\begin{align}
   F_r &amp;= mg - L \cos \alpha - T \sin \alpha \\
   \dot{v} &amp;= \frac{T \cos \alpha - D - F_r \mu_r}{m} \\
   \dot{r} &amp;= v
@@ -640,8 +641,8 @@ <h3>Runway Equations of Motion<a class="headerlink" href="#runway-equations-of-m
 <section id="flight-equations-of-motion">
 <h3>Flight Equations of Motion<a class="headerlink" href="#flight-equations-of-motion" title="Permalink to this heading">#</a></h3>
 <p>The flight equations of motion include two additional state variables: the flight-path angle (<span class="math notranslate nohighlight">\(\gamma\)</span>) and altitude (<span class="math notranslate nohighlight">\(h\)</span>).</p>
-<div class="amsmath math notranslate nohighlight" id="equation-511f8f40-92a9-42dd-8c2f-6f7310dbe45d">
-<span class="eqno">(26)<a class="headerlink" href="#equation-511f8f40-92a9-42dd-8c2f-6f7310dbe45d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-8d7ff1d0-2bbc-465c-8fb1-cf0a07b40ea2">
+<span class="eqno">(26)<a class="headerlink" href="#equation-8d7ff1d0-2bbc-465c-8fb1-cf0a07b40ea2" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{v} &amp;= \frac{T}{m} \cos \alpha - \frac{D}{m} - g \sin \gamma \\
   \dot{\gamma} &amp;= \frac{T}{m v} \sin \alpha + \frac{L}{m v} - \frac{g \cos \gamma}{v} \\
   \dot{h} &amp;= v \sin \gamma \\
@@ -1165,7 +1166,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;dymos.phase.phase.Phase at 0x7f75608036d0&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;dymos.phase.phase.Phase at 0x7fe77086e830&gt;
 </pre></div>
 </div>
 </div>
@@ -1422,24 +1423,24 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Coloring for &#39;traj.phases.br_to_v1.rhs_all&#39; (class BalancedFieldODEComp)
 
-Jacobian shape: (132, 60)  ( 9.80% nonzero)
+Jacobian shape: (132, 60)  ( 9.76% nonzero)
 FWD solves: 16   REV solves: 0
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.025429 sec.
-Time to compute coloring: 0.018797 sec.
+Time to compute sparsity: 0.031931 sec.
+Time to compute coloring: 0.022782 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.rto.rhs_all&#39; (class BalancedFieldODEComp)
 
-Jacobian shape: (132, 60)  ( 9.79% nonzero)
+Jacobian shape: (132, 60)  ( 9.77% nonzero)
 FWD solves: 16   REV solves: 0
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.024386 sec.
-Time to compute coloring: 0.017943 sec.
+Time to compute sparsity: 0.030933 sec.
+Time to compute coloring: 0.021521 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.v1_to_vr.rhs_all&#39; (class BalancedFieldODEComp)
@@ -1449,8 +1450,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.024096 sec.
-Time to compute coloring: 0.018141 sec.
+Time to compute sparsity: 0.030660 sec.
+Time to compute coloring: 0.022036 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.rotate.rhs_all&#39; (class BalancedFieldODEComp)
@@ -1460,8 +1461,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.025099 sec.
-Time to compute coloring: 0.018130 sec.
+Time to compute sparsity: 0.030684 sec.
+Time to compute coloring: 0.021844 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1472,12 +1473,12 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 111  (85.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.052630 sec.
-Time to compute coloring: 0.036409 sec.
+Time to compute sparsity: 0.066701 sec.
+Time to compute coloring: 0.041578 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.872126 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 2.264426 seconds.
 Total jacobian shape: (178, 166) 
 
 
@@ -1486,8 +1487,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 12 vs 166  (92.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.872126 sec.
-Time to compute coloring: 0.128597 sec.
+Time to compute sparsity: 2.264426 sec.
+Time to compute coloring: 0.152121 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
diff --git a/examples/balanced_field/balanced_field_funccomp.html b/examples/balanced_field/balanced_field_funccomp.html
index 91830784c..3d4df0ce4 100644
--- a/examples/balanced_field/balanced_field_funccomp.html
+++ b/examples/balanced_field/balanced_field_funccomp.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -990,13 +991,13 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Coloring for &#39;traj.phases.br_to_v1.rhs_all&#39; (class ExplicitFuncComp)
 
-Jacobian shape: (132, 60)  ( 9.81% nonzero)
+Jacobian shape: (132, 60)  ( 9.80% nonzero)
 FWD solves: 16   REV solves: 0
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.464049 sec.
-Time to compute coloring: 0.095167 sec.
+Time to compute sparsity: 0.508898 sec.
+Time to compute coloring: 0.105504 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1005,13 +1006,13 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Coloring for &#39;traj.phases.rto.rhs_all&#39; (class ExplicitFuncComp)
 
-Jacobian shape: (132, 60)  ( 9.77% nonzero)
+Jacobian shape: (132, 60)  ( 9.80% nonzero)
 FWD solves: 16   REV solves: 0
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.435331 sec.
-Time to compute coloring: 0.091807 sec.
+Time to compute sparsity: 0.479329 sec.
+Time to compute coloring: 0.112374 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1025,8 +1026,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.437596 sec.
-Time to compute coloring: 0.105334 sec.
+Time to compute sparsity: 0.483461 sec.
+Time to compute coloring: 0.107622 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1040,8 +1041,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 60  (73.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.443934 sec.
-Time to compute coloring: 0.094466 sec.
+Time to compute sparsity: 0.473750 sec.
+Time to compute coloring: 0.107956 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1055,12 +1056,12 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 16 vs 111  (85.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.573999 sec.
-Time to compute coloring: 0.207541 sec.
-Memory to compute coloring: 0.832031 MB.
+Time to compute sparsity: 0.608708 sec.
+Time to compute coloring: 0.241263 sec.
+Memory to compute coloring: 0.773438 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 6.299375 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 7.034730 seconds.
 Total jacobian shape: (178, 166) 
 
 
@@ -1069,8 +1070,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 12 vs 166  (92.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 6.299375 sec.
-Time to compute coloring: 0.133282 sec.
+Time to compute sparsity: 7.034730 sec.
+Time to compute coloring: 0.164111 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
diff --git a/examples/brachistochrone/brachistochrone.html b/examples/brachistochrone/brachistochrone.html
index a3b50cc3e..d13201bbb 100644
--- a/examples/brachistochrone/brachistochrone.html
+++ b/examples/brachistochrone/brachistochrone.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -537,8 +538,8 @@ <h2>State variables<a class="headerlink" href="#state-variables" title="Permalin
 <section id="system-dynamics">
 <h2>System dynamics<a class="headerlink" href="#system-dynamics" title="Permalink to this heading">#</a></h2>
 <p>From the free-body diagram above, the evolution of the state variables is given by the following ordinary differential equations (ODE).</p>
-<div class="amsmath math notranslate nohighlight" id="equation-3de8d6c4-4f35-48bb-bead-f1cc8882b698">
-<span class="eqno">(13)<a class="headerlink" href="#equation-3de8d6c4-4f35-48bb-bead-f1cc8882b698" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-95526896-f514-4b81-b292-910d3f5e3ea1">
+<span class="eqno">(13)<a class="headerlink" href="#equation-95526896-f514-4b81-b292-910d3f5e3ea1" title="Permalink to this equation">#</a></span>\[\begin{align}
     \frac{d x}{d t} &amp;= v \sin(\theta) \\
     \frac{d y}{d t} &amp;= -v \cos(\theta) \\
     \frac{d v}{d t} &amp;= g \cos(\theta)
@@ -556,8 +557,8 @@ <h2>The initial and final conditions<a class="headerlink" href="#the-initial-and
 <p>In this case, starting point <strong>A</strong> is given as <em>(0, 10)</em>.
 The point moving along the curve will begin there with zero initial velocity.</p>
 <p>The initial conditions are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-1dafbd12-cf4d-4b8f-a57f-adba060ed6c6">
-<span class="eqno">(14)<a class="headerlink" href="#equation-1dafbd12-cf4d-4b8f-a57f-adba060ed6c6" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-e52dbcb9-1327-4eb1-b79d-4a1fce86271a">
+<span class="eqno">(14)<a class="headerlink" href="#equation-e52dbcb9-1327-4eb1-b79d-4a1fce86271a" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_0 &amp;= 0 \\
     y_0 &amp;= 10 \\
     v_0 &amp;= 0
@@ -565,8 +566,8 @@ <h2>The initial and final conditions<a class="headerlink" href="#the-initial-and
 <p>The end point <strong>B</strong> is given as <em>(10, 5)</em>.
 The point will end there, but the velocity at that point is not constrained.</p>
 <p>The final conditions are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9f2fd95d-fcc7-431c-9606-83532e3e6258">
-<span class="eqno">(15)<a class="headerlink" href="#equation-9f2fd95d-fcc7-431c-9606-83532e3e6258" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-26f78676-d113-4d35-b4f6-fa1b6391875d">
+<span class="eqno">(15)<a class="headerlink" href="#equation-26f78676-d113-4d35-b4f6-fa1b6391875d" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_f &amp;= 10 \\
     y_f &amp;= 5 \\
     v_f &amp;= \mathrm{free}
@@ -732,27 +733,27 @@ <h2>Testing the ODE<a class="headerlink" href="#testing-the-ode" title="Permalin
 +=================+==================+=============+=============+=============+=============+============+
 | &#39;check&#39;         | &#39;g&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;check&#39;         | &#39;theta&#39;          |  1.2138e+03 |  1.2138e+03 |  1.8202e-14 |  1.4996e-17 |            |
+| &#39;check&#39;         | &#39;theta&#39;          |  6.6798e+00 |  6.6798e+00 |  8.8818e-16 |  1.3297e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;check&#39;         | &#39;v&#39;              |  1.5151e+01 |  1.5151e+01 |  1.8841e-15 |  1.2435e-16 |            |
+| &#39;check&#39;         | &#39;v&#39;              |  2.4284e+00 |  2.4284e+00 |  0.0000e+00 |  0.0000e+00 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;vdot&#39;          | &#39;g&#39;              |  1.8967e+00 |  1.8967e+00 |  3.3307e-16 |  1.7560e-16 |            |
+| &#39;vdot&#39;          | &#39;g&#39;              |  8.4704e-01 |  8.4704e-01 |  5.5511e-17 |  6.5536e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;vdot&#39;          | &#39;theta&#39;          |  1.1614e+01 |  1.1614e+01 |  2.1756e-15 |  1.8732e-16 |            |
+| &#39;vdot&#39;          | &#39;theta&#39;          |  2.0294e+01 |  2.0294e+01 |  2.5121e-15 |  1.2379e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | &#39;vdot&#39;          | &#39;v&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | &#39;xdot&#39;          | &#39;g&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;theta&#39;          |  1.4589e+01 |  1.4589e+01 |  2.1756e-15 |  1.4912e-16 |            |
+| &#39;xdot&#39;          | &#39;theta&#39;          |  5.4081e+00 |  5.4081e+00 |  4.9651e-16 |  9.1808e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;xdot&#39;          | &#39;v&#39;              |  1.1843e+00 |  1.1843e+00 |  2.0015e-16 |  1.6900e-16 |            |
+| &#39;xdot&#39;          | &#39;v&#39;              |  2.0694e+00 |  2.0694e+00 |  1.9230e-16 |  9.2922e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 | &#39;ydot&#39;          | &#39;g&#39;              |  0.0000e+00 |  0.0000e+00 |  0.0000e+00 |         nan |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;theta&#39;          |  1.0809e+01 |  1.0809e+01 |  1.3323e-15 |  1.2326e-16 |            |
+| &#39;ydot&#39;          | &#39;theta&#39;          |  1.3047e+01 |  1.3047e+01 |  2.0351e-15 |  1.5598e-16 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
-| &#39;ydot&#39;          | &#39;v&#39;              |  1.8967e+00 |  1.8967e+00 |  3.3307e-16 |  1.7560e-16 |            |
+| &#39;ydot&#39;          | &#39;v&#39;              |  8.4704e-01 |  8.4704e-01 |  5.5511e-17 |  6.5536e-17 |            |
 +-----------------+------------------+-------------+-------------+-------------+-------------+------------+
 
 ##################################################################
@@ -761,7 +762,7 @@ <h2>Testing the ODE<a class="headerlink" href="#testing-the-ode" title="Permalin
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 | of &#39;&lt;variable&gt;&#39; | wrt &#39;&lt;variable&gt;&#39; |   calc mag. |  check mag. |  a(cal-chk) |  r(cal-chk) |
 +=================+==================+=============+=============+=============+=============+
-| &#39;vdot&#39;          | &#39;theta&#39;          |  1.1614e+01 |  1.1614e+01 |  2.1756e-15 |  1.8732e-16 |
+| &#39;ydot&#39;          | &#39;theta&#39;          |  1.3047e+01 |  1.3047e+01 |  2.0351e-15 |  1.5598e-16 |
 +-----------------+------------------+-------------+-------------+-------------+-------------+
 </pre></div>
 </div>
@@ -853,7 +854,7 @@ <h2>Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos<a class
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+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.044139 seconds.
 Total jacobian shape: (40, 50) 
 
 
@@ -862,8 +863,8 @@ <h2>Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos<a class
 Total colors vs. total size: 13 vs 50  (74.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.036669 sec.
-Time to compute coloring: 0.042409 sec.
+Time to compute sparsity: 0.044139 sec.
+Time to compute coloring: 0.048727 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
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@@ -1016,7 +1017,7 @@ <h2>Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos<a class
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/recorders/sqlite_recorder.py:227: UserWarning:The existing case recorder file, dymos_solution.db, is being overwritten.
 </pre></div>
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-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.022284 seconds.
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 Total jacobian shape: (12, 51) 
 
 
@@ -1025,10 +1026,10 @@ <h2>Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos<a class
 Total colors vs. total size: 12 vs 12  (0.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.022284 sec.
-Time to compute coloring: 0.032587 sec.
+Time to compute sparsity: 0.022662 sec.
+Time to compute coloring: 0.038256 sec.
 Memory to compute coloring: 0.000000 MB.
-Full total jacobian was computed 3 times, taking 0.021296 seconds.
+Full total jacobian was computed 3 times, taking 0.021343 seconds.
 Total jacobian shape: (12, 51) 
 
 
@@ -1037,8 +1038,8 @@ <h2>Solving the problem with Legendre-Gauss-Lobatto collocation in Dymos<a class
 Total colors vs. total size: 12 vs 12  (0.0% improvement)
 
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-Time to compute sparsity: 0.021296 sec.
-Time to compute coloring: 0.032796 sec.
+Time to compute sparsity: 0.021343 sec.
+Time to compute coloring: 0.044488 sec.
 Memory to compute coloring: 0.000000 MB.
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diff --git a/examples/brachistochrone/brachistochrone_tandem_phases.html b/examples/brachistochrone/brachistochrone_tandem_phases.html
index 75990ff8f..ecdae3d42 100644
--- a/examples/brachistochrone/brachistochrone_tandem_phases.html
+++ b/examples/brachistochrone/brachistochrone_tandem_phases.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -682,7 +683,7 @@ <h2>Setup and run<a class="headerlink" href="#setup-and-run" title="Permalink to
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
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+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.395842 seconds.
 Total jacobian shape: (223, 287) 
 </pre></div>
 </div>
@@ -691,9 +692,9 @@ <h2>Setup and run<a class="headerlink" href="#setup-and-run" title="Permalink to
 Total colors vs. total size: 29 vs 287  (89.9% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.340832 sec.
-Time to compute coloring: 0.386028 sec.
-Memory to compute coloring: 3.066406 MB.
+Time to compute sparsity: 0.395842 sec.
+Time to compute coloring: 0.427768 sec.
+Memory to compute coloring: 2.960938 MB.
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 </div>
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@@ -1482,10 +1483,10 @@ <h2>Plots<a class="headerlink" href="#plots" title="Permalink to this heading">#
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   </head>
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 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -841,7 +842,7 @@ <h1>The Brachistochrone with Externally-Sourced Controls<a class="headerlink" hr
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.123141 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.146704 seconds.
 Total jacobian shape: (31, 50) 
 
 
@@ -850,11 +851,15 @@ <h1>The Brachistochrone with Externally-Sourced Controls<a class="headerlink" hr
 Total colors vs. total size: 7 vs 31  (77.4% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.123141 sec.
-Time to compute coloring: 0.034620 sec.
+Time to compute sparsity: 0.146704 sec.
+Time to compute coloring: 0.040708 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
+<div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/scipy/optimize/optimize.py:282: RuntimeWarning: Values in x were outside bounds during a minimize step, clipping to bounds
+  warnings.warn(&quot;Values in x were outside bounds during a &quot;
+</pre></div>
+</div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
             Current function value: [1.80160471]
             Iterations: 46
diff --git a/examples/brachistochrone/brachistochrone_upstream_init_duration_states.html b/examples/brachistochrone/brachistochrone_upstream_init_duration_states.html
index ab9c91f04..4de80d660 100644
--- a/examples/brachistochrone/brachistochrone_upstream_init_duration_states.html
+++ b/examples/brachistochrone/brachistochrone_upstream_init_duration_states.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -714,18 +715,18 @@ <h1>The Brachistochrone with externally-sourced initial state values<a class="he
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.128937 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.191521 seconds.
 Total jacobian shape: (40, 50) 
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (40, 50)  (13.40% nonzero)
+
+
+Jacobian shape: (40, 50)  (13.40% nonzero)
 FWD solves: 8   REV solves: 0
 Total colors vs. total size: 8 vs 50  (84.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.128937 sec.
-Time to compute coloring: 0.039081 sec.
-Memory to compute coloring: 0.386719 MB.
+Time to compute sparsity: 0.191521 sec.
+Time to compute coloring: 0.053319 sec.
+Memory to compute coloring: 0.359375 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
@@ -785,7 +786,7 @@ <h2>Plotting the results<a class="headerlink" href="#plotting-the-results" title
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../../_images/54ec70d14a2033cdd5e0c3abfd0ae721ce11c1c3811790f06e33c5dd5340623b.png" src="../../_images/54ec70d14a2033cdd5e0c3abfd0ae721ce11c1c3811790f06e33c5dd5340623b.png" />
+<img alt="../../_images/97b494d19c80ea449a7ee37efdecfe6af78d977ec5c14deebff77b43f1e5e7bb.png" src="../../_images/97b494d19c80ea449a7ee37efdecfe6af78d977ec5c14deebff77b43f1e5e7bb.png" />
 </div>
 </div>
 </section>
diff --git a/examples/brachistochrone/brachistochrone_upstream_states.html b/examples/brachistochrone/brachistochrone_upstream_states.html
index 9ea054e05..43432d336 100644
--- a/examples/brachistochrone/brachistochrone_upstream_states.html
+++ b/examples/brachistochrone/brachistochrone_upstream_states.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -914,7 +915,7 @@ <h1>The Brachistochrone with Externally-Sourced initial state values<a class="he
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.160252 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.173806 seconds.
 Total jacobian shape: (41, 51) 
 
 
@@ -923,9 +924,9 @@ <h1>The Brachistochrone with Externally-Sourced initial state values<a class="he
 Total colors vs. total size: 8 vs 51  (84.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.160252 sec.
-Time to compute coloring: 0.042411 sec.
-Memory to compute coloring: 0.343750 MB.
+Time to compute sparsity: 0.173806 sec.
+Time to compute coloring: 0.047215 sec.
+Memory to compute coloring: 0.339844 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
diff --git a/examples/bryson_denham/bryson_denham.html b/examples/bryson_denham/bryson_denham.html
index 66b2004a8..42a130b83 100644
--- a/examples/bryson_denham/bryson_denham.html
+++ b/examples/bryson_denham/bryson_denham.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -503,8 +504,8 @@ <h2>State and control variables<a class="headerlink" href="#state-and-control-va
 <p>This system has two state variables, the position (<span class="math notranslate nohighlight">\(x\)</span>) and velocity (<span class="math notranslate nohighlight">\(v\)</span>) of the sliding block.</p>
 <p>This system has a single control variable (<span class="math notranslate nohighlight">\(u\)</span>), the acceleration of the block.</p>
 <p>The dynamics of the system are governed by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5c0f5cea-0c0e-4022-8d2d-fb8320c64fe6">
-<span class="eqno">(27)<a class="headerlink" href="#equation-5c0f5cea-0c0e-4022-8d2d-fb8320c64fe6" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-d7aed334-2519-4f0d-8f04-96ffe2b5b4f8">
+<span class="eqno">(27)<a class="headerlink" href="#equation-d7aed334-2519-4f0d-8f04-96ffe2b5b4f8" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{x} &amp;= v \\
   \dot{v} &amp;= u
 \end{align}\]</div>
@@ -512,25 +513,25 @@ <h2>State and control variables<a class="headerlink" href="#state-and-control-va
 <section id="problem-definition">
 <h2>Problem Definition<a class="headerlink" href="#problem-definition" title="Permalink to this heading">#</a></h2>
 <p>We seek to minimize the time required to exit the well in the positive direction.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-54c06a87-bfc7-4dab-b2f6-6dda3e18c685">
-<span class="eqno">(28)<a class="headerlink" href="#equation-54c06a87-bfc7-4dab-b2f6-6dda3e18c685" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c177f594-ec75-4e5f-94b4-45ec01af848b">
+<span class="eqno">(28)<a class="headerlink" href="#equation-c177f594-ec75-4e5f-94b4-45ec01af848b" title="Permalink to this equation">#</a></span>\[\begin{align}
     \mathrm{Minimize} \, J &amp;= 0.5 \int_0^1 u^2 dt
 \end{align}\]</div>
 <p>Subject to the initial conditions</p>
-<div class="amsmath math notranslate nohighlight" id="equation-4979669e-2cf9-4ef9-af10-dfa8f1aeff19">
-<span class="eqno">(29)<a class="headerlink" href="#equation-4979669e-2cf9-4ef9-af10-dfa8f1aeff19" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-897af2ee-6e44-4447-ae40-558f7c91e02f">
+<span class="eqno">(29)<a class="headerlink" href="#equation-897af2ee-6e44-4447-ae40-558f7c91e02f" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_0 &amp;= 0.0 \\
     v_0 &amp;= 1.0
 \end{align}\]</div>
 <p>and the terminal constraints</p>
-<div class="amsmath math notranslate nohighlight" id="equation-a36c6c2d-c8d0-4dc4-9ca7-daf023454cf9">
-<span class="eqno">(30)<a class="headerlink" href="#equation-a36c6c2d-c8d0-4dc4-9ca7-daf023454cf9" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-a8cc1a2c-3370-4721-a4b0-030df74395bf">
+<span class="eqno">(30)<a class="headerlink" href="#equation-a8cc1a2c-3370-4721-a4b0-030df74395bf" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_f &amp;= 0.0 \\
     v_f &amp;= -1.0
 \end{align}\]</div>
 <p>In addition, <span class="math notranslate nohighlight">\(x\)</span> is consrained to remain below a displacement of 1/9.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-8365f386-719b-43ae-9664-72b5d079af8c">
-<span class="eqno">(31)<a class="headerlink" href="#equation-8365f386-719b-43ae-9664-72b5d079af8c" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-97de4bb3-d4b3-4f77-a370-68ee5d2ef0a3">
+<span class="eqno">(31)<a class="headerlink" href="#equation-97de4bb3-d4b3-4f77-a370-68ee5d2ef0a3" title="Permalink to this equation">#</a></span>\[\begin{align}
     x &amp;\le 1/9
 \end{align}\]</div>
 </section>
@@ -539,8 +540,8 @@ <h2>Dealing with integral costs in Dymos<a class="headerlink" href="#dealing-wit
 <p>In classic optimal control, the objective is often broken into the terminal component (the Mayer term) and the integral component (the Lagrange term).
 Dymos does not distinguish between the two.
 In this case, since the objective <span class="math notranslate nohighlight">\(J\)</span> is an integrated quantity, we add a term to the ODE</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9e187430-61ac-49ee-a8bb-1de7b8deaddc">
-<span class="eqno">(32)<a class="headerlink" href="#equation-9e187430-61ac-49ee-a8bb-1de7b8deaddc" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-6b2a8641-2d28-4cfd-9730-a111507e05f2">
+<span class="eqno">(32)<a class="headerlink" href="#equation-6b2a8641-2d28-4cfd-9730-a111507e05f2" title="Permalink to this equation">#</a></span>\[\begin{align}
 \dot{J} &amp;= 0.5 u^2
 \end{align}\]</div>
 </section>
@@ -684,7 +685,7 @@ <h2>Solving the Bryson-Denham problem with Dymos<a class="headerlink" href="#sol
         [path]     x &lt;= 1.1111e-01  [m]
 </pre></div>
 </div>
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f78f4a2bc70&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f2cc893ba60&gt;
 </pre></div>
 </div>
 </div>
@@ -730,18 +731,18 @@ <h2>Solving the Bryson-Denham problem with Dymos<a class="headerlink" href="#sol
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.592011 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.805986 seconds.
 Total jacobian shape: (336, 286) 
-
-
-Jacobian shape: (336, 286)  ( 1.44% nonzero)
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (336, 286)  ( 1.44% nonzero)
 FWD solves: 7   REV solves: 0
 Total colors vs. total size: 7 vs 286  (97.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.592011 sec.
-Time to compute coloring: 0.191995 sec.
-Memory to compute coloring: 0.433594 MB.
+Time to compute sparsity: 0.805986 sec.
+Time to compute coloring: 0.239421 sec.
+Memory to compute coloring: 0.371094 MB.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/total_jac.py:1782: DerivativesWarning:Constraints or objectives [(&#39;traj.phases.phase0.timeseries.timeseries_comp.x&#39;, inds=[(0, 0), (95, 0)])] cannot be impacted by the design variables of the problem.
@@ -1152,42 +1153,42 @@ <h2>Animating the Solution<a class="headerlink" href="#animating-the-solution" t
 </style>
 
 <div class="animation">
-  <img id="_anim_img3330acdf688f42faa64bd9dd9877a64d">
+  <img id="_anim_imgb9fe81f5dcaa4baca750f79217f03362">
   <div class="anim-controls">
-    <input id="_anim_slider3330acdf688f42faa64bd9dd9877a64d" type="range" class="anim-slider"
+    <input id="_anim_sliderb9fe81f5dcaa4baca750f79217f03362" type="range" class="anim-slider"
            name="points" min="0" max="1" step="1" value="0"
-           oninput="anim3330acdf688f42faa64bd9dd9877a64d.set_frame(parseInt(this.value));">
+           oninput="animb9fe81f5dcaa4baca750f79217f03362.set_frame(parseInt(this.value));">
     <div class="anim-buttons">
-      <button title="Decrease speed" aria-label="Decrease speed" onclick="anim3330acdf688f42faa64bd9dd9877a64d.slower()">
+      <button title="Decrease speed" aria-label="Decrease speed" onclick="animb9fe81f5dcaa4baca750f79217f03362.slower()">
           <i class="fa fa-minus"></i></button>
-      <button title="First frame" aria-label="First frame" onclick="anim3330acdf688f42faa64bd9dd9877a64d.first_frame()">
+      <button title="First frame" aria-label="First frame" onclick="animb9fe81f5dcaa4baca750f79217f03362.first_frame()">
         <i class="fa fa-fast-backward"></i></button>
-      <button title="Previous frame" aria-label="Previous frame" onclick="anim3330acdf688f42faa64bd9dd9877a64d.previous_frame()">
+      <button title="Previous frame" aria-label="Previous frame" onclick="animb9fe81f5dcaa4baca750f79217f03362.previous_frame()">
           <i class="fa fa-step-backward"></i></button>
-      <button title="Play backwards" aria-label="Play backwards" onclick="anim3330acdf688f42faa64bd9dd9877a64d.reverse_animation()">
+      <button title="Play backwards" aria-label="Play backwards" onclick="animb9fe81f5dcaa4baca750f79217f03362.reverse_animation()">
           <i class="fa fa-play fa-flip-horizontal"></i></button>
-      <button title="Pause" aria-label="Pause" onclick="anim3330acdf688f42faa64bd9dd9877a64d.pause_animation()">
+      <button title="Pause" aria-label="Pause" onclick="animb9fe81f5dcaa4baca750f79217f03362.pause_animation()">
           <i class="fa fa-pause"></i></button>
-      <button title="Play" aria-label="Play" onclick="anim3330acdf688f42faa64bd9dd9877a64d.play_animation()">
+      <button title="Play" aria-label="Play" onclick="animb9fe81f5dcaa4baca750f79217f03362.play_animation()">
           <i class="fa fa-play"></i></button>
-      <button title="Next frame" aria-label="Next frame" onclick="anim3330acdf688f42faa64bd9dd9877a64d.next_frame()">
+      <button title="Next frame" aria-label="Next frame" onclick="animb9fe81f5dcaa4baca750f79217f03362.next_frame()">
           <i class="fa fa-step-forward"></i></button>
-      <button title="Last frame" aria-label="Last frame" onclick="anim3330acdf688f42faa64bd9dd9877a64d.last_frame()">
+      <button title="Last frame" aria-label="Last frame" onclick="animb9fe81f5dcaa4baca750f79217f03362.last_frame()">
           <i class="fa fa-fast-forward"></i></button>
-      <button title="Increase speed" aria-label="Increase speed" onclick="anim3330acdf688f42faa64bd9dd9877a64d.faster()">
+      <button title="Increase speed" aria-label="Increase speed" onclick="animb9fe81f5dcaa4baca750f79217f03362.faster()">
           <i class="fa fa-plus"></i></button>
     </div>
-    <form title="Repetition mode" aria-label="Repetition mode" action="#n" name="_anim_loop_select3330acdf688f42faa64bd9dd9877a64d"
+    <form title="Repetition mode" aria-label="Repetition mode" action="#n" name="_anim_loop_selectb9fe81f5dcaa4baca750f79217f03362"
           class="anim-state">
-      <input type="radio" name="state" value="once" id="_anim_radio1_3330acdf688f42faa64bd9dd9877a64d"
+      <input type="radio" name="state" value="once" id="_anim_radio1_b9fe81f5dcaa4baca750f79217f03362"
              >
-      <label for="_anim_radio1_3330acdf688f42faa64bd9dd9877a64d">Once</label>
-      <input type="radio" name="state" value="loop" id="_anim_radio2_3330acdf688f42faa64bd9dd9877a64d"
+      <label for="_anim_radio1_b9fe81f5dcaa4baca750f79217f03362">Once</label>
+      <input type="radio" name="state" value="loop" id="_anim_radio2_b9fe81f5dcaa4baca750f79217f03362"
              checked>
-      <label for="_anim_radio2_3330acdf688f42faa64bd9dd9877a64d">Loop</label>
-      <input type="radio" name="state" value="reflect" id="_anim_radio3_3330acdf688f42faa64bd9dd9877a64d"
+      <label for="_anim_radio2_b9fe81f5dcaa4baca750f79217f03362">Loop</label>
+      <input type="radio" name="state" value="reflect" id="_anim_radio3_b9fe81f5dcaa4baca750f79217f03362"
              >
-      <label for="_anim_radio3_3330acdf688f42faa64bd9dd9877a64d">Reflect</label>
+      <label for="_anim_radio3_b9fe81f5dcaa4baca750f79217f03362">Reflect</label>
     </form>
   </div>
 </div>
@@ -1197,9 +1198,9 @@ <h2>Animating the Solution<a class="headerlink" href="#animating-the-solution" t
   /* Instantiate the Animation class. */
   /* The IDs given should match those used in the template above. */
   (function() {
-    var img_id = "_anim_img3330acdf688f42faa64bd9dd9877a64d";
-    var slider_id = "_anim_slider3330acdf688f42faa64bd9dd9877a64d";
-    var loop_select_id = "_anim_loop_select3330acdf688f42faa64bd9dd9877a64d";
+    var img_id = "_anim_imgb9fe81f5dcaa4baca750f79217f03362";
+    var slider_id = "_anim_sliderb9fe81f5dcaa4baca750f79217f03362";
+    var loop_select_id = "_anim_loop_selectb9fe81f5dcaa4baca750f79217f03362";
     var frames = new Array(90);
     
   frames[0] = "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAABLAAAAJYCAYAAABy5h8aAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\
@@ -76598,7 +76599,7 @@ <h2>Animating the Solution<a class="headerlink" href="#animating-the-solution" t
     /* set a timeout to make sure all the above elements are created before
        the object is initialized. */
     setTimeout(function() {
-        anim3330acdf688f42faa64bd9dd9877a64d = new Animation(frames, img_id, slider_id, 50.0,
+        animb9fe81f5dcaa4baca750f79217f03362 = new Animation(frames, img_id, slider_id, 50.0,
                                  loop_select_id);
     }, 0);
   })()
diff --git a/examples/cannonball_implicit_duration/cannonball_implicit_duration.html b/examples/cannonball_implicit_duration/cannonball_implicit_duration.html
index 669592f47..545a0e175 100644
--- a/examples/cannonball_implicit_duration/cannonball_implicit_duration.html
+++ b/examples/cannonball_implicit_duration/cannonball_implicit_duration.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -499,8 +500,8 @@ <h1>Cannonball Implicit Duration<a class="headerlink" href="#cannonball-implicit
 the cannonball (its radius) and the optimal flight profile (its launch
 angle). However, here we will use a single phase that terminates at the
 condition</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5c8e6823-8534-44e4-8307-1336c49f542f">
-<span class="eqno">(91)<a class="headerlink" href="#equation-5c8e6823-8534-44e4-8307-1336c49f542f" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-32106f7b-2e98-45ab-ab68-53d268fa3e17">
+<span class="eqno">(91)<a class="headerlink" href="#equation-32106f7b-2e98-45ab-ab68-53d268fa3e17" title="Permalink to this equation">#</a></span>\[\begin{align}
     h(t_f) = 0
 \end{align}\]</div>
 <section id="the-cannonball-sizing-component">
@@ -777,12 +778,12 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 6 vs 303  (98.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.158962 sec.
-Time to compute coloring: 0.057886 sec.
-Memory to compute coloring: 0.570312 MB.
+Time to compute sparsity: 0.230498 sec.
+Time to compute coloring: 0.074208 sec.
+Memory to compute coloring: 0.183594 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.486954 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.502923 seconds.
 Total jacobian shape: (98, 100) 
 
 
@@ -791,8 +792,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 18 vs 100  (82.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.486954 sec.
-Time to compute coloring: 0.115300 sec.
+Time to compute sparsity: 0.502923 sec.
+Time to compute coloring: 0.134477 sec.
 Memory to compute coloring: 0.625000 MB.
 </pre></div>
 </div>
@@ -802,11 +803,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   28.7084
-       User Objective Time :      25.0085
-       User Sensitivity Time :     3.1954
-       Interface Time :            0.2745
-       Opt Solver Time:            0.2300
+    Total Time:                   33.1196
+       User Objective Time :      28.8019
+       User Sensitivity Time :     3.7264
+       Interface Time :            0.3212
+       Opt Solver Time:            0.2701
     Calls to Objective Function :     233
     Calls to Sens Function :           54
 
@@ -920,102 +921,102 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    4.661160E-12    0.000000E+00              9.00000E+100
-          1  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -3.524292E-12    0.000000E+00              9.00000E+100
+          0  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    4.320100E-12    0.000000E+00              9.00000E+100
+          1  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -3.751666E-12    0.000000E+00              9.00000E+100
           2  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -4.206413E-12    0.000000E+00              9.00000E+100
-          3  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -3.865352E-12    0.000000E+00              9.00000E+100
-          4  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.501110E-12    0.000000E+00              9.00000E+100
-          5  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.728484E-12    0.000000E+00              9.00000E+100
-          6  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.273737E-12    0.000000E+00              9.00000E+100
+          3  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -4.092726E-12    0.000000E+00              9.00000E+100
+          4  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -3.183231E-12    0.000000E+00              9.00000E+100
+          5  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.955858E-12    0.000000E+00              9.00000E+100
+          6  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.046363E-12    0.000000E+00              9.00000E+100
           7  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -1.136868E-12    0.000000E+00              9.00000E+100
-          8  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -2.273737E-13    0.000000E+00              9.00000E+100
-          9  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -1.364242E-12    0.000000E+00              9.00000E+100
+          8  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -1.136868E-12    0.000000E+00              9.00000E+100
+          9  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -9.094947E-13    0.000000E+00              9.00000E+100
          10  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -4.547474E-13    0.000000E+00              9.00000E+100
-         11  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.364242E-12    0.000000E+00              9.00000E+100
-         12  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
-         13  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.818989E-12    0.000000E+00              9.00000E+100
-         14  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -1.364242E-12    0.000000E+00              9.00000E+100
-         15  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.364242E-12    0.000000E+00              9.00000E+100
-         16  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.364242E-12    0.000000E+00              9.00000E+100
-         17  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.818989E-12    0.000000E+00              9.00000E+100
-         18  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    2.728484E-12    0.000000E+00              9.00000E+100
-         19  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    9.094947E-13    0.000000E+00              9.00000E+100
-         20  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    2.273737E-12    0.000000E+00              9.00000E+100
+         11  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         12  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -4.547474E-13    0.000000E+00              9.00000E+100
+         13  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
+         14  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00   -4.547474E-13    0.000000E+00              9.00000E+100
+         15  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
+         16  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    9.094947E-13    0.000000E+00              9.00000E+100
+         17  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.364242E-12    0.000000E+00              9.00000E+100
+         18  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.818989E-12    0.000000E+00              9.00000E+100
+         19  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.818989E-12    0.000000E+00              9.00000E+100
+         20  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    9.094947E-13    0.000000E+00              9.00000E+100
          21  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    2.273737E-12    0.000000E+00              9.00000E+100
          22  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    2.273737E-12    0.000000E+00              9.00000E+100
-         23  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    1.818989E-12    0.000000E+00              9.00000E+100
+         23  traj.phases.phase.continuity_comp.defect_states:r      e   0.000000E+00    2.728484E-12    0.000000E+00              9.00000E+100
          24  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -2.205525E-11    0.000000E+00              9.00000E+100
          25  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -1.301714E-11    0.000000E+00              9.00000E+100
-         26  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -7.162271E-12    0.000000E+00              9.00000E+100
+         26  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -7.275958E-12    0.000000E+00              9.00000E+100
          27  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -3.979039E-12    0.000000E+00              9.00000E+100
          28  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -1.818989E-12    0.000000E+00              9.00000E+100
-         29  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -5.684342E-13    0.000000E+00              9.00000E+100
+         29  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          30  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.410605E-13    0.000000E+00              9.00000E+100
-         31  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    7.958079E-13    0.000000E+00              9.00000E+100
-         32  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    6.821210E-13    0.000000E+00              9.00000E+100
-         33  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    5.684342E-13    0.000000E+00              9.00000E+100
+         31  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.136868E-13    0.000000E+00              9.00000E+100
+         32  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    7.958079E-13    0.000000E+00              9.00000E+100
+         33  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    6.821210E-13    0.000000E+00              9.00000E+100
          34  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.410605E-13    0.000000E+00              9.00000E+100
-         35  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.410605E-13    0.000000E+00              9.00000E+100
-         36  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00   -2.273737E-13    0.000000E+00              9.00000E+100
-         37  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.136868E-13    0.000000E+00              9.00000E+100
+         35  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.136868E-13    0.000000E+00              9.00000E+100
+         36  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.273737E-13    0.000000E+00              9.00000E+100
+         37  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.410605E-13    0.000000E+00              9.00000E+100
          38  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    5.684342E-13    0.000000E+00              9.00000E+100
-         39  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    9.094947E-13    0.000000E+00              9.00000E+100
-         40  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.023182E-12    0.000000E+00              9.00000E+100
-         41  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.932676E-12    0.000000E+00              9.00000E+100
-         42  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.273737E-12    0.000000E+00              9.00000E+100
-         43  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.671641E-12    0.000000E+00              9.00000E+100
-         44  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.240075E-12    0.000000E+00              9.00000E+100
+         39  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    7.958079E-13    0.000000E+00              9.00000E+100
+         40  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    1.477929E-12    0.000000E+00              9.00000E+100
+         41  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.046363E-12    0.000000E+00              9.00000E+100
+         42  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.501110E-12    0.000000E+00              9.00000E+100
+         43  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    2.842171E-12    0.000000E+00              9.00000E+100
+         44  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.069545E-12    0.000000E+00              9.00000E+100
          45  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.410605E-12    0.000000E+00              9.00000E+100
-         46  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.382183E-12    0.000000E+00              9.00000E+100
-         47  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.538503E-12    0.000000E+00              9.00000E+100
-         48  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.554312E-15    0.000000E+00              9.00000E+100
+         46  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.495870E-12    0.000000E+00              9.00000E+100
+         47  traj.phases.phase.continuity_comp.defect_states:h      e   0.000000E+00    3.609557E-12    0.000000E+00              9.00000E+100
+         48  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.665335E-15    0.000000E+00              9.00000E+100
          49  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.110223E-15    0.000000E+00              9.00000E+100
-         50  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.165734E-15    0.000000E+00              9.00000E+100
-         51  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.887379E-15    0.000000E+00              9.00000E+100
+         50  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.221245E-15    0.000000E+00              9.00000E+100
+         51  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.942890E-15    0.000000E+00              9.00000E+100
          52  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    3.330669E-15    0.000000E+00              9.00000E+100
-         53  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    4.718448E-15    0.000000E+00              9.00000E+100
-         54  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    6.550316E-15    0.000000E+00              9.00000E+100
-         55  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.032507E-14    0.000000E+00              9.00000E+100
-         56  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.193490E-14    0.000000E+00              9.00000E+100
-         57  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.278925E-14    0.000000E+00              9.00000E+100
-         58  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.305900E-14    0.000000E+00              9.00000E+100
-         59  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.135203E-14    0.000000E+00              9.00000E+100
-         60  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    8.437695E-15    0.000000E+00              9.00000E+100
-         61  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    4.884981E-15    0.000000E+00              9.00000E+100
-         62  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.554312E-15    0.000000E+00              9.00000E+100
-         63  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -7.771561E-16    0.000000E+00              9.00000E+100
+         53  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    5.107026E-15    0.000000E+00              9.00000E+100
+         54  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    7.993606E-15    0.000000E+00              9.00000E+100
+         55  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    9.020562E-15    0.000000E+00              9.00000E+100
+         56  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.149081E-14    0.000000E+00              9.00000E+100
+         57  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.255072E-14    0.000000E+00              9.00000E+100
+         58  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.365574E-14    0.000000E+00              9.00000E+100
+         59  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.157408E-14    0.000000E+00              9.00000E+100
+         60  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    8.382184E-15    0.000000E+00              9.00000E+100
+         61  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    4.829470E-15    0.000000E+00              9.00000E+100
+         62  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00    1.776357E-15    0.000000E+00              9.00000E+100
+         63  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -9.992007E-16    0.000000E+00              9.00000E+100
          64  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.442491E-15    0.000000E+00              9.00000E+100
          65  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.886580E-15    0.000000E+00              9.00000E+100
-         66  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.664535E-15    0.000000E+00              9.00000E+100
-         67  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -3.108624E-15    0.000000E+00              9.00000E+100
-         68  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.220446E-15    0.000000E+00              9.00000E+100
-         69  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -1.998401E-15    0.000000E+00              9.00000E+100
-         70  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.220446E-15    0.000000E+00              9.00000E+100
-         71  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -1.998401E-15    0.000000E+00              9.00000E+100
-         72  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.506795E-11    0.000000E+00              9.00000E+100
-         73  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    8.242296E-12    0.000000E+00              9.00000E+100
-         74  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.467449E-12    0.000000E+00              9.00000E+100
+         66  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.997602E-15    0.000000E+00              9.00000E+100
+         67  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.775558E-15    0.000000E+00              9.00000E+100
+         68  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.886580E-15    0.000000E+00              9.00000E+100
+         69  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.664535E-15    0.000000E+00              9.00000E+100
+         70  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.442491E-15    0.000000E+00              9.00000E+100
+         71  traj.phases.phase.continuity_comp.defect_states:gam    e   0.000000E+00   -2.220446E-15    0.000000E+00              9.00000E+100
+         72  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.523848E-11    0.000000E+00              9.00000E+100
+         73  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    8.185452E-12    0.000000E+00              9.00000E+100
+         74  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.581135E-12    0.000000E+00              9.00000E+100
          75  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.733724E-12    0.000000E+00              9.00000E+100
-         76  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.023182E-12    0.000000E+00              9.00000E+100
-         77  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    5.968559E-13    0.000000E+00              9.00000E+100
-         78  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.694822E-13    0.000000E+00              9.00000E+100
-         79  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.421085E-13    0.000000E+00              9.00000E+100
-         80  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    9.947598E-14    0.000000E+00              9.00000E+100
+         76  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.051603E-12    0.000000E+00              9.00000E+100
+         77  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    7.389644E-13    0.000000E+00              9.00000E+100
+         78  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
+         79  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.415845E-13    0.000000E+00              9.00000E+100
+         80  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    5.684342E-14    0.000000E+00              9.00000E+100
          81  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -7.105427E-14    0.000000E+00              9.00000E+100
-         82  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -2.273737E-13    0.000000E+00              9.00000E+100
-         83  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.552714E-13    0.000000E+00              9.00000E+100
-         84  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.268497E-13    0.000000E+00              9.00000E+100
-         85  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.268497E-13    0.000000E+00              9.00000E+100
+         82  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -1.563194E-13    0.000000E+00              9.00000E+100
+         83  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.410605E-13    0.000000E+00              9.00000E+100
+         84  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.410605E-13    0.000000E+00              9.00000E+100
+         85  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -3.410605E-13    0.000000E+00              9.00000E+100
          86  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -2.842171E-13    0.000000E+00              9.00000E+100
-         87  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -1.847411E-13    0.000000E+00              9.00000E+100
-         88  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -9.947598E-14    0.000000E+00              9.00000E+100
+         87  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -1.563194E-13    0.000000E+00              9.00000E+100
+         88  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00   -1.136868E-13    0.000000E+00              9.00000E+100
          89  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.421085E-14    0.000000E+00              9.00000E+100
-         90  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.136868E-13    0.000000E+00              9.00000E+100
-         91  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.131628E-13    0.000000E+00              9.00000E+100
-         92  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.700062E-13    0.000000E+00              9.00000E+100
-         93  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.126388E-13    0.000000E+00              9.00000E+100
-         94  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.979039E-13    0.000000E+00              9.00000E+100
-         95  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    4.263256E-13    0.000000E+00              9.00000E+100
+         90  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.563194E-13    0.000000E+00              9.00000E+100
+         91  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    1.705303E-13    0.000000E+00              9.00000E+100
+         92  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    2.415845E-13    0.000000E+00              9.00000E+100
+         93  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.268497E-13    0.000000E+00              9.00000E+100
+         94  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    3.694822E-13    0.000000E+00              9.00000E+100
+         95  traj.phases.phase.continuity_comp.defect_states:v      e   0.000000E+00    4.405365E-13    0.000000E+00              9.00000E+100
          96  traj.phases.phase-&gt;initial_boundary_constraint-&gt;ke     i   0.000000E+00    4.000000E+00    4.000000E+00         u    9.00000E+100
 
 
@@ -1088,10 +1089,10 @@ <h2>Plotting the results<a class="headerlink" href="#plotting-the-results" title
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Done simulating trajectory traj
-optimal radius: 0.041868454738866905 m 
-cannonball mass: 2.419491713395245 kg 
-launch angle: 32.01931307426538 deg
-maximum range: 3182.9624372149538 m
+optimal radius: 0.041868454738882364 m 
+cannonball mass: 2.419491713397925 kg 
+launch angle: 32.01931307429068 deg
+maximum range: 3182.9624372149547 m
 </pre></div>
 </div>
 <img alt="../../_images/f1fa2b327ef1ce780dc6731af9f3e3524a3116d18f6ad35f51a0b7cdf8b53c1f.png" src="../../_images/f1fa2b327ef1ce780dc6731af9f3e3524a3116d18f6ad35f51a0b7cdf8b53c1f.png" />
diff --git a/examples/cart_pole/cart_pole.html b/examples/cart_pole/cart_pole.html
index d95528ad0..5da2e99e1 100644
--- a/examples/cart_pole/cart_pole.html
+++ b/examples/cart_pole/cart_pole.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -507,16 +508,16 @@ <h2> Contents </h2>
 <section id="trajectory-optimization-problem">
 <h2>Trajectory Optimization Problem<a class="headerlink" href="#trajectory-optimization-problem" title="Permalink to this heading">#</a></h2>
 <p>We use the following quadratic objective function to approximately minimize the total control effort:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-cfce8d52-39d5-4202-ac6f-5d626d23df0e">
-<span class="eqno">(86)<a class="headerlink" href="#equation-cfce8d52-39d5-4202-ac6f-5d626d23df0e" title="Permalink to this equation">#</a></span>\[\begin{equation}
+<div class="amsmath math notranslate nohighlight" id="equation-f3186dc3-ace5-4892-aa79-fd2b31fc6040">
+<span class="eqno">(86)<a class="headerlink" href="#equation-f3186dc3-ace5-4892-aa79-fd2b31fc6040" title="Permalink to this equation">#</a></span>\[\begin{equation}
     J = \int_{t_0}^{t_f} F(t)^2 dt ~~ \rightarrow ~ \min
 \end{equation}\]</div>
 <p>where <span class="math notranslate nohighlight">\(F(t)\)</span> is the external force, <span class="math notranslate nohighlight">\(t_0\)</span> is the initial time, and <span class="math notranslate nohighlight">\(t_f\)</span> is the final time.</p>
 <section id="dynamics">
 <h3>Dynamics<a class="headerlink" href="#dynamics" title="Permalink to this heading">#</a></h3>
 <p>The equations of motion of the cart-pole system are given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-84ac57ca-6fd4-40d8-8a9f-1135c0bddffb">
-<span class="eqno">(87)<a class="headerlink" href="#equation-84ac57ca-6fd4-40d8-8a9f-1135c0bddffb" title="Permalink to this equation">#</a></span>\[\begin{equation}
+<div class="amsmath math notranslate nohighlight" id="equation-9a4abc75-fec7-427b-9d53-0a4732ceffb6">
+<span class="eqno">(87)<a class="headerlink" href="#equation-9a4abc75-fec7-427b-9d53-0a4732ceffb6" title="Permalink to this equation">#</a></span>\[\begin{equation}
     \begin{bmatrix}
         \ddot{x} \\ \ddot{\theta}
     \end{bmatrix} =
@@ -533,13 +534,13 @@ <h3>Dynamics<a class="headerlink" href="#dynamics" title="Permalink to this head
 To do so, we define our state vector to be <span class="math notranslate nohighlight">\(X = [x, \dot{x}, \theta, \dot{\theta}]^T\)</span>.
 We also add an “energy” state <span class="math notranslate nohighlight">\(e\)</span> and set <span class="math notranslate nohighlight">\(\dot{e} = F^2\)</span> to keep track of the accumulated control input.
 By setting setting <span class="math notranslate nohighlight">\(e_0 = 0\)</span>, the objective function is equal to the final value of the state <span class="math notranslate nohighlight">\(e\)</span>:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-b7227612-15c2-4226-9376-84e465257c8d">
-<span class="eqno">(88)<a class="headerlink" href="#equation-b7227612-15c2-4226-9376-84e465257c8d" title="Permalink to this equation">#</a></span>\[\begin{equation}
+<div class="amsmath math notranslate nohighlight" id="equation-9a768251-6f5a-4219-a5d9-4235fc4fb87e">
+<span class="eqno">(88)<a class="headerlink" href="#equation-9a768251-6f5a-4219-a5d9-4235fc4fb87e" title="Permalink to this equation">#</a></span>\[\begin{equation}
     J = \int_{t_0}^{t_f} \dot{e} ~dt = e_f
 \end{equation}\]</div>
 <p>To summarize, the ODE for the cart-pole system is given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c4b3d138-e3d1-4f6e-8cff-69f2d6bbeb96">
-<span class="eqno">(89)<a class="headerlink" href="#equation-c4b3d138-e3d1-4f6e-8cff-69f2d6bbeb96" title="Permalink to this equation">#</a></span>\[\begin{equation}
+<div class="amsmath math notranslate nohighlight" id="equation-70819553-3ed9-4010-8884-63e3dd66581c">
+<span class="eqno">(89)<a class="headerlink" href="#equation-70819553-3ed9-4010-8884-63e3dd66581c" title="Permalink to this equation">#</a></span>\[\begin{equation}
     \begin{bmatrix}
         \dot{x} \\ \dot{\theta} \\ \ddot{x} \\ \ddot{\theta} \\ \dot{e} 
     \end{bmatrix} =
@@ -560,8 +561,8 @@ <h3>Dynamics<a class="headerlink" href="#dynamics" title="Permalink to this head
 <section id="initial-and-terminal-conditions">
 <h3>Initial and terminal conditions<a class="headerlink" href="#initial-and-terminal-conditions" title="Permalink to this heading">#</a></h3>
 <p>The initial state variables are all zero at <span class="math notranslate nohighlight">\(t_0 = 0\)</span>, and the final conditions at time <span class="math notranslate nohighlight">\(t_f\)</span> are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c7a0af70-44a3-4146-8b80-1e4a1973a54a">
-<span class="eqno">(90)<a class="headerlink" href="#equation-c7a0af70-44a3-4146-8b80-1e4a1973a54a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-56bcf06d-2389-4179-af34-37e446e004f5">
+<span class="eqno">(90)<a class="headerlink" href="#equation-56bcf06d-2389-4179-af34-37e446e004f5" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_f &amp;= d \\
     \dot{x}_f &amp;= 0 \\
     \theta_f &amp;= \pi \\
@@ -869,7 +870,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;dymos.phase.phase.Phase at 0x7fa90071b640&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;dymos.phase.phase.Phase at 0x7fe454f58880&gt;
 </pre></div>
 </div>
 </div>
@@ -952,7 +953,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         [final]   0.0000e+00 == f [N]
 </pre></div>
 </div>
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7fa915265b40&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7fe469b923b0&gt;
 </pre></div>
 </div>
 </div>
@@ -981,18 +982,18 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.025966 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.386395 seconds.
 Total jacobian shape: (206, 281) 
-
-
-Jacobian shape: (206, 281)  ( 2.82% nonzero)
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (206, 281)  ( 2.82% nonzero)
 FWD solves: 10   REV solves: 0
 Total colors vs. total size: 10 vs 281  (96.4% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.025966 sec.
-Time to compute coloring: 0.164332 sec.
-Memory to compute coloring: 0.000000 MB.
+Time to compute sparsity: 1.386395 sec.
+Time to compute coloring: 0.206699 sec.
+Memory to compute coloring: 0.417969 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Simulating trajectory traj
diff --git a/examples/commercial_aircraft/commercial_aircraft.html b/examples/commercial_aircraft/commercial_aircraft.html
index fd045d0cf..f3c9f5d8c 100644
--- a/examples/commercial_aircraft/commercial_aircraft.html
+++ b/examples/commercial_aircraft/commercial_aircraft.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -789,8 +790,8 @@ <h3>True Airspeed<a class="headerlink" href="#true-airspeed" title="Permalink to
 <p><em>TrueAirspeedComp</em> uses the Mach number, provided as a
 control, and the speed of sound from the atmosphere model to compute the
 true airspeed of the aircraft.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-afdb0864-6fdd-490a-af8f-c5dda3d4003a">
-<span class="eqno">(33)<a class="headerlink" href="#equation-afdb0864-6fdd-490a-af8f-c5dda3d4003a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-a9ab37c3-ee40-4270-a9cf-8935a7f7ea84">
+<span class="eqno">(33)<a class="headerlink" href="#equation-a9ab37c3-ee40-4270-a9cf-8935a7f7ea84" title="Permalink to this equation">#</a></span>\[\begin{align}
   TAS &amp;= mach \cdot sos
 \end{align}\]</div>
 <table class="table">
@@ -821,8 +822,8 @@ <h3>Flight Path Angle<a class="headerlink" href="#flight-path-angle" title="Perm
 <p><em>SteadyFlightPathAngleComp</em> uses the true airspeed and the
 climb rate, obtained by differentiating the altitude time history at the
 nodes, to compute the flight path angle.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-00590a15-243a-4351-a766-24b7d3758057">
-<span class="eqno">(34)<a class="headerlink" href="#equation-00590a15-243a-4351-a766-24b7d3758057" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-54cea706-6997-4bd8-90c3-24e016abdd17">
+<span class="eqno">(34)<a class="headerlink" href="#equation-54cea706-6997-4bd8-90c3-24e016abdd17" title="Permalink to this equation">#</a></span>\[\begin{align}
   \gamma &amp;= \arcsin \frac{\dot h}{TAS}
 \end{align}\]</div>
 <table class="table">
@@ -853,8 +854,8 @@ <h3>Range Rate<a class="headerlink" href="#range-rate" title="Permalink to this
 <p><em>RangeRateComp</em> uses the true airspeed and the flight path
 angle to determine the velocity projected along the ground. This is the
 derivative of the state variable <em>range</em>.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-4eeac94c-b5fd-454f-8c22-453e0dc09897">
-<span class="eqno">(35)<a class="headerlink" href="#equation-4eeac94c-b5fd-454f-8c22-453e0dc09897" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-1248a006-3413-46bb-87ac-cafcbb24c66b">
+<span class="eqno">(35)<a class="headerlink" href="#equation-1248a006-3413-46bb-87ac-cafcbb24c66b" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{range} &amp;= TAS \cos \gamma
 \end{align}\]</div>
 <table class="table">
@@ -886,8 +887,8 @@ <h3>Mass<a class="headerlink" href="#mass" title="Permalink to this heading">#</
 <code class="docutils literal notranslate"><span class="pre">mass_comp.py</span></code> computes the aircraft total mass based on
 its empty mass, payload mass, and current fuel mass. It also computes
 total weight which simplifies some equations later on.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-8724ad31-e133-49c8-a9be-bd1e0d3d489d">
-<span class="eqno">(36)<a class="headerlink" href="#equation-8724ad31-e133-49c8-a9be-bd1e0d3d489d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-224cd8f1-2273-458e-90d4-308d935765a5">
+<span class="eqno">(36)<a class="headerlink" href="#equation-224cd8f1-2273-458e-90d4-308d935765a5" title="Permalink to this equation">#</a></span>\[\begin{align}
   mass_{total} &amp;= mass_{empty} + mass_{payload} + mass_{fuel} \\
   W_{total} &amp;= 9.80665 \, mass_{total}
 \end{align}\]</div>
@@ -926,8 +927,8 @@ <h3>Mass<a class="headerlink" href="#mass" title="Permalink to this heading">#</
 <h3>Dynamic Pressure<a class="headerlink" href="#dynamic-pressure" title="Permalink to this heading">#</a></h3>
 <p>The <em>DynamicPressureComp</em> computes the dynamic pressure from
 true airspeed and atmospheric density.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-37e3f3c7-567d-4469-9959-13308161e0be">
-<span class="eqno">(37)<a class="headerlink" href="#equation-37e3f3c7-567d-4469-9959-13308161e0be" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-b5bdb4ea-be58-4800-aefa-7f10ff0e288e">
+<span class="eqno">(37)<a class="headerlink" href="#equation-b5bdb4ea-be58-4800-aefa-7f10ff0e288e" title="Permalink to this equation">#</a></span>\[\begin{align}
   q &amp;= \frac{1}{2} \rho TAS^2
 \end{align}\]</div>
 <table class="table">
@@ -1035,14 +1036,14 @@ <h3>Flight Equilibrium<a class="headerlink" href="#flight-equilibrium" title="Pe
 discrete points (nodes) in the trajectory is not terribly inaccurate.</p>
 <p>The thrust necessary for steady flight is computed by balancing the drag
 equation</p>
-<div class="amsmath math notranslate nohighlight" id="equation-39381872-390b-46d0-b7ae-1b2f8f0305b9">
-<span class="eqno">(38)<a class="headerlink" href="#equation-39381872-390b-46d0-b7ae-1b2f8f0305b9" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-1ed9f77f-b991-4f95-af68-959e1a3b8770">
+<span class="eqno">(38)<a class="headerlink" href="#equation-1ed9f77f-b991-4f95-af68-959e1a3b8770" title="Permalink to this equation">#</a></span>\[\begin{align}
   C_T &amp;= W_{total} \frac{sin \gamma}{q \cdot S \cdot \cos \alpha} + \frac{C_D}{\cos \alpha}
 \end{align}\]</div>
 <p>The lift coefficient required for steady flight is found by balancing
 lift and weight:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-46c48cd3-3bc6-4bdc-a575-9b99b5d3ca1e">
-<span class="eqno">(39)<a class="headerlink" href="#equation-46c48cd3-3bc6-4bdc-a575-9b99b5d3ca1e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-df33da77-86af-49bf-ac80-8eee5d5947ab">
+<span class="eqno">(39)<a class="headerlink" href="#equation-df33da77-86af-49bf-ac80-8eee5d5947ab" title="Permalink to this equation">#</a></span>\[\begin{align}
   \tilde{C_L} &amp;= W_{total} \frac{cos \gamma}{q \cdot S} - C_T \sin \alpha
 \end{align}\]</div>
 <p>Using coefficients in the balance equations is better scaled from a numerical standpoint.</p>
@@ -1054,30 +1055,30 @@ <h3>Propulsion<a class="headerlink" href="#propulsion" title="Permalink to this
 the maximum possible thrust, we obtain the throttle parameter <span class="math notranslate nohighlight">\(\tau\)</span>.
 The propulsion group uses a number of components to perform these
 calculations.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5087b082-7fd2-48be-8230-191fe5b70b44">
-<span class="eqno">(40)<a class="headerlink" href="#equation-5087b082-7fd2-48be-8230-191fe5b70b44" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c5ee06f1-f150-418c-8bd4-e6064cf853e2">
+<span class="eqno">(40)<a class="headerlink" href="#equation-c5ee06f1-f150-418c-8bd4-e6064cf853e2" title="Permalink to this equation">#</a></span>\[\begin{align}
   T &amp;= C_T \cdot q \cdot S
 \end{align}\]</div>
 <p>Maximum thrust is computed by multiplying sea-level thrust by the ratio
 of pressure to sea-level atmospheric pressure.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-779dc533-df63-4a72-a8b2-0ac81e57c67e">
-<span class="eqno">(41)<a class="headerlink" href="#equation-779dc533-df63-4a72-a8b2-0ac81e57c67e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-023f2179-7d9a-485f-80ec-25c8357a355f">
+<span class="eqno">(41)<a class="headerlink" href="#equation-023f2179-7d9a-485f-80ec-25c8357a355f" title="Permalink to this equation">#</a></span>\[\begin{align}
   T_{max} &amp;= T_{max,sl} \frac{P}{P_{sl}}
 \end{align}\]</div>
 <p>The throttle parameter is then the ratio current thrust to maximum
 possible thrust.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-7209a491-912d-4575-be45-5d166f37a811">
-<span class="eqno">(42)<a class="headerlink" href="#equation-7209a491-912d-4575-be45-5d166f37a811" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-a84a234e-312d-40e3-b948-c95d2c8c6351">
+<span class="eqno">(42)<a class="headerlink" href="#equation-a84a234e-312d-40e3-b948-c95d2c8c6351" title="Permalink to this equation">#</a></span>\[\begin{align}
   \tau &amp;= \frac{T}{T_{max}}
 \end{align}\]</div>
 <p>The thrust specific fuel consumption is computed as follows:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-aa1dfa25-acf0-48fd-a122-26bc4196212c">
-<span class="eqno">(43)<a class="headerlink" href="#equation-aa1dfa25-acf0-48fd-a122-26bc4196212c" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-ed49b1ab-ccfd-4973-8eda-f65e89f59e15">
+<span class="eqno">(43)<a class="headerlink" href="#equation-ed49b1ab-ccfd-4973-8eda-f65e89f59e15" title="Permalink to this equation">#</a></span>\[\begin{align}
   TSFC &amp;= TSFC_{sl} - 1.5 E - 10 \cdot 9.80665 \cdot alt
 \end{align}\]</div>
 <p>Finally, fuel burn rate is:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-76a27a8e-a278-4bd4-82a0-9a27239c201d">
-<span class="eqno">(44)<a class="headerlink" href="#equation-76a27a8e-a278-4bd4-82a0-9a27239c201d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-baf14d93-b196-4920-8338-498bf15de221">
+<span class="eqno">(44)<a class="headerlink" href="#equation-baf14d93-b196-4920-8338-498bf15de221" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{mass_{fuel}} &amp;= -TSFC \frac{T}{9.80665}
 \end{align}\]</div>
 </section>
@@ -1392,7 +1393,7 @@ <h2>Building the problem<a class="headerlink" href="#building-the-problem" title
         [path]    1.0000e-02 &lt;= propulsion.tau &lt;= 2.0000e+00  [None]
 </pre></div>
 </div>
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7ffb18aded70&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f46b848ee90&gt;
 </pre></div>
 </div>
 </div>
@@ -1432,7 +1433,7 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.180643 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.740245 seconds.
 Total jacobian shape: (224, 221) 
 </pre></div>
 </div>
@@ -1441,9 +1442,9 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
 Total colors vs. total size: 12 vs 221  (94.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.180643 sec.
-Time to compute coloring: 0.199831 sec.
-Memory to compute coloring: 0.000000 MB.
+Time to compute sparsity: 1.740245 sec.
+Time to compute coloring: 0.257930 sec.
+Memory to compute coloring: 0.839844 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization Problem -- Optimization using pyOpt_sparse
@@ -1452,13 +1453,13 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   27.8136
-       User Objective Time :      24.7002
-       User Sensitivity Time :     2.3278
-       Interface Time :            0.2428
-       Opt Solver Time:            0.5429
-    Calls to Objective Function :      31
-    Calls to Sens Function :           30
+    Total Time:                   38.0745
+       User Objective Time :      33.7364
+       User Sensitivity Time :     3.3246
+       Interface Time :            0.3135
+       Opt Solver Time:            0.6999
+    Calls to Objective Function :      34
+    Calls to Sens Function :           33
 
 
    Objectives
@@ -1540,7 +1541,7 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
          70  traj.phases.phase0.indep_states.states:mass_fuel_10                         c     0.000000E+00     2.364961E+02     1.500000E+03           
          71  traj.phases.phase0.indep_states.states:mass_fuel_11                         c     0.000000E+00     2.364961E+02     1.500000E+03           
          72  traj.phases.phase0.indep_states.states:mass_fuel_12                         c     0.000000E+00     2.271299E+02     1.500000E+03           
-         73  traj.phases.phase0.indep_states.states:mass_fuel_13                         c     0.000000E+00     2.167574E+02     1.500000E+03           
+         73  traj.phases.phase0.indep_states.states:mass_fuel_13                         c     0.000000E+00     2.167573E+02     1.500000E+03           
          74  traj.phases.phase0.indep_states.states:mass_fuel_14                         c     0.000000E+00     2.137292E+02     1.500000E+03           
          75  traj.phases.phase0.indep_states.states:mass_fuel_15                         c     0.000000E+00     2.137292E+02     1.500000E+03           
          76  traj.phases.phase0.indep_states.states:mass_fuel_16                         c     0.000000E+00     2.055422E+02     1.500000E+03           
@@ -1551,27 +1552,27 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
          81  traj.phases.phase0.indep_states.states:mass_fuel_21                         c     0.000000E+00     1.684992E+02     1.500000E+03           
          82  traj.phases.phase0.indep_states.states:mass_fuel_22                         c     0.000000E+00     1.644355E+02     1.500000E+03           
          83  traj.phases.phase0.indep_states.states:mass_fuel_23                         c     0.000000E+00     1.644355E+02     1.500000E+03           
-         84  traj.phases.phase0.indep_states.states:mass_fuel_24                         c     0.000000E+00     1.545567E+02     1.500000E+03           
+         84  traj.phases.phase0.indep_states.states:mass_fuel_24                         c     0.000000E+00     1.545566E+02     1.500000E+03           
          85  traj.phases.phase0.indep_states.states:mass_fuel_25                         c     0.000000E+00     1.410094E+02     1.500000E+03           
-         86  traj.phases.phase0.indep_states.states:mass_fuel_26                         c     0.000000E+00     1.367383E+02     1.500000E+03           
-         87  traj.phases.phase0.indep_states.states:mass_fuel_27                         c     0.000000E+00     1.367383E+02     1.500000E+03           
+         86  traj.phases.phase0.indep_states.states:mass_fuel_26                         c     0.000000E+00     1.367384E+02     1.500000E+03           
+         87  traj.phases.phase0.indep_states.states:mass_fuel_27                         c     0.000000E+00     1.367384E+02     1.500000E+03           
          88  traj.phases.phase0.indep_states.states:mass_fuel_28                         c     0.000000E+00     1.267738E+02     1.500000E+03           
          89  traj.phases.phase0.indep_states.states:mass_fuel_29                         c     0.000000E+00     1.130185E+02     1.500000E+03           
          90  traj.phases.phase0.indep_states.states:mass_fuel_30                         c     0.000000E+00     1.086503E+02     1.500000E+03           
          91  traj.phases.phase0.indep_states.states:mass_fuel_31                         c     0.000000E+00     1.086503E+02     1.500000E+03           
-         92  traj.phases.phase0.indep_states.states:mass_fuel_32                         c     0.000000E+00     9.882576E+01     1.500000E+03           
-         93  traj.phases.phase0.indep_states.states:mass_fuel_33                         c     0.000000E+00     8.534597E+01     1.500000E+03           
-         94  traj.phases.phase0.indep_states.states:mass_fuel_34                         c     0.000000E+00     8.113325E+01     1.500000E+03           
-         95  traj.phases.phase0.indep_states.states:mass_fuel_35                         c     0.000000E+00     8.113325E+01     1.500000E+03           
-         96  traj.phases.phase0.indep_states.states:mass_fuel_36                         c     0.000000E+00     7.218114E+01     1.500000E+03           
-         97  traj.phases.phase0.indep_states.states:mass_fuel_37                         c     0.000000E+00     5.977772E+01     1.500000E+03           
-         98  traj.phases.phase0.indep_states.states:mass_fuel_38                         c     0.000000E+00     5.576977E+01     1.500000E+03           
-         99  traj.phases.phase0.indep_states.states:mass_fuel_39                         c     0.000000E+00     5.576977E+01     1.500000E+03           
-        100  traj.phases.phase0.indep_states.states:mass_fuel_40                         c     0.000000E+00     4.741803E+01     1.500000E+03           
-        101  traj.phases.phase0.indep_states.states:mass_fuel_41                         c     0.000000E+00     3.592793E+01     1.500000E+03           
+         92  traj.phases.phase0.indep_states.states:mass_fuel_32                         c     0.000000E+00     9.882573E+01     1.500000E+03           
+         93  traj.phases.phase0.indep_states.states:mass_fuel_33                         c     0.000000E+00     8.534594E+01     1.500000E+03           
+         94  traj.phases.phase0.indep_states.states:mass_fuel_34                         c     0.000000E+00     8.113322E+01     1.500000E+03           
+         95  traj.phases.phase0.indep_states.states:mass_fuel_35                         c     0.000000E+00     8.113322E+01     1.500000E+03           
+         96  traj.phases.phase0.indep_states.states:mass_fuel_36                         c     0.000000E+00     7.218113E+01     1.500000E+03           
+         97  traj.phases.phase0.indep_states.states:mass_fuel_37                         c     0.000000E+00     5.977774E+01     1.500000E+03           
+         98  traj.phases.phase0.indep_states.states:mass_fuel_38                         c     0.000000E+00     5.576979E+01     1.500000E+03           
+         99  traj.phases.phase0.indep_states.states:mass_fuel_39                         c     0.000000E+00     5.576979E+01     1.500000E+03           
+        100  traj.phases.phase0.indep_states.states:mass_fuel_40                         c     0.000000E+00     4.741805E+01     1.500000E+03           
+        101  traj.phases.phase0.indep_states.states:mass_fuel_41                         c     0.000000E+00     3.592794E+01     1.500000E+03           
         102  traj.phases.phase0.indep_states.states:mass_fuel_42                         c     0.000000E+00     3.239652E+01     1.500000E+03           
         103  traj.phases.phase0.indep_states.states:mass_fuel_43                         c     0.000000E+00     3.239652E+01     1.500000E+03           
-        104  traj.phases.phase0.indep_states.states:mass_fuel_44                         c     0.000000E+00     2.595941E+01     1.500000E+03           
+        104  traj.phases.phase0.indep_states.states:mass_fuel_44                         c     0.000000E+00     2.595942E+01     1.500000E+03           
         105  traj.phases.phase0.indep_states.states:mass_fuel_45                         c     0.000000E+00     1.877799E+01     1.500000E+03           
         106  traj.phases.phase0.indep_states.states:mass_fuel_46                         c     0.000000E+00     1.714587E+01     1.500000E+03           
         107  traj.phases.phase0.indep_states.states:mass_fuel_47                         c     0.000000E+00     1.714587E+01     1.500000E+03           
@@ -1595,38 +1596,38 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
         125  traj.phases.phase0.indep_states.states:alt_7                                c     0.000000E+00     2.420659E+04     6.000000E+04           
         126  traj.phases.phase0.indep_states.states:alt_8                                c     0.000000E+00     2.947162E+04     6.000000E+04           
         127  traj.phases.phase0.indep_states.states:alt_9                                c     0.000000E+00     3.563844E+04     6.000000E+04           
-        128  traj.phases.phase0.indep_states.states:alt_10                               c     0.000000E+00     3.710397E+04     6.000000E+04           
-        129  traj.phases.phase0.indep_states.states:alt_11                               c     0.000000E+00     3.710397E+04     6.000000E+04           
-        130  traj.phases.phase0.indep_states.states:alt_12                               c     0.000000E+00     3.977281E+04     6.000000E+04           
-        131  traj.phases.phase0.indep_states.states:alt_13                               c     0.000000E+00     4.064815E+04     6.000000E+04           
-        132  traj.phases.phase0.indep_states.states:alt_14                               c     0.000000E+00     4.061935E+04     6.000000E+04           
-        133  traj.phases.phase0.indep_states.states:alt_15                               c     0.000000E+00     4.061935E+04     6.000000E+04           
-        134  traj.phases.phase0.indep_states.states:alt_16                               c     0.000000E+00     4.049113E+04     6.000000E+04           
+        128  traj.phases.phase0.indep_states.states:alt_10                               c     0.000000E+00     3.710398E+04     6.000000E+04           
+        129  traj.phases.phase0.indep_states.states:alt_11                               c     0.000000E+00     3.710398E+04     6.000000E+04           
+        130  traj.phases.phase0.indep_states.states:alt_12                               c     0.000000E+00     3.977282E+04     6.000000E+04           
+        131  traj.phases.phase0.indep_states.states:alt_13                               c     0.000000E+00     4.064817E+04     6.000000E+04           
+        132  traj.phases.phase0.indep_states.states:alt_14                               c     0.000000E+00     4.061937E+04     6.000000E+04           
+        133  traj.phases.phase0.indep_states.states:alt_15                               c     0.000000E+00     4.061937E+04     6.000000E+04           
+        134  traj.phases.phase0.indep_states.states:alt_16                               c     0.000000E+00     4.049114E+04     6.000000E+04           
         135  traj.phases.phase0.indep_states.states:alt_17                               c     0.000000E+00     4.035334E+04     6.000000E+04           
         136  traj.phases.phase0.indep_states.states:alt_18                               c     0.000000E+00     4.033652E+04     6.000000E+04           
         137  traj.phases.phase0.indep_states.states:alt_19                               c     0.000000E+00     4.033652E+04     6.000000E+04           
-        138  traj.phases.phase0.indep_states.states:alt_20                               c     0.000000E+00     4.037082E+04     6.000000E+04           
-        139  traj.phases.phase0.indep_states.states:alt_21                               c     0.000000E+00     4.051554E+04     6.000000E+04           
-        140  traj.phases.phase0.indep_states.states:alt_22                               c     0.000000E+00     4.056201E+04     6.000000E+04           
-        141  traj.phases.phase0.indep_states.states:alt_23                               c     0.000000E+00     4.056201E+04     6.000000E+04           
-        142  traj.phases.phase0.indep_states.states:alt_24                               c     0.000000E+00     4.064375E+04     6.000000E+04           
-        143  traj.phases.phase0.indep_states.states:alt_25                               c     0.000000E+00     4.069401E+04     6.000000E+04           
-        144  traj.phases.phase0.indep_states.states:alt_26                               c     0.000000E+00     4.069892E+04     6.000000E+04           
-        145  traj.phases.phase0.indep_states.states:alt_27                               c     0.000000E+00     4.069892E+04     6.000000E+04           
-        146  traj.phases.phase0.indep_states.states:alt_28                               c     0.000000E+00     4.070254E+04     6.000000E+04           
-        147  traj.phases.phase0.indep_states.states:alt_29                               c     0.000000E+00     4.075182E+04     6.000000E+04           
-        148  traj.phases.phase0.indep_states.states:alt_30                               c     0.000000E+00     4.079373E+04     6.000000E+04           
-        149  traj.phases.phase0.indep_states.states:alt_31                               c     0.000000E+00     4.079373E+04     6.000000E+04           
-        150  traj.phases.phase0.indep_states.states:alt_32                               c     0.000000E+00     4.093549E+04     6.000000E+04           
-        151  traj.phases.phase0.indep_states.states:alt_33                               c     0.000000E+00     4.107641E+04     6.000000E+04           
-        152  traj.phases.phase0.indep_states.states:alt_34                               c     0.000000E+00     4.106576E+04     6.000000E+04           
-        153  traj.phases.phase0.indep_states.states:alt_35                               c     0.000000E+00     4.106576E+04     6.000000E+04           
-        154  traj.phases.phase0.indep_states.states:alt_36                               c     0.000000E+00     4.093920E+04     6.000000E+04           
-        155  traj.phases.phase0.indep_states.states:alt_37                               c     0.000000E+00     4.085651E+04     6.000000E+04           
-        156  traj.phases.phase0.indep_states.states:alt_38                               c     0.000000E+00     4.093624E+04     6.000000E+04           
-        157  traj.phases.phase0.indep_states.states:alt_39                               c     0.000000E+00     4.093624E+04     6.000000E+04           
-        158  traj.phases.phase0.indep_states.states:alt_40                               c     0.000000E+00     4.129894E+04     6.000000E+04           
-        159  traj.phases.phase0.indep_states.states:alt_41                               c     0.000000E+00     4.178377E+04     6.000000E+04           
+        138  traj.phases.phase0.indep_states.states:alt_20                               c     0.000000E+00     4.037083E+04     6.000000E+04           
+        139  traj.phases.phase0.indep_states.states:alt_21                               c     0.000000E+00     4.051557E+04     6.000000E+04           
+        140  traj.phases.phase0.indep_states.states:alt_22                               c     0.000000E+00     4.056204E+04     6.000000E+04           
+        141  traj.phases.phase0.indep_states.states:alt_23                               c     0.000000E+00     4.056204E+04     6.000000E+04           
+        142  traj.phases.phase0.indep_states.states:alt_24                               c     0.000000E+00     4.064377E+04     6.000000E+04           
+        143  traj.phases.phase0.indep_states.states:alt_25                               c     0.000000E+00     4.069400E+04     6.000000E+04           
+        144  traj.phases.phase0.indep_states.states:alt_26                               c     0.000000E+00     4.069890E+04     6.000000E+04           
+        145  traj.phases.phase0.indep_states.states:alt_27                               c     0.000000E+00     4.069890E+04     6.000000E+04           
+        146  traj.phases.phase0.indep_states.states:alt_28                               c     0.000000E+00     4.070253E+04     6.000000E+04           
+        147  traj.phases.phase0.indep_states.states:alt_29                               c     0.000000E+00     4.075183E+04     6.000000E+04           
+        148  traj.phases.phase0.indep_states.states:alt_30                               c     0.000000E+00     4.079375E+04     6.000000E+04           
+        149  traj.phases.phase0.indep_states.states:alt_31                               c     0.000000E+00     4.079375E+04     6.000000E+04           
+        150  traj.phases.phase0.indep_states.states:alt_32                               c     0.000000E+00     4.093553E+04     6.000000E+04           
+        151  traj.phases.phase0.indep_states.states:alt_33                               c     0.000000E+00     4.107645E+04     6.000000E+04           
+        152  traj.phases.phase0.indep_states.states:alt_34                               c     0.000000E+00     4.106579E+04     6.000000E+04           
+        153  traj.phases.phase0.indep_states.states:alt_35                               c     0.000000E+00     4.106579E+04     6.000000E+04           
+        154  traj.phases.phase0.indep_states.states:alt_36                               c     0.000000E+00     4.093921E+04     6.000000E+04           
+        155  traj.phases.phase0.indep_states.states:alt_37                               c     0.000000E+00     4.085648E+04     6.000000E+04           
+        156  traj.phases.phase0.indep_states.states:alt_38                               c     0.000000E+00     4.093621E+04     6.000000E+04           
+        157  traj.phases.phase0.indep_states.states:alt_39                               c     0.000000E+00     4.093621E+04     6.000000E+04           
+        158  traj.phases.phase0.indep_states.states:alt_40                               c     0.000000E+00     4.129891E+04     6.000000E+04           
+        159  traj.phases.phase0.indep_states.states:alt_41                               c     0.000000E+00     4.178375E+04     6.000000E+04           
         160  traj.phases.phase0.indep_states.states:alt_42                               c     0.000000E+00     4.181538E+04     6.000000E+04           
         161  traj.phases.phase0.indep_states.states:alt_43                               c     0.000000E+00     4.181538E+04     6.000000E+04           
         162  traj.phases.phase0.indep_states.states:alt_44                               c     0.000000E+00     4.146281E+04     6.000000E+04           
@@ -1651,33 +1652,33 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
         181  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_5       c    -3.000000E+03     3.000000E+03     3.000000E+03          U
         182  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_6       c    -3.000000E+03     3.000000E+03     3.000000E+03          U
         183  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_7       c    -3.000000E+03     2.834019E+03     3.000000E+03           
-        184  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_8       c    -3.000000E+03     2.059977E+03     3.000000E+03           
-        185  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_9       c    -3.000000E+03     1.683328E+03     3.000000E+03           
-        186  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_10      c    -3.000000E+03     6.801687E+02     3.000000E+03           
-        187  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_11      c    -3.000000E+03     8.647647E-01     3.000000E+03           
-        188  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_12      c    -3.000000E+03    -4.385353E+01     3.000000E+03           
-        189  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_13      c    -3.000000E+03    -4.577928E+01     3.000000E+03           
-        190  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_14      c    -3.000000E+03    -2.088389E+01     3.000000E+03           
-        191  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_15      c    -3.000000E+03    -6.348396E+00     3.000000E+03           
-        192  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_16      c    -3.000000E+03     2.513678E+01     3.000000E+03           
-        193  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_17      c    -3.000000E+03     3.612282E+01     3.000000E+03           
-        194  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_18      c    -3.000000E+03     3.175882E+01     3.000000E+03           
-        195  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_19      c    -3.000000E+03     1.817047E+01     3.000000E+03           
-        196  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_20      c    -3.000000E+03     4.887052E+00     3.000000E+03           
-        197  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_21      c    -3.000000E+03     2.003316E+00     3.000000E+03           
-        198  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_22      c    -3.000000E+03     2.207800E+00     3.000000E+03           
-        199  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_23      c    -3.000000E+03     2.286110E+01     3.000000E+03           
-        200  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_24      c    -3.000000E+03     3.431909E+01     3.000000E+03           
-        201  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_25      c    -3.000000E+03     4.562529E+01     3.000000E+03           
-        202  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_26      c    -3.000000E+03     5.245786E+00     3.000000E+03           
-        203  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_27      c    -3.000000E+03    -2.105787E+01     3.000000E+03           
-        204  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_28      c    -3.000000E+03    -4.837063E+01     3.000000E+03           
-        205  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_29      c    -3.000000E+03     3.274434E+01     3.000000E+03           
-        206  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_30      c    -3.000000E+03     8.711709E+01     3.000000E+03           
-        207  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_31      c    -3.000000E+03     1.552943E+02     3.000000E+03           
-        208  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_32      c    -3.000000E+03     6.174505E+01     3.000000E+03           
-        209  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_33      c    -3.000000E+03    -1.318845E+01     3.000000E+03           
-        210  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_34      c    -3.000000E+03    -3.453080E+02     3.000000E+03           
+        184  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_8       c    -3.000000E+03     2.059979E+03     3.000000E+03           
+        185  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_9       c    -3.000000E+03     1.683331E+03     3.000000E+03           
+        186  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_10      c    -3.000000E+03     6.801727E+02     3.000000E+03           
+        187  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_11      c    -3.000000E+03     8.659481E-01     3.000000E+03           
+        188  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_12      c    -3.000000E+03    -4.385433E+01     3.000000E+03           
+        189  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_13      c    -3.000000E+03    -4.578386E+01     3.000000E+03           
+        190  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_14      c    -3.000000E+03    -2.088601E+01     3.000000E+03           
+        191  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_15      c    -3.000000E+03    -6.347890E+00     3.000000E+03           
+        192  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_16      c    -3.000000E+03     2.514226E+01     3.000000E+03           
+        193  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_17      c    -3.000000E+03     3.612558E+01     3.000000E+03           
+        194  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_18      c    -3.000000E+03     3.175841E+01     3.000000E+03           
+        195  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_19      c    -3.000000E+03     1.816395E+01     3.000000E+03           
+        196  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_20      c    -3.000000E+03     4.881935E+00     3.000000E+03           
+        197  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_21      c    -3.000000E+03     2.001015E+00     3.000000E+03           
+        198  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_22      c    -3.000000E+03     2.211615E+00     3.000000E+03           
+        199  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_23      c    -3.000000E+03     2.286744E+01     3.000000E+03           
+        200  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_24      c    -3.000000E+03     3.432481E+01     3.000000E+03           
+        201  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_25      c    -3.000000E+03     4.562819E+01     3.000000E+03           
+        202  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_26      c    -3.000000E+03     5.242717E+00     3.000000E+03           
+        203  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_27      c    -3.000000E+03    -2.106333E+01     3.000000E+03           
+        204  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_28      c    -3.000000E+03    -4.837916E+01     3.000000E+03           
+        205  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_29      c    -3.000000E+03     3.273919E+01     3.000000E+03           
+        206  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_30      c    -3.000000E+03     8.711485E+01     3.000000E+03           
+        207  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_31      c    -3.000000E+03     1.552972E+02     3.000000E+03           
+        208  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_32      c    -3.000000E+03     6.174938E+01     3.000000E+03           
+        209  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_33      c    -3.000000E+03    -1.318503E+01     3.000000E+03           
+        210  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_34      c    -3.000000E+03    -3.453065E+02     3.000000E+03           
         211  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_35      c    -3.000000E+03    -1.352387E+03     3.000000E+03           
         212  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_36      c    -3.000000E+03    -1.803710E+03     3.000000E+03           
         213  traj.phases.phase0.control_group.indep_controls.controls:climb_rate_37      c    -3.000000E+03    -2.502392E+03     3.000000E+03           
@@ -1691,141 +1692,141 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -4.761804E-12    0.000000E+00              9.00000E+100
-          1  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.380902E-12    0.000000E+00              9.00000E+100
-          2  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -2.380902E-12    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.752669E-12    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    5.505337E-12    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -1.376334E-11    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.935237E-11    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -1.257959E-11    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.677278E-10    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    4.697065E-10    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    9.394129E-10    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.567000E-10    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    3.253272E-11    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    4.489516E-10    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    4.034058E-10    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.821247E-10    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -7.284989E-12    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.913996E-11    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.407205E-10    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    3.183723E-10    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.087125E-10    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -4.756473E-11    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    3.408806E-10    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.695335E-10    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.562509E-10    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.397732E-10    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.630687E-10    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -9.470486E-11    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.821247E-10    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    6.556491E-11    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    4.359385E-10    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -1.366374E-10    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.993011E-10    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -9.994917E-10    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.621617E-10    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    2.239298E-10    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    4.570583E-10    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -3.773876E-11    0.000000E+00              9.00000E+100
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-         39  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -6.248558E-10    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    1.018487E-10    0.000000E+00              9.00000E+100
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-         43  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00    3.095173E-10    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:range                    e   0.000000E+00   -1.702345E-10    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    3.885632E-14    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -1.020931E-13    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -7.618887E-16    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -8.103856E-14    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -2.994903E-14    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.642562E-14    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.415280E-13    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -1.046622E-13    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -1.019785E-13    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.468106E-13    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.586428E-11    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    6.951656E-11    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    9.770644E-11    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    7.978794E-11    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.797472E-11    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.099859E-11    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    8.287404E-12    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.727733E-11    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    3.301878E-11    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.758782E-11    0.000000E+00              9.00000E+100
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-         75  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.159727E-12    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.102261E-11    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    3.498127E-11    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    3.085644E-11    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.042590E-11    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    3.312851E-12    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    7.541042E-13    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    5.333744E-14    0.000000E+00              9.00000E+100
-         83  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -5.031834E-15    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -3.963843E-15    0.000000E+00              9.00000E+100
-         85  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -3.523416E-15    0.000000E+00              9.00000E+100
-         86  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.761708E-15    0.000000E+00              9.00000E+100
-         87  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.142833E-15    0.000000E+00              9.00000E+100
-         88  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -6.095110E-15    0.000000E+00              9.00000E+100
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-         93  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.032251E-11    0.000000E+00              9.00000E+100
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+         79  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    8.459086E-12    0.000000E+00              9.00000E+100
+         80  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    8.389176E-13    0.000000E+00              9.00000E+100
+         81  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.865133E-13    0.000000E+00              9.00000E+100
+         82  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    1.107004E-14    0.000000E+00              9.00000E+100
+         83  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -3.690012E-15    0.000000E+00              9.00000E+100
+         84  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.290220E-14    0.000000E+00              9.00000E+100
+         85  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -1.761708E-15    0.000000E+00              9.00000E+100
+         86  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    8.808540E-16    0.000000E+00              9.00000E+100
+         87  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    2.666610E-15    0.000000E+00              9.00000E+100
+         88  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00    7.618887E-16    0.000000E+00              9.00000E+100
+         89  traj.phases.phase0.collocation_constraint.defects:mass_fuel                e   0.000000E+00   -5.714165E-15    0.000000E+00              9.00000E+100
+         90  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -2.976128E-13    0.000000E+00              9.00000E+100
+         91  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -4.761804E-12    0.000000E+00              9.00000E+100
+         92  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.380902E-12    0.000000E+00              9.00000E+100
+         93  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          94  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -6.881672E-13    0.000000E+00              9.00000E+100
-         95  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.032251E-11    0.000000E+00              9.00000E+100
-         96  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    8.386390E-12    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.886938E-11    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    7.862241E-11    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.085513E-10    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.478248E-10    0.000000E+00              9.00000E+100
-        101  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.322013E-10    0.000000E+00              9.00000E+100
-        102  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.978778E-11    0.000000E+00              9.00000E+100
-        103  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.733130E-10    0.000000E+00              9.00000E+100
-        104  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.709493E-10    0.000000E+00              9.00000E+100
-        105  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -8.812418E-11    0.000000E+00              9.00000E+100
-        106  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    6.079836E-11    0.000000E+00              9.00000E+100
-        107  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    6.283303E-11    0.000000E+00              9.00000E+100
-        108  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.783564E-11    0.000000E+00              9.00000E+100
-        109  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.829063E-10    0.000000E+00              9.00000E+100
-        110  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -7.947554E-11    0.000000E+00              9.00000E+100
-        111  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -2.813898E-11    0.000000E+00              9.00000E+100
-        112  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.393575E-10    0.000000E+00              9.00000E+100
-        113  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.393343E-10    0.000000E+00              9.00000E+100
-        114  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.062625E-11    0.000000E+00              9.00000E+100
-        115  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -8.760091E-11    0.000000E+00              9.00000E+100
-        116  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.477621E-10    0.000000E+00              9.00000E+100
-        117  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -9.316819E-11    0.000000E+00              9.00000E+100
-        118  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -2.484295E-11    0.000000E+00              9.00000E+100
-        119  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    9.026557E-11    0.000000E+00              9.00000E+100
-        120  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.297751E-10    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.640869E-10    0.000000E+00              9.00000E+100
-        122  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.453806E-11    0.000000E+00              9.00000E+100
-        123  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -6.561511E-11    0.000000E+00              9.00000E+100
-        124  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.259605E-10    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.372253E-10    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -6.289793E-11    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -2.515917E-11    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    3.144896E-12    0.000000E+00              9.00000E+100
-        129  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.064501E-12    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -8.946173E-12    0.000000E+00              9.00000E+100
-        131  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    7.569839E-12    0.000000E+00              9.00000E+100
-        132  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -7.440319E-12    0.000000E+00              9.00000E+100
-        133  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.488064E-12    0.000000E+00              9.00000E+100
-        134  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    3.571353E-12    0.000000E+00              9.00000E+100
+         95  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    6.193504E-12    0.000000E+00              9.00000E+100
+         96  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.048299E-11    0.000000E+00              9.00000E+100
+         97  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    7.338092E-12    0.000000E+00              9.00000E+100
+         98  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -5.136664E-11    0.000000E+00              9.00000E+100
+         99  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -3.345293E-11    0.000000E+00              9.00000E+100
+        100  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -4.676583E-11    0.000000E+00              9.00000E+100
+        101  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.966433E-11    0.000000E+00              9.00000E+100
+        102  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -3.100775E-12    0.000000E+00              9.00000E+100
+        103  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.106621E-10    0.000000E+00              9.00000E+100
+        104  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    5.305630E-11    0.000000E+00              9.00000E+100
+        105  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -4.089269E-11    0.000000E+00              9.00000E+100
+        106  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.400653E-10    0.000000E+00              9.00000E+100
+        107  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -5.606027E-11    0.000000E+00              9.00000E+100
+        108  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -3.749125E-11    0.000000E+00              9.00000E+100
+        109  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.186010E-10    0.000000E+00              9.00000E+100
+        110  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    9.666282E-11    0.000000E+00              9.00000E+100
+        111  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    7.324961E-11    0.000000E+00              9.00000E+100
+        112  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -5.061301E-11    0.000000E+00              9.00000E+100
+        113  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.754569E-10    0.000000E+00              9.00000E+100
+        114  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.810560E-10    0.000000E+00              9.00000E+100
+        115  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.910052E-10    0.000000E+00              9.00000E+100
+        116  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    3.112896E-11    0.000000E+00              9.00000E+100
+        117  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.159195E-10    0.000000E+00              9.00000E+100
+        118  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    3.027539E-10    0.000000E+00              9.00000E+100
+        119  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.526412E-10    0.000000E+00              9.00000E+100
+        120  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.848774E-10    0.000000E+00              9.00000E+100
+        121  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.880798E-11    0.000000E+00              9.00000E+100
+        122  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -6.994536E-11    0.000000E+00              9.00000E+100
+        123  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -4.057341E-11    0.000000E+00              9.00000E+100
+        124  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -7.765859E-11    0.000000E+00              9.00000E+100
+        125  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.501968E-11    0.000000E+00              9.00000E+100
+        126  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -2.568332E-11    0.000000E+00              9.00000E+100
+        127  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.048299E-11    0.000000E+00              9.00000E+100
+        128  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -4.193195E-12    0.000000E+00              9.00000E+100
+        129  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -1.376334E-12    0.000000E+00              9.00000E+100
+        130  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    2.752669E-12    0.000000E+00              9.00000E+100
+        131  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -3.440836E-12    0.000000E+00              9.00000E+100
+        132  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -6.249868E-12    0.000000E+00              9.00000E+100
+        133  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00   -5.952256E-13    0.000000E+00              9.00000E+100
+        134  traj.phases.phase0.collocation_constraint.defects:alt                      e   0.000000E+00    1.190451E-12    0.000000E+00              9.00000E+100
         135  traj.phases.phase0.continuity_comp.defect_states:range                     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         136  traj.phases.phase0.continuity_comp.defect_states:range                     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         137  traj.phases.phase0.continuity_comp.defect_states:range                     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1868,34 +1869,34 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
         174  traj.phases.phase0.continuity_comp.defect_states:alt                       e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         175  traj.phases.phase0.continuity_comp.defect_states:alt                       e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         176  traj.phases.phase0.continuity_comp.defect_states:alt                       e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        177  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -3.904738E-11    0.000000E+00              9.00000E+100
-        178  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -1.140732E-11    0.000000E+00              9.00000E+100
-        179  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -4.506446E-11    0.000000E+00              9.00000E+100
-        180  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -2.699174E-12    0.000000E+00              9.00000E+100
+        177  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    2.072497E-11    0.000000E+00              9.00000E+100
+        178  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    1.365107E-11    0.000000E+00              9.00000E+100
+        179  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    3.004298E-11    0.000000E+00              9.00000E+100
+        180  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -3.285950E-12    0.000000E+00              9.00000E+100
         181  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    7.823692E-14    0.000000E+00              9.00000E+100
-        182  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    2.347107E-13    0.000000E+00              9.00000E+100
-        183  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    2.933884E-14    0.000000E+00              9.00000E+100
-        184  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -2.347107E-13    0.000000E+00              9.00000E+100
-        185  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        186  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    9.388430E-13    0.000000E+00              9.00000E+100
-        187  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    6.258953E-13    0.000000E+00              9.00000E+100
-        188  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -1.752507E-11    0.000000E+00              9.00000E+100
-        189  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -2.338891E-12    0.000000E+00              9.00000E+100
-        190  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -2.998925E-11    0.000000E+00              9.00000E+100
-        191  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -4.547474E-13    0.000000E+00              9.00000E+100
-        192  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
-        193  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -4.547474E-13    0.000000E+00              9.00000E+100
-        194  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -1.207923E-13    0.000000E+00              9.00000E+100
-        195  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    1.421085E-14    0.000000E+00              9.00000E+100
-        196  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    7.105427E-15    0.000000E+00              9.00000E+100
-        197  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        198  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -7.105427E-15    0.000000E+00              9.00000E+100
-        199  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -7.105427E-15    0.000000E+00              9.00000E+100
-        200  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        201  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    3.552714E-15    0.000000E+00              9.00000E+100
-        202  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    2.273737E-13    0.000000E+00              9.00000E+100
+        182  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    7.823692E-14    0.000000E+00              9.00000E+100
+        183  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    9.779615E-14    0.000000E+00              9.00000E+100
+        184  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -1.564738E-13    0.000000E+00              9.00000E+100
+        185  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -3.129477E-13    0.000000E+00              9.00000E+100
+        186  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -6.258953E-13    0.000000E+00              9.00000E+100
+        187  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00   -1.251791E-12    0.000000E+00              9.00000E+100
+        188  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    1.502149E-11    0.000000E+00              9.00000E+100
+        189  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    2.311523E-11    0.000000E+00              9.00000E+100
+        190  traj.phases.phase0.continuity_comp.defect_control_rates:climb_rate_rate    e   0.000000E+00    2.171044E-11    0.000000E+00              9.00000E+100
+        191  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        192  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -9.094947E-13    0.000000E+00              9.00000E+100
+        193  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    9.094947E-13    0.000000E+00              9.00000E+100
+        194  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -1.350031E-13    0.000000E+00              9.00000E+100
+        195  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    3.552714E-15    0.000000E+00              9.00000E+100
+        196  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        197  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    1.776357E-15    0.000000E+00              9.00000E+100
+        198  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    7.105427E-15    0.000000E+00              9.00000E+100
+        199  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    3.552714E-15    0.000000E+00              9.00000E+100
+        200  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -1.421085E-14    0.000000E+00              9.00000E+100
+        201  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -1.065814E-14    0.000000E+00              9.00000E+100
+        202  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         203  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    4.547474E-13    0.000000E+00              9.00000E+100
-        204  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00   -9.094947E-13    0.000000E+00              9.00000E+100
+        204  traj.phases.phase0.continuity_comp.defect_controls:climb_rate              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         205  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    5.293064E-01    2.000000E+00              9.00000E+100
         206  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    5.459977E-01    2.000000E+00              9.00000E+100
         207  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    5.710745E-01    2.000000E+00              9.00000E+100
@@ -1905,44 +1906,44 @@ <h2>Run the problem<a class="headerlink" href="#run-the-problem" title="Permalin
         211  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.166094E-01    2.000000E+00              9.00000E+100
         212  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.497818E-01    2.000000E+00              9.00000E+100
         213  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.497818E-01    2.000000E+00              9.00000E+100
-        214  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.706197E-01    2.000000E+00              9.00000E+100
-        215  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.783658E-01    2.000000E+00              9.00000E+100
-        216  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.719171E-01    2.000000E+00              9.00000E+100
-        217  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.719171E-01    2.000000E+00              9.00000E+100
-        218  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.846861E-01    2.000000E+00              9.00000E+100
-        219  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.714092E-01    2.000000E+00              9.00000E+100
-        220  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.598728E-01    2.000000E+00              9.00000E+100
-        221  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.598728E-01    2.000000E+00              9.00000E+100
-        222  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.532668E-01    2.000000E+00              9.00000E+100
-        223  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.518361E-01    2.000000E+00              9.00000E+100
+        214  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.706198E-01    2.000000E+00              9.00000E+100
+        215  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.783663E-01    2.000000E+00              9.00000E+100
+        216  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.719179E-01    2.000000E+00              9.00000E+100
+        217  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    9.719179E-01    2.000000E+00              9.00000E+100
+        218  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.846875E-01    2.000000E+00              9.00000E+100
+        219  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.714104E-01    2.000000E+00              9.00000E+100
+        220  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.598735E-01    2.000000E+00              9.00000E+100
+        221  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.598735E-01    2.000000E+00              9.00000E+100
+        222  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.532663E-01    2.000000E+00              9.00000E+100
+        223  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.518356E-01    2.000000E+00              9.00000E+100
         224  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.538606E-01    2.000000E+00              9.00000E+100
         225  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.538606E-01    2.000000E+00              9.00000E+100
-        226  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.607276E-01    2.000000E+00              9.00000E+100
-        227  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.668867E-01    2.000000E+00              9.00000E+100
-        228  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.671541E-01    2.000000E+00              9.00000E+100
-        229  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.671541E-01    2.000000E+00              9.00000E+100
-        230  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.659287E-01    2.000000E+00              9.00000E+100
-        231  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.630013E-01    2.000000E+00              9.00000E+100
-        232  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.619393E-01    2.000000E+00              9.00000E+100
-        233  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.619393E-01    2.000000E+00              9.00000E+100
-        234  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.606803E-01    2.000000E+00              9.00000E+100
-        235  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.651011E-01    2.000000E+00              9.00000E+100
-        236  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.685945E-01    2.000000E+00              9.00000E+100
-        237  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.685945E-01    2.000000E+00              9.00000E+100
-        238  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.751753E-01    2.000000E+00              9.00000E+100
-        239  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.698310E-01    2.000000E+00              9.00000E+100
+        226  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.607291E-01    2.000000E+00              9.00000E+100
+        227  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.668885E-01    2.000000E+00              9.00000E+100
+        228  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.671553E-01    2.000000E+00              9.00000E+100
+        229  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.671553E-01    2.000000E+00              9.00000E+100
+        230  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.659280E-01    2.000000E+00              9.00000E+100
+        231  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.629997E-01    2.000000E+00              9.00000E+100
+        232  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.619382E-01    2.000000E+00              9.00000E+100
+        233  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.619382E-01    2.000000E+00              9.00000E+100
+        234  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.606806E-01    2.000000E+00              9.00000E+100
+        235  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.651030E-01    2.000000E+00              9.00000E+100
+        236  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.685965E-01    2.000000E+00              9.00000E+100
+        237  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.685965E-01    2.000000E+00              9.00000E+100
+        238  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.751773E-01    2.000000E+00              9.00000E+100
+        239  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.698317E-01    2.000000E+00              9.00000E+100
         240  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.629948E-01    2.000000E+00              9.00000E+100
         241  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.629948E-01    2.000000E+00              9.00000E+100
-        242  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.508301E-01    2.000000E+00              9.00000E+100
-        243  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.635158E-01    2.000000E+00              9.00000E+100
-        244  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.778108E-01    2.000000E+00              9.00000E+100
-        245  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.778108E-01    2.000000E+00              9.00000E+100
-        246  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.060086E-01    2.000000E+00              9.00000E+100
-        247  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.034669E-01    2.000000E+00              9.00000E+100
-        248  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.873294E-01    2.000000E+00              9.00000E+100
-        249  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.873294E-01    2.000000E+00              9.00000E+100
-        250  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    6.985485E-01    2.000000E+00              9.00000E+100
-        251  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    4.201179E-01    2.000000E+00              9.00000E+100
+        242  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.508285E-01    2.000000E+00              9.00000E+100
+        243  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.635138E-01    2.000000E+00              9.00000E+100
+        244  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.778092E-01    2.000000E+00              9.00000E+100
+        245  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.778092E-01    2.000000E+00              9.00000E+100
+        246  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.060081E-01    2.000000E+00              9.00000E+100
+        247  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    8.034673E-01    2.000000E+00              9.00000E+100
+        248  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.873299E-01    2.000000E+00              9.00000E+100
+        249  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    7.873299E-01    2.000000E+00              9.00000E+100
+        250  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    6.985487E-01    2.000000E+00              9.00000E+100
+        251  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    4.201180E-01    2.000000E+00              9.00000E+100
         252  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    3.127168E-01    2.000000E+00              9.00000E+100
         253  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    3.127168E-01    2.000000E+00              9.00000E+100
         254  traj.phases.phase0-&gt;path_constraint-&gt;tau                                   i   1.000000E-02    1.836617E-01    2.000000E+00              9.00000E+100
diff --git a/examples/double_integrator/double_integrator.html b/examples/double_integrator/double_integrator.html
index ed0e3b912..41632e7ce 100644
--- a/examples/double_integrator/double_integrator.html
+++ b/examples/double_integrator/double_integrator.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -495,20 +496,20 @@ <h1>Double Integrator<a class="headerlink" href="#double-integrator" title="Perm
 friction along a horizontal surface, with acceleration as the control.</p>
 <p>We minimize the final time, <span class="math notranslate nohighlight">\(t_f\)</span>, by varying the dynamic control,
 <span class="math notranslate nohighlight">\(u\)</span>, subject to the dynamics:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-39c6a0a4-84e0-44a1-b1df-c79923b18253">
-<span class="eqno">(45)<a class="headerlink" href="#equation-39c6a0a4-84e0-44a1-b1df-c79923b18253" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-737c90ca-8a55-4330-960f-04e892fba842">
+<span class="eqno">(45)<a class="headerlink" href="#equation-737c90ca-8a55-4330-960f-04e892fba842" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dx}{dt} &amp;= v \\
   \frac{dv}{dt} &amp;= u
 \end{align}\]</div>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-cd999d71-45b1-4ef2-9237-98b5a098339b">
-<span class="eqno">(46)<a class="headerlink" href="#equation-cd999d71-45b1-4ef2-9237-98b5a098339b" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-ba136336-d390-4f02-a82f-f2ed4963f46c">
+<span class="eqno">(46)<a class="headerlink" href="#equation-ba136336-d390-4f02-a82f-f2ed4963f46c" title="Permalink to this equation">#</a></span>\[\begin{align}
   x_0 &amp;= 0 \\
   v_0 &amp;= 0
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-1d2e9ace-03b7-4eb9-b69c-f03df5d51b97">
-<span class="eqno">(47)<a class="headerlink" href="#equation-1d2e9ace-03b7-4eb9-b69c-f03df5d51b97" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-329e0b40-8899-4b4b-9da9-80abeb4c52d0">
+<span class="eqno">(47)<a class="headerlink" href="#equation-329e0b40-8899-4b4b-9da9-80abeb4c52d0" title="Permalink to this equation">#</a></span>\[\begin{align}
   x_f &amp;= \rm{free} \\
   v_f &amp;= 0
 \end{align}\]</div>
@@ -841,7 +842,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.126904 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.157024 seconds.
 Total jacobian shape: (181, 327) 
 </pre></div>
 </div>
@@ -850,8 +851,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 6 vs 181  (96.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.126904 sec.
-Time to compute coloring: 0.183542 sec.
+Time to compute sparsity: 0.157024 sec.
+Time to compute coloring: 0.221787 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -861,11 +862,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    3.4805
-       User Objective Time :       0.0364
-       User Sensitivity Time :     0.1138
-       Interface Time :            0.1912
-       Opt Solver Time:            3.1390
+    Total Time:                    3.3408
+       User Objective Time :       0.0413
+       User Sensitivity Time :     0.1248
+       Interface Time :            0.2248
+       Opt Solver Time:            2.9499
     Calls to Objective Function :      19
     Calls to Sens Function :           19
 
@@ -1486,7 +1487,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../../_images/4bcfe9e1e14bd17864c5b1fdbc428db9a4047e01030e81c9f4d320bcf5285084.png" src="../../_images/4bcfe9e1e14bd17864c5b1fdbc428db9a4047e01030e81c9f4d320bcf5285084.png" />
+<img alt="../../_images/33285cd3a1be5019a41c58ecfdce53547665eb9e3646241968af890f42f26543.png" src="../../_images/33285cd3a1be5019a41c58ecfdce53547665eb9e3646241968af890f42f26543.png" />
 </div>
 </div>
 </section>
diff --git a/examples/examples.html b/examples/examples.html
index 94c662fb8..2514c3cb1 100644
--- a/examples/examples.html
+++ b/examples/examples.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/examples/finite_burn_orbit_raise/finite_burn_orbit_raise.html b/examples/finite_burn_orbit_raise/finite_burn_orbit_raise.html
index 3263e926a..d04d8c7ef 100644
--- a/examples/finite_burn_orbit_raise/finite_burn_orbit_raise.html
+++ b/examples/finite_burn_orbit_raise/finite_burn_orbit_raise.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -496,8 +497,8 @@ <h1>Two-Burn Orbit Raise<a class="headerlink" href="#two-burn-orbit-raise" title
 sequence. This example is based on the problem provided in
 Enright <span id="id1">[<a class="reference internal" href="#id24" title="Paul J Enright and Brace A Conway. Optimal finite-thrust spacecraft trajectories using collocation and nonlinear programming. Journal of Guidance, Control, and Dynamics, 14(5):981–985, 1991.">EC91</a>]</span>.</p>
 <p>The dynamics are given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-f7ddb7c5-556b-47ce-9a85-162cee569b66">
-<span class="eqno">(58)<a class="headerlink" href="#equation-f7ddb7c5-556b-47ce-9a85-162cee569b66" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-87aa88f3-90ef-416b-ae2c-4f3c73ece852">
+<span class="eqno">(58)<a class="headerlink" href="#equation-87aa88f3-90ef-416b-ae2c-4f3c73ece852" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dr}{dt} &amp;= v_r \\
   \frac{d\theta}{dt} &amp;= \frac{v_\theta}{r} \\
   \frac{dv_r}{dt} &amp;= \frac{v^2_\theta}{r} - \frac{1}{r^2} + a_{thrust} \sin u_1 \\
@@ -506,8 +507,8 @@ <h1>Two-Burn Orbit Raise<a class="headerlink" href="#two-burn-orbit-raise" title
   \frac{d \Delta v}{dt} &amp;= a_{thrust}
 \end{align}\]</div>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-cef851ec-43f0-4638-94de-d2df68d75efa">
-<span class="eqno">(59)<a class="headerlink" href="#equation-cef851ec-43f0-4638-94de-d2df68d75efa" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-67381cb3-3363-451e-9bb6-1a81ffe95e20">
+<span class="eqno">(59)<a class="headerlink" href="#equation-67381cb3-3363-451e-9bb6-1a81ffe95e20" title="Permalink to this equation">#</a></span>\[\begin{align}
   r &amp;= 1 \rm{\,DU} \\
   \theta &amp;= 0 \rm{\,rad} \\
   v_r &amp;= 0 \rm{\,DU/TU}\\
@@ -516,8 +517,8 @@ <h1>Two-Burn Orbit Raise<a class="headerlink" href="#two-burn-orbit-raise" title
   \Delta v &amp;= 0 \rm{\,DU/TU}
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-8127c751-e559-4c32-b914-704e4d95b4a1">
-<span class="eqno">(60)<a class="headerlink" href="#equation-8127c751-e559-4c32-b914-704e4d95b4a1" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-69ab89ff-fdd4-4928-a009-a427800e0081">
+<span class="eqno">(60)<a class="headerlink" href="#equation-69ab89ff-fdd4-4928-a009-a427800e0081" title="Permalink to this equation">#</a></span>\[\begin{align}
   r &amp;= 3 \rm{\,DU} \\
   \theta &amp;= \rm{free} \\
   v_r &amp;= 0 \rm{\,DU/TU}\\
@@ -1078,7 +1079,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.037865 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.290917 seconds.
 Total jacobian shape: (112, 204) 
 
 
@@ -1087,8 +1088,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 13 vs 204  (93.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.037865 sec.
-Time to compute coloring: 0.118437 sec.
+Time to compute sparsity: 1.290917 sec.
+Time to compute coloring: 0.159159 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1098,11 +1099,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    3.1011
-       User Objective Time :       0.1473
-       User Sensitivity Time :     2.4706
-       Interface Time :            0.3415
-       Opt Solver Time:            0.1417
+    Total Time:                    3.9115
+       User Objective Time :       0.1761
+       User Sensitivity Time :     3.1906
+       Interface Time :            0.3832
+       Opt Solver Time:            0.1616
     Calls to Objective Function :      24
     Calls to Sens Function :           24
 
@@ -1225,14 +1226,14 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         109  traj.phases.coast.indep_states.states:vt_7                         c    -1.000000E+21     4.374743E-01     1.000000E+21           
         110  traj.phases.coast.indep_states.states:vt_8                         c    -1.000000E+21     4.374743E-01     1.000000E+21           
         111  traj.phases.coast.indep_states.states:vt_9                         c    -1.000000E+21     4.217795E-01     1.000000E+21           
-        112  traj.phases.coast.indep_states.states:accel_0                      c    -1.000000E+21     3.963767E-35     1.000000E+21           
-        113  traj.phases.coast.indep_states.states:accel_1                      c    -1.000000E+21     3.928502E-35     1.000000E+21           
-        114  traj.phases.coast.indep_states.states:accel_2                      c    -1.000000E+21     2.721269E-35     1.000000E+21           
-        115  traj.phases.coast.indep_states.states:accel_3                      c    -1.000000E+21     9.004287E-36     1.000000E+21           
-        116  traj.phases.coast.indep_states.states:accel_4                      c    -1.000000E+21     4.589130E-35     1.000000E+21           
-        117  traj.phases.coast.indep_states.states:accel_5                      c    -1.000000E+21     4.087194E-35     1.000000E+21           
-        118  traj.phases.coast.indep_states.states:accel_6                      c    -1.000000E+21     2.075923E-35     1.000000E+21           
-        119  traj.phases.coast.indep_states.states:accel_7                      c    -1.000000E+21     1.269534E-35     1.000000E+21           
+        112  traj.phases.coast.indep_states.states:accel_0                      c    -1.000000E+21     2.295740E-35     1.000000E+21           
+        113  traj.phases.coast.indep_states.states:accel_1                      c    -1.000000E+21     1.999663E-35     1.000000E+21           
+        114  traj.phases.coast.indep_states.states:accel_2                      c    -1.000000E+21     8.315006E-35     1.000000E+21           
+        115  traj.phases.coast.indep_states.states:accel_3                      c    -1.000000E+21     7.875224E-35     1.000000E+21           
+        116  traj.phases.coast.indep_states.states:accel_4                      c    -1.000000E+21     5.578896E-35     1.000000E+21           
+        117  traj.phases.coast.indep_states.states:accel_5                      c    -1.000000E+21    -1.893016E-34     1.000000E+21           
+        118  traj.phases.coast.indep_states.states:accel_6                      c    -1.000000E+21    -3.248773E-35     1.000000E+21           
+        119  traj.phases.coast.indep_states.states:accel_7                      c    -1.000000E+21    -2.874084E-35     1.000000E+21           
         120  traj.phases.coast.indep_states.states:deltav_0                     c    -1.000000E+21     2.411959E-01     1.000000E+21           
         121  traj.phases.coast.indep_states.states:deltav_1                     c    -1.000000E+21     2.411959E-01     1.000000E+21           
         122  traj.phases.coast.indep_states.states:deltav_2                     c    -1.000000E+21     2.411959E-01     1.000000E+21           
@@ -1316,40 +1317,40 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         200  traj.phases.burn2.control_group.indep_controls.controls:u1_11      c    -9.000000E-01     6.975374E-03     9.000000E-01           
         201  traj.phases.burn2.control_group.indep_controls.controls:u1_12      c    -9.000000E-01     6.975374E-03     9.000000E-01           
         202  traj.phases.burn2.control_group.indep_controls.controls:u1_13      c    -9.000000E-01     7.640932E-03     9.000000E-01           
-        203  traj.phases.burn2.control_group.indep_controls.controls:u1_14      c    -9.000000E-01     8.599315E-03     9.000000E-01           
+        203  traj.phases.burn2.control_group.indep_controls.controls:u1_14      c    -9.000000E-01     8.599316E-03     9.000000E-01           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                           Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00    1.088002E-14    0.000000E+00              9.00000E+100
-          1  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00    3.092013E-16    0.000000E+00              9.00000E+100
-          2  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00   -8.966837E-15    0.000000E+00              9.00000E+100
-          3  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-          4  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00   -1.113125E-14    0.000000E+00              9.00000E+100
-          5  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    4.947221E-15    0.000000E+00              9.00000E+100
-          6  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    4.947221E-15    0.000000E+00              9.00000E+100
-          7  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    1.978888E-14    0.000000E+00              9.00000E+100
+          0  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00   -8.116534E-15    0.000000E+00              9.00000E+100
+          1  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00   -1.700607E-15    0.000000E+00              9.00000E+100
+          2  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00   -9.276039E-16    0.000000E+00              9.00000E+100
+          3  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00    1.174965E-14    0.000000E+00              9.00000E+100
+          4  traj.phases.burn1.collocation_constraint.defects:r                e   0.000000E+00    7.420831E-15    0.000000E+00              9.00000E+100
+          5  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+          6  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00   -9.894441E-15    0.000000E+00              9.00000E+100
+          7  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    1.484166E-14    0.000000E+00              9.00000E+100
           8  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00   -9.894441E-15    0.000000E+00              9.00000E+100
-          9  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00   -7.420831E-15    0.000000E+00              9.00000E+100
-         10  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00   -8.503035E-15    0.000000E+00              9.00000E+100
-         11  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00   -1.236805E-14    0.000000E+00              9.00000E+100
-         12  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00    2.226249E-14    0.000000E+00              9.00000E+100
-         13  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00    2.040729E-14    0.000000E+00              9.00000E+100
-         14  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00   -7.420831E-15    0.000000E+00              9.00000E+100
-         15  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    2.349930E-14    0.000000E+00              9.00000E+100
-         16  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    1.963428E-14    0.000000E+00              9.00000E+100
-         17  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00   -1.546006E-16    0.000000E+00              9.00000E+100
-         18  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    2.349930E-14    0.000000E+00              9.00000E+100
-         19  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    1.020364E-14    0.000000E+00              9.00000E+100
-         20  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00    1.372081E-17    0.000000E+00              9.00000E+100
-         21  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00   -1.681282E-17    0.000000E+00              9.00000E+100
-         22  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00    1.314105E-17    0.000000E+00              9.00000E+100
-         23  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00   -6.957029E-18    0.000000E+00              9.00000E+100
-         24  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00    3.092013E-18    0.000000E+00              9.00000E+100
-         25  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00   -6.184026E-18    0.000000E+00              9.00000E+100
+          9  traj.phases.burn1.collocation_constraint.defects:theta            e   0.000000E+00    2.720971E-14    0.000000E+00              9.00000E+100
+         10  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00    9.276039E-16    0.000000E+00              9.00000E+100
+         11  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00   -1.298645E-14    0.000000E+00              9.00000E+100
+         12  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00    1.422326E-14    0.000000E+00              9.00000E+100
+         13  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00    1.422326E-14    0.000000E+00              9.00000E+100
+         14  traj.phases.burn1.collocation_constraint.defects:vr               e   0.000000E+00   -5.565623E-15    0.000000E+00              9.00000E+100
+         15  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    2.473610E-14    0.000000E+00              9.00000E+100
+         16  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    6.493227E-15    0.000000E+00              9.00000E+100
+         17  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    2.821462E-14    0.000000E+00              9.00000E+100
+         18  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    3.092013E-16    0.000000E+00              9.00000E+100
+         19  traj.phases.burn1.collocation_constraint.defects:vt               e   0.000000E+00    2.226249E-14    0.000000E+00              9.00000E+100
+         20  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00   -1.546006E-18    0.000000E+00              9.00000E+100
+         21  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00    9.662540E-19    0.000000E+00              9.00000E+100
+         22  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00   -3.092013E-18    0.000000E+00              9.00000E+100
+         23  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00    1.932508E-18    0.000000E+00              9.00000E+100
+         24  traj.phases.burn1.collocation_constraint.defects:accel            e   0.000000E+00   -1.004904E-17    0.000000E+00              9.00000E+100
+         25  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          26  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    6.184026E-18    0.000000E+00              9.00000E+100
-         27  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    3.092013E-18    0.000000E+00              9.00000E+100
-         28  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    3.092013E-18    0.000000E+00              9.00000E+100
-         29  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00   -2.164409E-17    0.000000E+00              9.00000E+100
+         27  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         28  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00   -3.092013E-18    0.000000E+00              9.00000E+100
+         29  traj.phases.burn1.collocation_constraint.defects:deltav           e   0.000000E+00    6.184026E-18    0.000000E+00              9.00000E+100
          30  traj.phases.burn1.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          31  traj.phases.burn1.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          32  traj.phases.burn1.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1374,44 +1375,44 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
          51  traj.phases.burn1.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          52  traj.phases.burn1.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          53  traj.phases.burn1.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         54  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -1.978888E-18    0.000000E+00              9.00000E+100
-         55  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    1.978888E-18    0.000000E+00              9.00000E+100
+         54  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    9.894441E-19    0.000000E+00              9.00000E+100
+         55  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    9.894441E-18    0.000000E+00              9.00000E+100
          56  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -3.957777E-18    0.000000E+00              9.00000E+100
-         57  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -2.176777E-17    0.000000E+00              9.00000E+100
+         57  traj.phases.burn1.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -2.770444E-17    0.000000E+00              9.00000E+100
          58  traj.phases.burn1.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          59  traj.phases.burn1.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          60  traj.phases.burn1.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          61  traj.phases.burn1.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         62  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    1.640120E-14    0.000000E+00              9.00000E+100
-         63  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         64  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00   -4.100299E-15    0.000000E+00              9.00000E+100
-         65  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    1.435105E-14    0.000000E+00              9.00000E+100
-         66  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    3.075224E-15    0.000000E+00              9.00000E+100
-         67  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    8.200598E-15    0.000000E+00              9.00000E+100
-         68  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    8.200598E-15    0.000000E+00              9.00000E+100
-         69  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00   -2.665194E-14    0.000000E+00              9.00000E+100
-         70  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    3.895284E-14    0.000000E+00              9.00000E+100
-         71  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    4.715344E-14    0.000000E+00              9.00000E+100
-         72  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -1.383851E-14    0.000000E+00              9.00000E+100
-         73  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -3.587762E-15    0.000000E+00              9.00000E+100
-         74  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00    1.537612E-15    0.000000E+00              9.00000E+100
-         75  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         76  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -1.537612E-15    0.000000E+00              9.00000E+100
-         77  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00   -1.025075E-14    0.000000E+00              9.00000E+100
-         78  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00    1.230090E-14    0.000000E+00              9.00000E+100
+         62  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00   -8.200598E-15    0.000000E+00              9.00000E+100
+         63  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    1.230090E-14    0.000000E+00              9.00000E+100
+         64  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00   -6.150449E-15    0.000000E+00              9.00000E+100
+         65  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00   -8.200598E-15    0.000000E+00              9.00000E+100
+         66  traj.phases.coast.collocation_constraint.defects:r                e   0.000000E+00    2.050150E-14    0.000000E+00              9.00000E+100
+         67  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00   -4.100299E-14    0.000000E+00              9.00000E+100
+         68  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    4.100299E-15    0.000000E+00              9.00000E+100
+         69  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00    5.535404E-14    0.000000E+00              9.00000E+100
+         70  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00   -5.740419E-14    0.000000E+00              9.00000E+100
+         71  traj.phases.coast.collocation_constraint.defects:theta            e   0.000000E+00   -3.280239E-14    0.000000E+00              9.00000E+100
+         72  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -1.025075E-15    0.000000E+00              9.00000E+100
+         73  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00    5.125374E-16    0.000000E+00              9.00000E+100
+         74  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -5.125374E-15    0.000000E+00              9.00000E+100
+         75  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00    3.075224E-15    0.000000E+00              9.00000E+100
+         76  traj.phases.coast.collocation_constraint.defects:vr               e   0.000000E+00   -2.562687E-15    0.000000E+00              9.00000E+100
+         77  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         78  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          79  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00   -3.587762E-15    0.000000E+00              9.00000E+100
-         80  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00   -3.844030E-15    0.000000E+00              9.00000E+100
-         81  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00   -1.922015E-15    0.000000E+00              9.00000E+100
-         82  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    2.972825E-35    0.000000E+00              9.00000E+100
-         83  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00   -9.054245E-36    0.000000E+00              9.00000E+100
-         84  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    2.766526E-35    0.000000E+00              9.00000E+100
-         85  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00   -1.508453E-35    0.000000E+00              9.00000E+100
-         86  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00   -9.521504E-36    0.000000E+00              9.00000E+100
-         87  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -2.195860E-35    0.000000E+00              9.00000E+100
-         88  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -3.683861E-35    0.000000E+00              9.00000E+100
-         89  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -3.041123E-35    0.000000E+00              9.00000E+100
-         90  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -3.414263E-35    0.000000E+00              9.00000E+100
-         91  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -7.033004E-36    0.000000E+00              9.00000E+100
+         80  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00    5.125374E-15    0.000000E+00              9.00000E+100
+         81  traj.phases.coast.collocation_constraint.defects:vt               e   0.000000E+00   -4.100299E-15    0.000000E+00              9.00000E+100
+         82  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    1.721805E-35    0.000000E+00              9.00000E+100
+         83  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    4.736508E-35    0.000000E+00              9.00000E+100
+         84  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00   -1.722246E-35    0.000000E+00              9.00000E+100
+         85  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    1.176104E-34    0.000000E+00              9.00000E+100
+         86  traj.phases.coast.collocation_constraint.defects:accel            e   0.000000E+00    2.155563E-35    0.000000E+00              9.00000E+100
+         87  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -1.271802E-35    0.000000E+00              9.00000E+100
+         88  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
+         89  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
+         90  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00    1.228676E-34    0.000000E+00              9.00000E+100
+         91  traj.phases.coast.collocation_constraint.defects:deltav           e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
          92  traj.phases.coast.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          93  traj.phases.coast.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          94  traj.phases.coast.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1428,44 +1429,44 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         105  traj.phases.coast.continuity_comp.defect_states:vt                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         106  traj.phases.coast.continuity_comp.defect_states:vt                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         107  traj.phases.coast.continuity_comp.defect_states:vt                e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        108  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -3.526483E-37    0.000000E+00              9.00000E+100
-        109  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -1.820841E-35    0.000000E+00              9.00000E+100
-        110  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -5.019361E-36    0.000000E+00              9.00000E+100
-        111  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -8.063891E-36    0.000000E+00              9.00000E+100
+        108  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -2.960776E-36    0.000000E+00              9.00000E+100
+        109  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -4.397818E-36    0.000000E+00              9.00000E+100
+        110  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00   -2.450906E-34    0.000000E+00              9.00000E+100
+        111  traj.phases.coast.continuity_comp.defect_states:accel             e   0.000000E+00    3.746888E-36    0.000000E+00              9.00000E+100
         112  traj.phases.coast.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         113  traj.phases.coast.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         114  traj.phases.coast.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         115  traj.phases.coast.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        116  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00   -1.867116E-14    0.000000E+00              9.00000E+100
-        117  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00    2.137008E-14    0.000000E+00              9.00000E+100
-        118  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00    1.862692E-14    0.000000E+00              9.00000E+100
-        119  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00   -2.286333E-14    0.000000E+00              9.00000E+100
-        120  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00   -1.283020E-14    0.000000E+00              9.00000E+100
-        121  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00   -7.610048E-14    0.000000E+00              9.00000E+100
+        116  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00    1.681290E-14    0.000000E+00              9.00000E+100
+        117  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00   -1.345032E-14    0.000000E+00              9.00000E+100
+        118  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00   -1.798537E-14    0.000000E+00              9.00000E+100
+        119  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00    1.786370E-15    0.000000E+00              9.00000E+100
+        120  traj.phases.burn2.collocation_constraint.defects:r                e   0.000000E+00    5.413034E-16    0.000000E+00              9.00000E+100
+        121  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00    3.610348E-14    0.000000E+00              9.00000E+100
         122  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00   -2.477690E-15    0.000000E+00              9.00000E+100
-        123  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00    6.725158E-15    0.000000E+00              9.00000E+100
-        124  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00    1.132658E-14    0.000000E+00              9.00000E+100
-        125  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00   -8.494937E-15    0.000000E+00              9.00000E+100
-        126  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00   -4.424446E-15    0.000000E+00              9.00000E+100
-        127  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00    7.079114E-15    0.000000E+00              9.00000E+100
-        128  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00   -8.848893E-16    0.000000E+00              9.00000E+100
-        129  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00   -3.539557E-15    0.000000E+00              9.00000E+100
-        130  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00    5.973003E-15    0.000000E+00              9.00000E+100
-        131  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    4.247469E-14    0.000000E+00              9.00000E+100
-        132  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00   -2.831646E-14    0.000000E+00              9.00000E+100
-        133  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    2.123734E-14    0.000000E+00              9.00000E+100
-        134  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    6.017247E-14    0.000000E+00              9.00000E+100
-        135  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    3.893513E-14    0.000000E+00              9.00000E+100
-        136  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00   -1.437945E-17    0.000000E+00              9.00000E+100
-        137  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    1.614923E-17    0.000000E+00              9.00000E+100
-        138  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00   -7.079114E-18    0.000000E+00              9.00000E+100
-        139  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    1.703412E-17    0.000000E+00              9.00000E+100
-        140  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00   -7.079114E-18    0.000000E+00              9.00000E+100
-        141  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -5.309336E-18    0.000000E+00              9.00000E+100
-        142  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -3.185601E-17    0.000000E+00              9.00000E+100
-        143  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00    5.132358E-17    0.000000E+00              9.00000E+100
-        144  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00    4.247469E-17    0.000000E+00              9.00000E+100
-        145  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -4.247469E-17    0.000000E+00              9.00000E+100
+        123  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00    2.265317E-14    0.000000E+00              9.00000E+100
+        124  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00   -1.486614E-14    0.000000E+00              9.00000E+100
+        125  traj.phases.burn2.collocation_constraint.defects:theta            e   0.000000E+00    2.159130E-14    0.000000E+00              9.00000E+100
+        126  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00    1.769779E-15    0.000000E+00              9.00000E+100
+        127  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        128  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00   -4.866891E-15    0.000000E+00              9.00000E+100
+        129  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00    4.424446E-16    0.000000E+00              9.00000E+100
+        130  traj.phases.burn2.collocation_constraint.defects:vr               e   0.000000E+00   -6.194225E-15    0.000000E+00              9.00000E+100
+        131  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    1.946756E-14    0.000000E+00              9.00000E+100
+        132  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00   -7.079114E-15    0.000000E+00              9.00000E+100
+        133  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00   -1.415823E-14    0.000000E+00              9.00000E+100
+        134  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    3.893513E-14    0.000000E+00              9.00000E+100
+        135  traj.phases.burn2.collocation_constraint.defects:vt               e   0.000000E+00    1.026472E-13    0.000000E+00              9.00000E+100
+        136  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    1.548556E-18    0.000000E+00              9.00000E+100
+        137  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    3.982002E-18    0.000000E+00              9.00000E+100
+        138  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00   -1.106112E-18    0.000000E+00              9.00000E+100
+        139  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    1.194601E-17    0.000000E+00              9.00000E+100
+        140  traj.phases.burn2.collocation_constraint.defects:accel            e   0.000000E+00    2.654668E-18    0.000000E+00              9.00000E+100
+        141  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -7.079114E-18    0.000000E+00              9.00000E+100
+        142  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -3.008624E-17    0.000000E+00              9.00000E+100
+        143  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00    5.309336E-18    0.000000E+00              9.00000E+100
+        144  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00    6.371203E-17    0.000000E+00              9.00000E+100
+        145  traj.phases.burn2.collocation_constraint.defects:deltav           e   0.000000E+00   -6.017247E-17    0.000000E+00              9.00000E+100
         146  traj.phases.burn2.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         147  traj.phases.burn2.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         148  traj.phases.burn2.continuity_comp.defect_states:r                 e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1490,10 +1491,10 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         167  traj.phases.burn2.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         168  traj.phases.burn2.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         169  traj.phases.burn2.continuity_comp.defect_states:deltav            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        170  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    2.265317E-15    0.000000E+00              9.00000E+100
-        171  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    2.902437E-15    0.000000E+00              9.00000E+100
-        172  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    1.769779E-16    0.000000E+00              9.00000E+100
-        173  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -2.831646E-16    0.000000E+00              9.00000E+100
+        170  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -1.557405E-15    0.000000E+00              9.00000E+100
+        171  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00   -2.831646E-16    0.000000E+00              9.00000E+100
+        172  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    1.274241E-15    0.000000E+00              9.00000E+100
+        173  traj.phases.burn2.continuity_comp.defect_control_rates:u1_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         174  traj.phases.burn2.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         175  traj.phases.burn2.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         176  traj.phases.burn2.continuity_comp.defect_controls:u1              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
diff --git a/examples/hull/hull_problem.html b/examples/hull/hull_problem.html
index df315799e..bb3d59142 100644
--- a/examples/hull/hull_problem.html
+++ b/examples/hull/hull_problem.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -502,27 +503,27 @@ <h2>State and control variables<a class="headerlink" href="#state-and-control-va
 <p>This system has one state variables, the position (<span class="math notranslate nohighlight">\(x\)</span>) of the sliding block.</p>
 <p>This system has a single control variable (<span class="math notranslate nohighlight">\(u\)</span>), the velocity of the block.</p>
 <p>The dynamics of the system are governed by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-22b1be0f-90c1-4682-9e91-87c664bc7be0">
-<span class="eqno">(48)<a class="headerlink" href="#equation-22b1be0f-90c1-4682-9e91-87c664bc7be0" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-9dd7ad20-31f1-442f-b5bf-a985aa24dba1">
+<span class="eqno">(48)<a class="headerlink" href="#equation-9dd7ad20-31f1-442f-b5bf-a985aa24dba1" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{x} &amp;= u
 \end{align}\]</div>
 </section>
 <section id="problem-definition">
 <h2>Problem Definition<a class="headerlink" href="#problem-definition" title="Permalink to this heading">#</a></h2>
 <p>We seek to minimize the control effort required and minimize the displacement from the origin.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-3668c4f2-3859-4c99-a9b0-f24dda0853c6">
-<span class="eqno">(49)<a class="headerlink" href="#equation-3668c4f2-3859-4c99-a9b0-f24dda0853c6" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-7bd74eb5-da52-46e0-85f6-102563937442">
+<span class="eqno">(49)<a class="headerlink" href="#equation-7bd74eb5-da52-46e0-85f6-102563937442" title="Permalink to this equation">#</a></span>\[\begin{align}
     \mathrm{Minimize} \, J &amp;= 2.5x_f^2 \, + \, 0.5 \int_0^1 u^2 dt
 \end{align}\]</div>
 <p>Subject to the initial conditions</p>
-<div class="amsmath math notranslate nohighlight" id="equation-a73e1118-a4af-49f2-8d5d-94324f86476e">
-<span class="eqno">(50)<a class="headerlink" href="#equation-a73e1118-a4af-49f2-8d5d-94324f86476e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-0eb6ad0f-a974-4526-b28e-d53988a49846">
+<span class="eqno">(50)<a class="headerlink" href="#equation-0eb6ad0f-a974-4526-b28e-d53988a49846" title="Permalink to this equation">#</a></span>\[\begin{align}
     t_0 &amp;= 0.0 \\
     x_0 &amp;= 1.5
 \end{align}\]</div>
 <p>and the terminal constraints</p>
-<div class="amsmath math notranslate nohighlight" id="equation-f1485892-5900-4890-92a1-459dbdb62d37">
-<span class="eqno">(51)<a class="headerlink" href="#equation-f1485892-5900-4890-92a1-459dbdb62d37" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-e804e456-419a-4ba0-b1ef-5c6067c534e7">
+<span class="eqno">(51)<a class="headerlink" href="#equation-e804e456-419a-4ba0-b1ef-5c6067c534e7" title="Permalink to this equation">#</a></span>\[\begin{align}
     t_f &amp;= 10.0
 \end{align}\]</div>
 </section>
@@ -531,8 +532,8 @@ <h2>Dealing with combined terminal and integral costs in Dymos<a class="headerli
 <p>In classic optimal control, the objective is often broken into the terminal component (the Mayer term) and the integral component (the Lagrange term).
 Dymos does not distinguish between the two.
 In this case, since the objective <span class="math notranslate nohighlight">\(J\)</span> consists of both a terminal cost and an integrated cost (Bolza form), we add a term to the ODE to account for the integrated quantity</p>
-<div class="amsmath math notranslate nohighlight" id="equation-d833b430-196d-4348-bad4-185febf58869">
-<span class="eqno">(52)<a class="headerlink" href="#equation-d833b430-196d-4348-bad4-185febf58869" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-ad2226be-88bf-487d-8daa-097fb7632bb2">
+<span class="eqno">(52)<a class="headerlink" href="#equation-ad2226be-88bf-487d-8daa-097fb7632bb2" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{x_L} &amp;= L \\
   L &amp;= 0.5 u^2
 \end{align}\]</div>
@@ -670,7 +671,7 @@ <h2>Solving the Hull problem with Dymos<a class="headerlink" href="#solving-the-
         None
 </pre></div>
 </div>
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7fcc5c357970&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f24b4553b20&gt;
 </pre></div>
 </div>
 </div>
@@ -716,7 +717,7 @@ <h2>Solving the Hull problem with Dymos<a class="headerlink" href="#solving-the-
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.337724 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.496955 seconds.
 Total jacobian shape: (191, 216) 
 
 
@@ -725,8 +726,8 @@ <h2>Solving the Hull problem with Dymos<a class="headerlink" href="#solving-the-
 Total colors vs. total size: 7 vs 216  (96.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.337724 sec.
-Time to compute coloring: 0.131452 sec.
+Time to compute sparsity: 0.496955 sec.
+Time to compute coloring: 0.186306 sec.
 Memory to compute coloring: 0.210938 MB.
 </pre></div>
 </div>
@@ -736,11 +737,11 @@ <h2>Solving the Hull problem with Dymos<a class="headerlink" href="#solving-the-
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    3.8706
-       User Objective Time :       0.1309
-       User Sensitivity Time :     0.5452
-       Interface Time :            0.3688
-       Opt Solver Time:            2.8258
+    Total Time:                    4.0594
+       User Objective Time :       0.1448
+       User Sensitivity Time :     0.6994
+       Interface Time :            0.4520
+       Opt Solver Time:            2.7633
     Calls to Objective Function :      66
     Calls to Sens Function :           65
 
diff --git a/examples/hypersensitive/hypersensitive.html b/examples/hypersensitive/hypersensitive.html
index 32411ee53..a63a2238a 100644
--- a/examples/hypersensitive/hypersensitive.html
+++ b/examples/hypersensitive/hypersensitive.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -495,18 +496,18 @@ <h1>Hyper-Sensitive Problem<a class="headerlink" href="#hyper-sensitive-problem"
 Patterson <span id="id1">[<a class="reference internal" href="#id22" title="Michael A Patterson, William W Hager, and Anil V Rao. A ph mesh refinement method for optimal control. Optimal Control Applications and Methods, 36(4):398–421, 2015.">PHR15</a>]</span>. In this problem we seek to minimize both
 the distance traveled when moving between fixed boundary conditions and
 also to minimize the control <span class="math notranslate nohighlight">\(u\)</span> used. The cost function to be minimized is:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c60f8816-30e7-443b-862c-508e055aa97d">
-<span class="eqno">(53)<a class="headerlink" href="#equation-c60f8816-30e7-443b-862c-508e055aa97d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-0a3fc4ed-8ce3-4a1c-9978-e4885a82ee8c">
+<span class="eqno">(53)<a class="headerlink" href="#equation-0a3fc4ed-8ce3-4a1c-9978-e4885a82ee8c" title="Permalink to this equation">#</a></span>\[\begin{align}
     J &amp;= \frac{1}{2} \int_{0}^{t_f} (x^2 + u^2) dt
 \end{align}\]</div>
 <p>The system is subject to the dynamic constraints:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9eb38a09-c43f-4702-ad24-d706128cd0b2">
-<span class="eqno">(54)<a class="headerlink" href="#equation-9eb38a09-c43f-4702-ad24-d706128cd0b2" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-e26bbb4b-73b6-4ad1-a229-8830a3ac0c94">
+<span class="eqno">(54)<a class="headerlink" href="#equation-e26bbb4b-73b6-4ad1-a229-8830a3ac0c94" title="Permalink to this equation">#</a></span>\[\begin{align}
     \frac{dx}{dt} &amp;= -x + u
 \end{align}\]</div>
 <p>The boundary conditions are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-46b8b37c-dc2c-474e-95fc-cb40af82e60c">
-<span class="eqno">(55)<a class="headerlink" href="#equation-46b8b37c-dc2c-474e-95fc-cb40af82e60c" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-5c404c07-4680-4978-a112-8f83f8f17ca0">
+<span class="eqno">(55)<a class="headerlink" href="#equation-5c404c07-4680-4978-a112-8f83f8f17ca0" title="Permalink to this equation">#</a></span>\[\begin{align}
     x(t_0) &amp;= 1.5 \\
     x(t_f) &amp;= 1
 \end{align}\]</div>
@@ -516,14 +517,14 @@ <h1>Hyper-Sensitive Problem<a class="headerlink" href="#hyper-sensitive-problem"
 structure, where the all interesting behavior occurs at the beginning and
 end while remaining relatively constant in the middle.</p>
 <p>This problem has a known analytic optimal solution:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-a854e61f-9edb-4c9f-aafd-8d69b1935c31">
-<span class="eqno">(56)<a class="headerlink" href="#equation-a854e61f-9edb-4c9f-aafd-8d69b1935c31" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-9d19f101-980f-4404-b901-7244c148d1a5">
+<span class="eqno">(56)<a class="headerlink" href="#equation-9d19f101-980f-4404-b901-7244c148d1a5" title="Permalink to this equation">#</a></span>\[\begin{align}
     x^*(t) &amp;= c_1 e^{\sqrt{2} t} + c_2 e^{-\sqrt{2} t} \\
       u^*(t) &amp;= \dot{x}^*(t) + x^*(t)
 \end{align}\]</div>
 <p>where:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-46a0ad71-60e1-477a-a479-110fd2455463">
-<span class="eqno">(57)<a class="headerlink" href="#equation-46a0ad71-60e1-477a-a479-110fd2455463" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-d660fc29-a3c9-44d8-9bf4-3e94801b6778">
+<span class="eqno">(57)<a class="headerlink" href="#equation-d660fc29-a3c9-44d8-9bf4-3e94801b6778" title="Permalink to this equation">#</a></span>\[\begin{align}
     c_1 &amp;= \frac{1.5 e^{-\sqrt{2} t_f} - 1}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}} \\
     c_2 &amp;= \frac{1 - 1.5 e^{\sqrt{2} t_f}}{e^{-\sqrt{2} t_f} - e^{\sqrt{2} t_f}}
 \end{align}\]</div>
@@ -748,7 +749,7 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.157986 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.203353 seconds.
 Total jacobian shape: (80, 108) 
 
 
@@ -757,8 +758,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 9 vs 80  (88.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.157986 sec.
-Time to compute coloring: 0.067396 sec.
+Time to compute sparsity: 0.203353 sec.
+Time to compute coloring: 0.080330 sec.
 Memory to compute coloring: 0.406250 MB.
 </pre></div>
 </div>
@@ -768,11 +769,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    0.2845
-       User Objective Time :       0.0294
-       User Sensitivity Time :     0.1176
-       Interface Time :            0.0615
-       Opt Solver Time:            0.0760
+    Total Time:                    0.3113
+       User Objective Time :       0.0309
+       User Sensitivity Time :     0.1456
+       Interface Time :            0.0648
+       Opt Solver Time:            0.0700
     Calls to Objective Function :      16
     Calls to Sens Function :           14
 
@@ -1028,14 +1029,13 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 --- Constraint Report [traj] ---
     --- phase0 ---
         [final]   1.0000e+00 == x [None]
-
-Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.283966 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.393177 seconds.
 Total jacobian shape: (140, 198) 
 
 
@@ -1044,8 +1044,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 15 vs 140  (89.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.283966 sec.
-Time to compute coloring: 0.129021 sec.
+Time to compute sparsity: 0.393177 sec.
+Time to compute coloring: 0.149769 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1055,11 +1055,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    0.4376
-       User Objective Time :       0.0179
-       User Sensitivity Time :     0.1128
-       Interface Time :            0.0524
-       Opt Solver Time:            0.2546
+    Total Time:                    0.4711
+       User Objective Time :       0.0197
+       User Sensitivity Time :     0.1454
+       Interface Time :            0.0578
+       Opt Solver Time:            0.2482
     Calls to Objective Function :       9
     Calls to Sens Function :            8
 
@@ -1458,18 +1458,17 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
             Segment Ends = [-1.0, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.9, 1.0]
             Segment Order = [6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6]
         Refined: True
-
-
---- Constraint Report [traj] ---
-    --- phase0 ---
-        [final]   1.0000e+00 == x [None]
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>--- Constraint Report [traj] ---
+    --- phase0 ---
+        [final]   1.0000e+00 == x [None]
+
+Model viewer data has already been recorded for Driver.
 Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.552746 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.664907 seconds.
 Total jacobian shape: (224, 318) 
 </pre></div>
 </div>
@@ -1478,8 +1477,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 15 vs 224  (93.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.552746 sec.
-Time to compute coloring: 0.209305 sec.
+Time to compute sparsity: 0.664907 sec.
+Time to compute coloring: 0.244332 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1489,11 +1488,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    1.4937
-       User Objective Time :       0.0181
-       User Sensitivity Time :     0.1374
-       Interface Time :            0.0984
-       Opt Solver Time:            1.2398
+    Total Time:                    1.5452
+       User Objective Time :       0.0205
+       User Sensitivity Time :     0.1756
+       Interface Time :            0.1041
+       Opt Solver Time:            1.2449
     Calls to Objective Function :       9
     Calls to Sens Function :            9
 
@@ -2118,7 +2117,7 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.724662 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.888645 seconds.
 Total jacobian shape: (284, 405) 
 </pre></div>
 </div>
@@ -2127,8 +2126,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 27 vs 284  (90.5% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.724662 sec.
-Time to compute coloring: 0.287430 sec.
+Time to compute sparsity: 0.888645 sec.
+Time to compute coloring: 0.305853 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -2138,11 +2137,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    2.0465
-       User Objective Time :       0.0127
-       User Sensitivity Time :     0.1602
-       Interface Time :            0.0897
-       Opt Solver Time:            1.7838
+    Total Time:                    2.2565
+       User Objective Time :       0.0134
+       User Sensitivity Time :     0.1938
+       Interface Time :            0.0901
+       Opt Solver Time:            1.9592
     Calls to Objective Function :       6
     Calls to Sens Function :            6
 
@@ -2926,7 +2925,7 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.796155 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.078558 seconds.
 Total jacobian shape: (332, 474) 
 </pre></div>
 </div>
@@ -2935,8 +2934,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 27 vs 332  (91.9% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.796155 sec.
-Time to compute coloring: 0.300474 sec.
+Time to compute sparsity: 1.078558 sec.
+Time to compute coloring: 0.374276 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -2946,11 +2945,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    1.0153
-       User Objective Time :       0.0065
-       User Sensitivity Time :     0.0563
-       Interface Time :            0.0367
-       Opt Solver Time:            0.9158
+    Total Time:                    1.2492
+       User Objective Time :       0.0070
+       User Sensitivity Time :     0.0712
+       Interface Time :            0.0390
+       Opt Solver Time:            1.1321
     Calls to Objective Function :       3
     Calls to Sens Function :            2
 
@@ -3833,9 +3832,7 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
             Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.85, 0.9, 0.925, 0.95, 0.975, 1.0]
             Segment Order = [6, 6, 6, 9, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 9, 12, 6, 6, 6, 6, 6, 6]
             Error = [9.392e-08, 1.204e-09, 3.961e-08, 6.868e-08, 1.103e-08, 1.276e-09, 2.957e-08, 5.773e-09, 7.419e-09, 2.077e-08, 1.619e-09, 4.878e-10, 5.592e-10, 9.102e-09, 9.29e-08, 2.239e-08, 4.743e-07, 7.315e-07, 1.189e-07, 1.379e-07, 1.705e-07, 1.605e-07]
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>    Phase: traj.phases.phase0
+    Phase: traj.phases.phase0
         New Grid:
             Number of Segments = 26
             Segment Ends = [-1.0, -0.9667, -0.9333, -0.9, -0.8, -0.7, -0.6, -0.4, -0.2, 0.0, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8, 0.825, 0.85, 0.875, 0.9, 0.925, 0.95, 0.9625, 0.975, 0.9875, 1.0]
@@ -3851,7 +3848,7 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.067264 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.389848 seconds.
 Total jacobian shape: (406, 581) 
 </pre></div>
 </div>
@@ -3860,8 +3857,8 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 Total colors vs. total size: 27 vs 406  (93.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.067264 sec.
-Time to compute coloring: 0.373471 sec.
+Time to compute sparsity: 1.389848 sec.
+Time to compute coloring: 0.451069 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -3871,11 +3868,11 @@ <h2>Building and running the problem with grid refinement<a class="headerlink" h
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    0.8914
-       User Objective Time :       0.0048
-       User Sensitivity Time :     0.0321
-       Interface Time :            0.0240
-       Opt Solver Time:            0.8305
+    Total Time:                    1.3103
+       User Objective Time :       0.0047
+       User Sensitivity Time :     0.0427
+       Interface Time :            0.0251
+       Opt Solver Time:            1.2378
     Calls to Objective Function :       2
     Calls to Sens Function :            1
 
diff --git a/examples/length_constrained_brachistochrone/length_constrained_brachistochrone.html b/examples/length_constrained_brachistochrone/length_constrained_brachistochrone.html
index 28696c235..b541a7da0 100644
--- a/examples/length_constrained_brachistochrone/length_constrained_brachistochrone.html
+++ b/examples/length_constrained_brachistochrone/length_constrained_brachistochrone.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -491,8 +492,8 @@ <h1>The Length-Constrained Brachistochrone<a class="headerlink" href="#the-lengt
 <p>The most efficient way to approach this problem would be to treat the arc-length <span class="math notranslate nohighlight">\(S\)</span> as an integrated state variable.
 In this case, as is often the case in real-world MDO analyses, the implementation of our arc-length function is not integrated into our pseudospectral approach.
 Rather than rewrite an analysis tool to accommodate the pseudospectral approach, the arc-length analysis simply takes the result of the trajectory in its entirety and computes the arc-length constraint via the trapezoidal rule:\</p>
-<div class="amsmath math notranslate nohighlight" id="equation-7e52ec3b-1fb0-49ca-86dc-8e6af5ed6449">
-<span class="eqno">(61)<a class="headerlink" href="#equation-7e52ec3b-1fb0-49ca-86dc-8e6af5ed6449" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-76733b1e-15e3-4e80-b0cc-4c43d3b7a284">
+<span class="eqno">(61)<a class="headerlink" href="#equation-76733b1e-15e3-4e80-b0cc-4c43d3b7a284" title="Permalink to this equation">#</a></span>\[\begin{align}
     S &amp;= \frac{1}{2} \left( \sum_{i=1}^{N-1} \sqrt{1 + \frac{1}{\tan{\theta_{i-1}}}} + \sqrt{1 + \frac{1}{\tan{\theta_{i}}}} \right) \left(x_{i-1} - x_i \right)
 \end{align}\]</div>
 <p>The OpenMDAO component used to compute the arclength is defined as follows:</p>
@@ -882,7 +883,7 @@ <h1>The Length-Constrained Brachistochrone<a class="headerlink" href="#the-lengt
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.737543 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.008662 seconds.
 Total jacobian shape: (220, 296) 
 </pre></div>
 </div>
@@ -891,9 +892,9 @@ <h1>The Length-Constrained Brachistochrone<a class="headerlink" href="#the-lengt
 Total colors vs. total size: 12 vs 220  (94.5% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.737543 sec.
-Time to compute coloring: 0.299648 sec.
-Memory to compute coloring: 0.804688 MB.
+Time to compute sparsity: 1.008662 sec.
+Time to compute coloring: 0.335057 sec.
+Memory to compute coloring: 0.906250 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
diff --git a/examples/min_time_climb/min_time_climb.html b/examples/min_time_climb/min_time_climb.html
index 7923fb3c4..67350d17e 100644
--- a/examples/min_time_climb/min_time_climb.html
+++ b/examples/min_time_climb/min_time_climb.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -497,8 +498,8 @@ <h2> Contents </h2>
 from near ground level, Mach 0.4 to an altitude of 20 km and Mach 1.0.</p>
 <p><img alt="The free-body-diagram of the min-time-climb problem." src="../../_images/min_time_climb_fbd.png" /></p>
 <p>The vehicle dynamics are given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-f88cb74f-5b67-478f-aaff-07e3adb5895f">
-<span class="eqno">(62)<a class="headerlink" href="#equation-f88cb74f-5b67-478f-aaff-07e3adb5895f" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-27c96ad2-f285-40b3-9f3e-df705909db1b">
+<span class="eqno">(62)<a class="headerlink" href="#equation-27c96ad2-f285-40b3-9f3e-df705909db1b" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dv}{dt} &amp;= \frac{T}{m} \cos \alpha - \frac{D}{m} - g \sin \gamma \\
   \frac{d\gamma}{dt} &amp;= \frac{T}{m v} \sin \alpha + \frac{L}{m v} - \frac{g \cos \gamma}{v} \\
   \frac{dh}{dt} &amp;= v \sin \gamma \\
@@ -506,8 +507,8 @@ <h2> Contents </h2>
   \frac{dm}{dt} &amp;= - \frac{T}{g I_{sp}}
 \end{align}\]</div>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-3b0c31e3-f36e-458a-a28c-f72c300cd69e">
-<span class="eqno">(63)<a class="headerlink" href="#equation-3b0c31e3-f36e-458a-a28c-f72c300cd69e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-a2fbeebd-1cda-44f3-98d5-aa75de9b25ba">
+<span class="eqno">(63)<a class="headerlink" href="#equation-a2fbeebd-1cda-44f3-98d5-aa75de9b25ba" title="Permalink to this equation">#</a></span>\[\begin{align}
   r_0 &amp;= 0 \rm{\,m} \\
   h_0 &amp;= 100 \rm{\,m} \\
   v_0 &amp;= 135.964 \rm{\,m/s} \\
@@ -515,8 +516,8 @@ <h2> Contents </h2>
   m_0 &amp;= 19030.468 \rm{\,kg}
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-dcc3df51-c40b-4e04-b0f5-022970553cd3">
-<span class="eqno">(64)<a class="headerlink" href="#equation-dcc3df51-c40b-4e04-b0f5-022970553cd3" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-eea83c39-7a5a-4252-be17-0ebe0a27d3ba">
+<span class="eqno">(64)<a class="headerlink" href="#equation-eea83c39-7a5a-4252-be17-0ebe0a27d3ba" title="Permalink to this equation">#</a></span>\[\begin{align}
   h_f &amp;= 20000 \rm{\,m} \\
   M_f &amp;= 1.0 \\
   \gamma_0 &amp;= 0 \rm{\,deg}
@@ -977,18 +978,18 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.203230 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.227017 seconds.
 Total jacobian shape: (181, 191) 
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (181, 191)  ( 8.73% nonzero)
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (181, 191)  ( 8.76% nonzero)
 FWD solves: 25   REV solves: 0
 Total colors vs. total size: 25 vs 191  (86.9% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.203230 sec.
-Time to compute coloring: 0.248038 sec.
-Memory to compute coloring: 2.015625 MB.
+Time to compute sparsity: 0.227017 sec.
+Time to compute coloring: 0.271355 sec.
+Memory to compute coloring: 2.046875 MB.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/total_jac.py:1782: DerivativesWarning:Constraints or objectives [(&#39;traj.phases.phase0.timeseries.timeseries_comp.h&#39;, inds=[(0, 0)]), (&#39;traj.phases.phase0.timeseries.timeseries_comp.mach&#39;, inds=[(0, 0)])] cannot be impacted by the design variables of the problem.
@@ -1000,11 +1001,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   10.7401
-       User Objective Time :       1.8664
-       User Sensitivity Time :     2.0647
-       Interface Time :            1.9245
-       Opt Solver Time:            4.8845
+    Total Time:                   11.1109
+       User Objective Time :       2.1240
+       User Sensitivity Time :     2.3883
+       Interface Time :            2.0036
+       Opt Solver Time:            4.5950
     Calls to Objective Function :     131
     Calls to Sens Function :          108
 
@@ -1214,79 +1215,79 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
           2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
           3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.584600E-10    0.000000E+00              9.00000E+100
           4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -2.415869E-11    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.957326E-10    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.010564E-10    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.957341E-10    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.010545E-10    0.000000E+00              9.00000E+100
           7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.194946E-09    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.847730E-10    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.020401E-09    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.301450E-09    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.152420E-10    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.912108E-10    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.936941E-10    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.069151E-10    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -2.131881E-11    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.720182E-10    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.393667E-10    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.098594E-10    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.136202E-09    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.237566E-10    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.733438E-09    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.110917E-08    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.676353E-09    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.944402E-08    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.821951E-09    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.788360E-09    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.861917E-09    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.061960E-09    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.536265E-10    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.582502E-09    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.989566E-09    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.409804E-09    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.032167E-11    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.847662E-10    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.020419E-09    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.301437E-09    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.152303E-10    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.912053E-10    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.937034E-10    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.069127E-10    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -2.131696E-11    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.720238E-10    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.393543E-10    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.098608E-10    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.136194E-09    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.237474E-10    0.000000E+00              9.00000E+100
+         21  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.733426E-09    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.110918E-08    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.676351E-09    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.944403E-08    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.821970E-09    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.788346E-09    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.861894E-09    0.000000E+00              9.00000E+100
+         28  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.061936E-09    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.536170E-10    0.000000E+00              9.00000E+100
+         30  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.582529E-09    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.989619E-09    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.409826E-09    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.032129E-11    0.000000E+00              9.00000E+100
          34  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.340993E-09    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.680167E-10    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.996175E-10    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.754336E-10    0.000000E+00              9.00000E+100
+         35  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.680160E-10    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.996183E-10    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.754334E-10    0.000000E+00              9.00000E+100
          38  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.325291E-09    0.000000E+00              9.00000E+100
          39  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.187983E-09    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.362946E-12    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.803360E-10    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.203310E-10    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.395581E-10    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.006172E-10    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.067052E-10    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.689508E-10    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.436006E-10    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.986507E-11    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.362188E-12    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.803366E-10    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.203313E-10    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.395585E-10    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.006166E-10    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.067053E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.689512E-10    0.000000E+00              9.00000E+100
+         47  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.436007E-10    0.000000E+00              9.00000E+100
+         48  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.986517E-11    0.000000E+00              9.00000E+100
          49  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.064343E-09    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.928068E-11    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.049332E-12    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    9.780966E-10    0.000000E+00              9.00000E+100
+         50  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.928050E-11    0.000000E+00              9.00000E+100
+         51  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.049257E-12    0.000000E+00              9.00000E+100
+         52  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    9.780964E-10    0.000000E+00              9.00000E+100
          53  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.048589E-09    0.000000E+00              9.00000E+100
          54  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.401951E-10    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.153268E-10    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.020874E-10    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.189493E-10    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    6.674053E-11    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.629702E-13    0.000000E+00              9.00000E+100
+         55  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.153267E-10    0.000000E+00              9.00000E+100
+         56  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.020873E-10    0.000000E+00              9.00000E+100
+         57  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.189492E-10    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    6.674064E-11    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.630079E-13    0.000000E+00              9.00000E+100
          60  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.154869E-10    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.887591E-10    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.729500E-11    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.150292E-12    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.636089E-12    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.256023E-12    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    8.827627E-13    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.072453E-11    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.247034E-10    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -9.313603E-12    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.784219E-12    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.100866E-12    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.333374E-14    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -8.985552E-13    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.868658E-12    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.378445E-12    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.089308E-11    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.166157E-13    0.000000E+00              9.00000E+100
+         61  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.887590E-10    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.729496E-11    0.000000E+00              9.00000E+100
+         63  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.149868E-12    0.000000E+00              9.00000E+100
+         64  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.637014E-12    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.253240E-12    0.000000E+00              9.00000E+100
+         66  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    8.829938E-13    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.071861E-11    0.000000E+00              9.00000E+100
+         68  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.247091E-10    0.000000E+00              9.00000E+100
+         69  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -9.310329E-12    0.000000E+00              9.00000E+100
+         70  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.788861E-12    0.000000E+00              9.00000E+100
+         71  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.096629E-12    0.000000E+00              9.00000E+100
+         72  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.597224E-14    0.000000E+00              9.00000E+100
+         73  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -9.026574E-13    0.000000E+00              9.00000E+100
+         74  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.869236E-12    0.000000E+00              9.00000E+100
+         75  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.380891E-12    0.000000E+00              9.00000E+100
+         76  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.089493E-11    0.000000E+00              9.00000E+100
+         77  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.157864E-13    0.000000E+00              9.00000E+100
          78  traj.phases.phase0.continuity_comp.defect_states:r                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          79  traj.phases.phase0.continuity_comp.defect_states:r                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          80  traj.phases.phase0.continuity_comp.defect_states:r                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1339,7 +1340,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         127  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         128  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         129  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        130  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00   -1.734723E-18    0.000000E+00              9.00000E+100
         131  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         132  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         133  traj.phases.phase0.continuity_comp.defect_states:gam                  e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1357,20 +1358,20 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         145  traj.phases.phase0.continuity_comp.defect_states:m                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         146  traj.phases.phase0.continuity_comp.defect_states:m                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         147  traj.phases.phase0.continuity_comp.defect_states:m                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        148  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    6.770797E-13    0.000000E+00              9.00000E+100
-        149  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -2.031239E-12    0.000000E+00              9.00000E+100
-        150  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    2.256932E-13    0.000000E+00              9.00000E+100
-        151  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        152  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.128466E-12    0.000000E+00              9.00000E+100
-        153  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -2.256932E-13    0.000000E+00              9.00000E+100
-        154  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -6.770797E-13    0.000000E+00              9.00000E+100
-        155  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -1.692699E-13    0.000000E+00              9.00000E+100
+        148  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -1.354159E-12    0.000000E+00              9.00000E+100
+        149  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        150  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -6.770797E-13    0.000000E+00              9.00000E+100
+        151  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.354159E-12    0.000000E+00              9.00000E+100
+        152  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        153  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.579853E-12    0.000000E+00              9.00000E+100
+        154  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    3.385399E-13    0.000000E+00              9.00000E+100
+        155  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    5.007569E-13    0.000000E+00              9.00000E+100
         156  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.657435E-13    0.000000E+00              9.00000E+100
-        157  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    6.629739E-13    0.000000E+00              9.00000E+100
-        158  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -3.773309E-13    0.000000E+00              9.00000E+100
-        159  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -2.256932E-13    0.000000E+00              9.00000E+100
-        160  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    9.027730E-13    0.000000E+00              9.00000E+100
-        161  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.805546E-12    0.000000E+00              9.00000E+100
+        157  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -1.692699E-13    0.000000E+00              9.00000E+100
+        158  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    2.856430E-13    0.000000E+00              9.00000E+100
+        159  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    9.027730E-13    0.000000E+00              9.00000E+100
+        160  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -1.128466E-12    0.000000E+00              9.00000E+100
+        161  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -2.708319E-12    0.000000E+00              9.00000E+100
         162  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         163  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         164  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
diff --git a/examples/mountain_car/mountain_car.html b/examples/mountain_car/mountain_car.html
index d28c2853b..4f980890b 100644
--- a/examples/mountain_car/mountain_car.html
+++ b/examples/mountain_car/mountain_car.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -504,8 +505,8 @@ <h2>State and control variables<a class="headerlink" href="#state-and-control-va
 <p>This system has two state variables, the position (<span class="math notranslate nohighlight">\(x\)</span>) and velocity (<span class="math notranslate nohighlight">\(v\)</span>) of the car.</p>
 <p>This system has a single control variable (<span class="math notranslate nohighlight">\(u\)</span>), the effort put into moving.  This control is contrained to the range <span class="math notranslate nohighlight">\([-1 \, 1]\)</span>.</p>
 <p>The dynamics of the system are governed by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-8964b1f0-5f9c-4561-9269-ed5693be1afd">
-<span class="eqno">(65)<a class="headerlink" href="#equation-8964b1f0-5f9c-4561-9269-ed5693be1afd" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-949d08d4-1ba4-4609-8707-ea1da05d0412">
+<span class="eqno">(65)<a class="headerlink" href="#equation-949d08d4-1ba4-4609-8707-ea1da05d0412" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{x} &amp;= v \\
   \dot{v} &amp;= 0.001 * u - 0.0025 * \cos(3 x)
 \end{align}\]</div>
@@ -513,24 +514,24 @@ <h2>State and control variables<a class="headerlink" href="#state-and-control-va
 <section id="problem-definition">
 <h2>Problem Definition<a class="headerlink" href="#problem-definition" title="Permalink to this heading">#</a></h2>
 <p>We seek to minimize the time required to exit the well in the positive direction.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-6488dbd8-7bb3-4a49-beb1-6acaf647be8b">
-<span class="eqno">(66)<a class="headerlink" href="#equation-6488dbd8-7bb3-4a49-beb1-6acaf647be8b" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-3b922b46-f3c7-4a33-8bf2-0579f6685189">
+<span class="eqno">(66)<a class="headerlink" href="#equation-3b922b46-f3c7-4a33-8bf2-0579f6685189" title="Permalink to this equation">#</a></span>\[\begin{align}
     \mathrm{Minimize} \, J &amp;= t_f
 \end{align}\]</div>
 <p>Subject to the initial conditions</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c6f421c4-602b-42ab-babd-484273c3a0d7">
-<span class="eqno">(67)<a class="headerlink" href="#equation-c6f421c4-602b-42ab-babd-484273c3a0d7" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-b35ced83-ea1a-4993-bf9a-b8b48c6e6f8d">
+<span class="eqno">(67)<a class="headerlink" href="#equation-b35ced83-ea1a-4993-bf9a-b8b48c6e6f8d" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_0 &amp;= -0.5 \\
     v_0 &amp;= 0.0
 \end{align}\]</div>
 <p>the control constraints</p>
-<div class="amsmath math notranslate nohighlight" id="equation-79c0b4d1-2894-4660-a599-da666d89cf57">
-<span class="eqno">(68)<a class="headerlink" href="#equation-79c0b4d1-2894-4660-a599-da666d89cf57" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-0e62568a-8565-456b-9238-e3a0a8c48abb">
+<span class="eqno">(68)<a class="headerlink" href="#equation-0e62568a-8565-456b-9238-e3a0a8c48abb" title="Permalink to this equation">#</a></span>\[\begin{align}
     |u| \le 1
 \end{align}\]</div>
 <p>and the terminal constraints</p>
-<div class="amsmath math notranslate nohighlight" id="equation-64ceb26c-eb53-477e-9221-958ea2ab109a">
-<span class="eqno">(69)<a class="headerlink" href="#equation-64ceb26c-eb53-477e-9221-958ea2ab109a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-ce81d9f4-8034-4dec-b1fb-43bb9daf0b8b">
+<span class="eqno">(69)<a class="headerlink" href="#equation-ce81d9f4-8034-4dec-b1fb-43bb9daf0b8b" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_f &amp;= 0.5 \\
     v_f &amp;\ge 0.0
 \end{align}\]</div>
@@ -716,7 +717,7 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         [path]    -1.0000e+00 &lt;= u &lt;= 1.0000e+00  [unitless]
 </pre></div>
 </div>
-<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f41302c5840&gt;
+<div class="output text_plain highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>&lt;openmdao.core.problem.Problem at 0x7f23f8188460&gt;
 </pre></div>
 </div>
 </div>
@@ -760,10 +761,12 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
 </summary>
 <div class="cell_output docutils container">
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
-Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.567911 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.775917 seconds.
 Total jacobian shape: (332, 271) 
 </pre></div>
 </div>
@@ -772,9 +775,9 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
 Total colors vs. total size: 9 vs 271  (96.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.567911 sec.
-Time to compute coloring: 0.262201 sec.
-Memory to compute coloring: 0.425781 MB.
+Time to compute sparsity: 0.775917 sec.
+Time to compute coloring: 0.299855 sec.
+Memory to compute coloring: 0.312500 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization Problem -- Optimization using pyOpt_sparse
@@ -783,202 +786,202 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    3.9315
-       User Objective Time :       0.2421
-       User Sensitivity Time :     1.6163
-       Interface Time :            1.0999
-       Opt Solver Time:            0.9732
-    Calls to Objective Function :     123
-    Calls to Sens Function :          120
+    Total Time:                    3.2947
+       User Objective Time :       0.1745
+       User Sensitivity Time :     1.4215
+       Interface Time :            0.9048
+       Opt Solver Time:            0.7939
+    Calls to Objective Function :      97
+    Calls to Sens Function :           94
 
 
    Objectives
       Index  Name                                 Value
-          0  traj.phases.phase0.time.t     1.027055E-01
+          0  traj.phases.phase0.time.t     1.024792E-01
 
    Variables (c - continuous, i - integer, d - discrete)
       Index  Name                                                            Type      Lower Bound            Value      Upper Bound     Status
-          0  traj.phase0.t_duration_0                                           c     5.000000E-02     1.027055E+02     1.000000E+04           
-          1  traj.phases.phase0.indep_states.states:x_0                         c    -1.200000E+00    -4.993918E-01     5.000000E-01           
-          2  traj.phases.phase0.indep_states.states:x_1                         c    -1.200000E+00    -4.965749E-01     5.000000E-01           
-          3  traj.phases.phase0.indep_states.states:x_2                         c    -1.200000E+00    -4.952113E-01     5.000000E-01           
-          4  traj.phases.phase0.indep_states.states:x_3                         c    -1.200000E+00    -4.912601E-01     5.000000E-01           
-          5  traj.phases.phase0.indep_states.states:x_4                         c    -1.200000E+00    -4.839852E-01     5.000000E-01           
-          6  traj.phases.phase0.indep_states.states:x_5                         c    -1.200000E+00    -4.812613E-01     5.000000E-01           
-          7  traj.phases.phase0.indep_states.states:x_6                         c    -1.200000E+00    -4.743104E-01     5.000000E-01           
-          8  traj.phases.phase0.indep_states.states:x_7                         c    -1.200000E+00    -4.632080E-01     5.000000E-01           
-          9  traj.phases.phase0.indep_states.states:x_8                         c    -1.200000E+00    -4.593596E-01     5.000000E-01           
-         10  traj.phases.phase0.indep_states.states:x_9                         c    -1.200000E+00    -4.499012E-01     5.000000E-01           
-         11  traj.phases.phase0.indep_states.states:x_10                        c    -1.200000E+00    -4.363638E-01     5.000000E-01           
-         12  traj.phases.phase0.indep_states.states:x_11                        c    -1.200000E+00    -4.322699E-01     5.000000E-01           
-         13  traj.phases.phase0.indep_states.states:x_12                        c    -1.200000E+00    -4.247954E-01     5.000000E-01           
-         14  traj.phases.phase0.indep_states.states:x_13                        c    -1.200000E+00    -4.186817E-01     5.000000E-01           
-         15  traj.phases.phase0.indep_states.states:x_14                        c    -1.200000E+00    -4.177845E-01     5.000000E-01           
-         16  traj.phases.phase0.indep_states.states:x_15                        c    -1.200000E+00    -4.176175E-01     5.000000E-01           
-         17  traj.phases.phase0.indep_states.states:x_16                        c    -1.200000E+00    -4.216950E-01     5.000000E-01           
-         18  traj.phases.phase0.indep_states.states:x_17                        c    -1.200000E+00    -4.240204E-01     5.000000E-01           
-         19  traj.phases.phase0.indep_states.states:x_18                        c    -1.200000E+00    -4.311749E-01     5.000000E-01           
-         20  traj.phases.phase0.indep_states.states:x_19                        c    -1.200000E+00    -4.451029E-01     5.000000E-01           
-         21  traj.phases.phase0.indep_states.states:x_20                        c    -1.200000E+00    -4.504564E-01     5.000000E-01           
-         22  traj.phases.phase0.indep_states.states:x_21                        c    -1.200000E+00    -4.643313E-01     5.000000E-01           
-         23  traj.phases.phase0.indep_states.states:x_22                        c    -1.200000E+00    -4.869306E-01     5.000000E-01           
-         24  traj.phases.phase0.indep_states.states:x_23                        c    -1.200000E+00    -4.948560E-01     5.000000E-01           
-         25  traj.phases.phase0.indep_states.states:x_24                        c    -1.200000E+00    -5.142625E-01     5.000000E-01           
-         26  traj.phases.phase0.indep_states.states:x_25                        c    -1.200000E+00    -5.435816E-01     5.000000E-01           
-         27  traj.phases.phase0.indep_states.states:x_26                        c    -1.200000E+00    -5.533912E-01     5.000000E-01           
-         28  traj.phases.phase0.indep_states.states:x_27                        c    -1.200000E+00    -5.766416E-01     5.000000E-01           
-         29  traj.phases.phase0.indep_states.states:x_28                        c    -1.200000E+00    -6.101308E-01     5.000000E-01           
-         30  traj.phases.phase0.indep_states.states:x_29                        c    -1.200000E+00    -6.209737E-01     5.000000E-01           
-         31  traj.phases.phase0.indep_states.states:x_30                        c    -1.200000E+00    -6.460628E-01     5.000000E-01           
-         32  traj.phases.phase0.indep_states.states:x_31                        c    -1.200000E+00    -6.808768E-01     5.000000E-01           
-         33  traj.phases.phase0.indep_states.states:x_32                        c    -1.200000E+00    -6.918463E-01     5.000000E-01           
-         34  traj.phases.phase0.indep_states.states:x_33                        c    -1.200000E+00    -7.167113E-01     5.000000E-01           
-         35  traj.phases.phase0.indep_states.states:x_34                        c    -1.200000E+00    -7.500849E-01     5.000000E-01           
-         36  traj.phases.phase0.indep_states.states:x_35                        c    -1.200000E+00    -7.603375E-01     5.000000E-01           
-         37  traj.phases.phase0.indep_states.states:x_36                        c    -1.200000E+00    -7.831224E-01     5.000000E-01           
-         38  traj.phases.phase0.indep_states.states:x_37                        c    -1.200000E+00    -8.126995E-01     5.000000E-01           
-         39  traj.phases.phase0.indep_states.states:x_38                        c    -1.200000E+00    -8.215465E-01     5.000000E-01           
-         40  traj.phases.phase0.indep_states.states:x_39                        c    -1.200000E+00    -8.407829E-01     5.000000E-01           
-         41  traj.phases.phase0.indep_states.states:x_40                        c    -1.200000E+00    -8.647953E-01     5.000000E-01           
-         42  traj.phases.phase0.indep_states.states:x_41                        c    -1.200000E+00    -8.717406E-01     5.000000E-01           
-         43  traj.phases.phase0.indep_states.states:x_42                        c    -1.200000E+00    -8.865112E-01     5.000000E-01           
-         44  traj.phases.phase0.indep_states.states:x_43                        c    -1.200000E+00    -9.033494E-01     5.000000E-01           
-         45  traj.phases.phase0.indep_states.states:x_44                        c    -1.200000E+00    -9.075277E-01     5.000000E-01           
-         46  traj.phases.phase0.indep_states.states:x_45                        c    -1.200000E+00    -9.135009E-01     5.000000E-01           
-         47  traj.phases.phase0.indep_states.states:x_46                        c    -1.200000E+00    -9.137392E-01     5.000000E-01           
-         48  traj.phases.phase0.indep_states.states:x_47                        c    -1.200000E+00    -9.118763E-01     5.000000E-01           
-         49  traj.phases.phase0.indep_states.states:x_48                        c    -1.200000E+00    -9.041177E-01     5.000000E-01           
-         50  traj.phases.phase0.indep_states.states:x_49                        c    -1.200000E+00    -8.854927E-01     5.000000E-01           
-         51  traj.phases.phase0.indep_states.states:x_50                        c    -1.200000E+00    -8.777039E-01     5.000000E-01           
-         52  traj.phases.phase0.indep_states.states:x_51                        c    -1.200000E+00    -8.565061E-01     5.000000E-01           
-         53  traj.phases.phase0.indep_states.states:x_52                        c    -1.200000E+00    -8.197802E-01     5.000000E-01           
-         54  traj.phases.phase0.indep_states.states:x_53                        c    -1.200000E+00    -8.064054E-01     5.000000E-01           
-         55  traj.phases.phase0.indep_states.states:x_54                        c    -1.200000E+00    -7.727637E-01     5.000000E-01           
-         56  traj.phases.phase0.indep_states.states:x_55                        c    -1.200000E+00    -7.198818E-01     5.000000E-01           
-         57  traj.phases.phase0.indep_states.states:x_56                        c    -1.200000E+00    -7.016946E-01     5.000000E-01           
-         58  traj.phases.phase0.indep_states.states:x_57                        c    -1.200000E+00    -6.576998E-01     5.000000E-01           
-         59  traj.phases.phase0.indep_states.states:x_58                        c    -1.200000E+00    -5.923140E-01     5.000000E-01           
-         60  traj.phases.phase0.indep_states.states:x_59                        c    -1.200000E+00    -5.706632E-01     5.000000E-01           
-         61  traj.phases.phase0.indep_states.states:x_60                        c    -1.200000E+00    -5.197353E-01     5.000000E-01           
-         62  traj.phases.phase0.indep_states.states:x_61                        c    -1.200000E+00    -4.472326E-01     5.000000E-01           
-         63  traj.phases.phase0.indep_states.states:x_62                        c    -1.200000E+00    -4.239588E-01     5.000000E-01           
-         64  traj.phases.phase0.indep_states.states:x_63                        c    -1.200000E+00    -3.704650E-01     5.000000E-01           
-         65  traj.phases.phase0.indep_states.states:x_64                        c    -1.200000E+00    -2.970089E-01     5.000000E-01           
-         66  traj.phases.phase0.indep_states.states:x_65                        c    -1.200000E+00    -2.740401E-01     5.000000E-01           
-         67  traj.phases.phase0.indep_states.states:x_66                        c    -1.200000E+00    -2.222404E-01     5.000000E-01           
-         68  traj.phases.phase0.indep_states.states:x_67                        c    -1.200000E+00    -1.531484E-01     5.000000E-01           
-         69  traj.phases.phase0.indep_states.states:x_68                        c    -1.200000E+00    -1.319827E-01     5.000000E-01           
-         70  traj.phases.phase0.indep_states.states:x_69                        c    -1.200000E+00    -8.491750E-02     5.000000E-01           
-         71  traj.phases.phase0.indep_states.states:x_70                        c    -1.200000E+00    -2.341760E-02     5.000000E-01           
-         72  traj.phases.phase0.indep_states.states:x_71                        c    -1.200000E+00    -4.829274E-03     5.000000E-01           
-         73  traj.phases.phase0.indep_states.states:x_72                        c    -1.200000E+00     3.615597E-02     5.000000E-01           
-         74  traj.phases.phase0.indep_states.states:x_73                        c    -1.200000E+00     8.913343E-02     5.000000E-01           
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+        172  traj.phases.phase0.indep_states.states:v_81                        c    -7.000000E-02     2.513008E-02     7.000000E-02           
+        173  traj.phases.phase0.indep_states.states:v_82                        c    -7.000000E-02     2.422384E-02     7.000000E-02           
+        174  traj.phases.phase0.indep_states.states:v_83                        c    -7.000000E-02     2.402332E-02     7.000000E-02           
+        175  traj.phases.phase0.indep_states.states:v_84                        c    -7.000000E-02     2.372586E-02     7.000000E-02           
+        176  traj.phases.phase0.indep_states.states:v_85                        c    -7.000000E-02     2.369891E-02     7.000000E-02           
+        177  traj.phases.phase0.indep_states.states:v_86                        c    -7.000000E-02     2.378626E-02     7.000000E-02           
+        178  traj.phases.phase0.indep_states.states:v_87                        c    -7.000000E-02     2.416652E-02     7.000000E-02           
+        179  traj.phases.phase0.indep_states.states:v_88                        c    -7.000000E-02     2.511968E-02     7.000000E-02           
+        180  traj.phases.phase0.indep_states.states:v_89                        c    -7.000000E-02     2.552898E-02     7.000000E-02           
         181  traj.phases.phase0.control_group.indep_controls.controls:u_0       c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         182  traj.phases.phase0.control_group.indep_controls.controls:u_1       c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         183  traj.phases.phase0.control_group.indep_controls.controls:u_2       c    -1.000000E+00     1.000000E+00     1.000000E+00          u
@@ -990,17 +993,17 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         189  traj.phases.phase0.control_group.indep_controls.controls:u_8       c    -1.000000E+00     1.000000E+00     1.000000E+00          u
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-        192  traj.phases.phase0.control_group.indep_controls.controls:u_11      c    -1.000000E+00    -2.836320E-01     1.000000E+00           
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+        192  traj.phases.phase0.control_group.indep_controls.controls:u_11      c    -1.000000E+00     9.999998E-01     1.000000E+00          u
+        193  traj.phases.phase0.control_group.indep_controls.controls:u_12      c    -1.000000E+00     9.999997E-01     1.000000E+00          u
+        194  traj.phases.phase0.control_group.indep_controls.controls:u_13      c    -1.000000E+00    -2.521225E-01     1.000000E+00           
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-        196  traj.phases.phase0.control_group.indep_controls.controls:u_15      c    -1.000000E+00    -9.999997E-01     1.000000E+00          l
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-        199  traj.phases.phase0.control_group.indep_controls.controls:u_18      c    -1.000000E+00    -9.999999E-01     1.000000E+00          l
+        199  traj.phases.phase0.control_group.indep_controls.controls:u_18      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         200  traj.phases.phase0.control_group.indep_controls.controls:u_19      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
-        201  traj.phases.phase0.control_group.indep_controls.controls:u_20      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
-        202  traj.phases.phase0.control_group.indep_controls.controls:u_21      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
+        201  traj.phases.phase0.control_group.indep_controls.controls:u_20      c    -1.000000E+00    -9.999999E-01     1.000000E+00          l
+        202  traj.phases.phase0.control_group.indep_controls.controls:u_21      c    -1.000000E+00    -9.999999E-01     1.000000E+00          l
         203  traj.phases.phase0.control_group.indep_controls.controls:u_22      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         204  traj.phases.phase0.control_group.indep_controls.controls:u_23      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         205  traj.phases.phase0.control_group.indep_controls.controls:u_24      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
@@ -1020,17 +1023,17 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         219  traj.phases.phase0.control_group.indep_controls.controls:u_38      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         220  traj.phases.phase0.control_group.indep_controls.controls:u_39      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         221  traj.phases.phase0.control_group.indep_controls.controls:u_40      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
-        222  traj.phases.phase0.control_group.indep_controls.controls:u_41      c    -1.000000E+00    -9.999999E-01     1.000000E+00          l
+        222  traj.phases.phase0.control_group.indep_controls.controls:u_41      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
         223  traj.phases.phase0.control_group.indep_controls.controls:u_42      c    -1.000000E+00    -9.999999E-01     1.000000E+00          l
         224  traj.phases.phase0.control_group.indep_controls.controls:u_43      c    -1.000000E+00    -1.000000E+00     1.000000E+00          l
-        225  traj.phases.phase0.control_group.indep_controls.controls:u_44      c    -1.000000E+00     2.836322E-01     1.000000E+00           
-        226  traj.phases.phase0.control_group.indep_controls.controls:u_45      c    -1.000000E+00     9.999994E-01     1.000000E+00          u
-        227  traj.phases.phase0.control_group.indep_controls.controls:u_46      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
-        228  traj.phases.phase0.control_group.indep_controls.controls:u_47      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
-        229  traj.phases.phase0.control_group.indep_controls.controls:u_48      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
+        225  traj.phases.phase0.control_group.indep_controls.controls:u_44      c    -1.000000E+00    -9.999998E-01     1.000000E+00          l
+        226  traj.phases.phase0.control_group.indep_controls.controls:u_45      c    -1.000000E+00    -9.999997E-01     1.000000E+00          l
+        227  traj.phases.phase0.control_group.indep_controls.controls:u_46      c    -1.000000E+00     2.521229E-01     1.000000E+00           
+        228  traj.phases.phase0.control_group.indep_controls.controls:u_47      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
+        229  traj.phases.phase0.control_group.indep_controls.controls:u_48      c    -1.000000E+00     9.999996E-01     1.000000E+00          u
         230  traj.phases.phase0.control_group.indep_controls.controls:u_49      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         231  traj.phases.phase0.control_group.indep_controls.controls:u_50      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
-        232  traj.phases.phase0.control_group.indep_controls.controls:u_51      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
+        232  traj.phases.phase0.control_group.indep_controls.controls:u_51      c    -1.000000E+00     9.999998E-01     1.000000E+00          u
         233  traj.phases.phase0.control_group.indep_controls.controls:u_52      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         234  traj.phases.phase0.control_group.indep_controls.controls:u_53      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         235  traj.phases.phase0.control_group.indep_controls.controls:u_54      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
@@ -1067,222 +1070,222 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         266  traj.phases.phase0.control_group.indep_controls.controls:u_85      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
         267  traj.phases.phase0.control_group.indep_controls.controls:u_86      c    -1.000000E+00     9.999998E-01     1.000000E+00          u
         268  traj.phases.phase0.control_group.indep_controls.controls:u_87      c    -1.000000E+00     9.999997E-01     1.000000E+00          u
-        269  traj.phases.phase0.control_group.indep_controls.controls:u_88      c    -1.000000E+00     1.000000E+00     1.000000E+00          u
-        270  traj.phases.phase0.control_group.indep_controls.controls:u_89      c    -1.000000E+00     9.999988E-01     1.000000E+00           
+        269  traj.phases.phase0.control_group.indep_controls.controls:u_88      c    -1.000000E+00     9.999999E-01     1.000000E+00          u
+        270  traj.phases.phase0.control_group.indep_controls.controls:u_89      c    -1.000000E+00     9.999989E-01     1.000000E+00           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                 Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-          1  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.103053E-16    0.000000E+00              9.00000E+100
-          2  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.938857E-18    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -4.973792E-17    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.622703E-16    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.954581E-16    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    8.744966E-16    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.147684E-15    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.071176E-15    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.065935E-15    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.297460E-15    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.134142E-15    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.533620E-15    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.521832E-15    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.731874E-15    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.341765E-15    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.001951E-15    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.152048E-15    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.039210E-15    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.999123E-15    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.480170E-15    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.477201E-15    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.456415E-15    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.500956E-15    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.266371E-15    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.678424E-15    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.298338E-15    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.149866E-15    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    9.086451E-16    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.325760E-16    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.136234E-16    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.310215E-15    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.670213E-15    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.267766E-15    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.134839E-15    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.130295E-15    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -9.745664E-15    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.100470E-14    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.256068E-14    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.391474E-14    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.591614E-14    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.842530E-14    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.029901E-14    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.491944E-14    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.102175E-15    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.487981E-14    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    4.055571E-14    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.939586E-14    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.250336E-14    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.848676E-14    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.232817E-14    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.202231E-14    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.256869E-14    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.739595E-14    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.615472E-14    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.365447E-14    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.824417E-14    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.742461E-14    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.327928E-14    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    7.768024E-15    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.485231E-15    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.874407E-15    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.769779E-15    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.111961E-15    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.143050E-15    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -7.744269E-15    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.136234E-15    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.884529E-15    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -9.276494E-15    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -9.145839E-15    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.551954E-15    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -7.566103E-15    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -7.055362E-15    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.867590E-15    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -4.525409E-15    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.806807E-15    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.535892E-15    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.158077E-15    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -4.572920E-16    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    7.126628E-16    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.852923E-15    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.749691E-15    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.984973E-15    0.000000E+00              9.00000E+100
-         83  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.344971E-15    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.734663E-15    0.000000E+00              9.00000E+100
-         85  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    8.854835E-15    0.000000E+00              9.00000E+100
-         86  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.146199E-14    0.000000E+00              9.00000E+100
-         87  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.424732E-14    0.000000E+00              9.00000E+100
-         88  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.034652E-14    0.000000E+00              9.00000E+100
-         89  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.212818E-14    0.000000E+00              9.00000E+100
-         90  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.080686E-15    0.000000E+00              9.00000E+100
-         91  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    9.984703E-17    0.000000E+00              9.00000E+100
-         92  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    4.378051E-16    0.000000E+00              9.00000E+100
-         93  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    9.567127E-16    0.000000E+00              9.00000E+100
-         94  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.833622E-16    0.000000E+00              9.00000E+100
-         95  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    6.619969E-16    0.000000E+00              9.00000E+100
-         96  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.189813E-15    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    3.418554E-16    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.484714E-15    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    2.408392E-15    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.618338E-15    0.000000E+00              9.00000E+100
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-        112  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -4.146064E-16    0.000000E+00              9.00000E+100
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-        120  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.255975E-15    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -8.036247E-16    0.000000E+00              9.00000E+100
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-        124  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -6.732251E-16    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -8.650316E-16    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.201691E-15    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -5.062875E-16    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -9.628371E-16    0.000000E+00              9.00000E+100
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-        130  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -5.062875E-16    0.000000E+00              9.00000E+100
-        131  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.642094E-15    0.000000E+00              9.00000E+100
-        132  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -2.597507E-15    0.000000E+00              9.00000E+100
-        133  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.534823E-15    0.000000E+00              9.00000E+100
-        134  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    3.146926E-14    0.000000E+00              9.00000E+100
-        135  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    4.952413E-14    0.000000E+00              9.00000E+100
-        136  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    2.012530E-15    0.000000E+00              9.00000E+100
-        137  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    3.103053E-16    0.000000E+00              9.00000E+100
-        138  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.513518E-14    0.000000E+00              9.00000E+100
-        139  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    8.351517E-16    0.000000E+00              9.00000E+100
-        140  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    9.398241E-16    0.000000E+00              9.00000E+100
-        141  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    5.703529E-15    0.000000E+00              9.00000E+100
-        142  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.190741E-15    0.000000E+00              9.00000E+100
-        143  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    1.019999E-15    0.000000E+00              9.00000E+100
-        144  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    2.397071E-15    0.000000E+00              9.00000E+100
-        145  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    8.136234E-16    0.000000E+00              9.00000E+100
-        146  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    2.806110E-16    0.000000E+00              9.00000E+100
-        147  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00    5.300430E-16    0.000000E+00              9.00000E+100
-        148  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -7.891256E-16    0.000000E+00              9.00000E+100
-        149  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.643579E-15    0.000000E+00              9.00000E+100
-        150  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.635041E-15    0.000000E+00              9.00000E+100
-        151  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -2.616252E-15    0.000000E+00              9.00000E+100
-        152  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -2.920154E-15    0.000000E+00              9.00000E+100
-        153  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -2.707469E-15    0.000000E+00              9.00000E+100
-        154  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -3.081037E-15    0.000000E+00              9.00000E+100
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-        158  traj.phases.phase0.collocation_constraint.defects:v     e   0.000000E+00   -1.100916E-15    0.000000E+00              9.00000E+100
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-        194  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
-        195  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
-        196  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
-        197  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
-        198  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        199  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
-        200  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
-        201  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
-        202  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
-        203  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
-        204  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
-        205  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
+        193  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        194  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        195  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
+        196  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        197  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        198  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
+        199  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
+        200  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
+        201  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
+        202  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        203  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        204  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
+        205  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         206  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        207  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
-        208  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
+        207  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00   -3.330669E-16    0.000000E+00              9.00000E+100
+        208  traj.phases.phase0.continuity_comp.defect_controls:u    e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
         209  traj.phases.phase0-&gt;final_boundary_constraint-&gt;x        i   5.000000E-01    5.000000E-01    1.000000E+30         l    9.00000E+100
-        210  traj.phases.phase0-&gt;final_boundary_constraint-&gt;v        i   0.000000E+00    2.285376E-02    1.000000E+30              9.00000E+100
+        210  traj.phases.phase0-&gt;final_boundary_constraint-&gt;v        i   0.000000E+00    2.552898E-02    1.000000E+30              9.00000E+100
         211  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
         212  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
         213  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
@@ -1297,21 +1300,21 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         222  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
         223  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
         224  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
-        225  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -2.836320E-01    1.000000E+00              9.00000E+100
-        226  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999990E-01    1.000000E+00         l    9.00000E+100
-        227  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999990E-01    1.000000E+00         l    9.00000E+100
-        228  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
+        225  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999998E-01    1.000000E+00         u    9.00000E+100
+        226  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999997E-01    1.000000E+00         u    9.00000E+100
+        227  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999997E-01    1.000000E+00         u    9.00000E+100
+        228  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -2.521225E-01    1.000000E+00              9.00000E+100
         229  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        230  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999997E-01    1.000000E+00         l    9.00000E+100
-        231  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999997E-01    1.000000E+00         l    9.00000E+100
+        230  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
+        231  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         232  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         233  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        234  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
-        235  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
+        234  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
+        235  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         236  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        237  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        238  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        239  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
+        237  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
+        238  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
+        239  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
         240  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         241  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         242  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
@@ -1337,21 +1340,21 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         262  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         263  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         264  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        265  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
+        265  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
         266  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
         267  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999999E-01    1.000000E+00         l    9.00000E+100
         268  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -1.000000E+00    1.000000E+00         l    9.00000E+100
-        269  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    2.836322E-01    1.000000E+00              9.00000E+100
-        270  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999994E-01    1.000000E+00         u    9.00000E+100
-        271  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999994E-01    1.000000E+00         u    9.00000E+100
-        272  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
-        273  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
-        274  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
-        275  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
+        269  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999998E-01    1.000000E+00         l    9.00000E+100
+        270  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999997E-01    1.000000E+00         l    9.00000E+100
+        271  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00   -9.999997E-01    1.000000E+00         l    9.00000E+100
+        272  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    2.521229E-01    1.000000E+00              9.00000E+100
+        273  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
+        274  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999996E-01    1.000000E+00         u    9.00000E+100
+        275  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999996E-01    1.000000E+00         u    9.00000E+100
         276  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
         277  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
-        278  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
-        279  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
+        278  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999998E-01    1.000000E+00         u    9.00000E+100
+        279  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999998E-01    1.000000E+00         u    9.00000E+100
         280  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
         281  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
         282  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
@@ -1400,9 +1403,9 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
         325  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999998E-01    1.000000E+00         u    9.00000E+100
         326  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999997E-01    1.000000E+00         u    9.00000E+100
         327  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999997E-01    1.000000E+00         u    9.00000E+100
-        328  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    1.000000E+00    1.000000E+00         u    9.00000E+100
-        329  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999988E-01    1.000000E+00              9.00000E+100
-        330  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999980E-01    1.000000E+00              9.00000E+100
+        328  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999999E-01    1.000000E+00         u    9.00000E+100
+        329  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999989E-01    1.000000E+00              9.00000E+100
+        330  traj.phases.phase0-&gt;path_constraint-&gt;u                  i  -1.000000E+00    9.999983E-01    1.000000E+00              9.00000E+100
 
 
    Exit Status
@@ -1424,7 +1427,7 @@ <h2>Solving the minimum-time mountain car problem with Dymos<a class="headerlink
             Number of Segments = 30
             Segment Ends = [-1.0, -0.9333, -0.8667, -0.8, -0.7333, -0.6667, -0.6, -0.5333, -0.4667, -0.4, -0.3333, -0.2667, -0.2, -0.1333, -0.0667, 0.0, 0.0667, 0.1333, 0.2, 0.2667, 0.3333, 0.4, 0.4667, 0.5333, 0.6, 0.6667, 0.7333, 0.8, 0.8667, 0.9333, 1.0]
             Segment Order = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
-            Error = [5.33e-07, 4.891e-07, 3.974e-07, 4.766e-05, 1.151e-06, 1.168e-06, 1.12e-06, 9.752e-07, 6.726e-07, 2.295e-07, 2.314e-07, 5.567e-07, 6.702e-07, 6.065e-07, 3.587e-05, 6.762e-07, 8.227e-07, 1.404e-06, 2.037e-06, 1.943e-06, 1.052e-06, 1.925e-06, 3.68e-06, 3.871e-06, 2.654e-06,  1.3e-06, 5.763e-07, 3.264e-07, 3.517e-07, 4.998e-07]
+            Error = [5.283e-07, 4.85e-07, 3.946e-07, 2.604e-07, 3.752e-05, 1.229e-06, 1.218e-06, 1.147e-06, 9.371e-07, 5.357e-07, 2.424e-07, 4.502e-07, 7.029e-07, 7.163e-07, 5.746e-07, 2.788e-05, 5.785e-07, 9.287e-07, 1.654e-06, 2.219e-06, 1.719e-06, 1.067e-06, 2.811e-06, 4.168e-06, 3.866e-06, 2.223e-06, 1.071e-06, 5.538e-07, 4.487e-07, 5.374e-07]
 Successfully completed grid refinement.
 ==================================================
 </pre></div>
@@ -1772,42 +1775,42 @@ <h2>Animating the Solution<a class="headerlink" href="#animating-the-solution" t
 </style>
 
 <div class="animation">
-  <img id="_anim_img8c46af3a48794388882bf5966634812c">
+  <img id="_anim_img522c2d96ade64dc4a66148e31c1d5496">
   <div class="anim-controls">
-    <input id="_anim_slider8c46af3a48794388882bf5966634812c" type="range" class="anim-slider"
+    <input id="_anim_slider522c2d96ade64dc4a66148e31c1d5496" type="range" class="anim-slider"
            name="points" min="0" max="1" step="1" value="0"
-           oninput="anim8c46af3a48794388882bf5966634812c.set_frame(parseInt(this.value));">
+           oninput="anim522c2d96ade64dc4a66148e31c1d5496.set_frame(parseInt(this.value));">
     <div class="anim-buttons">
-      <button title="Decrease speed" aria-label="Decrease speed" onclick="anim8c46af3a48794388882bf5966634812c.slower()">
+      <button title="Decrease speed" aria-label="Decrease speed" onclick="anim522c2d96ade64dc4a66148e31c1d5496.slower()">
           <i class="fa fa-minus"></i></button>
-      <button title="First frame" aria-label="First frame" onclick="anim8c46af3a48794388882bf5966634812c.first_frame()">
+      <button title="First frame" aria-label="First frame" onclick="anim522c2d96ade64dc4a66148e31c1d5496.first_frame()">
         <i class="fa fa-fast-backward"></i></button>
-      <button title="Previous frame" aria-label="Previous frame" onclick="anim8c46af3a48794388882bf5966634812c.previous_frame()">
+      <button title="Previous frame" aria-label="Previous frame" onclick="anim522c2d96ade64dc4a66148e31c1d5496.previous_frame()">
           <i class="fa fa-step-backward"></i></button>
-      <button title="Play backwards" aria-label="Play backwards" onclick="anim8c46af3a48794388882bf5966634812c.reverse_animation()">
+      <button title="Play backwards" aria-label="Play backwards" onclick="anim522c2d96ade64dc4a66148e31c1d5496.reverse_animation()">
           <i class="fa fa-play fa-flip-horizontal"></i></button>
-      <button title="Pause" aria-label="Pause" onclick="anim8c46af3a48794388882bf5966634812c.pause_animation()">
+      <button title="Pause" aria-label="Pause" onclick="anim522c2d96ade64dc4a66148e31c1d5496.pause_animation()">
           <i class="fa fa-pause"></i></button>
-      <button title="Play" aria-label="Play" onclick="anim8c46af3a48794388882bf5966634812c.play_animation()">
+      <button title="Play" aria-label="Play" onclick="anim522c2d96ade64dc4a66148e31c1d5496.play_animation()">
           <i class="fa fa-play"></i></button>
-      <button title="Next frame" aria-label="Next frame" onclick="anim8c46af3a48794388882bf5966634812c.next_frame()">
+      <button title="Next frame" aria-label="Next frame" onclick="anim522c2d96ade64dc4a66148e31c1d5496.next_frame()">
           <i class="fa fa-step-forward"></i></button>
-      <button title="Last frame" aria-label="Last frame" onclick="anim8c46af3a48794388882bf5966634812c.last_frame()">
+      <button title="Last frame" aria-label="Last frame" onclick="anim522c2d96ade64dc4a66148e31c1d5496.last_frame()">
           <i class="fa fa-fast-forward"></i></button>
-      <button title="Increase speed" aria-label="Increase speed" onclick="anim8c46af3a48794388882bf5966634812c.faster()">
+      <button title="Increase speed" aria-label="Increase speed" onclick="anim522c2d96ade64dc4a66148e31c1d5496.faster()">
           <i class="fa fa-plus"></i></button>
     </div>
-    <form title="Repetition mode" aria-label="Repetition mode" action="#n" name="_anim_loop_select8c46af3a48794388882bf5966634812c"
+    <form title="Repetition mode" aria-label="Repetition mode" action="#n" name="_anim_loop_select522c2d96ade64dc4a66148e31c1d5496"
           class="anim-state">
-      <input type="radio" name="state" value="once" id="_anim_radio1_8c46af3a48794388882bf5966634812c"
+      <input type="radio" name="state" value="once" id="_anim_radio1_522c2d96ade64dc4a66148e31c1d5496"
              >
-      <label for="_anim_radio1_8c46af3a48794388882bf5966634812c">Once</label>
-      <input type="radio" name="state" value="loop" id="_anim_radio2_8c46af3a48794388882bf5966634812c"
+      <label for="_anim_radio1_522c2d96ade64dc4a66148e31c1d5496">Once</label>
+      <input type="radio" name="state" value="loop" id="_anim_radio2_522c2d96ade64dc4a66148e31c1d5496"
              checked>
-      <label for="_anim_radio2_8c46af3a48794388882bf5966634812c">Loop</label>
-      <input type="radio" name="state" value="reflect" id="_anim_radio3_8c46af3a48794388882bf5966634812c"
+      <label for="_anim_radio2_522c2d96ade64dc4a66148e31c1d5496">Loop</label>
+      <input type="radio" name="state" value="reflect" id="_anim_radio3_522c2d96ade64dc4a66148e31c1d5496"
              >
-      <label for="_anim_radio3_8c46af3a48794388882bf5966634812c">Reflect</label>
+      <label for="_anim_radio3_522c2d96ade64dc4a66148e31c1d5496">Reflect</label>
     </form>
   </div>
 </div>
@@ -1817,138027 +1820,138769 @@ <h2>Animating the Solution<a class="headerlink" href="#animating-the-solution" t
   /* Instantiate the Animation class. */
   /* The IDs given should match those used in the template above. */
   (function() {
-    var img_id = "_anim_img8c46af3a48794388882bf5966634812c";
-    var slider_id = "_anim_slider8c46af3a48794388882bf5966634812c";
-    var loop_select_id = "_anim_loop_select8c46af3a48794388882bf5966634812c";
+    var img_id = "_anim_img522c2d96ade64dc4a66148e31c1d5496";
+    var slider_id = "_anim_slider522c2d96ade64dc4a66148e31c1d5496";
+    var loop_select_id = "_anim_loop_select522c2d96ade64dc4a66148e31c1d5496";
     var frames = new Array(140);
     
   frames[0] = "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAABLAAAAJYCAYAAABy5h8aAAAAOXRFWHRTb2Z0d2FyZQBNYXRwbG90\
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 "
 
 
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        the object is initialized. */
     setTimeout(function() {
-        anim8c46af3a48794388882bf5966634812c = new Animation(frames, img_id, slider_id, 50.0,
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diff --git a/examples/multi_phase_cannonball/multi_phase_cannonball.html b/examples/multi_phase_cannonball/multi_phase_cannonball.html
index b942a7d54..f196de1f2 100644
--- a/examples/multi_phase_cannonball/multi_phase_cannonball.html
+++ b/examples/multi_phase_cannonball/multi_phase_cannonball.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -518,24 +519,24 @@ <h2>Using two phases to capture an intermediate boundary constraint<a class="hea
 (ascent) terminate when the flight path angle reaches zero (apogee). The
 descent phase follows until the cannonball impacts the ground.</p>
 <p>The dynamics are given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-0e4148c7-b2b8-4aa4-9d22-3625cd70b645">
-<span class="eqno">(70)<a class="headerlink" href="#equation-0e4148c7-b2b8-4aa4-9d22-3625cd70b645" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-3bc3927e-082e-4539-a40b-bf3bc2f5cebe">
+<span class="eqno">(70)<a class="headerlink" href="#equation-3bc3927e-082e-4539-a40b-bf3bc2f5cebe" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dv}{dt} &amp;= \frac{D}{m} - g \sin \gamma \\
   \frac{d\gamma}{dt} &amp;= - \frac{g \cos \gamma}{v} \\
   \frac{dh}{dt} &amp;= v \sin \gamma \\
   \frac{dr}{dt} &amp;= v \cos \gamma \\
 \end{align}\]</div>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c5a99e91-657f-46b0-a52e-ac4c4212a5b7">
-<span class="eqno">(71)<a class="headerlink" href="#equation-c5a99e91-657f-46b0-a52e-ac4c4212a5b7" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-483ae015-6909-4a84-a58e-b45857a55028">
+<span class="eqno">(71)<a class="headerlink" href="#equation-483ae015-6909-4a84-a58e-b45857a55028" title="Permalink to this equation">#</a></span>\[\begin{align}
   r_0 &amp;= 0 \rm{\,m} \\
   h_0 &amp;= 100 \rm{\,m} \\
   v_0 &amp;= \rm{free} \\
   \gamma_0 &amp;= \rm{free}
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-1017300f-3aef-4077-a497-6215a0855539">
-<span class="eqno">(72)<a class="headerlink" href="#equation-1017300f-3aef-4077-a497-6215a0855539" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-07059096-ee54-43cc-ae16-45bece6feef8">
+<span class="eqno">(72)<a class="headerlink" href="#equation-07059096-ee54-43cc-ae16-45bece6feef8" title="Permalink to this equation">#</a></span>\[\begin{align}
   h_f &amp;= 0 \rm{\,m}
 \end{align}\]</div>
 </section>
@@ -548,8 +549,8 @@ <h2>Designing a cannonball for maximum range<a class="headerlink" href="#designi
 mass) of the cannonball is proportional to its radius cubed, while the
 cross-sectional area is proportional to its radius squared. If we
 increase the size of the cannonball, the ballistic coefficient</p>
-<div class="amsmath math notranslate nohighlight" id="equation-50dd20e5-885c-48d1-9f81-8cb41ede0725">
-<span class="eqno">(73)<a class="headerlink" href="#equation-50dd20e5-885c-48d1-9f81-8cb41ede0725" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-e566f47e-4a44-4a2e-a973-f1c0c6dd143a">
+<span class="eqno">(73)<a class="headerlink" href="#equation-e566f47e-4a44-4a2e-a973-f1c0c6dd143a" title="Permalink to this equation">#</a></span>\[\begin{align}
   BC &amp;= \frac{m}{C_D A}
 \end{align}\]</div>
 <p>will increase, meaning the cannonball overcome air resistance more
@@ -854,8 +855,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 6 vs 63  (90.5% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.029678 sec.
-Time to compute coloring: 0.013033 sec.
+Time to compute sparsity: 0.042138 sec.
+Time to compute coloring: 0.015511 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.descent.rhs_disc&#39; (class CannonballODE)
@@ -865,8 +866,8 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 6 vs 33  (81.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.015637 sec.
-Time to compute coloring: 0.006755 sec.
+Time to compute sparsity: 0.021921 sec.
+Time to compute coloring: 0.008629 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.descent.rhs_col&#39; (class CannonballODE)
@@ -876,21 +877,21 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 6 vs 18  (66.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.009368 sec.
-Time to compute coloring: 0.003857 sec.
+Time to compute sparsity: 0.012633 sec.
+Time to compute coloring: 0.004887 sec.
 Memory to compute coloring: 0.000000 MB.
-Full total jacobian was computed 3 times, taking 0.180219 seconds.
+Full total jacobian was computed 3 times, taking 0.217289 seconds.
 Total jacobian shape: (87, 88) 
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (87, 88)  (16.82% nonzero)
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (87, 88)  (16.88% nonzero)
 FWD solves: 30   REV solves: 0
 Total colors vs. total size: 30 vs 88  (65.9% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.180219 sec.
-Time to compute coloring: 0.102656 sec.
-Memory to compute coloring: 0.890625 MB.
+Time to compute sparsity: 0.217289 sec.
+Time to compute coloring: 0.120290 sec.
+Memory to compute coloring: 0.632812 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization Problem -- Optimization using pyOpt_sparse
@@ -899,11 +900,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    2.6836
-       User Objective Time :       0.3913
-       User Sensitivity Time :     1.5998
-       Interface Time :            0.4087
-       Opt Solver Time:            0.2837
+    Total Time:                    3.0014
+       User Objective Time :       0.4501
+       User Sensitivity Time :     1.8462
+       Interface Time :            0.4376
+       Opt Solver Time:            0.2674
     Calls to Objective Function :     118
     Calls to Sens Function :           89
 
@@ -990,7 +991,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
          73  traj.phases.descent.indep_states.states:h_2        c    -1.000000E+21     7.651714E+02     1.000000E+21           
          74  traj.phases.descent.indep_states.states:h_3        c    -1.000000E+21     5.609894E+02     1.000000E+21           
          75  traj.phases.descent.indep_states.states:h_4        c    -1.000000E+21     3.009916E+02     1.000000E+21           
-         76  traj.phases.descent.indep_states.states:gam_0      c    -1.000000E+21     4.814388E-20     1.000000E+21           
+         76  traj.phases.descent.indep_states.states:gam_0      c    -1.000000E+21    -1.023231E-19     1.000000E+21           
          77  traj.phases.descent.indep_states.states:gam_1      c    -1.000000E+21    -3.251038E-01     1.000000E+21           
          78  traj.phases.descent.indep_states.states:gam_2      c    -1.000000E+21    -6.397506E-01     1.000000E+21           
          79  traj.phases.descent.indep_states.states:gam_3      c    -1.000000E+21    -8.901606E-01     1.000000E+21           
@@ -1005,90 +1006,90 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                   Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.325656E-11    0.000000E+00              9.00000E+100
-          1  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    7.203338E-12    0.000000E+00              9.00000E+100
-          2  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    3.934596E-12    0.000000E+00              9.00000E+100
-          3  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    2.784484E-12    0.000000E+00              9.00000E+100
-          4  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.573839E-12    0.000000E+00              9.00000E+100
-          5  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    7.263870E-13    0.000000E+00              9.00000E+100
-          6  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.271177E-12    0.000000E+00              9.00000E+100
-          7  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    3.329274E-13    0.000000E+00              9.00000E+100
-          8  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -4.842580E-13    0.000000E+00              9.00000E+100
-          9  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -1.513306E-13    0.000000E+00              9.00000E+100
-         10  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -3.631935E-13    0.000000E+00              9.00000E+100
-         11  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -1.134980E-12    0.000000E+00              9.00000E+100
-         12  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    3.026613E-14    0.000000E+00              9.00000E+100
-         13  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -5.901894E-13    0.000000E+00              9.00000E+100
-         14  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -2.269959E-13    0.000000E+00              9.00000E+100
-         15  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    9.079838E-12    0.000000E+00              9.00000E+100
-         16  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    3.056879E-12    0.000000E+00              9.00000E+100
-         17  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    7.869193E-13    0.000000E+00              9.00000E+100
-         18  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00   -4.237258E-13    0.000000E+00              9.00000E+100
-         19  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.118629E-13    0.000000E+00              9.00000E+100
-         20  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    1.361976E-13    0.000000E+00              9.00000E+100
-         21  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    6.355886E-13    0.000000E+00              9.00000E+100
-         22  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.875282E-13    0.000000E+00              9.00000E+100
-         23  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.496955E-13    0.000000E+00              9.00000E+100
-         24  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.723951E-13    0.000000E+00              9.00000E+100
-         25  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    4.010262E-13    0.000000E+00              9.00000E+100
-         26  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    4.691249E-13    0.000000E+00              9.00000E+100
-         27  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.723951E-13    0.000000E+00              9.00000E+100
-         28  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    1.815968E-13    0.000000E+00              9.00000E+100
-         29  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    3.461688E-13    0.000000E+00              9.00000E+100
-         30  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    8.072691E-15    0.000000E+00              9.00000E+100
-         31  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    3.853463E-15    0.000000E+00              9.00000E+100
-         32  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.227841E-15    0.000000E+00              9.00000E+100
-         33  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.363306E-15    0.000000E+00              9.00000E+100
-         34  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    6.576380E-16    0.000000E+00              9.00000E+100
-         35  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.142865E-16    0.000000E+00              9.00000E+100
-         36  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00   -5.172434E-17    0.000000E+00              9.00000E+100
-         37  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00   -7.389191E-18    0.000000E+00              9.00000E+100
+          0  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.301443E-11    0.000000E+00              9.00000E+100
+          1  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    7.082273E-12    0.000000E+00              9.00000E+100
+          2  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    3.631935E-12    0.000000E+00              9.00000E+100
+          3  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.937032E-12    0.000000E+00              9.00000E+100
+          4  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.422508E-12    0.000000E+00              9.00000E+100
+          5  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    1.210645E-13    0.000000E+00              9.00000E+100
+          6  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -9.382499E-13    0.000000E+00              9.00000E+100
+          7  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -4.842580E-13    0.000000E+00              9.00000E+100
+          8  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -1.150113E-12    0.000000E+00              9.00000E+100
+          9  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -3.026613E-13    0.000000E+00              9.00000E+100
+         10  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -6.053225E-14    0.000000E+00              9.00000E+100
+         11  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -9.987821E-13    0.000000E+00              9.00000E+100
+         12  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -1.604105E-12    0.000000E+00              9.00000E+100
+         13  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00   -5.145241E-13    0.000000E+00              9.00000E+100
+         14  traj.phases.ascent.collocation_constraint.defects:r       e   0.000000E+00    6.507217E-13    0.000000E+00              9.00000E+100
+         15  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    8.413983E-12    0.000000E+00              9.00000E+100
+         16  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.633153E-12    0.000000E+00              9.00000E+100
+         17  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    6.658548E-13    0.000000E+00              9.00000E+100
+         18  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    9.382499E-13    0.000000E+00              9.00000E+100
+         19  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    1.210645E-13    0.000000E+00              9.00000E+100
+         20  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.269959E-13    0.000000E+00              9.00000E+100
+         21  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    8.474515E-13    0.000000E+00              9.00000E+100
+         22  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    4.539919E-14    0.000000E+00              9.00000E+100
+         23  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    7.717862E-13    0.000000E+00              9.00000E+100
+         24  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00   -2.118629E-13    0.000000E+00              9.00000E+100
+         25  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    2.648286E-13    0.000000E+00              9.00000E+100
+         26  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    5.901894E-13    0.000000E+00              9.00000E+100
+         27  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    1.290094E-12    0.000000E+00              9.00000E+100
+         28  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    4.710166E-13    0.000000E+00              9.00000E+100
+         29  traj.phases.ascent.collocation_constraint.defects:h       e   0.000000E+00    7.093623E-14    0.000000E+00              9.00000E+100
+         30  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    7.851015E-15    0.000000E+00              9.00000E+100
+         31  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    3.919966E-15    0.000000E+00              9.00000E+100
+         32  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.368236E-15    0.000000E+00              9.00000E+100
+         33  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.814046E-15    0.000000E+00              9.00000E+100
+         34  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    7.463083E-16    0.000000E+00              9.00000E+100
+         35  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.551730E-16    0.000000E+00              9.00000E+100
+         36  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.034487E-16    0.000000E+00              9.00000E+100
+         37  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00   -8.867029E-17    0.000000E+00              9.00000E+100
          38  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    7.389191E-17    0.000000E+00              9.00000E+100
-         39  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    9.605948E-17    0.000000E+00              9.00000E+100
-         40  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.660109E-16    0.000000E+00              9.00000E+100
-         41  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    7.684758E-16    0.000000E+00              9.00000E+100
-         42  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    9.753732E-16    0.000000E+00              9.00000E+100
-         43  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.433503E-15    0.000000E+00              9.00000E+100
-         44  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.128087E-15    0.000000E+00              9.00000E+100
-         45  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    3.035692E-10    0.000000E+00              9.00000E+100
-         46  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    9.936369E-11    0.000000E+00              9.00000E+100
-         47  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    3.709114E-11    0.000000E+00              9.00000E+100
-         48  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.566567E-11    0.000000E+00              9.00000E+100
-         49  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.431588E-11    0.000000E+00              9.00000E+100
-         50  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    7.324402E-12    0.000000E+00              9.00000E+100
-         51  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    5.985126E-12    0.000000E+00              9.00000E+100
-         52  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    3.995129E-12    0.000000E+00              9.00000E+100
-         53  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.455339E-12    0.000000E+00              9.00000E+100
-         54  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.194294E-12    0.000000E+00              9.00000E+100
-         55  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.577622E-12    0.000000E+00              9.00000E+100
-         56  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.068773E-12    0.000000E+00              9.00000E+100
-         57  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.010132E-12    0.000000E+00              9.00000E+100
-         58  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    7.604364E-13    0.000000E+00              9.00000E+100
-         59  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    6.166723E-13    0.000000E+00              9.00000E+100
-         60  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.549584E-12    0.000000E+00              9.00000E+100
-         61  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.664497E-12    0.000000E+00              9.00000E+100
-         62  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    9.216083E-12    0.000000E+00              9.00000E+100
-         63  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.009489E-12    0.000000E+00              9.00000E+100
-         64  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    7.032722E-12    0.000000E+00              9.00000E+100
-         65  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -2.042592E-12    0.000000E+00              9.00000E+100
-         66  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -5.263050E-12    0.000000E+00              9.00000E+100
-         67  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -6.768420E-12    0.000000E+00              9.00000E+100
-         68  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -7.400446E-12    0.000000E+00              9.00000E+100
-         69  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -8.342739E-12    0.000000E+00              9.00000E+100
-         70  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00    1.730440E-14    0.000000E+00              9.00000E+100
-         71  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00    6.059905E-15    0.000000E+00              9.00000E+100
-         72  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -8.887861E-15    0.000000E+00              9.00000E+100
-         73  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -1.263602E-14    0.000000E+00              9.00000E+100
-         74  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -1.185048E-14    0.000000E+00              9.00000E+100
-         75  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    7.196474E-13    0.000000E+00              9.00000E+100
-         76  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    4.294902E-13    0.000000E+00              9.00000E+100
-         77  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    1.307503E-12    0.000000E+00              9.00000E+100
-         78  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    2.265237E-12    0.000000E+00              9.00000E+100
-         79  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    2.826160E-12    0.000000E+00              9.00000E+100
+         39  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00   -5.911353E-17    0.000000E+00              9.00000E+100
+         40  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    3.251244E-16    0.000000E+00              9.00000E+100
+         41  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    7.980326E-16    0.000000E+00              9.00000E+100
+         42  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    9.605948E-16    0.000000E+00              9.00000E+100
+         43  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    1.536952E-15    0.000000E+00              9.00000E+100
+         44  traj.phases.ascent.collocation_constraint.defects:gam     e   0.000000E+00    2.216757E-15    0.000000E+00              9.00000E+100
+         45  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    3.076249E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.007257E-10    0.000000E+00              9.00000E+100
+         47  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    3.789319E-11    0.000000E+00              9.00000E+100
+         48  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.602887E-11    0.000000E+00              9.00000E+100
+         49  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.448991E-11    0.000000E+00              9.00000E+100
+         50  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    7.369802E-12    0.000000E+00              9.00000E+100
+         51  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    6.166723E-12    0.000000E+00              9.00000E+100
+         52  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    4.101060E-12    0.000000E+00              9.00000E+100
+         53  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.440206E-12    0.000000E+00              9.00000E+100
+         54  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    2.179161E-12    0.000000E+00              9.00000E+100
+         55  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.583297E-12    0.000000E+00              9.00000E+100
+         56  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    1.102822E-12    0.000000E+00              9.00000E+100
+         57  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    9.893240E-13    0.000000E+00              9.00000E+100
+         58  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    7.850276E-13    0.000000E+00              9.00000E+100
+         59  traj.phases.ascent.collocation_constraint.defects:v       e   0.000000E+00    6.024851E-13    0.000000E+00              9.00000E+100
+         60  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.917308E-12    0.000000E+00              9.00000E+100
+         61  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    9.078187E-12    0.000000E+00              9.00000E+100
+         62  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.871342E-12    0.000000E+00              9.00000E+100
+         63  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    8.078437E-12    0.000000E+00              9.00000E+100
+         64  traj.phases.descent.collocation_constraint.defects:r      e   0.000000E+00    7.572817E-12    0.000000E+00              9.00000E+100
+         65  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -2.160379E-12    0.000000E+00              9.00000E+100
+         66  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -5.309016E-12    0.000000E+00              9.00000E+100
+         67  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -6.952282E-12    0.000000E+00              9.00000E+100
+         68  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -7.607291E-12    0.000000E+00              9.00000E+100
+         69  traj.phases.descent.collocation_constraint.defects:h      e   0.000000E+00   -8.388704E-12    0.000000E+00              9.00000E+100
+         70  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00    1.764106E-14    0.000000E+00              9.00000E+100
+         71  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00    6.104793E-15    0.000000E+00              9.00000E+100
+         72  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -9.089858E-15    0.000000E+00              9.00000E+100
+         73  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -1.311857E-14    0.000000E+00              9.00000E+100
+         74  traj.phases.descent.collocation_constraint.defects:gam    e   0.000000E+00   -1.206370E-14    0.000000E+00              9.00000E+100
+         75  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    7.354481E-13    0.000000E+00              9.00000E+100
+         76  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    4.102780E-13    0.000000E+00              9.00000E+100
+         77  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    1.297089E-12    0.000000E+00              9.00000E+100
+         78  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    2.307612E-12    0.000000E+00              9.00000E+100
+         79  traj.phases.descent.collocation_constraint.defects:v      e   0.000000E+00    2.870330E-12    0.000000E+00              9.00000E+100
          80  traj.linkages.ascent:time_final|descent:time_initial      e   0.000000E+00   -1.776357E-15    0.000000E+00              9.00000E+100
          81  traj.linkages.ascent:r_final|descent:r_initial            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          82  traj.linkages.ascent:h_final|descent:h_initial            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         83  traj.linkages.ascent:gam_final|descent:gam_initial        e   0.000000E+00   -4.814388E-20    0.000000E+00              9.00000E+100
+         83  traj.linkages.ascent:gam_final|descent:gam_initial        e   0.000000E+00    1.023231E-19    0.000000E+00              9.00000E+100
          84  traj.linkages.ascent:v_final|descent:v_initial            e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          85  traj.phases.ascent-&gt;initial_boundary_constraint-&gt;ke       i   0.000000E+00    4.000000E+00    4.000000E+00         u    9.00000E+100
 
@@ -1186,11 +1187,11 @@ <h2>Plotting the results<a class="headerlink" href="#plotting-the-results" title
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>optimal radius: 0.04185302554025445 m 
-cannonball mass: 2.416817834234678 kg 
-cannonball aerodynamic reference area: 55.03051657848232 cm**2 
-launch angle: 32.019510395951464 deg
-maximum range: 3183.117726802722 m
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>optimal radius: 0.04185302554590753 m 
+cannonball mass: 2.4168178352139957 kg 
+cannonball aerodynamic reference area: 55.03051659334824 cm**2 
+launch angle: 32.019510400010454 deg
+maximum range: 3183.11772680029 m
 </pre></div>
 </div>
 <img alt="../../_images/166a246b2f2d373a327fe1740aeed2101509249f6b6029896e7705fdbf511561.png" src="../../_images/166a246b2f2d373a327fe1740aeed2101509249f6b6029896e7705fdbf511561.png" />
diff --git a/examples/multibranch_trajectory/multibranch_trajectory.html b/examples/multibranch_trajectory/multibranch_trajectory.html
index 331d8a6eb..7c03e85b3 100644
--- a/examples/multibranch_trajectory/multibranch_trajectory.html
+++ b/examples/multibranch_trajectory/multibranch_trajectory.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -906,7 +907,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.090606 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.113322 seconds.
 Total jacobian shape: (107, 122) 
 
 
@@ -915,9 +916,9 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 7 vs 122  (94.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.090606 sec.
-Time to compute coloring: 0.073649 sec.
-Memory to compute coloring: 0.000000 MB.
+Time to compute sparsity: 0.113322 sec.
+Time to compute coloring: 0.111363 sec.
+Memory to compute coloring: 0.207031 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
diff --git a/examples/racecar/racecar.html b/examples/racecar/racecar.html
index 610dd1342..a035c5676 100644
--- a/examples/racecar/racecar.html
+++ b/examples/racecar/racecar.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -1364,7 +1365,7 @@ <h3>Table 2. Vehicle parameters<a class="headerlink" href="#table-2-vehicle-para
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 15.411642 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 18.631643 seconds.
 Total jacobian shape: (1256, 609) 
 </pre></div>
 </div>
@@ -1373,8 +1374,8 @@ <h3>Table 2. Vehicle parameters<a class="headerlink" href="#table-2-vehicle-para
 Total colors vs. total size: 20 vs 609  (96.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 15.411642 sec.
-Time to compute coloring: 0.941797 sec.
+Time to compute sparsity: 18.631643 sec.
+Time to compute coloring: 1.096570 sec.
 Memory to compute coloring: -9.183594 MB.
 </pre></div>
 </div>
@@ -1562,15 +1563,15 @@ <h3>Table 2. Vehicle parameters<a class="headerlink" href="#table-2-vehicle-para
 </div>
 </div>
 <div class="cell_output docutils container">
-<div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/tmp/ipykernel_22481/3149617812.py:45: MatplotlibDeprecationWarning: The get_cmap function was deprecated in Matplotlib 3.7 and will be removed two minor releases later. Use ``matplotlib.colormaps[name]`` or ``matplotlib.colormaps.get_cmap(obj)`` instead.
+<div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/tmp/ipykernel_22494/3149617812.py:45: MatplotlibDeprecationWarning: The get_cmap function was deprecated in Matplotlib 3.7 and will be removed two minor releases later. Use ``matplotlib.colormaps[name]`` or ``matplotlib.colormaps.get_cmap(obj)`` instead.
   cmap = mpl.cm.get_cmap(&#39;viridis&#39;)
 </pre></div>
 </div>
 <img alt="../../_images/6973275b96424ed4a289cf4d82090042001a18c42d4aa4cdc170115752cf9930.png" src="../../_images/6973275b96424ed4a289cf4d82090042001a18c42d4aa4cdc170115752cf9930.png" />
-<img alt="../../_images/bfa5518b58cbed7282266ed8145daf492154bf4916ce4a1bc6202cf0f38d3bc1.png" src="../../_images/bfa5518b58cbed7282266ed8145daf492154bf4916ce4a1bc6202cf0f38d3bc1.png" />
-<img alt="../../_images/c85d404f11cf640a4617242f3a91ae288181a50962ef4bb632b877e50a5c3069.png" src="../../_images/c85d404f11cf640a4617242f3a91ae288181a50962ef4bb632b877e50a5c3069.png" />
-<img alt="../../_images/57e5e4fc35b0353a095af97ecc8eceaab04a37caf67e1d6313f3069e209b7b25.png" src="../../_images/57e5e4fc35b0353a095af97ecc8eceaab04a37caf67e1d6313f3069e209b7b25.png" />
-<img alt="../../_images/89c7da911debbaa380e6de4730a161d86a4cf3efeaf0730a8a2c9b9f25785e57.png" src="../../_images/89c7da911debbaa380e6de4730a161d86a4cf3efeaf0730a8a2c9b9f25785e57.png" />
+<img alt="../../_images/174ccd5e2d1dc0617d7bb72bdf9619bfd80dafdbdd3fffada38b6878fbe59c34.png" src="../../_images/174ccd5e2d1dc0617d7bb72bdf9619bfd80dafdbdd3fffada38b6878fbe59c34.png" />
+<img alt="../../_images/5a299d019213ff7d6694b9c10f711dae316076e0c8436882829add0903624046.png" src="../../_images/5a299d019213ff7d6694b9c10f711dae316076e0c8436882829add0903624046.png" />
+<img alt="../../_images/f959abff660a5952122decf995fa0f5c44f5c8c06410b8d09aa41b5f0e08d9bd.png" src="../../_images/f959abff660a5952122decf995fa0f5c44f5c8c06410b8d09aa41b5f0e08d9bd.png" />
+<img alt="../../_images/b9c572adafb21afa6d00a0a2aaaf4feb5a62973bef0d3400c251d9f279bc43aa.png" src="../../_images/b9c572adafb21afa6d00a0a2aaaf4feb5a62973bef0d3400c251d9f279bc43aa.png" />
 </div>
 </div>
 </section>
diff --git a/examples/reentry/reentry.html b/examples/reentry/reentry.html
index 169399d4b..cac06e034 100644
--- a/examples/reentry/reentry.html
+++ b/examples/reentry/reentry.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -497,8 +498,8 @@ <h1>Single-Phase Space Shuttle Reentry<a class="headerlink" href="#single-phase-
 by the aerodynamic heating rate. For a detailed layout of this problem
 and other optimal control problems see Betts <span id="id1">[<a class="reference internal" href="#id19" title="J. Betts. Practical Methods for Optimal Control and Estimation Using Nonlinear Programming. Society for Industrial and Applied Mathematics, second edition, 2010. URL: https://epubs.siam.org/doi/abs/10.1137/1.9780898718577, arXiv:https://epubs.siam.org/doi/pdf/10.1137/1.9780898718577, doi:10.1137/1.9780898718577.">Bet10</a>]</span>.
 The governing equations of motion for this problem are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-fbcc2782-57f1-4e7f-872f-fbe1100185bf">
-<span class="eqno">(74)<a class="headerlink" href="#equation-fbcc2782-57f1-4e7f-872f-fbe1100185bf" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-7ac66547-ab5c-42ce-97a3-2f138fee5e72">
+<span class="eqno">(74)<a class="headerlink" href="#equation-7ac66547-ab5c-42ce-97a3-2f138fee5e72" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dh}{dt} &amp;= v \sin \gamma \\
   \frac{d\phi}{dt} &amp;= \frac{v}{r} \cos \gamma \frac{\sin \psi}{\cos \theta} \\
   \frac{d\theta}{dt} &amp;= \frac{v}{r} \cos \gamma \cos \psi  \\
@@ -521,8 +522,8 @@ <h1>Single-Phase Space Shuttle Reentry<a class="headerlink" href="#single-phase-
 edges. This heat rate is constrained by <span class="math notranslate nohighlight">\(q \leq 70\)</span> where q
 <span class="math notranslate nohighlight">\([\frac{btu}{ft^2s}]\)</span> is the heating rate.</p>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5b976762-6d16-4150-89f9-320d57d159e9">
-<span class="eqno">(75)<a class="headerlink" href="#equation-5b976762-6d16-4150-89f9-320d57d159e9" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-ecc4b599-000f-499e-9324-f61e35827e71">
+<span class="eqno">(75)<a class="headerlink" href="#equation-ecc4b599-000f-499e-9324-f61e35827e71" title="Permalink to this equation">#</a></span>\[\begin{align}
   h_0 &amp;= 26000 \\
   v_0 &amp;= 25600 \\
   \phi_0 &amp;= 0 \\
@@ -531,8 +532,8 @@ <h1>Single-Phase Space Shuttle Reentry<a class="headerlink" href="#single-phase-
   \psi_0 &amp;= \frac{\pi}{2}
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-61c37573-5bef-46c1-9e07-f9871d2fd607">
-<span class="eqno">(76)<a class="headerlink" href="#equation-61c37573-5bef-46c1-9e07-f9871d2fd607" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-214679cd-f13e-4fd4-83b0-dd5c5605eb71">
+<span class="eqno">(76)<a class="headerlink" href="#equation-214679cd-f13e-4fd4-83b0-dd5c5605eb71" title="Permalink to this equation">#</a></span>\[\begin{align}
   h_0 &amp;= 80000 \\
   v_0 &amp;= 2500 \\
   \gamma_0 &amp;= -0.08727 \\
@@ -550,13 +551,13 @@ <h1>Single-Phase Space Shuttle Reentry<a class="headerlink" href="#single-phase-
 shuttle. The third component is where the heating rate on the leading
 edge of the shuttles wings is computed. The heating rate is given by
 <span class="math notranslate nohighlight">\(q = q_a q_r\)</span> where</p>
-<div class="amsmath math notranslate nohighlight" id="equation-23072d1d-8946-485f-9d2b-3f19313fc32a">
-<span class="eqno">(77)<a class="headerlink" href="#equation-23072d1d-8946-485f-9d2b-3f19313fc32a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-16f46002-56ec-4c5e-bb63-fe78f70b03cd">
+<span class="eqno">(77)<a class="headerlink" href="#equation-16f46002-56ec-4c5e-bb63-fe78f70b03cd" title="Permalink to this equation">#</a></span>\[\begin{align}
   q_a &amp;= c_0 + c_1\alpha + c_2 \alpha^2 + c_3 \alpha^3
 \end{align}\]</div>
 <p>and</p>
-<div class="amsmath math notranslate nohighlight" id="equation-1bcc9ea4-7b2a-4e4c-bddd-8ff8a165a9b7">
-<span class="eqno">(78)<a class="headerlink" href="#equation-1bcc9ea4-7b2a-4e4c-bddd-8ff8a165a9b7" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-dda460f6-fb84-4e89-aef6-de0a230d478e">
+<span class="eqno">(78)<a class="headerlink" href="#equation-dda460f6-fb84-4e89-aef6-de0a230d478e" title="Permalink to this equation">#</a></span>\[\begin{align}
   q_r &amp;= 17700 \rho^.5 (.0001v)^{3.07}
 \end{align}\]</div>
 <p>where <span class="math notranslate nohighlight">\(c_0, c_1, c_2,\)</span> and <span class="math notranslate nohighlight">\(c_3\)</span> are constants, <span class="math notranslate nohighlight">\(\alpha\)</span> <span class="math notranslate nohighlight">\([deg]\)</span> is the
@@ -1234,7 +1235,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.562945 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 2.270959 seconds.
 Total jacobian shape: (327, 358) 
 </pre></div>
 </div>
@@ -1243,9 +1244,9 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 Total colors vs. total size: 20 vs 358  (94.4% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.562945 sec.
-Time to compute coloring: 0.437869 sec.
-Memory to compute coloring: 0.000000 MB.
+Time to compute sparsity: 2.270959 sec.
+Time to compute coloring: 0.577602 sec.
+Memory to compute coloring: 0.324219 MB.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/examples/shuttle_reentry/heating_comp.py:45: RuntimeWarning: invalid value encountered in power
@@ -1258,11 +1259,11 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   37.0849
-       User Objective Time :       0.6789
-       User Sensitivity Time :     5.0413
-       Interface Time :            1.4757
-       Opt Solver Time:           29.8889
+    Total Time:                   41.5599
+       User Objective Time :       0.7624
+       User Sensitivity Time :     6.6514
+       Interface Time :            1.6359
+       Opt Solver Time:           32.5101
     Calls to Objective Function :     274
     Calls to Sens Function :          141
 
@@ -1325,31 +1326,31 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
          49  traj.phases.phase0.indep_states.states:gamma_4                         c    -1.553343E+00     5.849400E-03     1.553343E+00           
          50  traj.phases.phase0.indep_states.states:gamma_5                         c    -1.553343E+00     6.424899E-03     1.553343E+00           
          51  traj.phases.phase0.indep_states.states:gamma_6                         c    -1.553343E+00     4.800267E-03     1.553343E+00           
-         52  traj.phases.phase0.indep_states.states:gamma_7                         c    -1.553343E+00    -1.346038E-03     1.553343E+00           
+         52  traj.phases.phase0.indep_states.states:gamma_7                         c    -1.553343E+00    -1.346037E-03     1.553343E+00           
          53  traj.phases.phase0.indep_states.states:gamma_8                         c    -1.553343E+00    -3.415126E-03     1.553343E+00           
-         54  traj.phases.phase0.indep_states.states:gamma_9                         c    -1.553343E+00    -6.633955E-03     1.553343E+00           
+         54  traj.phases.phase0.indep_states.states:gamma_9                         c    -1.553343E+00    -6.633954E-03     1.553343E+00           
          55  traj.phases.phase0.indep_states.states:gamma_10                        c    -1.553343E+00    -6.054919E-03     1.553343E+00           
          56  traj.phases.phase0.indep_states.states:gamma_11                        c    -1.553343E+00    -4.311191E-03     1.553343E+00           
-         57  traj.phases.phase0.indep_states.states:gamma_12                        c    -1.553343E+00    -7.188229E-04     1.553343E+00           
+         57  traj.phases.phase0.indep_states.states:gamma_12                        c    -1.553343E+00    -7.188232E-04     1.553343E+00           
          58  traj.phases.phase0.indep_states.states:gamma_13                        c    -1.553343E+00     1.108953E-03     1.553343E+00           
          59  traj.phases.phase0.indep_states.states:gamma_14                        c    -1.553343E+00     3.170369E-04     1.553343E+00           
-         60  traj.phases.phase0.indep_states.states:gamma_15                        c    -1.553343E+00    -2.055009E-03     1.553343E+00           
+         60  traj.phases.phase0.indep_states.states:gamma_15                        c    -1.553343E+00    -2.055008E-03     1.553343E+00           
          61  traj.phases.phase0.indep_states.states:gamma_16                        c    -1.553343E+00    -4.490201E-03     1.553343E+00           
          62  traj.phases.phase0.indep_states.states:gamma_17                        c    -1.553343E+00    -4.415397E-03     1.553343E+00           
          63  traj.phases.phase0.indep_states.states:gamma_18                        c    -1.553343E+00    -2.808303E-03     1.553343E+00           
          64  traj.phases.phase0.indep_states.states:gamma_19                        c    -1.553343E+00    -5.047880E-04     1.553343E+00           
-         65  traj.phases.phase0.indep_states.states:gamma_20                        c    -1.553343E+00    -5.261232E-04     1.553343E+00           
+         65  traj.phases.phase0.indep_states.states:gamma_20                        c    -1.553343E+00    -5.261231E-04     1.553343E+00           
          66  traj.phases.phase0.indep_states.states:gamma_21                        c    -1.553343E+00    -2.253831E-03     1.553343E+00           
          67  traj.phases.phase0.indep_states.states:gamma_22                        c    -1.553343E+00    -5.020436E-03     1.553343E+00           
          68  traj.phases.phase0.indep_states.states:gamma_23                        c    -1.553343E+00    -5.225160E-03     1.553343E+00           
          69  traj.phases.phase0.indep_states.states:gamma_24                        c    -1.553343E+00    -3.871730E-03     1.553343E+00           
-         70  traj.phases.phase0.indep_states.states:gamma_25                        c    -1.553343E+00    -1.772826E-03     1.553343E+00           
+         70  traj.phases.phase0.indep_states.states:gamma_25                        c    -1.553343E+00    -1.772825E-03     1.553343E+00           
          71  traj.phases.phase0.indep_states.states:gamma_26                        c    -1.553343E+00    -1.892008E-03     1.553343E+00           
          72  traj.phases.phase0.indep_states.states:gamma_27                        c    -1.553343E+00    -3.795759E-03     1.553343E+00           
-         73  traj.phases.phase0.indep_states.states:gamma_28                        c    -1.553343E+00    -6.370021E-03     1.553343E+00           
-         74  traj.phases.phase0.indep_states.states:gamma_29                        c    -1.553343E+00    -6.429732E-03     1.553343E+00           
+         73  traj.phases.phase0.indep_states.states:gamma_28                        c    -1.553343E+00    -6.370022E-03     1.553343E+00           
+         74  traj.phases.phase0.indep_states.states:gamma_29                        c    -1.553343E+00    -6.429733E-03     1.553343E+00           
          75  traj.phases.phase0.indep_states.states:gamma_30                        c    -1.553343E+00    -5.801696E-03     1.553343E+00           
-         76  traj.phases.phase0.indep_states.states:gamma_31                        c    -1.553343E+00    -6.055770E-03     1.553343E+00           
+         76  traj.phases.phase0.indep_states.states:gamma_31                        c    -1.553343E+00    -6.055769E-03     1.553343E+00           
          77  traj.phases.phase0.indep_states.states:gamma_32                        c    -1.553343E+00    -6.903779E-03     1.553343E+00           
          78  traj.phases.phase0.indep_states.states:gamma_33                        c    -1.553343E+00    -8.421686E-03     1.553343E+00           
          79  traj.phases.phase0.indep_states.states:gamma_34                        c    -1.553343E+00    -9.713284E-03     1.553343E+00           
@@ -1463,7 +1464,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         187  traj.phases.phase0.indep_states.states:theta_8                         c    -1.553343E+00     3.918549E-02     1.553343E+00           
         188  traj.phases.phase0.indep_states.states:theta_9                         c    -1.553343E+00     4.920162E-02     1.553343E+00           
         189  traj.phases.phase0.indep_states.states:theta_10                        c    -1.553343E+00     6.453884E-02     1.553343E+00           
-        190  traj.phases.phase0.indep_states.states:theta_11                        c    -1.553343E+00     6.983509E-02     1.553343E+00           
+        190  traj.phases.phase0.indep_states.states:theta_11                        c    -1.553343E+00     6.983510E-02     1.553343E+00           
         191  traj.phases.phase0.indep_states.states:theta_12                        c    -1.553343E+00     8.291632E-02     1.553343E+00           
         192  traj.phases.phase0.indep_states.states:theta_13                        c    -1.553343E+00     1.029668E-01     1.553343E+00           
         193  traj.phases.phase0.indep_states.states:theta_14                        c    -1.553343E+00     1.097515E-01     1.553343E+00           
@@ -1538,7 +1539,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
         262  traj.phases.phase0.indep_states.states:v_38                            c    -1.111111E-01     1.727889E-01     4.444444E+16           
         263  traj.phases.phase0.indep_states.states:v_39                            c    -1.111111E-01     1.403262E-01     4.444444E+16           
         264  traj.phases.phase0.indep_states.states:v_40                            c    -1.111111E-01     9.707951E-02     4.444444E+16           
-        265  traj.phases.phase0.indep_states.states:v_41                            c    -1.111111E-01     8.391573E-02     4.444444E+16           
+        265  traj.phases.phase0.indep_states.states:v_41                            c    -1.111111E-01     8.391572E-02     4.444444E+16           
         266  traj.phases.phase0.indep_states.states:v_42                            c    -1.111111E-01     5.350086E-02     4.444444E+16           
         267  traj.phases.phase0.indep_states.states:v_43                            c    -1.111111E-01     1.241570E-02     4.444444E+16           
         268  traj.phases.phase0.control_group.indep_controls.controls:alpha_0       c    -1.570796E+00     3.041688E-01     1.570796E+00           
@@ -1634,332 +1635,332 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                               Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.707889E-14    0.000000E+00              9.00000E+100
+          0  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.674314E-13    0.000000E+00              9.00000E+100
           1  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.098179E-09    0.000000E+00              9.00000E+100
-          2  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.217402E-09    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -6.742052E-09    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.326401E-10    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.874434E-08    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.608095E-08    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.396033E-09    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.397932E-08    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.640181E-08    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.008528E-08    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -7.449366E-09    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.075722E-09    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.701772E-08    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.356202E-08    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.152959E-08    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.222467E-08    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.609149E-08    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.008612E-09    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.551672E-08    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.092962E-08    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.728256E-09    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.958957E-08    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.849932E-09    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.141960E-08    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.074738E-08    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.343586E-09    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.048372E-08    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.662318E-11    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.018746E-08    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.195918E-08    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -9.359846E-09    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.609498E-09    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.272808E-09    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.683872E-08    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.823008E-09    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -9.932651E-09    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.066238E-09    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.234618E-08    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.537322E-09    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.207772E-09    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.438402E-09    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.679483E-08    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.005355E-09    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.789710E-09    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    1.210517E-10    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    1.211149E-11    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    2.020261E-13    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    8.856113E-12    0.000000E+00              9.00000E+100
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-         64  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00   -4.053666E-11    0.000000E+00              9.00000E+100
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-         67  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    2.532058E-11    0.000000E+00              9.00000E+100
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-         83  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    1.295772E-10    0.000000E+00              9.00000E+100
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-         88  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    6.122268E-10    0.000000E+00              9.00000E+100
-         89  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    3.554642E-10    0.000000E+00              9.00000E+100
-         90  traj.phases.phase0.collocation_constraint.defects:phi                 e   0.000000E+00    2.903182E-17    0.000000E+00              9.00000E+100
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-        179  traj.phases.phase0.collocation_constraint.defects:psi                 e   0.000000E+00    1.660671E-11    0.000000E+00              9.00000E+100
-        180  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -1.872483E-19    0.000000E+00              9.00000E+100
-        181  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -1.933355E-13    0.000000E+00              9.00000E+100
-        182  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -2.213788E-13    0.000000E+00              9.00000E+100
-        183  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -1.358984E-13    0.000000E+00              9.00000E+100
-        184  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    4.844259E-13    0.000000E+00              9.00000E+100
-        185  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.743916E-12    0.000000E+00              9.00000E+100
-        186  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.914369E-12    0.000000E+00              9.00000E+100
-        187  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    2.654109E-12    0.000000E+00              9.00000E+100
-        188  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    4.445562E-12    0.000000E+00              9.00000E+100
-        189  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    4.669791E-12    0.000000E+00              9.00000E+100
-        190  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    3.292695E-12    0.000000E+00              9.00000E+100
-        191  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    9.306405E-13    0.000000E+00              9.00000E+100
-        192  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    2.732806E-12    0.000000E+00              9.00000E+100
-        193  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    9.274347E-12    0.000000E+00              9.00000E+100
-        194  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    9.955833E-12    0.000000E+00              9.00000E+100
-        195  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    7.441187E-12    0.000000E+00              9.00000E+100
-        196  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    4.373430E-12    0.000000E+00              9.00000E+100
-        197  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    4.031577E-12    0.000000E+00              9.00000E+100
-        198  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    5.288796E-12    0.000000E+00              9.00000E+100
-        199  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    8.746323E-12    0.000000E+00              9.00000E+100
-        200  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    9.596060E-12    0.000000E+00              9.00000E+100
-        201  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    8.007293E-12    0.000000E+00              9.00000E+100
-        202  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    6.173944E-12    0.000000E+00              9.00000E+100
-        203  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    6.674572E-12    0.000000E+00              9.00000E+100
-        204  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    7.749842E-12    0.000000E+00              9.00000E+100
-        205  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    7.107713E-12    0.000000E+00              9.00000E+100
-        206  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    3.324685E-12    0.000000E+00              9.00000E+100
-        207  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    2.377086E-12    0.000000E+00              9.00000E+100
-        208  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.819432E-12    0.000000E+00              9.00000E+100
-        209  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.400978E-12    0.000000E+00              9.00000E+100
-        210  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    8.185995E-13    0.000000E+00              9.00000E+100
-        211  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.907427E-13    0.000000E+00              9.00000E+100
-        212  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -2.177024E-14    0.000000E+00              9.00000E+100
-        213  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -4.665777E-14    0.000000E+00              9.00000E+100
-        214  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -9.765943E-14    0.000000E+00              9.00000E+100
-        215  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -1.752470E-13    0.000000E+00              9.00000E+100
-        216  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.940777E-14    0.000000E+00              9.00000E+100
-        217  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -3.367546E-13    0.000000E+00              9.00000E+100
-        218  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -4.090838E-13    0.000000E+00              9.00000E+100
-        219  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -4.651370E-13    0.000000E+00              9.00000E+100
-        220  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    3.340402E-13    0.000000E+00              9.00000E+100
-        221  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00   -7.862725E-14    0.000000E+00              9.00000E+100
-        222  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    1.836354E-13    0.000000E+00              9.00000E+100
-        223  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    6.268769E-13    0.000000E+00              9.00000E+100
-        224  traj.phases.phase0.collocation_constraint.defects:theta               e   0.000000E+00    2.843691E-12    0.000000E+00              9.00000E+100
-        225  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.627773E-11    0.000000E+00              9.00000E+100
-        226  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.630678E-11    0.000000E+00              9.00000E+100
-        227  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.087714E-12    0.000000E+00              9.00000E+100
-        228  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.180202E-12    0.000000E+00              9.00000E+100
-        229  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.394420E-11    0.000000E+00              9.00000E+100
-        230  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.320788E-11    0.000000E+00              9.00000E+100
-        231  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.770419E-10    0.000000E+00              9.00000E+100
-        232  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.739474E-10    0.000000E+00              9.00000E+100
-        233  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.408745E-11    0.000000E+00              9.00000E+100
-        234  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.336930E-11    0.000000E+00              9.00000E+100
-        235  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.750177E-10    0.000000E+00              9.00000E+100
-        236  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.494248E-10    0.000000E+00              9.00000E+100
-        237  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.505366E-10    0.000000E+00              9.00000E+100
-        238  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.012269E-10    0.000000E+00              9.00000E+100
-        239  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.664711E-10    0.000000E+00              9.00000E+100
-        240  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.907272E-10    0.000000E+00              9.00000E+100
-        241  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.505994E-11    0.000000E+00              9.00000E+100
-        242  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.654806E-11    0.000000E+00              9.00000E+100
-        243  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.148183E-10    0.000000E+00              9.00000E+100
-        244  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.063644E-11    0.000000E+00              9.00000E+100
-        245  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.095124E-11    0.000000E+00              9.00000E+100
-        246  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.126405E-11    0.000000E+00              9.00000E+100
-        247  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.634971E-12    0.000000E+00              9.00000E+100
-        248  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.667540E-11    0.000000E+00              9.00000E+100
-        249  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.184178E-11    0.000000E+00              9.00000E+100
-        250  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.030586E-12    0.000000E+00              9.00000E+100
-        251  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.233150E-11    0.000000E+00              9.00000E+100
-        252  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.607544E-12    0.000000E+00              9.00000E+100
-        253  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.309422E-11    0.000000E+00              9.00000E+100
-        254  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.246994E-12    0.000000E+00              9.00000E+100
-        255  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.950662E-11    0.000000E+00              9.00000E+100
-        256  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.410942E-11    0.000000E+00              9.00000E+100
-        257  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.798072E-11    0.000000E+00              9.00000E+100
-        258  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.156640E-11    0.000000E+00              9.00000E+100
-        259  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.330623E-12    0.000000E+00              9.00000E+100
-        260  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.982138E-11    0.000000E+00              9.00000E+100
-        261  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.408593E-12    0.000000E+00              9.00000E+100
-        262  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.187812E-11    0.000000E+00              9.00000E+100
-        263  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.754402E-11    0.000000E+00              9.00000E+100
-        264  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.677139E-11    0.000000E+00              9.00000E+100
-        265  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -5.399948E-13    0.000000E+00              9.00000E+100
-        266  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.582294E-11    0.000000E+00              9.00000E+100
-        267  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -8.825067E-12    0.000000E+00              9.00000E+100
-        268  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.129888E-11    0.000000E+00              9.00000E+100
-        269  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.039670E-12    0.000000E+00              9.00000E+100
-        270  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    4.162551E-15    0.000000E+00              9.00000E+100
-        271  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    2.544821E-15    0.000000E+00              9.00000E+100
-        272  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    9.117807E-16    0.000000E+00              9.00000E+100
-        273  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -8.437374E-16    0.000000E+00              9.00000E+100
+          2  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.216775E-09    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -6.741721E-09    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.327437E-10    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.874331E-08    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.607985E-08    0.000000E+00              9.00000E+100
+          7  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.395257E-09    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.398058E-08    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.640370E-08    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.008811E-08    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -7.448605E-09    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.075456E-09    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.701575E-08    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.356039E-08    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.152896E-08    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.222383E-08    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.609013E-08    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.007853E-09    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.551600E-08    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.092896E-08    0.000000E+00              9.00000E+100
+         21  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.727958E-09    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.958852E-08    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.849150E-09    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.141925E-08    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.074649E-08    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.343624E-09    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.048334E-08    0.000000E+00              9.00000E+100
+         28  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.653185E-11    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.018674E-08    0.000000E+00              9.00000E+100
+         30  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.195885E-08    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -9.359224E-09    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.608730E-09    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.272500E-09    0.000000E+00              9.00000E+100
+         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.683791E-08    0.000000E+00              9.00000E+100
+         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.822564E-09    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -9.931711E-09    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.065780E-09    0.000000E+00              9.00000E+100
+         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.234566E-08    0.000000E+00              9.00000E+100
+         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.537405E-09    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.206983E-09    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.438109E-09    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.679376E-08    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.005405E-09    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.789385E-09    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    1.210500E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    1.211073E-11    0.000000E+00              9.00000E+100
+         47  traj.phases.phase0.collocation_constraint.defects:gamma               e   0.000000E+00    2.014927E-13    0.000000E+00              9.00000E+100
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+        300  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
+        301  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        302  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
+        303  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    1.665335E-16    0.000000E+00              9.00000E+100
+        304  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         305  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
         306  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        307  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
+        307  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         308  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        309  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
-        310  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
-        311  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    5.551115E-17    0.000000E+00              9.00000E+100
-        312  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        313  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        314  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    4.440892E-16    0.000000E+00              9.00000E+100
+        309  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        310  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
+        311  traj.phases.phase0.continuity_comp.defect_controls:alpha              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        312  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
+        313  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
+        314  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         315  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        316  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00   -2.220446E-16    0.000000E+00              9.00000E+100
-        317  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
-        318  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
-        319  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    3.330669E-16    0.000000E+00              9.00000E+100
-        320  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        316  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
+        317  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    1.110223E-16    0.000000E+00              9.00000E+100
+        318  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
+        319  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        320  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.220446E-16    0.000000E+00              9.00000E+100
         321  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        322  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        322  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00   -1.110223E-16    0.000000E+00              9.00000E+100
         323  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        324  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
-        325  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00   -5.551115E-17    0.000000E+00              9.00000E+100
+        324  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        325  traj.phases.phase0.continuity_comp.defect_controls:beta               e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
 
 
    Exit Status
@@ -1999,7 +2000,7 @@ <h2>Building and running the problem<a class="headerlink" href="#building-and-ru
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../../_images/cb7711e6a8e729268bbe9d6bc748fe7dfbb668d042267c023c8d7f7b076ae58d.png" src="../../_images/cb7711e6a8e729268bbe9d6bc748fe7dfbb668d042267c023c8d7f7b076ae58d.png" />
+<img alt="../../_images/21be9567785e4284eb2ec5e2133be337adc033c0a1bb2309ccb770ddd2e0f716.png" src="../../_images/21be9567785e4284eb2ec5e2133be337adc033c0a1bb2309ccb770ddd2e0f716.png" />
 </div>
 </div>
 </section>
diff --git a/examples/robertson_problem/robertson_problem.html b/examples/robertson_problem/robertson_problem.html
index ad6ac310f..fed0fce71 100644
--- a/examples/robertson_problem/robertson_problem.html
+++ b/examples/robertson_problem/robertson_problem.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -494,15 +495,15 @@ <h2> Contents </h2>
 <section id="the-ode-system">
 <h2>The ODE system<a class="headerlink" href="#the-ode-system" title="Permalink to this heading">#</a></h2>
 <p>The ODE of the Robertson Problem is</p>
-<div class="amsmath math notranslate nohighlight" id="equation-94bdf484-7144-4016-b483-ca093af1aa2c">
-<span class="eqno">(82)<a class="headerlink" href="#equation-94bdf484-7144-4016-b483-ca093af1aa2c" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c862e5b2-1b76-4d44-854d-95283eb951a8">
+<span class="eqno">(82)<a class="headerlink" href="#equation-c862e5b2-1b76-4d44-854d-95283eb951a8" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot x = &amp;        - 0.04 x + 10^4 y \cdot z &amp;                          \\
     \dot y = &amp; \;\;\;\: 0.04 x - 10^4 y \cdot z &amp;        - 3\cdot 10^7 y^2 \\
     \dot z = &amp;                                  &amp; \;\;\;\: 3\cdot 10^7 y^2 \\
 \end{align}\]</div>
 <p>where <span class="math notranslate nohighlight">\(x\)</span>, <span class="math notranslate nohighlight">\(y\)</span> and <span class="math notranslate nohighlight">\(z\)</span> are arbitrary states. The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-90d328df-dcd0-446e-ad03-39655606c761">
-<span class="eqno">(83)<a class="headerlink" href="#equation-90d328df-dcd0-446e-ad03-39655606c761" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-7bbcbe90-a247-41cb-95bd-d27bd6822005">
+<span class="eqno">(83)<a class="headerlink" href="#equation-7bbcbe90-a247-41cb-95bd-d27bd6822005" title="Permalink to this equation">#</a></span>\[\begin{align}
     x_0 &amp;= 1 \\
     y_0 &amp;= z_0 = 0.
 \end{align}\]</div>
diff --git a/examples/ssto_earth/ssto_earth.html b/examples/ssto_earth/ssto_earth.html
index 2cb9605b7..8dd2ffadc 100644
--- a/examples/ssto_earth/ssto_earth.html
+++ b/examples/ssto_earth/ssto_earth.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -497,8 +498,8 @@ <h1>SSTO Earth Launch<a class="headerlink" href="#ssto-earth-launch" title="Perm
 required to reach orbit insertion under constant thrust.</p>
 <p><img alt="The free-body-diagram of the single-stage-to-orbit problem." src="../../_images/ssto_fbd.png" /></p>
 <p>The vehicle dynamics are given by</p>
-<div class="amsmath math notranslate nohighlight" id="equation-a2633e24-5352-4efe-b267-35602a7d48fa">
-<span class="eqno">(79)<a class="headerlink" href="#equation-a2633e24-5352-4efe-b267-35602a7d48fa" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-fd766ccb-6d00-40af-b127-40d84e6d7b6d">
+<span class="eqno">(79)<a class="headerlink" href="#equation-fd766ccb-6d00-40af-b127-40d84e6d7b6d" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dx}{dt} &amp;= v_x \\
   \frac{dy}{dt} &amp;= v_y \\
   \frac{dv_x}{dt} &amp;= \frac{1}{m} (T \cos \theta - D \cos \gamma) \\
@@ -506,8 +507,8 @@ <h1>SSTO Earth Launch<a class="headerlink" href="#ssto-earth-launch" title="Perm
   \frac{dm}{dt} &amp;= \frac{T}{g I_{sp}}
 \end{align}\]</div>
 <p>The initial conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9532c373-daf3-45dd-83e4-743422e08335">
-<span class="eqno">(80)<a class="headerlink" href="#equation-9532c373-daf3-45dd-83e4-743422e08335" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-3dadeb24-5930-4dbc-a9db-262e14e7e32b">
+<span class="eqno">(80)<a class="headerlink" href="#equation-3dadeb24-5930-4dbc-a9db-262e14e7e32b" title="Permalink to this equation">#</a></span>\[\begin{align}
   x_0 &amp;= 0 \\
   y_0 &amp;= 0 \\
   v_{x0} &amp;= 0 \\
@@ -515,8 +516,8 @@ <h1>SSTO Earth Launch<a class="headerlink" href="#ssto-earth-launch" title="Perm
   m_0 &amp;= 117000 \rm{\,kg}
 \end{align}\]</div>
 <p>and the final conditions are</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5841c0e0-7c2c-4658-97ee-ae59928bdb2b">
-<span class="eqno">(81)<a class="headerlink" href="#equation-5841c0e0-7c2c-4658-97ee-ae59928bdb2b" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-b4496dcb-bddf-4185-89e2-f78805663864">
+<span class="eqno">(81)<a class="headerlink" href="#equation-b4496dcb-bddf-4185-89e2-f78805663864" title="Permalink to this equation">#</a></span>\[\begin{align}
   x_f &amp;= \rm{free} \\
   y_f &amp;= 185 \rm{\,km} \\
   v_{xf} &amp;= V_{circ} \\
@@ -880,10 +881,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 ..........................................f............................................................................................................................. 18  xdot
 ...........................................f............................................................................................................................ 19  xdot
 ............................................f........................................................................................................................... 20  xdot
-.............................................f........................................................................................................................
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>.. 21  xdot
+.............................................f.......................................................................................................................... 21  xdot
 ..............................................f......................................................................................................................... 22  xdot
 ...............................................f........................................................................................................................ 23  xdot
 ................................................f....................................................................................................................... 24  ydot
@@ -894,7 +892,10 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 .....................................................f.................................................................................................................. 29  ydot
 ......................................................f................................................................................................................. 30  ydot
 .......................................................f................................................................................................................ 31  ydot
-........................................................f............................................................................................................... 32  ydot
+........................................................f.................................................................................................
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>.............. 32  ydot
 .........................................................f.............................................................................................................. 33  ydot
 ..........................................................f............................................................................................................. 34  ydot
 ...........................................................f............................................................................................................ 35  ydot
@@ -916,14 +917,20 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 ...f.......................f...............................................f.......................f.......................f............................................ 51  vxdot
 ....f.......................f...............................................f.......................f.......................f........................................... 52  vxdot
 .....f.......................f...............................................f.......................f.......................f.......................................... 53  vxdot
-......f.......................f...............................................f.......................f.......................f......................................... 54  vxdot
+......f.......................f...............................................f.......................f.......................f..............
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>........................... 54  vxdot
 .......f.......................f...............................................f.......................f.......................f........................................ 55  vxdot
 ........f.......................f...............................................f.......................f.......................f....................................... 56  vxdot
 .........f.......................f...............................................f.......................f.......................f...................................... 57  vxdot
 ..........f.......................f...............................................f.......................f.......................f..................................... 58  vxdot
 ...........f.......................f...............................................f.......................f.......................f.................................... 59  vxdot
 ............f.......................f...............................................f.......................f.......................f................................... 60  vxdot
-.............f.......................f...............................................f.......................f.......................f.................................. 61  vxdot
+.............f.......................f...............................................f.......................f.......................f.....................
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>............. 61  vxdot
 ..............f.......................f...............................................f.......................f.......................f................................. 62  vxdot
 ...............f.......................f...............................................f.......................f.......................f................................ 63  vxdot
 ................f.......................f...............................................f.......................f.......................f............................... 64  vxdot
@@ -946,10 +953,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 .........................................................f.......................f.......................f.......................f...................................... 81  vydot
 ..........................................................f.......................f.......................f.......................f..................................... 82  vydot
 ...........................................................f.......................f.......................f.......................f.................................... 83  vydot
-......
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>......................................................f.......................f.......................f.......................f................................... 84  vydot
+............................................................f.......................f.......................f.......................f................................... 84  vydot
 .............................................................f.......................f.......................f.......................f.................................. 85  vydot
 ..............................................................f.......................f.......................f.......................f................................. 86  vydot
 ...............................................................f.......................f.......................f.......................f................................ 87  vydot
@@ -980,10 +984,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 ........................................................................................................................................f.......................f....... 112  mdot
 .........................................................................................................................................f.......................f...... 113  mdot
 ..........................................................................................................................................f.......................f..... 114  mdot
-...................................................................................................
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>........................................f.......................f.... 115  mdot
+...........................................................................................................................................f.......................f.... 115  mdot
 ............................................................................................................................................f.......................f... 116  mdot
 .............................................................................................................................................f.......................f.. 117  mdot
 ..............................................................................................................................................f.......................f. 118  mdot
@@ -999,10 +1000,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 ........f............................................................................................................................................................... 128  rho
 .........f.............................................................................................................................................................. 129  rho
 ..........f............................................................................................................................................................. 130  rho
-...........f..............
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>.............................................................................................................................................. 131  rho
+...........f............................................................................................................................................................ 131  rho
 ............f........................................................................................................................................................... 132  rho
 .............f.......................................................................................................................................................... 133  rho
 ..............f......................................................................................................................................................... 134  rho
@@ -1028,12 +1026,11 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 Total colors vs. total size: 5 vs 168  (97.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.042525 sec.
-Time to compute coloring: 0.023858 sec.
+Time to compute sparsity: 0.054169 sec.
+Time to compute coloring: 0.029038 sec.
 Memory to compute coloring: 0.000000 MB.
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Coloring for &#39;traj.phases.phase0.rhs_col&#39; (class LaunchVehicleODE)
+
+Coloring for &#39;traj.phases.phase0.rhs_col&#39; (class LaunchVehicleODE)
 ............f....................................................................... 0  xdot
 .............f...................................................................... 1  xdot
 ..............f..................................................................... 2  xdot
@@ -1119,22 +1116,22 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 Total colors vs. total size: 5 vs 84  (94.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.020781 sec.
-Time to compute coloring: 0.012056 sec.
+Time to compute sparsity: 0.026784 sec.
+Time to compute coloring: 0.015163 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.392673 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.432536 seconds.
 Total jacobian shape: (74, 152) 
-</pre></div>
-</div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (74, 152)  ( 5.38% nonzero)
+
+
+Jacobian shape: (74, 152)  ( 5.38% nonzero)
 FWD solves: 12   REV solves: 0
 Total colors vs. total size: 12 vs 152  (92.1% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.392673 sec.
-Time to compute coloring: 0.108886 sec.
+Time to compute sparsity: 0.432536 sec.
+Time to compute coloring: 0.115804 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1144,11 +1141,11 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    2.6223
-       User Objective Time :       0.1396
-       User Sensitivity Time :     1.2003
-       Interface Time :            0.4626
-       Opt Solver Time:            0.8199
+    Total Time:                    2.6507
+       User Objective Time :       0.1566
+       User Sensitivity Time :     1.2397
+       Interface Time :            0.4843
+       Opt Solver Time:            0.7701
     Calls to Objective Function :      51
     Calls to Sens Function :           48
 
@@ -1251,7 +1248,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          89  traj.phases.phase0.indep_states.states:vy_19                           c    -1.000000E+18     2.923999E+00     1.000000E+18           
          90  traj.phases.phase0.indep_states.states:vy_20                           c    -1.000000E+18     3.379547E+00     1.000000E+18           
          91  traj.phases.phase0.indep_states.states:vy_21                           c    -1.000000E+18     3.379547E+00     1.000000E+18           
-         92  traj.phases.phase0.indep_states.states:vy_22                           c    -1.000000E+18     9.287006E-22     1.000000E+18           
+         92  traj.phases.phase0.indep_states.states:vy_22                           c    -1.000000E+18    -1.462162E-22     1.000000E+18           
          93  traj.phases.phase0.indep_states.states:m_0                             c    -1.000000E+18     1.073668E+02     1.000000E+18           
          94  traj.phases.phase0.indep_states.states:m_1                             c    -1.000000E+18     1.073668E+02     1.000000E+18           
          95  traj.phases.phase0.indep_states.states:m_2                             c    -1.000000E+18     9.773367E+01     1.000000E+18           
@@ -1316,19 +1313,19 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
       Index  Name                                                               Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;y                      e   1.850000E+05    1.850000E+05    1.850000E+05              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vx                     e   7.796696E+03    7.796696E+03    7.796696E+03              9.00000E+100
-          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vy                     e   0.000000E+00    9.287006E-19    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -1.188095E-10    0.000000E+00              9.00000E+100
+          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vy                     e   0.000000E+00   -1.462162E-19    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -1.188094E-10    0.000000E+00              9.00000E+100
           4  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.371170E-10    0.000000E+00              9.00000E+100
           5  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -2.557595E-10    0.000000E+00              9.00000E+100
           6  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    2.888822E-10    0.000000E+00              9.00000E+100
           7  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -1.643805E-10    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -7.405641E-10    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -7.405642E-10    0.000000E+00              9.00000E+100
           9  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    3.453422E-10    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    4.648820E-10    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -8.441018E-10    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    5.812101E-10    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    4.648819E-10    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -8.441021E-10    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    5.812105E-10    0.000000E+00              9.00000E+100
          13  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00    2.671539E-10    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -6.157081E-09    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:x                   e   0.000000E+00   -6.157078E-09    0.000000E+00              9.00000E+100
          15  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    4.185466E-10    0.000000E+00              9.00000E+100
          16  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    9.614961E-09    0.000000E+00              9.00000E+100
          17  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.809379E-08    0.000000E+00              9.00000E+100
@@ -1336,10 +1333,10 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          19  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.376446E-08    0.000000E+00              9.00000E+100
          20  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00   -3.754024E-08    0.000000E+00              9.00000E+100
          21  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00   -5.322523E-08    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.998142E-09    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.998141E-09    0.000000E+00              9.00000E+100
          23  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.476582E-09    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.813846E-09    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.495018E-10    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.813845E-09    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    2.495062E-10    0.000000E+00              9.00000E+100
          26  traj.phases.phase0.collocation_constraint.defects:y                   e   0.000000E+00    8.522370E-09    0.000000E+00              9.00000E+100
          27  traj.phases.phase0.collocation_constraint.defects:vx                  e   0.000000E+00    3.499577E-09    0.000000E+00              9.00000E+100
          28  traj.phases.phase0.collocation_constraint.defects:vx                  e   0.000000E+00    3.213875E-09    0.000000E+00              9.00000E+100
@@ -1363,7 +1360,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          46  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00    2.808630E-08    0.000000E+00              9.00000E+100
          47  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00    6.222977E-08    0.000000E+00              9.00000E+100
          48  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00    9.789007E-09    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00    1.080769E-09    0.000000E+00              9.00000E+100
+         49  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00    1.080768E-09    0.000000E+00              9.00000E+100
          50  traj.phases.phase0.collocation_constraint.defects:vy                  e   0.000000E+00   -2.001000E-08    0.000000E+00              9.00000E+100
          51  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    6.781475E-15    0.000000E+00              9.00000E+100
          52  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    6.781475E-15    0.000000E+00              9.00000E+100
@@ -1372,22 +1369,22 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          55  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -7.459622E-14    0.000000E+00              9.00000E+100
          56  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.747032E-14    0.000000E+00              9.00000E+100
          57  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.747032E-14    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.034442E-14    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.747032E-14    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.747032E-14    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.034442E-14    0.000000E+00              9.00000E+100
          60  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.781475E-15    0.000000E+00              9.00000E+100
          61  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.034442E-14    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.781475E-15    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -3.390737E-14    0.000000E+00              9.00000E+100
          63  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          64  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00   -2.273737E-13    0.000000E+00              9.00000E+100
          66  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00   -9.094947E-13    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          68  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          69  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          70  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          71  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          72  traj.phases.phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.continuity_comp.defect_states:x                    e   2.678272E-12    1.455192E-11    2.678272E-12              9.00000E+100
+         73  traj.phases.phase0.continuity_comp.defect_states:x                    e   2.678272E-12    0.000000E+00    2.678272E-12              9.00000E+100
          74  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          75  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          76  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1398,7 +1395,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          81  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          82  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          83  traj.phases.phase0.continuity_comp.defect_states:y                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.continuity_comp.defect_states:y                    e   8.235664E-12    2.910383E-11    8.235664E-12              9.00000E+100
+         84  traj.phases.phase0.continuity_comp.defect_states:y                    e   8.235664E-12    0.000000E+00    8.235664E-12              9.00000E+100
          85  traj.phases.phase0.continuity_comp.defect_states:vx                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          86  traj.phases.phase0.continuity_comp.defect_states:vx                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          87  traj.phases.phase0.continuity_comp.defect_states:vx                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1432,28 +1429,28 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
         115  traj.phases.phase0.continuity_comp.defect_states:m                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         116  traj.phases.phase0.continuity_comp.defect_states:m                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         117  traj.phases.phase0.continuity_comp.defect_states:m                    e  -8.952838E-13   -1.818989E-12   -8.952838E-13              9.00000E+100
-        118  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    2.669709E-15    0.000000E+00              9.00000E+100
-        119  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -2.421364E-15    0.000000E+00              9.00000E+100
-        120  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    4.043367E-15    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -5.339418E-15    0.000000E+00              9.00000E+100
-        122  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -5.184202E-15    0.000000E+00              9.00000E+100
-        123  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    1.179639E-15    0.000000E+00              9.00000E+100
-        124  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    8.567903E-15    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -2.669709E-15    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    3.476830E-15    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -4.966900E-16    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+        118  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    6.643229E-15    0.000000E+00              9.00000E+100
+        119  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    2.918054E-15    0.000000E+00              9.00000E+100
+        120  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    4.656469E-17    0.000000E+00              9.00000E+100
+        121  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    6.674272E-15    0.000000E+00              9.00000E+100
+        122  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -3.849348E-15    0.000000E+00              9.00000E+100
+        123  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    2.514493E-15    0.000000E+00              9.00000E+100
+        124  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    5.587763E-16    0.000000E+00              9.00000E+100
+        125  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    3.973520E-15    0.000000E+00              9.00000E+100
+        126  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -7.450350E-16    0.000000E+00              9.00000E+100
+        127  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -1.490070E-15    0.000000E+00              9.00000E+100
+        128  traj.phases.phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -9.933801E-16    0.000000E+00              9.00000E+100
         129  traj.phases.phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.084202E-17   -2.220446E-16   -1.084202E-17              9.00000E+100
-        131  traj.phases.phase0.continuity_comp.defect_controls:theta              e   1.912421E-16    2.806768E-16    1.912421E-16              9.00000E+100
-        132  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.765881E-16   -3.366401E-16   -1.765881E-16              9.00000E+100
-        133  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -2.446836E-17    4.612403E-17   -2.446836E-17              9.00000E+100
+        130  traj.phases.phase0.continuity_comp.defect_controls:theta              e   2.168404E-17    0.000000E+00    2.168404E-17              9.00000E+100
+        131  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -4.065758E-17    0.000000E+00   -4.065758E-17              9.00000E+100
+        132  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -9.867569E-17   -1.145955E-16   -9.867569E-17              9.00000E+100
+        133  traj.phases.phase0.continuity_comp.defect_controls:theta              e   9.729643E-18   -4.612403E-17    9.729643E-18              9.00000E+100
         134  traj.phases.phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         135  traj.phases.phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-        136  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.117248E-16   -2.220446E-16   -1.117248E-16              9.00000E+100
+        136  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.314346E-16   -2.220446E-16   -1.314346E-16              9.00000E+100
         137  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -6.505213E-17    0.000000E+00   -6.505213E-17              9.00000E+100
-        138  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -3.718373E-17   -9.847259E-18   -3.718373E-17              9.00000E+100
-        139  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.734723E-16   -1.717376E-16   -1.734723E-16              9.00000E+100
+        138  traj.phases.phase0.continuity_comp.defect_controls:theta              e   3.964971E-16    4.342420E-16    3.964971E-16              9.00000E+100
+        139  traj.phases.phase0.continuity_comp.defect_controls:theta              e  -1.734723E-16   -1.734723E-16   -1.734723E-16              9.00000E+100
 
 
    Exit Status
@@ -1531,7 +1528,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 </div>
 </details>
 <div class="cell_output docutils container">
-<img alt="../../_images/a3077c43d22245e22e4a69b35ce76ef5376bc0367fbb11144329b3b009ec7f81.png" src="../../_images/a3077c43d22245e22e4a69b35ce76ef5376bc0367fbb11144329b3b009ec7f81.png" />
+<img alt="../../_images/6bddfef869183961f6d2efd130451a1dd920edaa9fdb1ccf15b3cb423ab6f463.png" src="../../_images/6bddfef869183961f6d2efd130451a1dd920edaa9fdb1ccf15b3cb423ab6f463.png" />
 </div>
 </div>
 </section>
diff --git a/examples/ssto_moon_linear_tangent/ssto_moon_linear_tangent.html b/examples/ssto_moon_linear_tangent/ssto_moon_linear_tangent.html
index 404c725f3..f4417d65f 100644
--- a/examples/ssto_moon_linear_tangent/ssto_moon_linear_tangent.html
+++ b/examples/ssto_moon_linear_tangent/ssto_moon_linear_tangent.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -892,17 +893,19 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.098215 seconds.
-Total jacobian shape: (103, 103) 
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.121605 seconds.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Jacobian shape: (103, 103)  ( 9.98% nonzero)
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Total jacobian shape: (103, 103) 
+
+
+Jacobian shape: (103, 103)  ( 9.93% nonzero)
 FWD solves: 14   REV solves: 0
 Total colors vs. total size: 14 vs 103  (86.4% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.098215 sec.
-Time to compute coloring: 0.108161 sec.
+Time to compute sparsity: 0.121605 sec.
+Time to compute coloring: 0.132835 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -912,11 +915,11 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    0.1050
-       User Objective Time :       0.0141
-       User Sensitivity Time :     0.0440
-       Interface Time :            0.0218
-       Opt Solver Time:            0.0252
+    Total Time:                    0.1314
+       User Objective Time :       0.0154
+       User Sensitivity Time :     0.0607
+       Interface Time :            0.0276
+       Opt Solver Time:            0.0277
     Calls to Objective Function :       6
     Calls to Sens Function :            5
 
@@ -1036,86 +1039,86 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;y        e   1.850000E+05    1.850000E+05    1.850000E+05              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vx       e   1.627000E+03    1.627000E+03    1.627000E+03              9.00000E+100
           2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vy       e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    8.557009E-14    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.026841E-12    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.422804E-13    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.053682E-12    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-12    0.000000E+00              9.00000E+100
           7  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.422804E-12    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-12    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-12    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.095297E-11    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.642946E-11    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.369121E-11    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.476486E-12    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.464419E-11    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.476486E-12    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.285892E-11    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.476486E-12    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.833540E-11    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.738243E-12    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.738243E-12    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    4.107364E-12    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -4.107364E-12    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-11    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.464419E-11    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.916770E-11    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.476486E-12    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.642946E-11    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.833540E-11    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.024134E-11    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    9.310026E-11    0.000000E+00              9.00000E+100
          21  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          22  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.738243E-11    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.369121E-12    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -1.711402E-13    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -3.422804E-13    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -1.369121E-12    0.000000E+00              9.00000E+100
          28  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.369121E-12    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    5.476486E-12    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -2.738243E-12    0.000000E+00              9.00000E+100
          30  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.369121E-12    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -8.214729E-12    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -1.095297E-11    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.642946E-11    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    8.214729E-12    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -8.214729E-12    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
+         34  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.916770E-11    0.000000E+00              9.00000E+100
          35  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    2.738243E-11    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    1.095297E-11    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -4.107364E-12    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -2.601331E-11    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -4.928837E-11    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    8.488553E-11    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.604439E-14    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -1.069626E-14    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    4.278505E-14    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -2.139252E-14    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    3.285892E-11    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -5.476486E-11    0.000000E+00              9.00000E+100
+         38  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    7.119432E-11    0.000000E+00              9.00000E+100
+         39  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -5.887222E-11    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    9.446938E-11    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00   -4.655013E-11    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:y     e   0.000000E+00    8.574123E-11    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -5.348131E-15    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.604439E-14    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -6.417757E-14    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    3.208878E-14    0.000000E+00              9.00000E+100
          47  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -3.208878E-14    0.000000E+00              9.00000E+100
          48  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    5.348131E-14    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -1.711402E-13    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    5.348131E-14    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -3.208878E-14    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.069626E-13    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -8.557009E-14    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.069626E-13    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    6.417757E-14    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -6.417757E-14    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -3.850654E-13    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.925327E-13    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    4.064579E-13    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -6.952570E-13    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    2.460140E-13    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -2.139252E-14    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.069626E-14    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    5.348131E-14    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    1.069626E-14    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    1.069626E-14    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    9.626635E-14    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    6.952570E-14    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.818364E-13    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    9.626635E-14    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    6.685163E-14    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    6.150350E-14    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    1.176589E-13    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.604439E-13    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    8.557009E-14    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    1.283551E-13    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -6.417757E-14    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -2.139252E-14    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    6.417757E-14    0.000000E+00              9.00000E+100
+         49  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    7.487383E-14    0.000000E+00              9.00000E+100
+         50  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -1.711402E-13    0.000000E+00              9.00000E+100
+         51  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -1.069626E-14    0.000000E+00              9.00000E+100
+         52  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.497477E-13    0.000000E+00              9.00000E+100
+         53  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -6.417757E-14    0.000000E+00              9.00000E+100
+         54  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    8.557009E-14    0.000000E+00              9.00000E+100
+         55  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -2.139252E-13    0.000000E+00              9.00000E+100
+         56  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    1.925327E-13    0.000000E+00              9.00000E+100
+         57  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    6.417757E-14    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -2.353178E-13    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    3.850654E-13    0.000000E+00              9.00000E+100
+         60  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -7.059533E-13    0.000000E+00              9.00000E+100
+         61  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00    2.781028E-13    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:vx    e   0.000000E+00   -2.139252E-14    0.000000E+00              9.00000E+100
+         63  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.069626E-14    0.000000E+00              9.00000E+100
+         64  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -5.348131E-14    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.069626E-14    0.000000E+00              9.00000E+100
+         66  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -4.278505E-14    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    8.557009E-14    0.000000E+00              9.00000E+100
+         68  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -9.626635E-14    0.000000E+00              9.00000E+100
+         69  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    2.139252E-14    0.000000E+00              9.00000E+100
+         70  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    1.176589E-13    0.000000E+00              9.00000E+100
+         71  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.497477E-13    0.000000E+00              9.00000E+100
+         72  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    4.813318E-14    0.000000E+00              9.00000E+100
+         73  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    3.208878E-14    0.000000E+00              9.00000E+100
+         74  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.871846E-13    0.000000E+00              9.00000E+100
+         75  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         76  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    8.022196E-14    0.000000E+00              9.00000E+100
+         77  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    2.139252E-14    0.000000E+00              9.00000E+100
+         78  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    4.278505E-14    0.000000E+00              9.00000E+100
+         79  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00   -1.176589E-13    0.000000E+00              9.00000E+100
+         80  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    2.139252E-14    0.000000E+00              9.00000E+100
+         81  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    2.139252E-14    0.000000E+00              9.00000E+100
+         82  traj.phases.phase0.collocation_constraint.defects:vy    e   0.000000E+00    4.278505E-14    0.000000E+00              9.00000E+100
          83  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.957416E-12    0.000000E+00              9.00000E+100
          84  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.259351E-11    0.000000E+00              9.00000E+100
          85  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    2.015176E-11    0.000000E+00              9.00000E+100
@@ -1130,11 +1133,11 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
          94  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.965438E-12    0.000000E+00              9.00000E+100
          95  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -7.137080E-12    0.000000E+00              9.00000E+100
          96  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.957416E-12    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.105325E-11    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.259351E-11    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.680650E-12    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.259351E-11    0.000000E+00              9.00000E+100
-        101  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.957416E-12    0.000000E+00              9.00000E+100
+         97  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -3.499015E-12    0.000000E+00              9.00000E+100
+         98  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.957416E-12    0.000000E+00              9.00000E+100
+         99  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.390514E-13    0.000000E+00              9.00000E+100
+        100  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00    1.957416E-12    0.000000E+00              9.00000E+100
+        101  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.259351E-11    0.000000E+00              9.00000E+100
         102  traj.phases.phase0.collocation_constraint.defects:m     e   0.000000E+00   -1.259351E-11    0.000000E+00              9.00000E+100
 
 
@@ -1233,7 +1236,7 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 </div>
 </details>
 <div class="cell_output docutils container">
-<img alt="../../_images/ef02b3bcc02176ab38b0e2464bd39bc00bf46e1e304504771df1d7e5198e0faf.png" src="../../_images/ef02b3bcc02176ab38b0e2464bd39bc00bf46e1e304504771df1d7e5198e0faf.png" />
+<img alt="../../_images/6ae91595b1da88aa6078368ff2101975ad5116aaec7b33660272914e16fb3ccb.png" src="../../_images/6ae91595b1da88aa6078368ff2101975ad5116aaec7b33660272914e16fb3ccb.png" />
 </div>
 </div>
 </section>
diff --git a/examples/ssto_moon_polynomial_controls/ssto_moon_polynomial_controls.html b/examples/ssto_moon_polynomial_controls/ssto_moon_polynomial_controls.html
index 96c9e957f..ea347ccc7 100644
--- a/examples/ssto_moon_polynomial_controls/ssto_moon_polynomial_controls.html
+++ b/examples/ssto_moon_polynomial_controls/ssto_moon_polynomial_controls.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -884,12 +885,12 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 Total colors vs. total size: 1 vs 80  (98.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.006087 sec.
-Time to compute coloring: 0.012730 sec.
+Time to compute sparsity: 0.007641 sec.
+Time to compute coloring: 0.013481 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.310963 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.329464 seconds.
 Total jacobian shape: (303, 398) 
 </pre></div>
 </div>
@@ -898,8 +899,8 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 Total colors vs. total size: 10 vs 398  (97.5% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.310963 sec.
-Time to compute coloring: 0.434687 sec.
+Time to compute sparsity: 0.329464 sec.
+Time to compute coloring: 0.470713 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -909,11 +910,11 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    1.6814
-       User Objective Time :       0.0144
-       User Sensitivity Time :     0.0630
-       Interface Time :            0.1268
-       Opt Solver Time:            1.4773
+    Total Time:                    1.8417
+       User Objective Time :       0.0162
+       User Sensitivity Time :     0.0685
+       Interface Time :            0.1304
+       Opt Solver Time:            1.6265
     Calls to Objective Function :       6
     Calls to Sens Function :            5
 
@@ -1328,306 +1329,306 @@ <h2>Solving the problem<a class="headerlink" href="#solving-the-problem" title="
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;y        e   1.850000E+05    1.850000E+05    1.850000E+05              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vx       e   1.627000E+03    1.627000E+03    1.627000E+03              9.00000E+100
           2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;vy       e   0.000000E+00   -2.646978E-23    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.136868E-13    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.557009E-14    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.497477E-13    0.000000E+00              9.00000E+100
           5  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-13    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.567103E-13    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.422804E-13    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.711402E-13    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.567103E-13    0.000000E+00              9.00000E+100
+          7  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    7.701308E-13    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.557009E-13    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    8.557009E-13    0.000000E+00              9.00000E+100
          10  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.197981E-12    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.422804E-13    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.422804E-13    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.845607E-13    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -7.530168E-12    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.395963E-12    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    4.449645E-12    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-12    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    4.107364E-12    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-12    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    6.845607E-12    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.095297E-11    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.845607E-13    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -2.738243E-12    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.161047E-12    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.464419E-11    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    2.738243E-12    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    1.369121E-11    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -9.583850E-12    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -6.845607E-12    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.148979E-11    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    9.583850E-12    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.476486E-11    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.095297E-11    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-11    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.476486E-12    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.012067E-11    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.012067E-11    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.369121E-12    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.081606E-10    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.012067E-11    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    7.119432E-11    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    5.476486E-12    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.833540E-11    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -4.381189E-11    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -8.214729E-12    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.559716E-11    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -7.119432E-11    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -3.559716E-11    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -5.476486E-12    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00   -1.533416E-10    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:x     e   0.000000E+00    3.012067E-11    0.000000E+00              9.00000E+100
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diff --git a/examples/vanderpol/vanderpol.html b/examples/vanderpol/vanderpol.html
index 12a847bb6..6bf72ef99 100644
--- a/examples/vanderpol/vanderpol.html
+++ b/examples/vanderpol/vanderpol.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -499,16 +500,16 @@ <h2> Contents </h2>
   <section class="tex2jax_ignore mathjax_ignore" id="the-van-der-pol-oscillator">
 <h1>The Van der Pol Oscillator<a class="headerlink" href="#the-van-der-pol-oscillator" title="Permalink to this heading">#</a></h1>
 <p>In dynamics, the Van Der Pol oscillator <span id="id1">[<a class="reference internal" href="#id23" title="Wikipedia contributors. Van der pol oscillator — Wikipedia, the free encyclopedia. 2020. [Online; accessed 12-June-2020]. URL: https://en.wikipedia.org/w/index.php?title=Van_der_Pol_oscillator&amp;oldid=953857769.">Wikipediacontributors20</a>]</span> is a non-conservative oscillator with non-linear damping. It evolves in time according to the second-order differential equation:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-0ac7c369-1a57-4b12-9bc5-0d6357aa7f7d">
-<span class="eqno">(16)<a class="headerlink" href="#equation-0ac7c369-1a57-4b12-9bc5-0d6357aa7f7d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-cbff9151-a668-4a34-9d5b-c9d88ff6027a">
+<span class="eqno">(16)<a class="headerlink" href="#equation-cbff9151-a668-4a34-9d5b-c9d88ff6027a" title="Permalink to this equation">#</a></span>\[\begin{align}
     \frac{d^2x}{dt^2} - u (1 - x^2) \frac{dx}{dt} + x &amp;= 0
 \end{align}\]</div>
 <p>where <span class="math notranslate nohighlight">\(x\)</span> is the position coordinate (a function of the time <span class="math notranslate nohighlight">\(t\)</span>), and <span class="math notranslate nohighlight">\(u\)</span> is a scalar parameter
 indicating the nonlinearity and the strength of the damping.</p>
 <p>To make this an optimal control problem, we want to find the smallest control that will dampen the oscillation
 (drive the state variables to zero). We can express this as an objective function <span class="math notranslate nohighlight">\(J\)</span> to minimize:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-15802092-a1cf-4828-8cf0-eda042af54c1">
-<span class="eqno">(17)<a class="headerlink" href="#equation-15802092-a1cf-4828-8cf0-eda042af54c1" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-85aa82e6-f3de-4ade-ad54-4186788a0b9a">
+<span class="eqno">(17)<a class="headerlink" href="#equation-85aa82e6-f3de-4ade-ad54-4186788a0b9a" title="Permalink to this equation">#</a></span>\[\begin{align}
     J &amp;= \int x^2_0 + x^2_1 + u^2
 \end{align}\]</div>
 <p>In other words, we want to find the optimal (smallest) trajectory of the control <span class="math notranslate nohighlight">\(u\)</span> such that the oscillation
@@ -527,8 +528,8 @@ <h2>State Variables<a class="headerlink" href="#state-variables" title="Permalin
 <section id="system-dynamics">
 <h2>System Dynamics<a class="headerlink" href="#system-dynamics" title="Permalink to this heading">#</a></h2>
 <p>The evolution of the state variables is given by the following ordinary differential equations (ODE):</p>
-<div class="amsmath math notranslate nohighlight" id="equation-80529423-25c3-4fcd-a4d9-21d0e53b6fcc">
-<span class="eqno">(18)<a class="headerlink" href="#equation-80529423-25c3-4fcd-a4d9-21d0e53b6fcc" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-5315015e-8061-4292-8b0a-31a79bff5656">
+<span class="eqno">(18)<a class="headerlink" href="#equation-5315015e-8061-4292-8b0a-31a79bff5656" title="Permalink to this equation">#</a></span>\[\begin{align}
     \frac{dx_0}{dt} &amp;= (1 - x^2_1) x_0 - x_1 + u \\
     \frac{dx_1}{dt} &amp;= x_0 \\
     \frac{dJ}{dt} &amp;= x^2_0 + x^2_1 + u^2
@@ -545,16 +546,16 @@ <h2>Control Variables<a class="headerlink" href="#control-variables" title="Perm
 <section id="the-initial-and-final-conditions">
 <h2>The initial and final conditions<a class="headerlink" href="#the-initial-and-final-conditions" title="Permalink to this heading">#</a></h2>
 <p>The initial conditions are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9fed9012-a318-46e5-bf11-f0a68f38c30a">
-<span class="eqno">(19)<a class="headerlink" href="#equation-9fed9012-a318-46e5-bf11-f0a68f38c30a" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-b2be7591-c21e-46ca-b4b7-6b69bb058e4e">
+<span class="eqno">(19)<a class="headerlink" href="#equation-b2be7591-c21e-46ca-b4b7-6b69bb058e4e" title="Permalink to this equation">#</a></span>\[\begin{align}
     t_i &amp;= 0 \\
     x_{0i} &amp;= 1 \\
     x_{1i} &amp;= 1 \\
       u_i &amp;= -0.75
 \end{align}\]</div>
 <p>The final conditions are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-e1df16a7-584a-44f8-9c6d-25985e2ef380">
-<span class="eqno">(20)<a class="headerlink" href="#equation-e1df16a7-584a-44f8-9c6d-25985e2ef380" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-e54662aa-085f-4027-8a4e-09966d2cb0a6">
+<span class="eqno">(20)<a class="headerlink" href="#equation-e54662aa-085f-4027-8a4e-09966d2cb0a6" title="Permalink to this equation">#</a></span>\[\begin{align}
     t_f &amp;= 10 \\
     x_{0f} &amp;= 0 \\
     x_{1f} &amp;= 0 \\
@@ -1104,7 +1105,7 @@ <h2>Solving the Optimal Control Problem<a class="headerlink" href="#solving-the-
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.185368 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.237276 seconds.
 Total jacobian shape: (60, 130) 
 
 
@@ -1113,8 +1114,8 @@ <h2>Solving the Optimal Control Problem<a class="headerlink" href="#solving-the-
 Total colors vs. total size: 5 vs 60  (91.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.185368 sec.
-Time to compute coloring: 0.066823 sec.
+Time to compute sparsity: 0.237276 sec.
+Time to compute coloring: 0.083644 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1145,7 +1146,7 @@ <h2>Solving the Optimal Control Problem<a class="headerlink" href="#solving-the-
                                    (scaled)                 (unscaled)
 Objective...............:   2.8794727905908775e+00    2.8794727905908775e+00
 Dual infeasibility......:   3.5078177584857428e-09    3.5078177584857428e-09
-Constraint violation....:   4.0245584642661925e-15    4.0245584642661925e-15
+Constraint violation....:   3.6082248300317588e-15    3.6082248300317588e-15
 Variable bound violation:   9.8074164345263171e-09    9.8074164345263171e-09
 Complementarity.........:   1.0000000000000001e-11    1.0000000000000001e-11
 Overall NLP error.......:   3.5078177584857428e-09    3.5078177584857428e-09
@@ -1158,7 +1159,7 @@ <h2>Solving the Optimal Control Problem<a class="headerlink" href="#solving-the-
 Number of equality constraint Jacobian evaluations   = 35
 Number of inequality constraint Jacobian evaluations = 0
 Number of Lagrangian Hessian evaluations             = 0
-Total seconds in IPOPT                               = 0.725
+Total seconds in IPOPT                               = 0.822
 
 EXIT: Optimal Solution Found.
 </pre></div>
@@ -1331,7 +1332,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.181299 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.224246 seconds.
 Total jacobian shape: (60, 74) 
 
 
@@ -1340,8 +1341,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 9 vs 74  (87.8% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.181299 sec.
-Time to compute coloring: 0.052347 sec.
+Time to compute sparsity: 0.224246 sec.
+Time to compute coloring: 0.058737 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1389,7 +1390,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 /usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/load_case.py:171: OpenMDAOWarning:phase0.states:x1 specifies &#39;fix_final=True&#39;. If the given restart file has a different final value this will overwrite the user-specified value
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.328031 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.444169 seconds.
 Total jacobian shape: (105, 149) 
 
 
@@ -1398,8 +1399,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 14 vs 149  (90.6% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.328031 sec.
-Time to compute coloring: 0.098197 sec.
+Time to compute sparsity: 0.444169 sec.
+Time to compute coloring: 0.116201 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1448,7 +1449,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 /usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/load_case.py:171: OpenMDAOWarning:phase0.states:x1 specifies &#39;fix_final=True&#39;. If the given restart file has a different final value this will overwrite the user-specified value
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.506436 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.638065 seconds.
 Total jacobian shape: (147, 209) 
 
 
@@ -1457,8 +1458,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 14 vs 209  (93.3% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.506436 sec.
-Time to compute coloring: 0.145086 sec.
+Time to compute sparsity: 0.638065 sec.
+Time to compute coloring: 0.175448 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1565,7 +1566,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.819223 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.007390 seconds.
 Total jacobian shape: (215, 314) 
 </pre></div>
 </div>
@@ -1574,8 +1575,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 33 vs 215  (84.7% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.819223 sec.
-Time to compute coloring: 0.241106 sec.
+Time to compute sparsity: 1.007390 sec.
+Time to compute coloring: 0.274864 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1687,7 +1688,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.018673 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.296836 seconds.
 Total jacobian shape: (258, 384) 
 </pre></div>
 </div>
@@ -1696,8 +1697,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 33 vs 258  (87.2% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 1.018673 sec.
-Time to compute coloring: 0.313936 sec.
+Time to compute sparsity: 1.296836 sec.
+Time to compute coloring: 0.351991 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -1739,7 +1740,9 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
         None
 
 Model viewer data has already been recorded for Driver.
-Model viewer data has already been recorded for Driver.
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/dymos/load_case.py:171: OpenMDAOWarning:phase0.states:x0 specifies &#39;fix_final=True&#39;. If the given restart file has a different final value this will overwrite the user-specified value
@@ -1810,7 +1813,7 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.961300 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 1.312402 seconds.
 Total jacobian shape: (261, 389) 
 </pre></div>
 </div>
@@ -1819,8 +1822,8 @@ <h2>Solving the Optimal Control Problem with Grid Refinement<a class="headerlink
 Total colors vs. total size: 33 vs 261  (87.4% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.961300 sec.
-Time to compute coloring: 0.290745 sec.
+Time to compute sparsity: 1.312402 sec.
+Time to compute coloring: 0.351244 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
diff --git a/examples/water_rocket/water_rocket.html b/examples/water_rocket/water_rocket.html
index 1ca4d3b91..7cb1792d1 100644
--- a/examples/water_rocket/water_rocket.html
+++ b/examples/water_rocket/water_rocket.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -580,8 +581,8 @@ <h2>Problem Formulation<a class="headerlink" href="#problem-formulation" title="
 This means that the volume available for water and air is fixed, the initial launch pressure is limited by the bottle’s strength (since the pressure is directly related to the energy available for the rocket, it is easy to see that it should be as high as possible) and the nozzle throat area is also fixed.
 Given these manufacturing constraints, the design variables we are left with are the empty mass (it can be easily changed through adding ballast), the water volume at the launch, and the launch angle.
 With this considerations in mind, a natural formulation for the water rocket problem is</p>
-<div class="amsmath math notranslate nohighlight" id="equation-bf07c62a-ad31-47a5-bb08-7828c3732878">
-<span class="eqno">(84)<a class="headerlink" href="#equation-bf07c62a-ad31-47a5-bb08-7828c3732878" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c32743e6-02fa-4e48-b245-7252ec8c517e">
+<span class="eqno">(84)<a class="headerlink" href="#equation-c32743e6-02fa-4e48-b245-7252ec8c517e" title="Permalink to this equation">#</a></span>\[\begin{align}
     \text{maximize}   &amp;\quad \text{range or height} \\
     \text{w.r.t.}     &amp;\quad \text{empty mass, initial water volume, launch angle, trajectory} \\
     \text{subject to} &amp;\quad \text{flight dynamics} \\
@@ -1124,8 +1125,8 @@ <h3>Constitutive equations of the water engine model<a class="headerlink" href="
 </div>
 <p>The <code class="docutils literal notranslate"><span class="pre">_MassAdder</span></code> component calculates the rocket’s instantaneous mass by
 summing the water mass with the rockets empty mass, i.e.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-d81cd375-c47b-4bbc-8195-09a83701d5ce">
-<span class="eqno">(85)<a class="headerlink" href="#equation-d81cd375-c47b-4bbc-8195-09a83701d5ce" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-5abacad0-396c-4261-af36-f0bb0cb4a92f">
+<span class="eqno">(85)<a class="headerlink" href="#equation-5abacad0-396c-4261-af36-f0bb0cb4a92f" title="Permalink to this equation">#</a></span>\[\begin{align}
     m = m_\text{empty}+\rho_w V_w
 \end{align}\]</div>
 <div class="cell tag_remove-input docutils container">
@@ -2144,7 +2145,7 @@ <h2>Optimizing for Height<a class="headerlink" href="#optimizing-for-height" tit
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 3.003171 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 3.214947 seconds.
 Total jacobian shape: (1151, 1153) 
 </pre></div>
 </div>
@@ -2153,8 +2154,8 @@ <h2>Optimizing for Height<a class="headerlink" href="#optimizing-for-height" tit
 Total colors vs. total size: 19 vs 1153  (98.4% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 3.003171 sec.
-Time to compute coloring: 3.091387 sec.
+Time to compute sparsity: 3.214947 sec.
+Time to compute coloring: 3.174705 sec.
 Memory to compute coloring: -10.003906 MB.
 </pre></div>
 </div>
@@ -2182,25 +2183,25 @@ <h2>Optimizing for Height<a class="headerlink" href="#optimizing-for-height" tit
         inequality constraints with only upper bounds:        0
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Number of Iterations....: 68
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Number of Iterations....: 65
 
                                    (scaled)                 (unscaled)
-Objective...............:  -5.3410009265756244e+01   -5.3410009265756244e+01
-Dual infeasibility......:   2.3028838878059733e-09    2.3028838878059733e-09
-Constraint violation....:   3.7373031211358573e-09    3.7373031211358573e-09
-Variable bound violation:   9.9501401562562819e-09    9.9501401562562819e-09
-Complementarity.........:   9.0909100926725939e-10    9.0909100926725939e-10
-Overall NLP error.......:   3.7373031211358573e-09    3.7373031211358573e-09
+Objective...............:  -5.3410009756644861e+01   -5.3410009756644861e+01
+Dual infeasibility......:   5.5554040253767164e-09    5.5554040253767164e-09
+Constraint violation....:   3.9390509456566029e-10    3.9390509456566029e-10
+Variable bound violation:   9.9501400452339794e-09    9.9501400452339794e-09
+Complementarity.........:   9.0909090909091686e-10    9.0909090909091686e-10
+Overall NLP error.......:   5.5554040253767164e-09    5.5554040253767164e-09
 
 
-Number of objective function evaluations             = 78
-Number of objective gradient evaluations             = 69
-Number of equality constraint evaluations            = 78
+Number of objective function evaluations             = 72
+Number of objective gradient evaluations             = 66
+Number of equality constraint evaluations            = 72
 Number of inequality constraint evaluations          = 0
-Number of equality constraint Jacobian evaluations   = 69
+Number of equality constraint Jacobian evaluations   = 66
 Number of inequality constraint Jacobian evaluations = 0
 Number of Lagrangian Hessian evaluations             = 0
-Total seconds in IPOPT                               = 10.756
+Total seconds in IPOPT                               = 11.559
 
 EXIT: Optimal Solution Found.
 </pre></div>
@@ -2315,7 +2316,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 3.193428 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 3.227971 seconds.
 Total jacobian shape: (1151, 1153) 
 </pre></div>
 </div>
@@ -2324,8 +2325,8 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
 Total colors vs. total size: 19 vs 1153  (98.4% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 3.193428 sec.
-Time to compute coloring: 2.886559 sec.
+Time to compute sparsity: 3.227971 sec.
+Time to compute coloring: 3.056258 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -2353,25 +2354,25 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         inequality constraints with only upper bounds:        0
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Number of Iterations....: 61
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Number of Iterations....: 58
 
                                    (scaled)                 (unscaled)
-Objective...............:  -8.5114202486268098e-01   -8.5114202486268098e-01
-Dual infeasibility......:   2.8116438924773114e-11    2.8116438924773114e-11
-Constraint violation....:   4.7349843040578162e-10    4.7349843040578162e-10
+Objective...............:  -8.5114201180998994e-01   -8.5114201180998994e-01
+Dual infeasibility......:   5.2003146580603676e-11    5.2003146580603676e-11
+Constraint violation....:   6.0021813700645409e-09    6.0021813700645409e-09
 Variable bound violation:   0.0000000000000000e+00    0.0000000000000000e+00
-Complementarity.........:   9.0909090909090941e-10    9.0909090909090941e-10
-Overall NLP error.......:   9.0909090909090941e-10    9.0909090909090941e-10
+Complementarity.........:   2.5059035596800622e-09    2.5059035596800622e-09
+Overall NLP error.......:   6.0021813700645409e-09    6.0021813700645409e-09
 
 
-Number of objective function evaluations             = 77
-Number of objective gradient evaluations             = 62
-Number of equality constraint evaluations            = 77
+Number of objective function evaluations             = 75
+Number of objective gradient evaluations             = 59
+Number of equality constraint evaluations            = 75
 Number of inequality constraint evaluations          = 0
-Number of equality constraint Jacobian evaluations   = 62
+Number of equality constraint Jacobian evaluations   = 59
 Number of inequality constraint Jacobian evaluations = 0
 Number of Lagrangian Hessian evaluations             = 0
-Total seconds in IPOPT                               = 10.156
+Total seconds in IPOPT                               = 10.814
 
 EXIT: Optimal Solution Found.
 
@@ -2382,13 +2383,13 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   10.1580
-       User Objective Time :       0.3887
-       User Sensitivity Time :     6.7957
-       Interface Time :            1.8458
-       Opt Solver Time:            1.1277
-    Calls to Objective Function :      77
-    Calls to Sens Function :           62
+    Total Time:                   10.8166
+       User Objective Time :       0.4562
+       User Sensitivity Time :     7.1659
+       Interface Time :            1.9306
+       Opt Solver Time:            1.2638
+    Calls to Objective Function :      75
+    Calls to Sens Function :           59
 
 
    Objectives
@@ -2400,16 +2401,16 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
           0  traj.parameters:m_empty_0                                     c     1.000000E-02     1.891000E+00     1.000000E+01           
           1  traj.propelled_ascent.t_duration_0                            c     1.000000E-02     1.125768E+00     5.000000E+00           
           2  traj.phases.propelled_ascent.indep_states.states:r_0          c    -1.000000E+19     1.330997E-06     1.000000E+19           
-          3  traj.phases.propelled_ascent.indep_states.states:r_1          c    -1.000000E+19     5.716945E-06     1.000000E+19           
-          4  traj.phases.propelled_ascent.indep_states.states:r_2          c    -1.000000E+19     7.720812E-06     1.000000E+19           
+          3  traj.phases.propelled_ascent.indep_states.states:r_1          c    -1.000000E+19     5.716946E-06     1.000000E+19           
+          4  traj.phases.propelled_ascent.indep_states.states:r_2          c    -1.000000E+19     7.720813E-06     1.000000E+19           
           5  traj.phases.propelled_ascent.indep_states.states:r_3          c    -1.000000E+19     1.344606E-05     1.000000E+19           
-          6  traj.phases.propelled_ascent.indep_states.states:r_4          c    -1.000000E+19     2.391667E-05     1.000000E+19           
+          6  traj.phases.propelled_ascent.indep_states.states:r_4          c    -1.000000E+19     2.391668E-05     1.000000E+19           
           7  traj.phases.propelled_ascent.indep_states.states:r_5          c    -1.000000E+19     2.785109E-05     1.000000E+19           
           8  traj.phases.propelled_ascent.indep_states.states:r_6          c    -1.000000E+19     3.798260E-05     1.000000E+19           
           9  traj.phases.propelled_ascent.indep_states.states:r_7          c    -1.000000E+19     5.452132E-05     1.000000E+19           
          10  traj.phases.propelled_ascent.indep_states.states:r_8          c    -1.000000E+19     6.037277E-05     1.000000E+19           
          11  traj.phases.propelled_ascent.indep_states.states:r_9          c    -1.000000E+19     7.488703E-05     1.000000E+19           
-         12  traj.phases.propelled_ascent.indep_states.states:r_10         c    -1.000000E+19     9.745635E-05     1.000000E+19           
+         12  traj.phases.propelled_ascent.indep_states.states:r_10         c    -1.000000E+19     9.745636E-05     1.000000E+19           
          13  traj.phases.propelled_ascent.indep_states.states:r_11         c    -1.000000E+19     1.052123E-04     1.000000E+19           
          14  traj.phases.propelled_ascent.indep_states.states:r_12         c    -1.000000E+19     1.240801E-04     1.000000E+19           
          15  traj.phases.propelled_ascent.indep_states.states:r_13         c    -1.000000E+19     1.526391E-04     1.000000E+19           
@@ -2417,15 +2418,15 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
          17  traj.phases.propelled_ascent.indep_states.states:r_15         c    -1.000000E+19     1.854788E-04     1.000000E+19           
          18  traj.phases.propelled_ascent.indep_states.states:r_16         c    -1.000000E+19     2.199883E-04     1.000000E+19           
          19  traj.phases.propelled_ascent.indep_states.states:r_17         c    -1.000000E+19     2.315154E-04     1.000000E+19           
-         20  traj.phases.propelled_ascent.indep_states.states:r_18         c    -1.000000E+19     2.590047E-04     1.000000E+19           
+         20  traj.phases.propelled_ascent.indep_states.states:r_18         c    -1.000000E+19     2.590048E-04     1.000000E+19           
          21  traj.phases.propelled_ascent.indep_states.states:r_19         c    -1.000000E+19     2.994291E-04     1.000000E+19           
          22  traj.phases.propelled_ascent.indep_states.states:r_20         c    -1.000000E+19     3.128249E-04     1.000000E+19           
          23  traj.phases.propelled_ascent.indep_states.states:r_21         c    -1.000000E+19     3.445875E-04     1.000000E+19           
-         24  traj.phases.propelled_ascent.indep_states.states:r_22         c    -1.000000E+19     3.908955E-04     1.000000E+19           
+         24  traj.phases.propelled_ascent.indep_states.states:r_22         c    -1.000000E+19     3.908956E-04     1.000000E+19           
          25  traj.phases.propelled_ascent.indep_states.states:r_23         c    -1.000000E+19     4.061506E-04     1.000000E+19           
-         26  traj.phases.propelled_ascent.indep_states.states:r_24         c    -1.000000E+19     4.421659E-04     1.000000E+19           
+         26  traj.phases.propelled_ascent.indep_states.states:r_24         c    -1.000000E+19     4.421660E-04     1.000000E+19           
          27  traj.phases.propelled_ascent.indep_states.states:r_25         c    -1.000000E+19     4.943314E-04     1.000000E+19           
-         28  traj.phases.propelled_ascent.indep_states.states:r_26         c    -1.000000E+19     5.114379E-04     1.000000E+19           
+         28  traj.phases.propelled_ascent.indep_states.states:r_26         c    -1.000000E+19     5.114380E-04     1.000000E+19           
          29  traj.phases.propelled_ascent.indep_states.states:r_27         c    -1.000000E+19     5.516891E-04     1.000000E+19           
          30  traj.phases.propelled_ascent.indep_states.states:r_28         c    -1.000000E+19     6.096908E-04     1.000000E+19           
          31  traj.phases.propelled_ascent.indep_states.states:r_29         c    -1.000000E+19     6.286426E-04     1.000000E+19           
@@ -2434,8 +2435,8 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
          34  traj.phases.propelled_ascent.indep_states.states:r_32         c    -1.000000E+19     7.577307E-04     1.000000E+19           
          35  traj.phases.propelled_ascent.indep_states.states:r_33         c    -1.000000E+19     8.064174E-04     1.000000E+19           
          36  traj.phases.propelled_ascent.indep_states.states:r_34         c    -1.000000E+19     8.760483E-04     1.000000E+19           
-         37  traj.phases.propelled_ascent.indep_states.states:r_35         c    -1.000000E+19     8.986786E-04     1.000000E+19           
-         38  traj.phases.propelled_ascent.indep_states.states:r_36         c    -1.000000E+19     9.515725E-04     1.000000E+19           
+         37  traj.phases.propelled_ascent.indep_states.states:r_35         c    -1.000000E+19     8.986787E-04     1.000000E+19           
+         38  traj.phases.propelled_ascent.indep_states.states:r_36         c    -1.000000E+19     9.515726E-04     1.000000E+19           
          39  traj.phases.propelled_ascent.indep_states.states:r_37         c    -1.000000E+19     1.027007E-03     1.000000E+19           
          40  traj.phases.propelled_ascent.indep_states.states:r_38         c    -1.000000E+19     1.051473E-03     1.000000E+19           
          41  traj.phases.propelled_ascent.indep_states.states:r_39         c    -1.000000E+19     1.108572E-03     1.000000E+19           
@@ -2464,19 +2465,19 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
          64  traj.phases.propelled_ascent.indep_states.states:r_62         c    -1.000000E+19     2.702148E-03     1.000000E+19           
          65  traj.phases.propelled_ascent.indep_states.states:r_63         c    -1.000000E+19     2.793250E-03     1.000000E+19           
          66  traj.phases.propelled_ascent.indep_states.states:r_64         c    -1.000000E+19     2.921484E-03     1.000000E+19           
-         67  traj.phases.propelled_ascent.indep_states.states:r_65         c    -1.000000E+19     2.962682E-03     1.000000E+19           
+         67  traj.phases.propelled_ascent.indep_states.states:r_65         c    -1.000000E+19     2.962683E-03     1.000000E+19           
          68  traj.phases.propelled_ascent.indep_states.states:r_66         c    -1.000000E+19     3.058137E-03     1.000000E+19           
          69  traj.phases.propelled_ascent.indep_states.states:r_67         c    -1.000000E+19     3.192396E-03     1.000000E+19           
          70  traj.phases.propelled_ascent.indep_states.states:r_68         c    -1.000000E+19     3.235507E-03     1.000000E+19           
-         71  traj.phases.propelled_ascent.indep_states.states:r_69         c    -1.000000E+19     3.335349E-03     1.000000E+19           
+         71  traj.phases.propelled_ascent.indep_states.states:r_69         c    -1.000000E+19     3.335350E-03     1.000000E+19           
          72  traj.phases.propelled_ascent.indep_states.states:r_70         c    -1.000000E+19     3.475687E-03     1.000000E+19           
          73  traj.phases.propelled_ascent.indep_states.states:r_71         c    -1.000000E+19     3.520727E-03     1.000000E+19           
          74  traj.phases.propelled_ascent.indep_states.states:r_72         c    -1.000000E+19     3.624998E-03     1.000000E+19           
          75  traj.phases.propelled_ascent.indep_states.states:r_73         c    -1.000000E+19     3.771472E-03     1.000000E+19           
-         76  traj.phases.propelled_ascent.indep_states.states:r_74         c    -1.000000E+19     3.818460E-03     1.000000E+19           
+         76  traj.phases.propelled_ascent.indep_states.states:r_74         c    -1.000000E+19     3.818461E-03     1.000000E+19           
          77  traj.phases.propelled_ascent.indep_states.states:r_75         c    -1.000000E+19     3.927206E-03     1.000000E+19           
          78  traj.phases.propelled_ascent.indep_states.states:r_76         c    -1.000000E+19     4.079880E-03     1.000000E+19           
-         79  traj.phases.propelled_ascent.indep_states.states:r_77         c    -1.000000E+19     4.128838E-03     1.000000E+19           
+         79  traj.phases.propelled_ascent.indep_states.states:r_77         c    -1.000000E+19     4.128839E-03     1.000000E+19           
          80  traj.phases.propelled_ascent.indep_states.states:r_78         c    -1.000000E+19     4.242107E-03     1.000000E+19           
          81  traj.phases.propelled_ascent.indep_states.states:r_79         c    -1.000000E+19     4.401054E-03     1.000000E+19           
          82  traj.phases.propelled_ascent.indep_states.states:r_80         c    -1.000000E+19     4.452006E-03     1.000000E+19           
@@ -2489,37 +2490,37 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
          89  traj.phases.propelled_ascent.indep_states.states:r_87         c    -1.000000E+19     5.264550E-03     1.000000E+19           
          90  traj.phases.propelled_ascent.indep_states.states:r_88         c    -1.000000E+19     5.442818E-03     1.000000E+19           
          91  traj.phases.propelled_ascent.indep_states.states:r_89         c    -1.000000E+19     5.499913E-03     1.000000E+19           
-         92  traj.phases.propelled_ascent.indep_states.states:r_90         c    -1.000000E+19     5.631879E-03     1.000000E+19           
+         92  traj.phases.propelled_ascent.indep_states.states:r_90         c    -1.000000E+19     5.631880E-03     1.000000E+19           
          93  traj.phases.propelled_ascent.indep_states.states:r_91         c    -1.000000E+19     5.816783E-03     1.000000E+19           
          94  traj.phases.propelled_ascent.indep_states.states:r_92         c    -1.000000E+19     5.875989E-03     1.000000E+19           
          95  traj.phases.propelled_ascent.indep_states.states:r_93         c    -1.000000E+19     6.012811E-03     1.000000E+19           
          96  traj.phases.propelled_ascent.indep_states.states:r_94         c    -1.000000E+19     6.204463E-03     1.000000E+19           
-         97  traj.phases.propelled_ascent.indep_states.states:r_95         c    -1.000000E+19     6.265816E-03     1.000000E+19           
-         98  traj.phases.propelled_ascent.indep_states.states:r_96         c    -1.000000E+19     6.407579E-03     1.000000E+19           
+         97  traj.phases.propelled_ascent.indep_states.states:r_95         c    -1.000000E+19     6.265817E-03     1.000000E+19           
+         98  traj.phases.propelled_ascent.indep_states.states:r_96         c    -1.000000E+19     6.407580E-03     1.000000E+19           
          99  traj.phases.propelled_ascent.indep_states.states:r_97         c    -1.000000E+19     6.606102E-03     1.000000E+19           
         100  traj.phases.propelled_ascent.indep_states.states:r_98         c    -1.000000E+19     6.669644E-03     1.000000E+19           
         101  traj.phases.propelled_ascent.indep_states.states:r_99         c    -1.000000E+19     6.816441E-03     1.000000E+19           
         102  traj.phases.propelled_ascent.indep_states.states:r_100        c    -1.000000E+19     7.021969E-03     1.000000E+19           
-        103  traj.phases.propelled_ascent.indep_states.states:r_101        c    -1.000000E+19     7.087741E-03     1.000000E+19           
-        104  traj.phases.propelled_ascent.indep_states.states:r_102        c    -1.000000E+19     7.239675E-03     1.000000E+19           
+        103  traj.phases.propelled_ascent.indep_states.states:r_101        c    -1.000000E+19     7.087742E-03     1.000000E+19           
+        104  traj.phases.propelled_ascent.indep_states.states:r_102        c    -1.000000E+19     7.239676E-03     1.000000E+19           
         105  traj.phases.propelled_ascent.indep_states.states:r_103        c    -1.000000E+19     7.452354E-03     1.000000E+19           
-        106  traj.phases.propelled_ascent.indep_states.states:r_104        c    -1.000000E+19     7.520405E-03     1.000000E+19           
-        107  traj.phases.propelled_ascent.indep_states.states:r_105        c    -1.000000E+19     7.677587E-03     1.000000E+19           
-        108  traj.phases.propelled_ascent.indep_states.states:r_106        c    -1.000000E+19     7.897575E-03     1.000000E+19           
+        106  traj.phases.propelled_ascent.indep_states.states:r_104        c    -1.000000E+19     7.520406E-03     1.000000E+19           
+        107  traj.phases.propelled_ascent.indep_states.states:r_105        c    -1.000000E+19     7.677588E-03     1.000000E+19           
+        108  traj.phases.propelled_ascent.indep_states.states:r_106        c    -1.000000E+19     7.897576E-03     1.000000E+19           
         109  traj.phases.propelled_ascent.indep_states.states:r_107        c    -1.000000E+19     7.967958E-03     1.000000E+19           
         110  traj.phases.propelled_ascent.indep_states.states:r_108        c    -1.000000E+19     8.130509E-03     1.000000E+19           
-        111  traj.phases.propelled_ascent.indep_states.states:r_109        c    -1.000000E+19     8.357980E-03     1.000000E+19           
+        111  traj.phases.propelled_ascent.indep_states.states:r_109        c    -1.000000E+19     8.357981E-03     1.000000E+19           
         112  traj.phases.propelled_ascent.indep_states.states:r_110        c    -1.000000E+19     8.430750E-03     1.000000E+19           
         113  traj.phases.propelled_ascent.indep_states.states:r_111        c    -1.000000E+19     8.598803E-03     1.000000E+19           
         114  traj.phases.propelled_ascent.indep_states.states:r_112        c    -1.000000E+19     8.833948E-03     1.000000E+19           
         115  traj.phases.propelled_ascent.indep_states.states:r_113        c    -1.000000E+19     8.909167E-03     1.000000E+19           
-        116  traj.phases.propelled_ascent.indep_states.states:r_114        c    -1.000000E+19     9.082866E-03     1.000000E+19           
-        117  traj.phases.propelled_ascent.indep_states.states:r_115        c    -1.000000E+19     9.325893E-03     1.000000E+19           
-        118  traj.phases.propelled_ascent.indep_states.states:r_116        c    -1.000000E+19     9.403629E-03     1.000000E+19           
-        119  traj.phases.propelled_ascent.indep_states.states:r_117        c    -1.000000E+19     9.583134E-03     1.000000E+19           
-        120  traj.phases.propelled_ascent.indep_states.states:r_118        c    -1.000000E+19     9.834271E-03     1.000000E+19           
+        116  traj.phases.propelled_ascent.indep_states.states:r_114        c    -1.000000E+19     9.082867E-03     1.000000E+19           
+        117  traj.phases.propelled_ascent.indep_states.states:r_115        c    -1.000000E+19     9.325894E-03     1.000000E+19           
+        118  traj.phases.propelled_ascent.indep_states.states:r_116        c    -1.000000E+19     9.403630E-03     1.000000E+19           
+        119  traj.phases.propelled_ascent.indep_states.states:r_117        c    -1.000000E+19     9.583135E-03     1.000000E+19           
+        120  traj.phases.propelled_ascent.indep_states.states:r_118        c    -1.000000E+19     9.834272E-03     1.000000E+19           
         121  traj.phases.propelled_ascent.indep_states.states:r_119        c    -1.000000E+19     9.914599E-03     1.000000E+19           
-        122  traj.phases.propelled_ascent.indep_states.states:r_120        c    -1.000000E+19     1.010008E-02     1.000000E+19           
+        122  traj.phases.propelled_ascent.indep_states.states:r_120        c    -1.000000E+19     1.010009E-02     1.000000E+19           
         123  traj.phases.propelled_ascent.indep_states.states:r_121        c    -1.000000E+19     1.035958E-02     1.000000E+19           
         124  traj.phases.propelled_ascent.indep_states.states:r_122        c    -1.000000E+19     1.044258E-02     1.000000E+19           
         125  traj.phases.propelled_ascent.indep_states.states:r_123        c    -1.000000E+19     1.063424E-02     1.000000E+19           
@@ -2535,9 +2536,9 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         135  traj.phases.propelled_ascent.indep_states.states:r_133        c    -1.000000E+19     1.264211E-02     1.000000E+19           
         136  traj.phases.propelled_ascent.indep_states.states:r_134        c    -1.000000E+19     1.273682E-02     1.000000E+19           
         137  traj.phases.propelled_ascent.indep_states.states:r_135        c    -1.000000E+19     1.295555E-02     1.000000E+19           
-        138  traj.phases.propelled_ascent.indep_states.states:r_136        c    -1.000000E+19     1.326166E-02     1.000000E+19           
+        138  traj.phases.propelled_ascent.indep_states.states:r_136        c    -1.000000E+19     1.326167E-02     1.000000E+19           
         139  traj.phases.propelled_ascent.indep_states.states:r_137        c    -1.000000E+19     1.335961E-02     1.000000E+19           
-        140  traj.phases.propelled_ascent.indep_states.states:r_138        c    -1.000000E+19     1.358584E-02     1.000000E+19           
+        140  traj.phases.propelled_ascent.indep_states.states:r_138        c    -1.000000E+19     1.358585E-02     1.000000E+19           
         141  traj.phases.propelled_ascent.indep_states.states:r_139        c    -1.000000E+19     1.390253E-02     1.000000E+19           
         142  traj.phases.propelled_ascent.indep_states.states:r_140        c    -1.000000E+19     1.400388E-02     1.000000E+19           
         143  traj.phases.propelled_ascent.indep_states.states:r_141        c    -1.000000E+19     1.423799E-02     1.000000E+19           
@@ -2550,9 +2551,9 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         150  traj.phases.propelled_ascent.indep_states.states:r_148        c    -1.000000E+19     1.596458E-02     1.000000E+19           
         151  traj.phases.propelled_ascent.indep_states.states:r_149        c    -1.000000E+19     1.607730E-02     1.000000E+19           
         152  traj.phases.propelled_ascent.indep_states.states:h_0          c    -1.000000E+19     1.315315E-06     1.000000E+19           
-        153  traj.phases.propelled_ascent.indep_states.states:h_1          c    -1.000000E+19     5.534232E-06     1.000000E+19           
+        153  traj.phases.propelled_ascent.indep_states.states:h_1          c    -1.000000E+19     5.534233E-06     1.000000E+19           
         154  traj.phases.propelled_ascent.indep_states.states:h_2          c    -1.000000E+19     7.443465E-06     1.000000E+19           
-        155  traj.phases.propelled_ascent.indep_states.states:h_3          c    -1.000000E+19     1.281982E-05     1.000000E+19           
+        155  traj.phases.propelled_ascent.indep_states.states:h_3          c    -1.000000E+19     1.281983E-05     1.000000E+19           
         156  traj.phases.propelled_ascent.indep_states.states:h_4          c    -1.000000E+19     2.253520E-05     1.000000E+19           
         157  traj.phases.propelled_ascent.indep_states.states:h_5          c    -1.000000E+19     2.615917E-05     1.000000E+19           
         158  traj.phases.propelled_ascent.indep_states.states:h_6          c    -1.000000E+19     3.544309E-05     1.000000E+19           
@@ -2560,11 +2561,11 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         160  traj.phases.propelled_ascent.indep_states.states:h_8          c    -1.000000E+19     5.578283E-05     1.000000E+19           
         161  traj.phases.propelled_ascent.indep_states.states:h_9          c    -1.000000E+19     6.887315E-05     1.000000E+19           
         162  traj.phases.propelled_ascent.indep_states.states:h_10         c    -1.000000E+19     8.911905E-05     1.000000E+19           
-        163  traj.phases.propelled_ascent.indep_states.states:h_11         c    -1.000000E+19     9.605081E-05     1.000000E+19           
+        163  traj.phases.propelled_ascent.indep_states.states:h_11         c    -1.000000E+19     9.605082E-05     1.000000E+19           
         164  traj.phases.propelled_ascent.indep_states.states:h_12         c    -1.000000E+19     1.128671E-04     1.000000E+19           
         165  traj.phases.propelled_ascent.indep_states.states:h_13         c    -1.000000E+19     1.382131E-04     1.000000E+19           
         166  traj.phases.propelled_ascent.indep_states.states:h_14         c    -1.000000E+19     1.467497E-04     1.000000E+19           
-        167  traj.phases.propelled_ascent.indep_states.states:h_15         c    -1.000000E+19     1.672248E-04     1.000000E+19           
+        167  traj.phases.propelled_ascent.indep_states.states:h_15         c    -1.000000E+19     1.672249E-04     1.000000E+19           
         168  traj.phases.propelled_ascent.indep_states.states:h_16         c    -1.000000E+19     1.975847E-04     1.000000E+19           
         169  traj.phases.propelled_ascent.indep_states.states:h_17         c    -1.000000E+19     2.077003E-04     1.000000E+19           
         170  traj.phases.propelled_ascent.indep_states.states:h_18         c    -1.000000E+19     2.317775E-04     1.000000E+19           
@@ -2576,17 +2577,17 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         176  traj.phases.propelled_ascent.indep_states.states:h_24         c    -1.000000E+19     3.909110E-04     1.000000E+19           
         177  traj.phases.propelled_ascent.indep_states.states:h_25         c    -1.000000E+19     4.359126E-04     1.000000E+19           
         178  traj.phases.propelled_ascent.indep_states.states:h_26         c    -1.000000E+19     4.506447E-04     1.000000E+19           
-        179  traj.phases.propelled_ascent.indep_states.states:h_27         c    -1.000000E+19     4.852630E-04     1.000000E+19           
-        180  traj.phases.propelled_ascent.indep_states.states:h_28         c    -1.000000E+19     5.350427E-04     1.000000E+19           
+        179  traj.phases.propelled_ascent.indep_states.states:h_27         c    -1.000000E+19     4.852631E-04     1.000000E+19           
+        180  traj.phases.propelled_ascent.indep_states.states:h_28         c    -1.000000E+19     5.350428E-04     1.000000E+19           
         181  traj.phases.propelled_ascent.indep_states.states:h_29         c    -1.000000E+19     5.512829E-04     1.000000E+19           
         182  traj.phases.propelled_ascent.indep_states.states:h_30         c    -1.000000E+19     5.893475E-04     1.000000E+19           
         183  traj.phases.propelled_ascent.indep_states.states:h_31         c    -1.000000E+19     6.438669E-04     1.000000E+19           
         184  traj.phases.propelled_ascent.indep_states.states:h_32         c    -1.000000E+19     6.616037E-04     1.000000E+19           
         185  traj.phases.propelled_ascent.indep_states.states:h_33         c    -1.000000E+19     7.030896E-04     1.000000E+19           
-        186  traj.phases.propelled_ascent.indep_states.states:h_34         c    -1.000000E+19     7.623171E-04     1.000000E+19           
+        186  traj.phases.propelled_ascent.indep_states.states:h_34         c    -1.000000E+19     7.623172E-04     1.000000E+19           
         187  traj.phases.propelled_ascent.indep_states.states:h_35         c    -1.000000E+19     7.815412E-04     1.000000E+19           
         188  traj.phases.propelled_ascent.indep_states.states:h_36         c    -1.000000E+19     8.264281E-04     1.000000E+19           
-        189  traj.phases.propelled_ascent.indep_states.states:h_37         c    -1.000000E+19     8.903384E-04     1.000000E+19           
+        189  traj.phases.propelled_ascent.indep_states.states:h_37         c    -1.000000E+19     8.903385E-04     1.000000E+19           
         190  traj.phases.propelled_ascent.indep_states.states:h_38         c    -1.000000E+19     9.110424E-04     1.000000E+19           
         191  traj.phases.propelled_ascent.indep_states.states:h_39         c    -1.000000E+19     9.593144E-04     1.000000E+19           
         192  traj.phases.propelled_ascent.indep_states.states:h_40         c    -1.000000E+19     1.027888E-03     1.000000E+19           
@@ -2600,7 +2601,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         200  traj.phases.propelled_ascent.indep_states.states:h_48         c    -1.000000E+19     1.414948E-03     1.000000E+19           
         201  traj.phases.propelled_ascent.indep_states.states:h_49         c    -1.000000E+19     1.497449E-03     1.000000E+19           
         202  traj.phases.propelled_ascent.indep_states.states:h_50         c    -1.000000E+19     1.524034E-03     1.000000E+19           
-        203  traj.phases.propelled_ascent.indep_states.states:h_51         c    -1.000000E+19     1.585767E-03     1.000000E+19           
+        203  traj.phases.propelled_ascent.indep_states.states:h_51         c    -1.000000E+19     1.585768E-03     1.000000E+19           
         204  traj.phases.propelled_ascent.indep_states.states:h_52         c    -1.000000E+19     1.672908E-03     1.000000E+19           
         205  traj.phases.propelled_ascent.indep_states.states:h_53         c    -1.000000E+19     1.700962E-03     1.000000E+19           
         206  traj.phases.propelled_ascent.indep_states.states:h_54         c    -1.000000E+19     1.766060E-03     1.000000E+19           
@@ -2611,16 +2612,16 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         211  traj.phases.propelled_ascent.indep_states.states:h_59         c    -1.000000E+19     2.083288E-03     1.000000E+19           
         212  traj.phases.propelled_ascent.indep_states.states:h_60         c    -1.000000E+19     2.155140E-03     1.000000E+19           
         213  traj.phases.propelled_ascent.indep_states.states:h_61         c    -1.000000E+19     2.256259E-03     1.000000E+19           
-        214  traj.phases.propelled_ascent.indep_states.states:h_62         c    -1.000000E+19     2.288741E-03     1.000000E+19           
-        215  traj.phases.propelled_ascent.indep_states.states:h_63         c    -1.000000E+19     2.363990E-03     1.000000E+19           
+        214  traj.phases.propelled_ascent.indep_states.states:h_62         c    -1.000000E+19     2.288742E-03     1.000000E+19           
+        215  traj.phases.propelled_ascent.indep_states.states:h_63         c    -1.000000E+19     2.363991E-03     1.000000E+19           
         216  traj.phases.propelled_ascent.indep_states.states:h_64         c    -1.000000E+19     2.469806E-03     1.000000E+19           
         217  traj.phases.propelled_ascent.indep_states.states:h_65         c    -1.000000E+19     2.503777E-03     1.000000E+19           
-        218  traj.phases.propelled_ascent.indep_states.states:h_66         c    -1.000000E+19     2.582440E-03     1.000000E+19           
+        218  traj.phases.propelled_ascent.indep_states.states:h_66         c    -1.000000E+19     2.582441E-03     1.000000E+19           
         219  traj.phases.propelled_ascent.indep_states.states:h_67         c    -1.000000E+19     2.692979E-03     1.000000E+19           
         220  traj.phases.propelled_ascent.indep_states.states:h_68         c    -1.000000E+19     2.728448E-03     1.000000E+19           
         221  traj.phases.propelled_ascent.indep_states.states:h_69         c    -1.000000E+19     2.810547E-03     1.000000E+19           
         222  traj.phases.propelled_ascent.indep_states.states:h_70         c    -1.000000E+19     2.925841E-03     1.000000E+19           
-        223  traj.phases.propelled_ascent.indep_states.states:h_71         c    -1.000000E+19     2.962818E-03     1.000000E+19           
+        223  traj.phases.propelled_ascent.indep_states.states:h_71         c    -1.000000E+19     2.962819E-03     1.000000E+19           
         224  traj.phases.propelled_ascent.indep_states.states:h_72         c    -1.000000E+19     3.048379E-03     1.000000E+19           
         225  traj.phases.propelled_ascent.indep_states.states:h_73         c    -1.000000E+19     3.168465E-03     1.000000E+19           
         226  traj.phases.propelled_ascent.indep_states.states:h_74         c    -1.000000E+19     3.206964E-03     1.000000E+19           
@@ -2628,60 +2629,60 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         228  traj.phases.propelled_ascent.indep_states.states:h_76         c    -1.000000E+19     3.420936E-03     1.000000E+19           
         229  traj.phases.propelled_ascent.indep_states.states:h_77         c    -1.000000E+19     3.460970E-03     1.000000E+19           
         230  traj.phases.propelled_ascent.indep_states.states:h_78         c    -1.000000E+19     3.553545E-03     1.000000E+19           
-        231  traj.phases.propelled_ascent.indep_states.states:h_79         c    -1.000000E+19     3.683350E-03     1.000000E+19           
+        231  traj.phases.propelled_ascent.indep_states.states:h_79         c    -1.000000E+19     3.683351E-03     1.000000E+19           
         232  traj.phases.propelled_ascent.indep_states.states:h_80         c    -1.000000E+19     3.724935E-03     1.000000E+19           
-        233  traj.phases.propelled_ascent.indep_states.states:h_81         c    -1.000000E+19     3.821072E-03     1.000000E+19           
+        233  traj.phases.propelled_ascent.indep_states.states:h_81         c    -1.000000E+19     3.821073E-03     1.000000E+19           
         234  traj.phases.propelled_ascent.indep_states.states:h_82         c    -1.000000E+19     3.955816E-03     1.000000E+19           
         235  traj.phases.propelled_ascent.indep_states.states:h_83         c    -1.000000E+19     3.998970E-03     1.000000E+19           
-        236  traj.phases.propelled_ascent.indep_states.states:h_84         c    -1.000000E+19     4.098711E-03     1.000000E+19           
+        236  traj.phases.propelled_ascent.indep_states.states:h_84         c    -1.000000E+19     4.098712E-03     1.000000E+19           
         237  traj.phases.propelled_ascent.indep_states.states:h_85         c    -1.000000E+19     4.238455E-03     1.000000E+19           
-        238  traj.phases.propelled_ascent.indep_states.states:h_86         c    -1.000000E+19     4.283197E-03     1.000000E+19           
+        238  traj.phases.propelled_ascent.indep_states.states:h_86         c    -1.000000E+19     4.283198E-03     1.000000E+19           
         239  traj.phases.propelled_ascent.indep_states.states:h_87         c    -1.000000E+19     4.386590E-03     1.000000E+19           
         240  traj.phases.propelled_ascent.indep_states.states:h_88         c    -1.000000E+19     4.531400E-03     1.000000E+19           
         241  traj.phases.propelled_ascent.indep_states.states:h_89         c    -1.000000E+19     4.577754E-03     1.000000E+19           
-        242  traj.phases.propelled_ascent.indep_states.states:h_90         c    -1.000000E+19     4.684849E-03     1.000000E+19           
+        242  traj.phases.propelled_ascent.indep_states.states:h_90         c    -1.000000E+19     4.684850E-03     1.000000E+19           
         243  traj.phases.propelled_ascent.indep_states.states:h_91         c    -1.000000E+19     4.834802E-03     1.000000E+19           
-        244  traj.phases.propelled_ascent.indep_states.states:h_92         c    -1.000000E+19     4.882791E-03     1.000000E+19           
-        245  traj.phases.propelled_ascent.indep_states.states:h_93         c    -1.000000E+19     4.993647E-03     1.000000E+19           
-        246  traj.phases.propelled_ascent.indep_states.states:h_94         c    -1.000000E+19     5.148824E-03     1.000000E+19           
-        247  traj.phases.propelled_ascent.indep_states.states:h_95         c    -1.000000E+19     5.198476E-03     1.000000E+19           
+        244  traj.phases.propelled_ascent.indep_states.states:h_92         c    -1.000000E+19     4.882792E-03     1.000000E+19           
+        245  traj.phases.propelled_ascent.indep_states.states:h_93         c    -1.000000E+19     4.993648E-03     1.000000E+19           
+        246  traj.phases.propelled_ascent.indep_states.states:h_94         c    -1.000000E+19     5.148825E-03     1.000000E+19           
+        247  traj.phases.propelled_ascent.indep_states.states:h_95         c    -1.000000E+19     5.198477E-03     1.000000E+19           
         248  traj.phases.propelled_ascent.indep_states.states:h_96         c    -1.000000E+19     5.313156E-03     1.000000E+19           
-        249  traj.phases.propelled_ascent.indep_states.states:h_97         c    -1.000000E+19     5.473648E-03     1.000000E+19           
-        250  traj.phases.propelled_ascent.indep_states.states:h_98         c    -1.000000E+19     5.524992E-03     1.000000E+19           
-        251  traj.phases.propelled_ascent.indep_states.states:h_99         c    -1.000000E+19     5.643565E-03     1.000000E+19           
+        249  traj.phases.propelled_ascent.indep_states.states:h_97         c    -1.000000E+19     5.473649E-03     1.000000E+19           
+        250  traj.phases.propelled_ascent.indep_states.states:h_98         c    -1.000000E+19     5.524993E-03     1.000000E+19           
+        251  traj.phases.propelled_ascent.indep_states.states:h_99         c    -1.000000E+19     5.643566E-03     1.000000E+19           
         252  traj.phases.propelled_ascent.indep_states.states:h_100        c    -1.000000E+19     5.809473E-03     1.000000E+19           
-        253  traj.phases.propelled_ascent.indep_states.states:h_101        c    -1.000000E+19     5.862541E-03     1.000000E+19           
-        254  traj.phases.propelled_ascent.indep_states.states:h_102        c    -1.000000E+19     5.985083E-03     1.000000E+19           
-        255  traj.phases.propelled_ascent.indep_states.states:h_103        c    -1.000000E+19     6.156515E-03     1.000000E+19           
-        256  traj.phases.propelled_ascent.indep_states.states:h_104        c    -1.000000E+19     6.211344E-03     1.000000E+19           
-        257  traj.phases.propelled_ascent.indep_states.states:h_105        c    -1.000000E+19     6.337939E-03     1.000000E+19           
+        253  traj.phases.propelled_ascent.indep_states.states:h_101        c    -1.000000E+19     5.862542E-03     1.000000E+19           
+        254  traj.phases.propelled_ascent.indep_states.states:h_102        c    -1.000000E+19     5.985084E-03     1.000000E+19           
+        255  traj.phases.propelled_ascent.indep_states.states:h_103        c    -1.000000E+19     6.156516E-03     1.000000E+19           
+        256  traj.phases.propelled_ascent.indep_states.states:h_104        c    -1.000000E+19     6.211345E-03     1.000000E+19           
+        257  traj.phases.propelled_ascent.indep_states.states:h_105        c    -1.000000E+19     6.337940E-03     1.000000E+19           
         258  traj.phases.propelled_ascent.indep_states.states:h_106        c    -1.000000E+19     6.515016E-03     1.000000E+19           
-        259  traj.phases.propelled_ascent.indep_states.states:h_107        c    -1.000000E+19     6.571644E-03     1.000000E+19           
-        260  traj.phases.propelled_ascent.indep_states.states:h_108        c    -1.000000E+19     6.702384E-03     1.000000E+19           
+        259  traj.phases.propelled_ascent.indep_states.states:h_107        c    -1.000000E+19     6.571645E-03     1.000000E+19           
+        260  traj.phases.propelled_ascent.indep_states.states:h_108        c    -1.000000E+19     6.702385E-03     1.000000E+19           
         261  traj.phases.propelled_ascent.indep_states.states:h_109        c    -1.000000E+19     6.885237E-03     1.000000E+19           
         262  traj.phases.propelled_ascent.indep_states.states:h_110        c    -1.000000E+19     6.943708E-03     1.000000E+19           
-        263  traj.phases.propelled_ascent.indep_states.states:h_111        c    -1.000000E+19     7.078693E-03     1.000000E+19           
+        263  traj.phases.propelled_ascent.indep_states.states:h_111        c    -1.000000E+19     7.078694E-03     1.000000E+19           
         264  traj.phases.propelled_ascent.indep_states.states:h_112        c    -1.000000E+19     7.267467E-03     1.000000E+19           
         265  traj.phases.propelled_ascent.indep_states.states:h_113        c    -1.000000E+19     7.327827E-03     1.000000E+19           
         266  traj.phases.propelled_ascent.indep_states.states:h_114        c    -1.000000E+19     7.467169E-03     1.000000E+19           
         267  traj.phases.propelled_ascent.indep_states.states:h_115        c    -1.000000E+19     7.662022E-03     1.000000E+19           
         268  traj.phases.propelled_ascent.indep_states.states:h_116        c    -1.000000E+19     7.724324E-03     1.000000E+19           
         269  traj.phases.propelled_ascent.indep_states.states:h_117        c    -1.000000E+19     7.868144E-03     1.000000E+19           
-        270  traj.phases.propelled_ascent.indep_states.states:h_118        c    -1.000000E+19     8.069251E-03     1.000000E+19           
+        270  traj.phases.propelled_ascent.indep_states.states:h_118        c    -1.000000E+19     8.069252E-03     1.000000E+19           
         271  traj.phases.propelled_ascent.indep_states.states:h_119        c    -1.000000E+19     8.133552E-03     1.000000E+19           
         272  traj.phases.propelled_ascent.indep_states.states:h_120        c    -1.000000E+19     8.281984E-03     1.000000E+19           
         273  traj.phases.propelled_ascent.indep_states.states:h_121        c    -1.000000E+19     8.489540E-03     1.000000E+19           
         274  traj.phases.propelled_ascent.indep_states.states:h_122        c    -1.000000E+19     8.555902E-03     1.000000E+19           
-        275  traj.phases.propelled_ascent.indep_states.states:h_123        c    -1.000000E+19     8.709094E-03     1.000000E+19           
+        275  traj.phases.propelled_ascent.indep_states.states:h_123        c    -1.000000E+19     8.709095E-03     1.000000E+19           
         276  traj.phases.propelled_ascent.indep_states.states:h_124        c    -1.000000E+19     8.923312E-03     1.000000E+19           
-        277  traj.phases.propelled_ascent.indep_states.states:h_125        c    -1.000000E+19     8.991805E-03     1.000000E+19           
-        278  traj.phases.propelled_ascent.indep_states.states:h_126        c    -1.000000E+19     9.149922E-03     1.000000E+19           
+        277  traj.phases.propelled_ascent.indep_states.states:h_125        c    -1.000000E+19     8.991806E-03     1.000000E+19           
+        278  traj.phases.propelled_ascent.indep_states.states:h_126        c    -1.000000E+19     9.149923E-03     1.000000E+19           
         279  traj.phases.propelled_ascent.indep_states.states:h_127        c    -1.000000E+19     9.371038E-03     1.000000E+19           
         280  traj.phases.propelled_ascent.indep_states.states:h_128        c    -1.000000E+19     9.441741E-03     1.000000E+19           
         281  traj.phases.propelled_ascent.indep_states.states:h_129        c    -1.000000E+19     9.604965E-03     1.000000E+19           
         282  traj.phases.propelled_ascent.indep_states.states:h_130        c    -1.000000E+19     9.833242E-03     1.000000E+19           
-        283  traj.phases.propelled_ascent.indep_states.states:h_131        c    -1.000000E+19     9.906240E-03     1.000000E+19           
-        284  traj.phases.propelled_ascent.indep_states.states:h_132        c    -1.000000E+19     1.007477E-02     1.000000E+19           
+        283  traj.phases.propelled_ascent.indep_states.states:h_131        c    -1.000000E+19     9.906241E-03     1.000000E+19           
+        284  traj.phases.propelled_ascent.indep_states.states:h_132        c    -1.000000E+19     1.007478E-02     1.000000E+19           
         285  traj.phases.propelled_ascent.indep_states.states:h_133        c    -1.000000E+19     1.031051E-02     1.000000E+19           
         286  traj.phases.propelled_ascent.indep_states.states:h_134        c    -1.000000E+19     1.038590E-02     1.000000E+19           
         287  traj.phases.propelled_ascent.indep_states.states:h_135        c    -1.000000E+19     1.055997E-02     1.000000E+19           
@@ -2773,7 +2774,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         373  traj.phases.propelled_ascent.indep_states.states:gam_71       c     0.000000E+00     4.376695E-01     9.444444E-01           
         374  traj.phases.propelled_ascent.indep_states.states:gam_72       c     0.000000E+00     4.375686E-01     9.444444E-01           
         375  traj.phases.propelled_ascent.indep_states.states:gam_73       c     0.000000E+00     4.373399E-01     9.444444E-01           
-        376  traj.phases.propelled_ascent.indep_states.states:gam_74       c     0.000000E+00     4.370297E-01     9.444444E-01           
+        376  traj.phases.propelled_ascent.indep_states.states:gam_74       c     0.000000E+00     4.370298E-01     9.444444E-01           
         377  traj.phases.propelled_ascent.indep_states.states:gam_75       c     0.000000E+00     4.369329E-01     9.444444E-01           
         378  traj.phases.propelled_ascent.indep_states.states:gam_76       c     0.000000E+00     4.367132E-01     9.444444E-01           
         379  traj.phases.propelled_ascent.indep_states.states:gam_77       c     0.000000E+00     4.364152E-01     9.444444E-01           
@@ -2784,7 +2785,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         384  traj.phases.propelled_ascent.indep_states.states:gam_82       c     0.000000E+00     4.355313E-01     9.444444E-01           
         385  traj.phases.propelled_ascent.indep_states.states:gam_83       c     0.000000E+00     4.352552E-01     9.444444E-01           
         386  traj.phases.propelled_ascent.indep_states.states:gam_84       c     0.000000E+00     4.351689E-01     9.444444E-01           
-        387  traj.phases.propelled_ascent.indep_states.states:gam_85       c     0.000000E+00     4.349730E-01     9.444444E-01           
+        387  traj.phases.propelled_ascent.indep_states.states:gam_85       c     0.000000E+00     4.349731E-01     9.444444E-01           
         388  traj.phases.propelled_ascent.indep_states.states:gam_86       c     0.000000E+00     4.347069E-01     9.444444E-01           
         389  traj.phases.propelled_ascent.indep_states.states:gam_87       c     0.000000E+00     4.346237E-01     9.444444E-01           
         390  traj.phases.propelled_ascent.indep_states.states:gam_88       c     0.000000E+00     4.344348E-01     9.444444E-01           
@@ -2812,7 +2813,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         412  traj.phases.propelled_ascent.indep_states.states:gam_110      c     0.000000E+00     4.309431E-01     9.444444E-01           
         413  traj.phases.propelled_ascent.indep_states.states:gam_111      c     0.000000E+00     4.308796E-01     9.444444E-01           
         414  traj.phases.propelled_ascent.indep_states.states:gam_112      c     0.000000E+00     4.307353E-01     9.444444E-01           
-        415  traj.phases.propelled_ascent.indep_states.states:gam_113      c     0.000000E+00     4.305388E-01     9.444444E-01           
+        415  traj.phases.propelled_ascent.indep_states.states:gam_113      c     0.000000E+00     4.305389E-01     9.444444E-01           
         416  traj.phases.propelled_ascent.indep_states.states:gam_114      c     0.000000E+00     4.304773E-01     9.444444E-01           
         417  traj.phases.propelled_ascent.indep_states.states:gam_115      c     0.000000E+00     4.303376E-01     9.444444E-01           
         418  traj.phases.propelled_ascent.indep_states.states:gam_116      c     0.000000E+00     4.301473E-01     9.444444E-01           
@@ -2823,7 +2824,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         423  traj.phases.propelled_ascent.indep_states.states:gam_121      c     0.000000E+00     4.295792E-01     9.444444E-01           
         424  traj.phases.propelled_ascent.indep_states.states:gam_122      c     0.000000E+00     4.294007E-01     9.444444E-01           
         425  traj.phases.propelled_ascent.indep_states.states:gam_123      c     0.000000E+00     4.293448E-01     9.444444E-01           
-        426  traj.phases.propelled_ascent.indep_states.states:gam_124      c     0.000000E+00     4.292177E-01     9.444444E-01           
+        426  traj.phases.propelled_ascent.indep_states.states:gam_124      c     0.000000E+00     4.292178E-01     9.444444E-01           
         427  traj.phases.propelled_ascent.indep_states.states:gam_125      c     0.000000E+00     4.290448E-01     9.444444E-01           
         428  traj.phases.propelled_ascent.indep_states.states:gam_126      c     0.000000E+00     4.289907E-01     9.444444E-01           
         429  traj.phases.propelled_ascent.indep_states.states:gam_127      c     0.000000E+00     4.288676E-01     9.444444E-01           
@@ -2843,9 +2844,9 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         443  traj.phases.propelled_ascent.indep_states.states:gam_141      c     0.000000E+00     4.273817E-01     9.444444E-01           
         444  traj.phases.propelled_ascent.indep_states.states:gam_142      c     0.000000E+00     4.272772E-01     9.444444E-01           
         445  traj.phases.propelled_ascent.indep_states.states:gam_143      c     0.000000E+00     4.271350E-01     9.444444E-01           
-        446  traj.phases.propelled_ascent.indep_states.states:gam_144      c     0.000000E+00     4.270905E-01     9.444444E-01           
+        446  traj.phases.propelled_ascent.indep_states.states:gam_144      c     0.000000E+00     4.270906E-01     9.444444E-01           
         447  traj.phases.propelled_ascent.indep_states.states:gam_145      c     0.000000E+00     4.269896E-01     9.444444E-01           
-        448  traj.phases.propelled_ascent.indep_states.states:gam_146      c     0.000000E+00     4.268522E-01     9.444444E-01           
+        448  traj.phases.propelled_ascent.indep_states.states:gam_146      c     0.000000E+00     4.268523E-01     9.444444E-01           
         449  traj.phases.propelled_ascent.indep_states.states:gam_147      c     0.000000E+00     4.268093E-01     9.444444E-01           
         450  traj.phases.propelled_ascent.indep_states.states:gam_148      c     0.000000E+00     4.267118E-01     9.444444E-01           
         451  traj.phases.propelled_ascent.indep_states.states:gam_149      c     0.000000E+00     4.265792E-01     9.444444E-01           
@@ -2857,36 +2858,36 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         457  traj.phases.propelled_ascent.indep_states.states:v_4          c     1.000000E-04     1.475341E-02     1.000000E+19           
         458  traj.phases.propelled_ascent.indep_states.states:v_5          c     1.000000E-04     1.589113E-02     1.000000E+19           
         459  traj.phases.propelled_ascent.indep_states.states:v_6          c     1.000000E-04     1.848671E-02     1.000000E+19           
-        460  traj.phases.propelled_ascent.indep_states.states:v_7          c     1.000000E-04     2.204679E-02     1.000000E+19           
+        460  traj.phases.propelled_ascent.indep_states.states:v_7          c     1.000000E-04     2.204680E-02     1.000000E+19           
         461  traj.phases.propelled_ascent.indep_states.states:v_8          c     1.000000E-04     2.316862E-02     1.000000E+19           
         462  traj.phases.propelled_ascent.indep_states.states:v_9          c     1.000000E-04     2.572889E-02     1.000000E+19           
         463  traj.phases.propelled_ascent.indep_states.states:v_10         c     1.000000E-04     2.924275E-02     1.000000E+19           
         464  traj.phases.propelled_ascent.indep_states.states:v_11         c     1.000000E-04     3.035052E-02     1.000000E+19           
         465  traj.phases.propelled_ascent.indep_states.states:v_12         c     1.000000E-04     3.287966E-02     1.000000E+19           
         466  traj.phases.propelled_ascent.indep_states.states:v_13         c     1.000000E-04     3.635285E-02     1.000000E+19           
-        467  traj.phases.propelled_ascent.indep_states.states:v_14         c     1.000000E-04     3.744829E-02     1.000000E+19           
+        467  traj.phases.propelled_ascent.indep_states.states:v_14         c     1.000000E-04     3.744830E-02     1.000000E+19           
         468  traj.phases.propelled_ascent.indep_states.states:v_15         c     1.000000E-04     3.995015E-02     1.000000E+19           
         469  traj.phases.propelled_ascent.indep_states.states:v_16         c     1.000000E-04     4.338781E-02     1.000000E+19           
-        470  traj.phases.propelled_ascent.indep_states.states:v_17         c     1.000000E-04     4.447250E-02     1.000000E+19           
-        471  traj.phases.propelled_ascent.indep_states.states:v_18         c     1.000000E-04     4.695063E-02     1.000000E+19           
+        470  traj.phases.propelled_ascent.indep_states.states:v_17         c     1.000000E-04     4.447251E-02     1.000000E+19           
+        471  traj.phases.propelled_ascent.indep_states.states:v_18         c     1.000000E-04     4.695064E-02     1.000000E+19           
         472  traj.phases.propelled_ascent.indep_states.states:v_19         c     1.000000E-04     5.035753E-02     1.000000E+19           
         473  traj.phases.propelled_ascent.indep_states.states:v_20         c     1.000000E-04     5.143295E-02     1.000000E+19           
         474  traj.phases.propelled_ascent.indep_states.states:v_21         c     1.000000E-04     5.389067E-02     1.000000E+19           
         475  traj.phases.propelled_ascent.indep_states.states:v_22         c     1.000000E-04     5.727125E-02     1.000000E+19           
-        476  traj.phases.propelled_ascent.indep_states.states:v_23         c     1.000000E-04     5.833877E-02     1.000000E+19           
+        476  traj.phases.propelled_ascent.indep_states.states:v_23         c     1.000000E-04     5.833878E-02     1.000000E+19           
         477  traj.phases.propelled_ascent.indep_states.states:v_24         c     1.000000E-04     6.077919E-02     1.000000E+19           
         478  traj.phases.propelled_ascent.indep_states.states:v_25         c     1.000000E-04     6.413761E-02     1.000000E+19           
         479  traj.phases.propelled_ascent.indep_states.states:v_26         c     1.000000E-04     6.519854E-02     1.000000E+19           
         480  traj.phases.propelled_ascent.indep_states.states:v_27         c     1.000000E-04     6.762457E-02     1.000000E+19           
         481  traj.phases.propelled_ascent.indep_states.states:v_28         c     1.000000E-04     7.096478E-02     1.000000E+19           
-        482  traj.phases.propelled_ascent.indep_states.states:v_29         c     1.000000E-04     7.202033E-02     1.000000E+19           
+        482  traj.phases.propelled_ascent.indep_states.states:v_29         c     1.000000E-04     7.202034E-02     1.000000E+19           
         483  traj.phases.propelled_ascent.indep_states.states:v_30         c     1.000000E-04     7.443475E-02     1.000000E+19           
         484  traj.phases.propelled_ascent.indep_states.states:v_31         c     1.000000E-04     7.776050E-02     1.000000E+19           
         485  traj.phases.propelled_ascent.indep_states.states:v_32         c     1.000000E-04     7.881185E-02     1.000000E+19           
         486  traj.phases.propelled_ascent.indep_states.states:v_33         c     1.000000E-04     8.121730E-02     1.000000E+19           
         487  traj.phases.propelled_ascent.indep_states.states:v_34         c     1.000000E-04     8.453218E-02     1.000000E+19           
         488  traj.phases.propelled_ascent.indep_states.states:v_35         c     1.000000E-04     8.558044E-02     1.000000E+19           
-        489  traj.phases.propelled_ascent.indep_states.states:v_36         c     1.000000E-04     8.797946E-02     1.000000E+19           
+        489  traj.phases.propelled_ascent.indep_states.states:v_36         c     1.000000E-04     8.797947E-02     1.000000E+19           
         490  traj.phases.propelled_ascent.indep_states.states:v_37         c     1.000000E-04     9.128693E-02     1.000000E+19           
         491  traj.phases.propelled_ascent.indep_states.states:v_38         c     1.000000E-04     9.233319E-02     1.000000E+19           
         492  traj.phases.propelled_ascent.indep_states.states:v_39         c     1.000000E-04     9.472825E-02     1.000000E+19           
@@ -2925,7 +2926,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         525  traj.phases.propelled_ascent.indep_states.states:v_72         c     1.000000E-04     1.699812E-01     1.000000E+19           
         526  traj.phases.propelled_ascent.indep_states.states:v_73         c     1.000000E-04     1.734548E-01     1.000000E+19           
         527  traj.phases.propelled_ascent.indep_states.states:v_74         c     1.000000E-04     1.745577E-01     1.000000E+19           
-        528  traj.phases.propelled_ascent.indep_states.states:v_75         c     1.000000E-04     1.770900E-01     1.000000E+19           
+        528  traj.phases.propelled_ascent.indep_states.states:v_75         c     1.000000E-04     1.770901E-01     1.000000E+19           
         529  traj.phases.propelled_ascent.indep_states.states:v_76         c     1.000000E-04     1.806000E-01     1.000000E+19           
         530  traj.phases.propelled_ascent.indep_states.states:v_77         c     1.000000E-04     1.817149E-01     1.000000E+19           
         531  traj.phases.propelled_ascent.indep_states.states:v_78         c     1.000000E-04     1.842752E-01     1.000000E+19           
@@ -2966,7 +2967,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         566  traj.phases.propelled_ascent.indep_states.states:v_113        c     1.000000E-04     2.769564E-01     1.000000E+19           
         567  traj.phases.propelled_ascent.indep_states.states:v_114        c     1.000000E-04     2.801665E-01     1.000000E+19           
         568  traj.phases.propelled_ascent.indep_states.states:v_115        c     1.000000E-04     2.846486E-01     1.000000E+19           
-        569  traj.phases.propelled_ascent.indep_states.states:v_116        c     1.000000E-04     2.860803E-01     1.000000E+19           
+        569  traj.phases.propelled_ascent.indep_states.states:v_116        c     1.000000E-04     2.860804E-01     1.000000E+19           
         570  traj.phases.propelled_ascent.indep_states.states:v_117        c     1.000000E-04     2.893836E-01     1.000000E+19           
         571  traj.phases.propelled_ascent.indep_states.states:v_118        c     1.000000E-04     2.939997E-01     1.000000E+19           
         572  traj.phases.propelled_ascent.indep_states.states:v_119        c     1.000000E-04     2.954752E-01     1.000000E+19           
@@ -2979,7 +2980,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         579  traj.phases.propelled_ascent.indep_states.states:v_126        c     1.000000E-04     3.188373E-01     1.000000E+19           
         580  traj.phases.propelled_ascent.indep_states.states:v_127        c     1.000000E-04     3.239455E-01     1.000000E+19           
         581  traj.phases.propelled_ascent.indep_states.states:v_128        c     1.000000E-04     3.255820E-01     1.000000E+19           
-        582  traj.phases.propelled_ascent.indep_states.states:v_129        c     1.000000E-04     3.293665E-01     1.000000E+19           
+        582  traj.phases.propelled_ascent.indep_states.states:v_129        c     1.000000E-04     3.293666E-01     1.000000E+19           
         583  traj.phases.propelled_ascent.indep_states.states:v_130        c     1.000000E-04     3.346765E-01     1.000000E+19           
         584  traj.phases.propelled_ascent.indep_states.states:v_131        c     1.000000E-04     3.363792E-01     1.000000E+19           
         585  traj.phases.propelled_ascent.indep_states.states:v_132        c     1.000000E-04     3.403196E-01     1.000000E+19           
@@ -2996,7 +2997,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         596  traj.phases.propelled_ascent.indep_states.states:v_143        c     1.000000E-04     3.847429E-01     1.000000E+19           
         597  traj.phases.propelled_ascent.indep_states.states:v_144        c     1.000000E-04     3.895355E-01     1.000000E+19           
         598  traj.phases.propelled_ascent.indep_states.states:v_145        c     1.000000E-04     3.963136E-01     1.000000E+19           
-        599  traj.phases.propelled_ascent.indep_states.states:v_146        c     1.000000E-04     3.985006E-01     1.000000E+19           
+        599  traj.phases.propelled_ascent.indep_states.states:v_146        c     1.000000E-04     3.985007E-01     1.000000E+19           
         600  traj.phases.propelled_ascent.indep_states.states:v_147        c     1.000000E-04     4.035886E-01     1.000000E+19           
         601  traj.phases.propelled_ascent.indep_states.states:v_148        c     1.000000E-04     4.108009E-01     1.000000E+19           
         602  traj.phases.propelled_ascent.indep_states.states:v_149        c     1.000000E-04     4.131323E-01     1.000000E+19           
@@ -3027,14 +3028,14 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         627  traj.phases.propelled_ascent.indep_states.states:p_24         c     1.020000E+00     5.093479E+00     1.000000E+21           
         628  traj.phases.propelled_ascent.indep_states.states:p_25         c     1.020000E+00     5.033005E+00     1.000000E+21           
         629  traj.phases.propelled_ascent.indep_states.states:p_26         c     1.020000E+00     5.014231E+00     1.000000E+21           
-        630  traj.phases.propelled_ascent.indep_states.states:p_27         c     1.020000E+00     4.971881E+00     1.000000E+21           
+        630  traj.phases.propelled_ascent.indep_states.states:p_27         c     1.020000E+00     4.971880E+00     1.000000E+21           
         631  traj.phases.propelled_ascent.indep_states.states:p_28         c     1.020000E+00     4.914868E+00     1.000000E+21           
         632  traj.phases.propelled_ascent.indep_states.states:p_29         c     1.020000E+00     4.897157E+00     1.000000E+21           
         633  traj.phases.propelled_ascent.indep_states.states:p_30         c     1.020000E+00     4.857186E+00     1.000000E+21           
         634  traj.phases.propelled_ascent.indep_states.states:p_31         c     1.020000E+00     4.803335E+00     1.000000E+21           
         635  traj.phases.propelled_ascent.indep_states.states:p_32         c     1.020000E+00     4.786596E+00     1.000000E+21           
-        636  traj.phases.propelled_ascent.indep_states.states:p_33         c     1.020000E+00     4.748802E+00     1.000000E+21           
-        637  traj.phases.propelled_ascent.indep_states.states:p_34         c     1.020000E+00     4.697845E+00     1.000000E+21           
+        636  traj.phases.propelled_ascent.indep_states.states:p_33         c     1.020000E+00     4.748801E+00     1.000000E+21           
+        637  traj.phases.propelled_ascent.indep_states.states:p_34         c     1.020000E+00     4.697844E+00     1.000000E+21           
         638  traj.phases.propelled_ascent.indep_states.states:p_35         c     1.020000E+00     4.681996E+00     1.000000E+21           
         639  traj.phases.propelled_ascent.indep_states.states:p_36         c     1.020000E+00     4.646198E+00     1.000000E+21           
         640  traj.phases.propelled_ascent.indep_states.states:p_37         c     1.020000E+00     4.597899E+00     1.000000E+21           
@@ -3043,8 +3044,8 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         643  traj.phases.propelled_ascent.indep_states.states:p_40         c     1.020000E+00     4.503056E+00     1.000000E+21           
         644  traj.phases.propelled_ascent.indep_states.states:p_41         c     1.020000E+00     4.488781E+00     1.000000E+21           
         645  traj.phases.propelled_ascent.indep_states.states:p_42         c     1.020000E+00     4.456512E+00     1.000000E+21           
-        646  traj.phases.propelled_ascent.indep_states.states:p_43         c     1.020000E+00     4.412919E+00     1.000000E+21           
-        647  traj.phases.propelled_ascent.indep_states.states:p_44         c     1.020000E+00     4.399341E+00     1.000000E+21           
+        646  traj.phases.propelled_ascent.indep_states.states:p_43         c     1.020000E+00     4.412918E+00     1.000000E+21           
+        647  traj.phases.propelled_ascent.indep_states.states:p_44         c     1.020000E+00     4.399340E+00     1.000000E+21           
         648  traj.phases.propelled_ascent.indep_states.states:p_45         c     1.020000E+00     4.368635E+00     1.000000E+21           
         649  traj.phases.propelled_ascent.indep_states.states:p_46         c     1.020000E+00     4.327131E+00     1.000000E+21           
         650  traj.phases.propelled_ascent.indep_states.states:p_47         c     1.020000E+00     4.314198E+00     1.000000E+21           
@@ -3062,19 +3063,19 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         662  traj.phases.propelled_ascent.indep_states.states:p_59         c     1.020000E+00     4.010748E+00     1.000000E+21           
         663  traj.phases.propelled_ascent.indep_states.states:p_60         c     1.020000E+00     3.986338E+00     1.000000E+21           
         664  traj.phases.propelled_ascent.indep_states.states:p_61         c     1.020000E+00     3.953260E+00     1.000000E+21           
-        665  traj.phases.propelled_ascent.indep_states.states:p_62         c     1.020000E+00     3.942934E+00     1.000000E+21           
-        666  traj.phases.propelled_ascent.indep_states.states:p_63         c     1.020000E+00     3.919540E+00     1.000000E+21           
+        665  traj.phases.propelled_ascent.indep_states.states:p_62         c     1.020000E+00     3.942933E+00     1.000000E+21           
+        666  traj.phases.propelled_ascent.indep_states.states:p_63         c     1.020000E+00     3.919539E+00     1.000000E+21           
         667  traj.phases.propelled_ascent.indep_states.states:p_64         c     1.020000E+00     3.887825E+00     1.000000E+21           
         668  traj.phases.propelled_ascent.indep_states.states:p_65         c     1.020000E+00     3.877921E+00     1.000000E+21           
         669  traj.phases.propelled_ascent.indep_states.states:p_66         c     1.020000E+00     3.855479E+00     1.000000E+21           
-        670  traj.phases.propelled_ascent.indep_states.states:p_67         c     1.020000E+00     3.825043E+00     1.000000E+21           
+        670  traj.phases.propelled_ascent.indep_states.states:p_67         c     1.020000E+00     3.825042E+00     1.000000E+21           
         671  traj.phases.propelled_ascent.indep_states.states:p_68         c     1.020000E+00     3.815535E+00     1.000000E+21           
         672  traj.phases.propelled_ascent.indep_states.states:p_69         c     1.020000E+00     3.793985E+00     1.000000E+21           
         673  traj.phases.propelled_ascent.indep_states.states:p_70         c     1.020000E+00     3.764747E+00     1.000000E+21           
         674  traj.phases.propelled_ascent.indep_states.states:p_71         c     1.020000E+00     3.755611E+00     1.000000E+21           
-        675  traj.phases.propelled_ascent.indep_states.states:p_72         c     1.020000E+00     3.734900E+00     1.000000E+21           
+        675  traj.phases.propelled_ascent.indep_states.states:p_72         c     1.020000E+00     3.734899E+00     1.000000E+21           
         676  traj.phases.propelled_ascent.indep_states.states:p_73         c     1.020000E+00     3.706789E+00     1.000000E+21           
-        677  traj.phases.propelled_ascent.indep_states.states:p_74         c     1.020000E+00     3.698003E+00     1.000000E+21           
+        677  traj.phases.propelled_ascent.indep_states.states:p_74         c     1.020000E+00     3.698002E+00     1.000000E+21           
         678  traj.phases.propelled_ascent.indep_states.states:p_75         c     1.020000E+00     3.678079E+00     1.000000E+21           
         679  traj.phases.propelled_ascent.indep_states.states:p_76         c     1.020000E+00     3.651029E+00     1.000000E+21           
         680  traj.phases.propelled_ascent.indep_states.states:p_77         c     1.020000E+00     3.642571E+00     1.000000E+21           
@@ -3095,18 +3096,18 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         695  traj.phases.propelled_ascent.indep_states.states:p_92         c     1.020000E+00     3.393997E+00     1.000000E+21           
         696  traj.phases.propelled_ascent.indep_states.states:p_93         c     1.020000E+00     3.377953E+00     1.000000E+21           
         697  traj.phases.propelled_ascent.indep_states.states:p_94         c     1.020000E+00     3.356130E+00     1.000000E+21           
-        698  traj.phases.propelled_ascent.indep_states.states:p_95         c     1.020000E+00     3.349298E+00     1.000000E+21           
+        698  traj.phases.propelled_ascent.indep_states.states:p_95         c     1.020000E+00     3.349297E+00     1.000000E+21           
         699  traj.phases.propelled_ascent.indep_states.states:p_96         c     1.020000E+00     3.333785E+00     1.000000E+21           
         700  traj.phases.propelled_ascent.indep_states.states:p_97         c     1.020000E+00     3.312679E+00     1.000000E+21           
         701  traj.phases.propelled_ascent.indep_states.states:p_98         c     1.020000E+00     3.306069E+00     1.000000E+21           
         702  traj.phases.propelled_ascent.indep_states.states:p_99         c     1.020000E+00     3.291061E+00     1.000000E+21           
         703  traj.phases.propelled_ascent.indep_states.states:p_100        c     1.020000E+00     3.270636E+00     1.000000E+21           
-        704  traj.phases.propelled_ascent.indep_states.states:p_101        c     1.020000E+00     3.264239E+00     1.000000E+21           
+        704  traj.phases.propelled_ascent.indep_states.states:p_101        c     1.020000E+00     3.264238E+00     1.000000E+21           
         705  traj.phases.propelled_ascent.indep_states.states:p_102        c     1.020000E+00     3.249709E+00     1.000000E+21           
         706  traj.phases.propelled_ascent.indep_states.states:p_103        c     1.020000E+00     3.229931E+00     1.000000E+21           
         707  traj.phases.propelled_ascent.indep_states.states:p_104        c     1.020000E+00     3.223735E+00     1.000000E+21           
         708  traj.phases.propelled_ascent.indep_states.states:p_105        c     1.020000E+00     3.209662E+00     1.000000E+21           
-        709  traj.phases.propelled_ascent.indep_states.states:p_106        c     1.020000E+00     3.190500E+00     1.000000E+21           
+        709  traj.phases.propelled_ascent.indep_states.states:p_106        c     1.020000E+00     3.190499E+00     1.000000E+21           
         710  traj.phases.propelled_ascent.indep_states.states:p_107        c     1.020000E+00     3.184496E+00     1.000000E+21           
         711  traj.phases.propelled_ascent.indep_states.states:p_108        c     1.020000E+00     3.170856E+00     1.000000E+21           
         712  traj.phases.propelled_ascent.indep_states.states:p_109        c     1.020000E+00     3.152280E+00     1.000000E+21           
@@ -3122,7 +3123,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         722  traj.phases.propelled_ascent.indep_states.states:p_119        c     1.020000E+00     3.039018E+00     1.000000E+21           
         723  traj.phases.propelled_ascent.indep_states.states:p_120        c     1.020000E+00     3.026921E+00     1.000000E+21           
         724  traj.phases.propelled_ascent.indep_states.states:p_121        c     1.020000E+00     3.010433E+00     1.000000E+21           
-        725  traj.phases.propelled_ascent.indep_states.states:p_122        c     1.020000E+00     3.005263E+00     1.000000E+21           
+        725  traj.phases.propelled_ascent.indep_states.states:p_122        c     1.020000E+00     3.005262E+00     1.000000E+21           
         726  traj.phases.propelled_ascent.indep_states.states:p_123        c     1.020000E+00     2.993509E+00     1.000000E+21           
         727  traj.phases.propelled_ascent.indep_states.states:p_124        c     1.020000E+00     2.977485E+00     1.000000E+21           
         728  traj.phases.propelled_ascent.indep_states.states:p_125        c     1.020000E+00     2.972460E+00     1.000000E+21           
@@ -3144,7 +3145,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         744  traj.phases.propelled_ascent.indep_states.states:p_141        c     1.020000E+00     2.811406E+00     1.000000E+21           
         745  traj.phases.propelled_ascent.indep_states.states:p_142        c     1.020000E+00     2.797788E+00     1.000000E+21           
         746  traj.phases.propelled_ascent.indep_states.states:p_143        c     1.020000E+00     2.793514E+00     1.000000E+21           
-        747  traj.phases.propelled_ascent.indep_states.states:p_144        c     1.020000E+00     2.783791E+00     1.000000E+21           
+        747  traj.phases.propelled_ascent.indep_states.states:p_144        c     1.020000E+00     2.783790E+00     1.000000E+21           
         748  traj.phases.propelled_ascent.indep_states.states:p_145        c     1.020000E+00     2.770519E+00     1.000000E+21           
         749  traj.phases.propelled_ascent.indep_states.states:p_146        c     1.020000E+00     2.766353E+00     1.000000E+21           
         750  traj.phases.propelled_ascent.indep_states.states:p_147        c     1.020000E+00     2.756874E+00     1.000000E+21           
@@ -3165,12 +3166,12 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         765  traj.phases.propelled_ascent.indep_states.states:V_w_12       c     0.000000E+00     9.173323E-02     1.000000E+20           
         766  traj.phases.propelled_ascent.indep_states.states:V_w_13       c     0.000000E+00     9.080355E-02     1.000000E+20           
         767  traj.phases.propelled_ascent.indep_states.states:V_w_14       c     0.000000E+00     8.953021E-02     1.000000E+20           
-        768  traj.phases.propelled_ascent.indep_states.states:V_w_15       c     0.000000E+00     8.912943E-02     1.000000E+20           
+        768  traj.phases.propelled_ascent.indep_states.states:V_w_15       c     0.000000E+00     8.912944E-02     1.000000E+20           
         769  traj.phases.propelled_ascent.indep_states.states:V_w_16       c     0.000000E+00     8.821568E-02     1.000000E+20           
         770  traj.phases.propelled_ascent.indep_states.states:V_w_17       c     0.000000E+00     8.696384E-02     1.000000E+20           
-        771  traj.phases.propelled_ascent.indep_states.states:V_w_18       c     0.000000E+00     8.656975E-02     1.000000E+20           
-        772  traj.phases.propelled_ascent.indep_states.states:V_w_19       c     0.000000E+00     8.567113E-02     1.000000E+20           
-        773  traj.phases.propelled_ascent.indep_states.states:V_w_20       c     0.000000E+00     8.443973E-02     1.000000E+20           
+        771  traj.phases.propelled_ascent.indep_states.states:V_w_18       c     0.000000E+00     8.656976E-02     1.000000E+20           
+        772  traj.phases.propelled_ascent.indep_states.states:V_w_19       c     0.000000E+00     8.567114E-02     1.000000E+20           
+        773  traj.phases.propelled_ascent.indep_states.states:V_w_20       c     0.000000E+00     8.443974E-02     1.000000E+20           
         774  traj.phases.propelled_ascent.indep_states.states:V_w_21       c     0.000000E+00     8.405202E-02     1.000000E+20           
         775  traj.phases.propelled_ascent.indep_states.states:V_w_22       c     0.000000E+00     8.316781E-02     1.000000E+20           
         776  traj.phases.propelled_ascent.indep_states.states:V_w_23       c     0.000000E+00     8.195590E-02     1.000000E+20           
@@ -3227,7 +3228,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         827  traj.phases.propelled_ascent.indep_states.states:V_w_74       c     0.000000E+00     4.453218E-02     1.000000E+20           
         828  traj.phases.propelled_ascent.indep_states.states:V_w_75       c     0.000000E+00     4.422442E-02     1.000000E+20           
         829  traj.phases.propelled_ascent.indep_states.states:V_w_76       c     0.000000E+00     4.352156E-02     1.000000E+20           
-        830  traj.phases.propelled_ascent.indep_states.states:V_w_77       c     0.000000E+00     4.255603E-02     1.000000E+20           
+        830  traj.phases.propelled_ascent.indep_states.states:V_w_77       c     0.000000E+00     4.255604E-02     1.000000E+20           
         831  traj.phases.propelled_ascent.indep_states.states:V_w_78       c     0.000000E+00     4.225147E-02     1.000000E+20           
         832  traj.phases.propelled_ascent.indep_states.states:V_w_79       c     0.000000E+00     4.155589E-02     1.000000E+20           
         833  traj.phases.propelled_ascent.indep_states.states:V_w_80       c     0.000000E+00     4.060028E-02     1.000000E+20           
@@ -3304,7 +3305,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         904  traj.ballistic_ascent.t_duration_0                            c     1.000000E-03     1.928897E+00     1.000000E+01           
         905  traj.phases.ballistic_ascent.indep_states.states:r_0          c    -1.000000E+19     1.607730E-02     1.000000E+19           
         906  traj.phases.ballistic_ascent.indep_states.states:r_1          c    -1.000000E+19     3.795185E-02     1.000000E+19           
-        907  traj.phases.ballistic_ascent.indep_states.states:r_2          c    -1.000000E+19     6.718880E-02     1.000000E+19           
+        907  traj.phases.ballistic_ascent.indep_states.states:r_2          c    -1.000000E+19     6.718881E-02     1.000000E+19           
         908  traj.phases.ballistic_ascent.indep_states.states:r_3          c    -1.000000E+19     7.622754E-02     1.000000E+19           
         909  traj.phases.ballistic_ascent.indep_states.states:r_4          c    -1.000000E+19     9.655729E-02     1.000000E+19           
         910  traj.phases.ballistic_ascent.indep_states.states:r_5          c    -1.000000E+19     1.238134E-01     1.000000E+19           
@@ -3315,7 +3316,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         915  traj.phases.ballistic_ascent.indep_states.states:r_10         c    -1.000000E+19     2.027150E-01     1.000000E+19           
         916  traj.phases.ballistic_ascent.indep_states.states:r_11         c    -1.000000E+19     2.268502E-01     1.000000E+19           
         917  traj.phases.ballistic_ascent.indep_states.states:r_12         c    -1.000000E+19     2.343549E-01     1.000000E+19           
-        918  traj.phases.ballistic_ascent.indep_states.states:r_13         c    -1.000000E+19     2.513082E-01     1.000000E+19           
+        918  traj.phases.ballistic_ascent.indep_states.states:r_13         c    -1.000000E+19     2.513083E-01     1.000000E+19           
         919  traj.phases.ballistic_ascent.indep_states.states:r_14         c    -1.000000E+19     2.741939E-01     1.000000E+19           
         920  traj.phases.ballistic_ascent.indep_states.states:r_15         c    -1.000000E+19     2.813203E-01     1.000000E+19           
         921  traj.phases.ballistic_ascent.indep_states.states:r_16         c    -1.000000E+19     2.974359E-01     1.000000E+19           
@@ -3336,7 +3337,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         936  traj.phases.ballistic_ascent.indep_states.states:h_0          c    -1.000000E+19     1.303830E-02     1.000000E+19           
         937  traj.phases.ballistic_ascent.indep_states.states:h_1          c    -1.000000E+19     3.014081E-02     1.000000E+19           
         938  traj.phases.ballistic_ascent.indep_states.states:h_2          c    -1.000000E+19     5.225651E-02     1.000000E+19           
-        939  traj.phases.ballistic_ascent.indep_states.states:h_3          c    -1.000000E+19     5.891311E-02     1.000000E+19           
+        939  traj.phases.ballistic_ascent.indep_states.states:h_3          c    -1.000000E+19     5.891312E-02     1.000000E+19           
         940  traj.phases.ballistic_ascent.indep_states.states:h_4          c    -1.000000E+19     7.355776E-02     1.000000E+19           
         941  traj.phases.ballistic_ascent.indep_states.states:h_5          c    -1.000000E+19     9.244764E-02     1.000000E+19           
         942  traj.phases.ballistic_ascent.indep_states.states:h_6          c    -1.000000E+19     9.811982E-02     1.000000E+19           
@@ -3355,7 +3356,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         955  traj.phases.ballistic_ascent.indep_states.states:h_19         c    -1.000000E+19     2.054146E-01     1.000000E+19           
         956  traj.phases.ballistic_ascent.indep_states.states:h_20         c    -1.000000E+19     2.119360E-01     1.000000E+19           
         957  traj.phases.ballistic_ascent.indep_states.states:h_21         c    -1.000000E+19     2.137900E-01     1.000000E+19           
-        958  traj.phases.ballistic_ascent.indep_states.states:h_22         c    -1.000000E+19     2.176610E-01     1.000000E+19           
+        958  traj.phases.ballistic_ascent.indep_states.states:h_22         c    -1.000000E+19     2.176611E-01     1.000000E+19           
         959  traj.phases.ballistic_ascent.indep_states.states:h_23         c    -1.000000E+19     2.221609E-01     1.000000E+19           
         960  traj.phases.ballistic_ascent.indep_states.states:h_24         c    -1.000000E+19     2.233851E-01     1.000000E+19           
         961  traj.phases.ballistic_ascent.indep_states.states:h_25         c    -1.000000E+19     2.258313E-01     1.000000E+19           
@@ -3385,7 +3386,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         985  traj.phases.ballistic_ascent.indep_states.states:gam_18       c    -1.111111E+19     2.222203E-01     9.888889E-01           
         986  traj.phases.ballistic_ascent.indep_states.states:gam_19       c    -1.111111E+19     2.052462E-01     9.888889E-01           
         987  traj.phases.ballistic_ascent.indep_states.states:gam_20       c    -1.111111E+19     1.808653E-01     9.888889E-01           
-        988  traj.phases.ballistic_ascent.indep_states.states:gam_21       c    -1.111111E+19     1.729187E-01     9.888889E-01           
+        988  traj.phases.ballistic_ascent.indep_states.states:gam_21       c    -1.111111E+19     1.729188E-01     9.888889E-01           
         989  traj.phases.ballistic_ascent.indep_states.states:gam_22       c    -1.111111E+19     1.543139E-01     9.888889E-01           
         990  traj.phases.ballistic_ascent.indep_states.states:gam_23       c    -1.111111E+19     1.277342E-01     9.888889E-01           
         991  traj.phases.ballistic_ascent.indep_states.states:gam_24       c    -1.111111E+19     1.191089E-01     9.888889E-01           
@@ -3393,7 +3394,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
         993  traj.phases.ballistic_ascent.indep_states.states:gam_26       c    -1.111111E+19     7.043598E-02     9.888889E-01           
         994  traj.phases.ballistic_ascent.indep_states.states:gam_27       c    -1.111111E+19     6.121885E-02     9.888889E-01           
         995  traj.phases.ballistic_ascent.indep_states.states:gam_28       c    -1.111111E+19     3.981509E-02     9.888889E-01           
-        996  traj.phases.ballistic_ascent.indep_states.states:gam_29       c    -1.111111E+19     9.670868E-03     9.888889E-01           
+        996  traj.phases.ballistic_ascent.indep_states.states:gam_29       c    -1.111111E+19     9.670869E-03     9.888889E-01           
         997  traj.phases.ballistic_ascent.indep_states.states:v_0          c    -1.000000E+19     4.131323E-01     1.000000E+19           
         998  traj.phases.ballistic_ascent.indep_states.states:v_1          c    -1.000000E+19     3.978935E-01     1.000000E+19           
         999  traj.phases.ballistic_ascent.indep_states.states:v_2          c    -1.000000E+19     3.782803E-01     1.000000E+19           
@@ -3421,18 +3422,18 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1021  traj.phases.ballistic_ascent.indep_states.states:v_24         c    -1.000000E+19     2.114865E-01     1.000000E+19           
        1022  traj.phases.ballistic_ascent.indep_states.states:v_25         c    -1.000000E+19     2.073857E-01     1.000000E+19           
        1023  traj.phases.ballistic_ascent.indep_states.states:v_26         c    -1.000000E+19     2.022557E-01     1.000000E+19           
-       1024  traj.phases.ballistic_ascent.indep_states.states:v_27         c    -1.000000E+19     2.007580E-01     1.000000E+19           
+       1024  traj.phases.ballistic_ascent.indep_states.states:v_27         c    -1.000000E+19     2.007579E-01     1.000000E+19           
        1025  traj.phases.ballistic_ascent.indep_states.states:v_28         c    -1.000000E+19     1.975528E-01     1.000000E+19           
        1026  traj.phases.ballistic_ascent.indep_states.states:v_29         c    -1.000000E+19     1.936360E-01     1.000000E+19           
        1027  traj.phases.ballistic_ascent.indep_states.states:v_30         c    -1.000000E+19     1.925166E-01     1.000000E+19           
        1028  traj.descent.t_initial_0                                      c     5.000000E-01     2.041474E+00     1.000000E+02           
-       1029  traj.descent.t_duration_0                                     c     5.000000E-02     2.327868E-01     1.000000E+01           
+       1029  traj.descent.t_duration_0                                     c     5.000000E-02     2.327869E-01     1.000000E+01           
        1030  traj.phases.descent.indep_states.states:r_0                   c    -1.000000E+21     4.867672E+01     1.000000E+21           
        1031  traj.phases.descent.indep_states.states:r_1                   c    -1.000000E+21     5.025557E+01     1.000000E+21           
        1032  traj.phases.descent.indep_states.states:r_2                   c    -1.000000E+21     5.239448E+01     1.000000E+21           
        1033  traj.phases.descent.indep_states.states:r_3                   c    -1.000000E+21     5.306214E+01     1.000000E+21           
        1034  traj.phases.descent.indep_states.states:r_4                   c    -1.000000E+21     5.457454E+01     1.000000E+21           
-       1035  traj.phases.descent.indep_states.states:r_5                   c    -1.000000E+21     5.662452E+01     1.000000E+21           
+       1035  traj.phases.descent.indep_states.states:r_5                   c    -1.000000E+21     5.662451E+01     1.000000E+21           
        1036  traj.phases.descent.indep_states.states:r_6                   c    -1.000000E+21     5.726462E+01     1.000000E+21           
        1037  traj.phases.descent.indep_states.states:r_7                   c    -1.000000E+21     5.871489E+01     1.000000E+21           
        1038  traj.phases.descent.indep_states.states:r_8                   c    -1.000000E+21     6.068112E+01     1.000000E+21           
@@ -3443,7 +3444,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1043  traj.phases.descent.indep_states.states:r_13                  c    -1.000000E+21     6.649569E+01     1.000000E+21           
        1044  traj.phases.descent.indep_states.states:r_14                  c    -1.000000E+21     6.830414E+01     1.000000E+21           
        1045  traj.phases.descent.indep_states.states:r_15                  c    -1.000000E+21     6.886870E+01     1.000000E+21           
-       1046  traj.phases.descent.indep_states.states:r_16                  c    -1.000000E+21     7.014743E+01     1.000000E+21           
+       1046  traj.phases.descent.indep_states.states:r_16                  c    -1.000000E+21     7.014742E+01     1.000000E+21           
        1047  traj.phases.descent.indep_states.states:r_17                  c    -1.000000E+21     7.187985E+01     1.000000E+21           
        1048  traj.phases.descent.indep_states.states:r_18                  c    -1.000000E+21     7.242048E+01     1.000000E+21           
        1049  traj.phases.descent.indep_states.states:r_19                  c    -1.000000E+21     7.364462E+01     1.000000E+21           
@@ -3480,7 +3481,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1080  traj.phases.descent.indep_states.states:h_19                  c    -1.000000E+21     1.325314E+01     1.000000E+21           
        1081  traj.phases.descent.indep_states.states:h_20                  c    -1.000000E+21     1.175650E+01     1.000000E+21           
        1082  traj.phases.descent.indep_states.states:h_21                  c    -1.000000E+21     1.126325E+01     1.000000E+21           
-       1083  traj.phases.descent.indep_states.states:h_22                  c    -1.000000E+21     1.009901E+01     1.000000E+21           
+       1083  traj.phases.descent.indep_states.states:h_22                  c    -1.000000E+21     1.009902E+01     1.000000E+21           
        1084  traj.phases.descent.indep_states.states:h_23                  c    -1.000000E+21     8.414767E+00     1.000000E+21           
        1085  traj.phases.descent.indep_states.states:h_24                  c    -1.000000E+21     7.863283E+00     1.000000E+21           
        1086  traj.phases.descent.indep_states.states:h_25                  c    -1.000000E+21     6.567777E+00     1.000000E+21           
@@ -3488,16 +3489,16 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1088  traj.phases.descent.indep_states.states:h_27                  c    -1.000000E+21     4.101065E+00     1.000000E+21           
        1089  traj.phases.descent.indep_states.states:h_28                  c    -1.000000E+21     2.682554E+00     1.000000E+21           
        1090  traj.phases.descent.indep_states.states:h_29                  c    -1.000000E+21     6.571202E-01     1.000000E+21           
-       1091  traj.phases.descent.indep_states.states:gam_0                 c    -1.000000E+21     3.365992E-30     1.000000E+21           
+       1091  traj.phases.descent.indep_states.states:gam_0                 c    -1.000000E+21    -9.758160E-28     1.000000E+21           
        1092  traj.phases.descent.indep_states.states:gam_1                 c    -1.000000E+21    -2.429721E+00     1.000000E+21           
        1093  traj.phases.descent.indep_states.states:gam_2                 c    -1.000000E+21    -5.827526E+00     1.000000E+21           
        1094  traj.phases.descent.indep_states.states:gam_3                 c    -1.000000E+21    -6.910415E+00     1.000000E+21           
-       1095  traj.phases.descent.indep_states.states:gam_4                 c    -1.000000E+21    -9.396909E+00     1.000000E+21           
+       1095  traj.phases.descent.indep_states.states:gam_4                 c    -1.000000E+21    -9.396910E+00     1.000000E+21           
        1096  traj.phases.descent.indep_states.states:gam_5                 c    -1.000000E+21    -1.282816E+01     1.000000E+21           
        1097  traj.phases.descent.indep_states.states:gam_6                 c    -1.000000E+21    -1.391054E+01     1.000000E+21           
        1098  traj.phases.descent.indep_states.states:gam_7                 c    -1.000000E+21    -1.637610E+01     1.000000E+21           
-       1099  traj.phases.descent.indep_states.states:gam_8                 c    -1.000000E+21    -1.973453E+01     1.000000E+21           
-       1100  traj.phases.descent.indep_states.states:gam_9                 c    -1.000000E+21    -2.078365E+01     1.000000E+21           
+       1099  traj.phases.descent.indep_states.states:gam_8                 c    -1.000000E+21    -1.973454E+01     1.000000E+21           
+       1100  traj.phases.descent.indep_states.states:gam_9                 c    -1.000000E+21    -2.078366E+01     1.000000E+21           
        1101  traj.phases.descent.indep_states.states:gam_10                c    -1.000000E+21    -2.315596E+01     1.000000E+21           
        1102  traj.phases.descent.indep_states.states:gam_11                c    -1.000000E+21    -2.634998E+01     1.000000E+21           
        1103  traj.phases.descent.indep_states.states:gam_12                c    -1.000000E+21    -2.733932E+01     1.000000E+21           
@@ -3505,12 +3506,12 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1105  traj.phases.descent.indep_states.states:gam_14                c    -1.000000E+21    -3.252754E+01     1.000000E+21           
        1106  traj.phases.descent.indep_states.states:gam_15                c    -1.000000E+21    -3.343974E+01     1.000000E+21           
        1107  traj.phases.descent.indep_states.states:gam_16                c    -1.000000E+21    -3.547988E+01     1.000000E+21           
-       1108  traj.phases.descent.indep_states.states:gam_17                c    -1.000000E+21    -3.818109E+01     1.000000E+21           
+       1108  traj.phases.descent.indep_states.states:gam_17                c    -1.000000E+21    -3.818110E+01     1.000000E+21           
        1109  traj.phases.descent.indep_states.states:gam_18                c    -1.000000E+21    -3.900810E+01     1.000000E+21           
-       1110  traj.phases.descent.indep_states.states:gam_19                c    -1.000000E+21    -4.085141E+01     1.000000E+21           
+       1110  traj.phases.descent.indep_states.states:gam_19                c    -1.000000E+21    -4.085142E+01     1.000000E+21           
        1111  traj.phases.descent.indep_states.states:gam_20                c    -1.000000E+21    -4.328005E+01     1.000000E+21           
        1112  traj.phases.descent.indep_states.states:gam_21                c    -1.000000E+21    -4.402121E+01     1.000000E+21           
-       1113  traj.phases.descent.indep_states.states:gam_22                c    -1.000000E+21    -4.566961E+01     1.000000E+21           
+       1113  traj.phases.descent.indep_states.states:gam_22                c    -1.000000E+21    -4.566962E+01     1.000000E+21           
        1114  traj.phases.descent.indep_states.states:gam_23                c    -1.000000E+21    -4.783495E+01     1.000000E+21           
        1115  traj.phases.descent.indep_states.states:gam_24                c    -1.000000E+21    -4.849455E+01     1.000000E+21           
        1116  traj.phases.descent.indep_states.states:gam_25                c    -1.000000E+21    -4.995983E+01     1.000000E+21           
@@ -3549,1150 +3550,1150 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1149  traj.phases.descent.indep_states.states:v_27                  c    -1.000000E+19     2.131945E-01     1.000000E+19           
        1150  traj.phases.descent.indep_states.states:v_28                  c    -1.000000E+19     2.159264E-01     1.000000E+19           
        1151  traj.phases.descent.indep_states.states:v_29                  c    -1.000000E+19     2.197097E-01     1.000000E+19           
-       1152  traj.phases.descent.indep_states.states:v_30                  c    -1.000000E+19     2.209070E-01     1.000000E+19           
+       1152  traj.phases.descent.indep_states.states:v_30                  c    -1.000000E+19     2.209069E-01     1.000000E+19           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                                    Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
-          0  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.686950E-22    0.000000E+00              9.00000E+100
-          1  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.374487E-21    0.000000E+00              9.00000E+100
-          2  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.999414E-21    0.000000E+00              9.00000E+100
-          3  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    3.749560E-21    0.000000E+00              9.00000E+100
-          4  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.624809E-20    0.000000E+00              9.00000E+100
-          5  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.249853E-20    0.000000E+00              9.00000E+100
-          6  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.249502E-20    0.000000E+00              9.00000E+100
-          7  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.999765E-20    0.000000E+00              9.00000E+100
-          8  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.249619E-20    0.000000E+00              9.00000E+100
-          9  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -7.499120E-21    0.000000E+00              9.00000E+100
-         10  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    1.499824E-20    0.000000E+00              9.00000E+100
-         11  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.999414E-20    0.000000E+00              9.00000E+100
-         12  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         13  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.999765E-20    0.000000E+00              9.00000E+100
-         14  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -9.998827E-21    0.000000E+00              9.00000E+100
-         15  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    4.999414E-21    0.000000E+00              9.00000E+100
-         16  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -5.999296E-20    0.000000E+00              9.00000E+100
-         17  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.999531E-20    0.000000E+00              9.00000E+100
-         18  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.999531E-20    0.000000E+00              9.00000E+100
-         19  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -7.999062E-20    0.000000E+00              9.00000E+100
-         20  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    8.998944E-20    0.000000E+00              9.00000E+100
-         21  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -5.199390E-19    0.000000E+00              9.00000E+100
-         22  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    1.999765E-20    0.000000E+00              9.00000E+100
-         23  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -7.999062E-20    0.000000E+00              9.00000E+100
-         24  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -8.998944E-20    0.000000E+00              9.00000E+100
-         25  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -9.998827E-20    0.000000E+00              9.00000E+100
-         26  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    1.099871E-19    0.000000E+00              9.00000E+100
-         27  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         28  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.299848E-19    0.000000E+00              9.00000E+100
-         29  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    6.999179E-20    0.000000E+00              9.00000E+100
-         30  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.899777E-19    0.000000E+00              9.00000E+100
-         31  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -2.999648E-20    0.000000E+00              9.00000E+100
-         32  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    1.199859E-19    0.000000E+00              9.00000E+100
-         33  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -8.898956E-19    0.000000E+00              9.00000E+100
-         34  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    2.699683E-19    0.000000E+00              9.00000E+100
-         35  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -2.599695E-19    0.000000E+00              9.00000E+100
-         36  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -2.799672E-19    0.000000E+00              9.00000E+100
-         37  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    2.299730E-19    0.000000E+00              9.00000E+100
-         38  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.999765E-20    0.000000E+00              9.00000E+100
-         39  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -7.299144E-19    0.000000E+00              9.00000E+100
-         40  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    7.999062E-20    0.000000E+00              9.00000E+100
-         41  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    2.599695E-19    0.000000E+00              9.00000E+100
-         42  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    1.269851E-18    0.000000E+00              9.00000E+100
-         43  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -2.399719E-19    0.000000E+00              9.00000E+100
-         44  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.799554E-19    0.000000E+00              9.00000E+100
-         45  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.519822E-18    0.000000E+00              9.00000E+100
-         46  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -4.599461E-19    0.000000E+00              9.00000E+100
-         47  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    5.999296E-20    0.000000E+00              9.00000E+100
-         48  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.799554E-19    0.000000E+00              9.00000E+100
-         49  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.999765E-19    0.000000E+00              9.00000E+100
-         50  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    6.199273E-19    0.000000E+00              9.00000E+100
-         51  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.599812E-18    0.000000E+00              9.00000E+100
-         52  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    6.799203E-19    0.000000E+00              9.00000E+100
-         53  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.159864E-18    0.000000E+00              9.00000E+100
-         54  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    4.399484E-19    0.000000E+00              9.00000E+100
-         55  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    5.799320E-19    0.000000E+00              9.00000E+100
-         56  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -5.399367E-19    0.000000E+00              9.00000E+100
-         57  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    4.999414E-19    0.000000E+00              9.00000E+100
-         58  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    4.599461E-19    0.000000E+00              9.00000E+100
-         59  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -9.998827E-20    0.000000E+00              9.00000E+100
-         60  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    9.798851E-19    0.000000E+00              9.00000E+100
-         61  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    4.399484E-19    0.000000E+00              9.00000E+100
-         62  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.079873E-18    0.000000E+00              9.00000E+100
-         63  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -3.999531E-19    0.000000E+00              9.00000E+100
-         64  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00    5.999296E-20    0.000000E+00              9.00000E+100
-         65  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.359841E-18    0.000000E+00              9.00000E+100
-         66  traj.phases.propelled_ascent.collocation_constraint.defects:r              e   0.000000E+00   -1.099871E-18    0.000000E+00              9.00000E+100
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-       1103  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    7.029713E-15    0.000000E+00              9.00000E+100
-       1104  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    2.398373E-14    0.000000E+00              9.00000E+100
-       1105  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    1.654050E-15    0.000000E+00              9.00000E+100
-       1106  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -5.375663E-15    0.000000E+00              9.00000E+100
-       1107  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -2.026211E-14    0.000000E+00              9.00000E+100
-       1108  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -7.029713E-15    0.000000E+00              9.00000E+100
-       1109  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    1.612699E-14    0.000000E+00              9.00000E+100
-       1110  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -2.842898E-17    0.000000E+00              9.00000E+100
-       1111  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    4.083436E-17    0.000000E+00              9.00000E+100
-       1112  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.304031E-17    0.000000E+00              9.00000E+100
-       1113  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    4.755394E-17    0.000000E+00              9.00000E+100
-       1114  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -7.236469E-18    0.000000E+00              9.00000E+100
-       1115  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -7.288158E-17    0.000000E+00              9.00000E+100
-       1116  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    1.064795E-16    0.000000E+00              9.00000E+100
-       1117  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -5.401507E-17    0.000000E+00              9.00000E+100
-       1118  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    2.033642E-17    0.000000E+00              9.00000E+100
-       1119  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.808000E-17    0.000000E+00              9.00000E+100
-       1120  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -5.298129E-17    0.000000E+00              9.00000E+100
-       1121  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    9.640010E-17    0.000000E+00              9.00000E+100
-       1122  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -1.943509E-16    0.000000E+00              9.00000E+100
-       1123  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    2.300163E-17    0.000000E+00              9.00000E+100
-       1124  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -4.135125E-17    0.000000E+00              9.00000E+100
-       1125  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -7.107246E-17    0.000000E+00              9.00000E+100
-       1126  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.721613E-17    0.000000E+00              9.00000E+100
-       1127  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -1.240538E-17    0.000000E+00              9.00000E+100
-       1128  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.407410E-17    0.000000E+00              9.00000E+100
-       1129  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -1.188848E-17    0.000000E+00              9.00000E+100
-       1130  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -4.858772E-17    0.000000E+00              9.00000E+100
-       1131  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.618234E-17    0.000000E+00              9.00000E+100
-       1132  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.304031E-18    0.000000E+00              9.00000E+100
-       1133  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    1.395605E-17    0.000000E+00              9.00000E+100
-       1134  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -5.168906E-19    0.000000E+00              9.00000E+100
-       1135  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -3.411478E-17    0.000000E+00              9.00000E+100
-       1136  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    1.349085E-16    0.000000E+00              9.00000E+100
-       1137  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.876680E-17    0.000000E+00              9.00000E+100
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+       1097  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -3.721613E-15    0.000000E+00              9.00000E+100
+       1098  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -2.191616E-14    0.000000E+00              9.00000E+100
+       1099  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    7.856738E-15    0.000000E+00              9.00000E+100
+       1100  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    2.274319E-14    0.000000E+00              9.00000E+100
+       1101  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -2.108914E-14    0.000000E+00              9.00000E+100
+       1102  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -4.135125E-15    0.000000E+00              9.00000E+100
+       1103  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    8.270250E-15    0.000000E+00              9.00000E+100
+       1104  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    2.729183E-14    0.000000E+00              9.00000E+100
+       1105  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    1.240538E-15    0.000000E+00              9.00000E+100
+       1106  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    7.443225E-15    0.000000E+00              9.00000E+100
+       1107  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00   -2.108914E-14    0.000000E+00              9.00000E+100
+       1108  traj.phases.descent.collocation_constraint.defects:gam                     e   0.000000E+00    1.302564E-14    0.000000E+00              9.00000E+100
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+       1113  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.359789E-17    0.000000E+00              9.00000E+100
+       1114  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    5.659953E-17    0.000000E+00              9.00000E+100
+       1115  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -1.535165E-16    0.000000E+00              9.00000E+100
+       1116  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.119435E-16    0.000000E+00              9.00000E+100
+       1117  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    7.585370E-17    0.000000E+00              9.00000E+100
+       1118  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -2.825130E-17    0.000000E+00              9.00000E+100
+       1119  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    4.781238E-17    0.000000E+00              9.00000E+100
+       1120  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.304032E-18    0.000000E+00              9.00000E+100
+       1121  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    5.065528E-17    0.000000E+00              9.00000E+100
+       1122  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -2.584453E-19    0.000000E+00              9.00000E+100
+       1123  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -3.695768E-17    0.000000E+00              9.00000E+100
+       1124  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    4.393570E-17    0.000000E+00              9.00000E+100
+       1125  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    2.059809E-16    0.000000E+00              9.00000E+100
+       1126  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.980058E-17    0.000000E+00              9.00000E+100
+       1127  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -9.148964E-17    0.000000E+00              9.00000E+100
+       1128  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    1.121653E-16    0.000000E+00              9.00000E+100
+       1129  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    3.721613E-17    0.000000E+00              9.00000E+100
+       1130  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    6.978024E-17    0.000000E+00              9.00000E+100
+       1131  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -1.762597E-16    0.000000E+00              9.00000E+100
+       1132  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    2.636142E-17    0.000000E+00              9.00000E+100
+       1133  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00   -5.479041E-17    0.000000E+00              9.00000E+100
+       1134  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    9.975989E-17    0.000000E+00              9.00000E+100
+       1135  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    2.170941E-17    0.000000E+00              9.00000E+100
+       1136  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    8.993897E-17    0.000000E+00              9.00000E+100
+       1137  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    5.944242E-17    0.000000E+00              9.00000E+100
+       1138  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    1.085470E-17    0.000000E+00              9.00000E+100
+       1139  traj.phases.descent.collocation_constraint.defects:v                       e   0.000000E+00    6.306066E-17    0.000000E+00              9.00000E+100
        1140  traj.linkages.propelled_ascent:time_final|ballistic_ascent:time_initial    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        1141  traj.linkages.propelled_ascent:r_final|ballistic_ascent:r_initial          e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        1142  traj.linkages.propelled_ascent:h_final|ballistic_ascent:h_initial          e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -4701,7 +4702,7 @@ <h1>Optimizing for Range<a class="headerlink" href="#optimizing-for-range" title
        1145  traj.linkages.ballistic_ascent:time_final|descent:time_initial             e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        1146  traj.linkages.ballistic_ascent:r_final|descent:r_initial                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
        1147  traj.linkages.ballistic_ascent:h_final|descent:h_initial                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-       1148  traj.linkages.ballistic_ascent:gam_final|descent:gam_initial               e   0.000000E+00   -3.365992E-30    0.000000E+00              9.00000E+100
+       1148  traj.linkages.ballistic_ascent:gam_final|descent:gam_initial               e   0.000000E+00    9.758160E-28    0.000000E+00              9.00000E+100
        1149  traj.linkages.ballistic_ascent:v_final|descent:v_initial                   e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
 
 
@@ -4751,7 +4752,7 @@ <h2>Maximum Range Solution: Height vs. Range<a class="headerlink" href="#maximum
 </div>
 </div>
 <div class="cell_output docutils container">
-<img alt="../../_images/bc7a592d42b7e27d46b5a6693ba3612e8f946f59752bc632bbaa4ec655870076.png" src="../../_images/bc7a592d42b7e27d46b5a6693ba3612e8f946f59752bc632bbaa4ec655870076.png" />
+<img alt="../../_images/210a70cec408b63b0ed8565c539785be260346c8f922656051a8c77bdbb2fcee.png" src="../../_images/210a70cec408b63b0ed8565c539785be260346c8f922656051a8c77bdbb2fcee.png" />
 </div>
 </div>
 </section>
diff --git a/faq/add_ode_output_to_timeseries.html b/faq/add_ode_output_to_timeseries.html
index 9dfeb4b27..54f26636b 100644
--- a/faq/add_ode_output_to_timeseries.html
+++ b/faq/add_ode_output_to_timeseries.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/faq/connect_scalar_parameters_to_ode.html b/faq/connect_scalar_parameters_to_ode.html
index f023d4796..126e639bb 100644
--- a/faq/connect_scalar_parameters_to_ode.html
+++ b/faq/connect_scalar_parameters_to_ode.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -789,11 +790,12 @@ <h2>The Brachistochrone with a static input.<a class="headerlink" href="#the-bra
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>--- Constraint Report [traj] ---
     --- phase0 ---
         None
-
-Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.162292 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.201866 seconds.
 Total jacobian shape: (40, 50) 
 
 
@@ -802,9 +804,9 @@ <h2>The Brachistochrone with a static input.<a class="headerlink" href="#the-bra
 Total colors vs. total size: 8 vs 50  (84.0% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.162292 sec.
-Time to compute coloring: 0.039623 sec.
-Memory to compute coloring: 0.292969 MB.
+Time to compute sparsity: 0.201866 sec.
+Time to compute coloring: 0.046040 sec.
+Memory to compute coloring: 0.402344 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization terminated successfully    (Exit mode 0)
diff --git a/faq/debugging.html b/faq/debugging.html
index add4938d3..4d1d5ebbd 100644
--- a/faq/debugging.html
+++ b/faq/debugging.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/faq/downstream_analysis.html b/faq/downstream_analysis.html
index 34eee8741..71a35c892 100644
--- a/faq/downstream_analysis.html
+++ b/faq/downstream_analysis.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/faq/faq.html b/faq/faq.html
index 4b54f84cb..049332ea0 100644
--- a/faq/faq.html
+++ b/faq/faq.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/faq/tandem_phases.html b/faq/tandem_phases.html
index 430522c63..582a20390 100644
--- a/faq/tandem_phases.html
+++ b/faq/tandem_phases.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -502,8 +503,8 @@ <h1>How do I run two phases parallel-in-time?<a class="headerlink" href="#how-do
 This is a trivial solution which should find a straight line from the starting point to the ending point.</p>
 <p>There are two phases involved, the first utilizes the standard ODE for the brachistochrone problem.
 The second integrates the arclength (𝑆) of the wire using the equation:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-84bb0d77-ca92-4fbb-af7e-b98729857b54">
-<span class="eqno">(102)<a class="headerlink" href="#equation-84bb0d77-ca92-4fbb-af7e-b98729857b54" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c902de02-789c-418b-9efa-29fbcfd08092">
+<span class="eqno">(102)<a class="headerlink" href="#equation-c902de02-789c-418b-9efa-29fbcfd08092" title="Permalink to this equation">#</a></span>\[\begin{align}
     S = \int v \sin \theta  \sqrt{1 + \frac{1}{\tan^2 \theta}} dt
 \end{align}\]</div>
 <section id="the-ode-for-the-wire-arclength">
@@ -1017,7 +1018,7 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>INFO:check_config:checking auto_ivc_warnings
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.354541 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.409038 seconds.
 Total jacobian shape: (222, 287) 
 </pre></div>
 </div>
@@ -1026,9 +1027,9 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
 Total colors vs. total size: 29 vs 287  (89.9% improvement)
 
 Sparsity computed using tolerance: 1e-25
-Time to compute sparsity: 0.354541 sec.
-Time to compute coloring: 0.400313 sec.
-Memory to compute coloring: 3.015625 MB.
+Time to compute sparsity: 0.409038 sec.
+Time to compute coloring: 0.438759 sec.
+Memory to compute coloring: 3.007812 MB.
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Optimization Problem -- Optimization using pyOpt_sparse
@@ -1037,11 +1038,11 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   15.2594
-       User Objective Time :       0.4654
-       User Sensitivity Time :     3.2473
-       Interface Time :            1.2041
-       Opt Solver Time:           10.3426
+    Total Time:                   14.6032
+       User Objective Time :       0.5291
+       User Sensitivity Time :     3.5330
+       Interface Time :            1.2684
+       Opt Solver Time:            9.2728
     Calls to Objective Function :     134
     Calls to Sens Function :          103
 
@@ -1344,36 +1345,36 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
       Index  Name                                                   Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
           0  phase0-&gt;final_boundary_constraint-&gt;x                      e   1.000000E+01    1.000000E+01    1.000000E+01              9.00000E+100
           1  phase0-&gt;final_boundary_constraint-&gt;y                      e   5.000000E+00    5.000000E+00    5.000000E+00              9.00000E+100
-          2  phase0.collocation_constraint.defects:x                   e   0.000000E+00    2.755817E-10    0.000000E+00              9.00000E+100
-          3  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.409760E-10    0.000000E+00              9.00000E+100
-          4  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.105369E-11    0.000000E+00              9.00000E+100
-          5  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.603126E-11    0.000000E+00              9.00000E+100
-          6  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.546162E-11    0.000000E+00              9.00000E+100
-          7  phase0.collocation_constraint.defects:x                   e   0.000000E+00    3.141667E-11    0.000000E+00              9.00000E+100
-          8  phase0.collocation_constraint.defects:x                   e   0.000000E+00    3.950177E-11    0.000000E+00              9.00000E+100
-          9  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.601325E-11    0.000000E+00              9.00000E+100
-         10  phase0.collocation_constraint.defects:x                   e   0.000000E+00    5.979644E-11    0.000000E+00              9.00000E+100
-         11  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.328897E-11    0.000000E+00              9.00000E+100
-         12  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.210083E-10    0.000000E+00              9.00000E+100
-         13  phase0.collocation_constraint.defects:y                   e   0.000000E+00    7.330836E-11    0.000000E+00              9.00000E+100
-         14  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -1.323547E-10    0.000000E+00              9.00000E+100
-         15  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -3.740538E-11    0.000000E+00              9.00000E+100
-         16  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -7.184679E-12    0.000000E+00              9.00000E+100
-         17  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -5.729192E-12    0.000000E+00              9.00000E+100
-         18  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -1.960262E-11    0.000000E+00              9.00000E+100
-         19  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.141736E-12    0.000000E+00              9.00000E+100
-         20  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.458221E-11    0.000000E+00              9.00000E+100
-         21  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -4.961043E-11    0.000000E+00              9.00000E+100
-         22  phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.339416E-09    0.000000E+00              9.00000E+100
-         23  phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.610130E-10    0.000000E+00              9.00000E+100
-         24  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -5.227327E-12    0.000000E+00              9.00000E+100
-         25  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.358785E-11    0.000000E+00              9.00000E+100
-         26  phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.583236E-12    0.000000E+00              9.00000E+100
-         27  phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.323518E-11    0.000000E+00              9.00000E+100
-         28  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.354545E-11    0.000000E+00              9.00000E+100
-         29  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -9.883394E-12    0.000000E+00              9.00000E+100
-         30  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.244072E-11    0.000000E+00              9.00000E+100
-         31  phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.786868E-11    0.000000E+00              9.00000E+100
+          2  phase0.collocation_constraint.defects:x                   e   0.000000E+00    2.755816E-10    0.000000E+00              9.00000E+100
+          3  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.409761E-10    0.000000E+00              9.00000E+100
+          4  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.105384E-11    0.000000E+00              9.00000E+100
+          5  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.603136E-11    0.000000E+00              9.00000E+100
+          6  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.546153E-11    0.000000E+00              9.00000E+100
+          7  phase0.collocation_constraint.defects:x                   e   0.000000E+00    3.141647E-11    0.000000E+00              9.00000E+100
+          8  phase0.collocation_constraint.defects:x                   e   0.000000E+00    3.950187E-11    0.000000E+00              9.00000E+100
+          9  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.601276E-11    0.000000E+00              9.00000E+100
+         10  phase0.collocation_constraint.defects:x                   e   0.000000E+00    5.979418E-11    0.000000E+00              9.00000E+100
+         11  phase0.collocation_constraint.defects:x                   e   0.000000E+00    1.328975E-11    0.000000E+00              9.00000E+100
+         12  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.210089E-10    0.000000E+00              9.00000E+100
+         13  phase0.collocation_constraint.defects:y                   e   0.000000E+00    7.330898E-11    0.000000E+00              9.00000E+100
+         14  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -1.323575E-10    0.000000E+00              9.00000E+100
+         15  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -3.740467E-11    0.000000E+00              9.00000E+100
+         16  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -7.183550E-12    0.000000E+00              9.00000E+100
+         17  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -5.728652E-12    0.000000E+00              9.00000E+100
+         18  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -1.960326E-11    0.000000E+00              9.00000E+100
+         19  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.142177E-12    0.000000E+00              9.00000E+100
+         20  phase0.collocation_constraint.defects:y                   e   0.000000E+00    1.458280E-11    0.000000E+00              9.00000E+100
+         21  phase0.collocation_constraint.defects:y                   e   0.000000E+00   -4.961073E-11    0.000000E+00              9.00000E+100
+         22  phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.339415E-09    0.000000E+00              9.00000E+100
+         23  phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.610128E-10    0.000000E+00              9.00000E+100
+         24  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -5.227229E-12    0.000000E+00              9.00000E+100
+         25  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.358883E-11    0.000000E+00              9.00000E+100
+         26  phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.583138E-12    0.000000E+00              9.00000E+100
+         27  phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.323567E-11    0.000000E+00              9.00000E+100
+         28  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.354515E-11    0.000000E+00              9.00000E+100
+         29  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -9.883492E-12    0.000000E+00              9.00000E+100
+         30  phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.244376E-11    0.000000E+00              9.00000E+100
+         31  phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.786858E-11    0.000000E+00              9.00000E+100
          32  phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          33  phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          34  phase0.continuity_comp.defect_states:x                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1401,15 +1402,15 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
          56  phase0.continuity_comp.defect_states:v                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          57  phase0.continuity_comp.defect_states:v                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          58  phase0.continuity_comp.defect_states:v                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         59  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    2.355713E-14    0.000000E+00              9.00000E+100
+         59  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    1.570475E-14    0.000000E+00              9.00000E+100
          60  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    7.067139E-14    0.000000E+00              9.00000E+100
-         61  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    1.374166E-13    0.000000E+00              9.00000E+100
-         62  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    1.776600E-13    0.000000E+00              9.00000E+100
-         63  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    1.383981E-13    0.000000E+00              9.00000E+100
-         64  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -1.138595E-13    0.000000E+00              9.00000E+100
-         65  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -3.197390E-13    0.000000E+00              9.00000E+100
-         66  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    3.550746E-13    0.000000E+00              9.00000E+100
-         67  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    3.558108E-14    0.000000E+00              9.00000E+100
+         61  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -1.099333E-13    0.000000E+00              9.00000E+100
+         62  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+         63  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -3.234198E-13    0.000000E+00              9.00000E+100
+         64  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    9.815471E-14    0.000000E+00              9.00000E+100
+         65  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    3.197390E-13    0.000000E+00              9.00000E+100
+         66  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00    2.132411E-13    0.000000E+00              9.00000E+100
+         67  phase0.continuity_comp.defect_control_rates:theta_rate    e   0.000000E+00   -2.129957E-13    0.000000E+00              9.00000E+100
          68  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          69  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          70  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
@@ -1419,186 +1420,186 @@ <h2>The ODE for the wire arclength<a class="headerlink" href="#the-ode-for-the-w
          74  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          75  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
          76  phase0.continuity_comp.defect_controls:theta              e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
-         77  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -2.775558E-17    0.000000E+00              9.00000E+100
-         78  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -3.823789E-13    0.000000E+00              9.00000E+100
-         79  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.123353E-12    0.000000E+00              9.00000E+100
-         80  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.909756E-12    0.000000E+00              9.00000E+100
-         81  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -2.426203E-12    0.000000E+00              9.00000E+100
-         82  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -2.492811E-12    0.000000E+00              9.00000E+100
-         83  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -2.142441E-12    0.000000E+00              9.00000E+100
-         84  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.597081E-12    0.000000E+00              9.00000E+100
-         85  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.157164E-12    0.000000E+00              9.00000E+100
-         86  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.037900E-12    0.000000E+00              9.00000E+100
-         87  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -7.166950E-13    0.000000E+00              9.00000E+100
-         88  phase1.collocation_constraint.defects:S                   e   0.000000E+00    1.141785E-13    0.000000E+00              9.00000E+100
-         89  phase1.collocation_constraint.defects:S                   e   0.000000E+00    1.573168E-12    0.000000E+00              9.00000E+100
-         90  phase1.collocation_constraint.defects:S                   e   0.000000E+00    3.704555E-12    0.000000E+00              9.00000E+100
-         91  phase1.collocation_constraint.defects:S                   e   0.000000E+00    6.368768E-12    0.000000E+00              9.00000E+100
-         92  phase1.collocation_constraint.defects:S                   e   0.000000E+00    9.203550E-12    0.000000E+00              9.00000E+100
-         93  phase1.collocation_constraint.defects:S                   e   0.000000E+00    1.168727E-11    0.000000E+00              9.00000E+100
-         94  phase1.collocation_constraint.defects:S                   e   0.000000E+00    1.328616E-11    0.000000E+00              9.00000E+100
+         77  phase1.collocation_constraint.defects:S                   e   0.000000E+00    2.775558E-17    0.000000E+00              9.00000E+100
+         78  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -3.823701E-13    0.000000E+00              9.00000E+100
+         79  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.123293E-12    0.000000E+00              9.00000E+100
+         80  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.909772E-12    0.000000E+00              9.00000E+100
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+        238  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.862191E-12    0.000000E+00              9.00000E+100
+        239  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.887417E-12    0.000000E+00              9.00000E+100
+        240  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.889773E-12    0.000000E+00              9.00000E+100
+        241  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.918139E-12    0.000000E+00              9.00000E+100
+        242  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.941304E-12    0.000000E+00              9.00000E+100
+        243  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.926384E-12    0.000000E+00              9.00000E+100
+        244  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.881233E-12    0.000000E+00              9.00000E+100
+        245  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.796427E-12    0.000000E+00              9.00000E+100
+        246  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.709855E-12    0.000000E+00              9.00000E+100
+        247  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.607480E-12    0.000000E+00              9.00000E+100
+        248  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.627503E-12    0.000000E+00              9.00000E+100
+        249  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.586474E-12    0.000000E+00              9.00000E+100
+        250  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.488712E-12    0.000000E+00              9.00000E+100
+        251  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.322144E-12    0.000000E+00              9.00000E+100
+        252  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -1.082352E-12    0.000000E+00              9.00000E+100
+        253  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -7.937771E-13    0.000000E+00              9.00000E+100
+        254  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -5.051041E-13    0.000000E+00              9.00000E+100
+        255  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -2.584413E-13    0.000000E+00              9.00000E+100
+        256  phase1.collocation_constraint.defects:S                   e   0.000000E+00   -8.539459E-14    0.000000E+00              9.00000E+100
         257  phase1.continuity_comp.defect_states:S                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         258  phase1.continuity_comp.defect_states:S                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
         259  phase1.continuity_comp.defect_states:S                    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
diff --git a/faq/upstream_analysis.html b/faq/upstream_analysis.html
index 09f0e0e70..471b0cad1 100644
--- a/faq/upstream_analysis.html
+++ b/faq/upstream_analysis.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/faq/use_partial_coloring.html b/faq/use_partial_coloring.html
index 91753d398..70bbf3e55 100644
--- a/faq/use_partial_coloring.html
+++ b/faq/use_partial_coloring.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -958,7 +959,6 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
-Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/driver.py:470: DriverWarning:The following design variable initial conditions are out of their specified bounds:
@@ -969,7 +969,10 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.507798 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.595156 seconds.
 Total jacobian shape: (361, 212) 
 </pre></div>
 </div>
@@ -978,9 +981,9 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 13 vs 212  (93.9% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.507798 sec.
-Time to compute coloring: 0.362472 sec.
-Memory to compute coloring: 0.746094 MB.
+Time to compute sparsity: 0.595156 sec.
+Time to compute coloring: 0.351206 sec.
+Memory to compute coloring: 0.570312 MB.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/total_jac.py:1782: DerivativesWarning:Constraints or objectives [(&#39;traj.phases.phase0.timeseries.timeseries_comp.h&#39;, inds=[(0, 0)]), (&#39;traj.phases.phase0.timeseries.timeseries_comp.mach&#39;, inds=[(0, 0)])] cannot be impacted by the design variables of the problem.
@@ -992,13 +995,13 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    8.0882
-       User Objective Time :       3.0965
-       User Sensitivity Time :     2.6938
-       Interface Time :            1.1186
-       Opt Solver Time:            1.1792
-    Calls to Objective Function :     136
-    Calls to Sens Function :          112
+    Total Time:                    8.9422
+       User Objective Time :       3.5212
+       User Sensitivity Time :     2.8906
+       Interface Time :            1.1766
+       Opt Solver Time:            1.3539
+    Calls to Objective Function :     130
+    Calls to Sens Function :          108
 
 
    Objectives
@@ -1008,126 +1011,126 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
    Variables (c - continuous, i - integer, d - discrete)
       Index  Name                                                                Type      Lower Bound            Value      Upper Bound     Status
           0  traj.phase0.t_duration_0                                               c     5.000000E-01     3.235052E+00     4.000000E+00           
-          1  traj.phases.phase0.indep_states.states:r_0                             c     0.000000E+00     1.808252E+00     1.000000E+03           
-          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338694E+00     1.000000E+03           
-          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365652E+00     1.000000E+03           
-          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015783E+01     1.000000E+03           
-          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292798E+01     1.000000E+03           
-          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576492E+01     1.000000E+03           
-          7  traj.phases.phase0.indep_states.states:r_6                             c     0.000000E+00     1.862483E+01     1.000000E+03           
-          8  traj.phases.phase0.indep_states.states:r_7                             c     0.000000E+00     2.150883E+01     1.000000E+03           
-          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455460E+01     1.000000E+03           
-         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786234E+01     1.000000E+03           
-         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146456E+01     1.000000E+03           
-         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545773E+01     1.000000E+03           
-         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978415E+01     1.000000E+03           
-         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429220E+01     1.000000E+03           
-         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.889907E+01     1.000000E+03           
-         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358725E+01     1.000000E+03           
-         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.835998E+01     1.000000E+03           
-         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322168E+01     1.000000E+03           
-         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817489E+01     1.000000E+03           
-         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322429E+01     1.000000E+03           
-         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838202E+01     1.000000E+03           
-         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366758E+01     1.000000E+03           
-         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909632E+01     1.000000E+03           
-         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464569E+01     1.000000E+03           
-         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001540E+02     1.000000E+03           
-         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.052001E+02     1.000000E+03           
-         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093943E+02     1.000000E+03           
-         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128536E+02     1.000000E+03           
-         29  traj.phases.phase0.indep_states.states:r_28                            c     0.000000E+00     1.159919E+02     1.000000E+03           
-         30  traj.phases.phase0.indep_states.states:r_29                            c     0.000000E+00     1.191436E+02     1.000000E+03           
-         31  traj.phases.phase0.indep_states.states:h_0                             c     0.000000E+00     1.061230E+00     2.000000E+02           
-         32  traj.phases.phase0.indep_states.states:h_1                             c     0.000000E+00     1.139328E+00     2.000000E+02           
-         33  traj.phases.phase0.indep_states.states:h_2                             c     0.000000E+00     8.817981E+00     2.000000E+02           
-         34  traj.phases.phase0.indep_states.states:h_3                             c     0.000000E+00     2.664426E+01     2.000000E+02           
-         35  traj.phases.phase0.indep_states.states:h_4                             c     0.000000E+00     4.417043E+01     2.000000E+02           
-         36  traj.phases.phase0.indep_states.states:h_5                             c     0.000000E+00     5.944161E+01     2.000000E+02           
-         37  traj.phases.phase0.indep_states.states:h_6                             c     0.000000E+00     7.289247E+01     2.000000E+02           
-         38  traj.phases.phase0.indep_states.states:h_7                             c     0.000000E+00     8.421207E+01     2.000000E+02           
-         39  traj.phases.phase0.indep_states.states:h_8                             c     0.000000E+00     9.050022E+01     2.000000E+02           
-         40  traj.phases.phase0.indep_states.states:h_9                             c     0.000000E+00     8.885271E+01     2.000000E+02           
-         41  traj.phases.phase0.indep_states.states:h_10                            c     0.000000E+00     8.147776E+01     2.000000E+02           
-         42  traj.phases.phase0.indep_states.states:h_11                            c     0.000000E+00     7.429132E+01     2.000000E+02           
-         43  traj.phases.phase0.indep_states.states:h_12                            c     0.000000E+00     7.108385E+01     2.000000E+02           
-         44  traj.phases.phase0.indep_states.states:h_13                            c     0.000000E+00     7.162050E+01     2.000000E+02           
-         45  traj.phases.phase0.indep_states.states:h_14                            c     0.000000E+00     7.403040E+01     2.000000E+02           
-         46  traj.phases.phase0.indep_states.states:h_15                            c     0.000000E+00     7.692119E+01     2.000000E+02           
-         47  traj.phases.phase0.indep_states.states:h_16                            c     0.000000E+00     7.977262E+01     2.000000E+02           
-         48  traj.phases.phase0.indep_states.states:h_17                            c     0.000000E+00     8.256011E+01     2.000000E+02           
-         49  traj.phases.phase0.indep_states.states:h_18                            c     0.000000E+00     8.533877E+01     2.000000E+02           
-         50  traj.phases.phase0.indep_states.states:h_19                            c     0.000000E+00     8.797574E+01     2.000000E+02           
-         51  traj.phases.phase0.indep_states.states:h_20                            c     0.000000E+00     9.008206E+01     2.000000E+02           
-         52  traj.phases.phase0.indep_states.states:h_21                            c     0.000000E+00     9.124559E+01     2.000000E+02           
-         53  traj.phases.phase0.indep_states.states:h_22                            c     0.000000E+00     9.175980E+01     2.000000E+02           
-         54  traj.phases.phase0.indep_states.states:h_23                            c     0.000000E+00     9.384362E+01     2.000000E+02           
-         55  traj.phases.phase0.indep_states.states:h_24                            c     0.000000E+00     1.021983E+02     2.000000E+02           
-         56  traj.phases.phase0.indep_states.states:h_25                            c     0.000000E+00     1.207216E+02     2.000000E+02           
-         57  traj.phases.phase0.indep_states.states:h_26                            c     0.000000E+00     1.466397E+02     2.000000E+02           
-         58  traj.phases.phase0.indep_states.states:h_27                            c     0.000000E+00     1.725197E+02     2.000000E+02           
-         59  traj.phases.phase0.indep_states.states:h_28                            c     0.000000E+00     1.921022E+02     2.000000E+02           
+          1  traj.phases.phase0.indep_states.states:r_0                             c     0.000000E+00     1.808253E+00     1.000000E+03           
+          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338692E+00     1.000000E+03           
+          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365635E+00     1.000000E+03           
+          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015788E+01     1.000000E+03           
+          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292803E+01     1.000000E+03           
+          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576490E+01     1.000000E+03           
+          7  traj.phases.phase0.indep_states.states:r_6                             c     0.000000E+00     1.862478E+01     1.000000E+03           
+          8  traj.phases.phase0.indep_states.states:r_7                             c     0.000000E+00     2.150886E+01     1.000000E+03           
+          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455495E+01     1.000000E+03           
+         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786305E+01     1.000000E+03           
+         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146573E+01     1.000000E+03           
+         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545938E+01     1.000000E+03           
+         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978606E+01     1.000000E+03           
+         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429417E+01     1.000000E+03           
+         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.890102E+01     1.000000E+03           
+         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358917E+01     1.000000E+03           
+         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.836188E+01     1.000000E+03           
+         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322357E+01     1.000000E+03           
+         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817679E+01     1.000000E+03           
+         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322621E+01     1.000000E+03           
+         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838397E+01     1.000000E+03           
+         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366957E+01     1.000000E+03           
+         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909833E+01     1.000000E+03           
+         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464770E+01     1.000000E+03           
+         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001559E+02     1.000000E+03           
+         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.052019E+02     1.000000E+03           
+         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093961E+02     1.000000E+03           
+         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128554E+02     1.000000E+03           
+         29  traj.phases.phase0.indep_states.states:r_28                            c     0.000000E+00     1.159937E+02     1.000000E+03           
+         30  traj.phases.phase0.indep_states.states:r_29                            c     0.000000E+00     1.191454E+02     1.000000E+03           
+         31  traj.phases.phase0.indep_states.states:h_0                             c     0.000000E+00     1.061185E+00     2.000000E+02           
+         32  traj.phases.phase0.indep_states.states:h_1                             c     0.000000E+00     1.139676E+00     2.000000E+02           
+         33  traj.phases.phase0.indep_states.states:h_2                             c     0.000000E+00     8.818444E+00     2.000000E+02           
+         34  traj.phases.phase0.indep_states.states:h_3                             c     0.000000E+00     2.664379E+01     2.000000E+02           
+         35  traj.phases.phase0.indep_states.states:h_4                             c     0.000000E+00     4.417027E+01     2.000000E+02           
+         36  traj.phases.phase0.indep_states.states:h_5                             c     0.000000E+00     5.944236E+01     2.000000E+02           
+         37  traj.phases.phase0.indep_states.states:h_6                             c     0.000000E+00     7.289327E+01     2.000000E+02           
+         38  traj.phases.phase0.indep_states.states:h_7                             c     0.000000E+00     8.421080E+01     2.000000E+02           
+         39  traj.phases.phase0.indep_states.states:h_8                             c     0.000000E+00     9.049213E+01     2.000000E+02           
+         40  traj.phases.phase0.indep_states.states:h_9                             c     0.000000E+00     8.883674E+01     2.000000E+02           
+         41  traj.phases.phase0.indep_states.states:h_10                            c     0.000000E+00     8.146002E+01     2.000000E+02           
+         42  traj.phases.phase0.indep_states.states:h_11                            c     0.000000E+00     7.427814E+01     2.000000E+02           
+         43  traj.phases.phase0.indep_states.states:h_12                            c     0.000000E+00     7.107717E+01     2.000000E+02           
+         44  traj.phases.phase0.indep_states.states:h_13                            c     0.000000E+00     7.161869E+01     2.000000E+02           
+         45  traj.phases.phase0.indep_states.states:h_14                            c     0.000000E+00     7.403090E+01     2.000000E+02           
+         46  traj.phases.phase0.indep_states.states:h_15                            c     0.000000E+00     7.692212E+01     2.000000E+02           
+         47  traj.phases.phase0.indep_states.states:h_16                            c     0.000000E+00     7.977312E+01     2.000000E+02           
+         48  traj.phases.phase0.indep_states.states:h_17                            c     0.000000E+00     8.255994E+01     2.000000E+02           
+         49  traj.phases.phase0.indep_states.states:h_18                            c     0.000000E+00     8.533790E+01     2.000000E+02           
+         50  traj.phases.phase0.indep_states.states:h_19                            c     0.000000E+00     8.797421E+01     2.000000E+02           
+         51  traj.phases.phase0.indep_states.states:h_20                            c     0.000000E+00     9.008026E+01     2.000000E+02           
+         52  traj.phases.phase0.indep_states.states:h_21                            c     0.000000E+00     9.124408E+01     2.000000E+02           
+         53  traj.phases.phase0.indep_states.states:h_22                            c     0.000000E+00     9.175869E+01     2.000000E+02           
+         54  traj.phases.phase0.indep_states.states:h_23                            c     0.000000E+00     9.384329E+01     2.000000E+02           
+         55  traj.phases.phase0.indep_states.states:h_24                            c     0.000000E+00     1.021992E+02     2.000000E+02           
+         56  traj.phases.phase0.indep_states.states:h_25                            c     0.000000E+00     1.207236E+02     2.000000E+02           
+         57  traj.phases.phase0.indep_states.states:h_26                            c     0.000000E+00     1.466417E+02     2.000000E+02           
+         58  traj.phases.phase0.indep_states.states:h_27                            c     0.000000E+00     1.725209E+02     2.000000E+02           
+         59  traj.phases.phase0.indep_states.states:h_28                            c     0.000000E+00     1.921025E+02     2.000000E+02           
          60  traj.phases.phase0.indep_states.states:h_29                            c     0.000000E+00     2.000000E+02     2.000000E+02          u
-         61  traj.phases.phase0.indep_states.states:v_0                             c     1.000000E-01     2.001426E+00     1.000000E+19           
-         62  traj.phases.phase0.indep_states.states:v_1                             c     1.000000E-01     2.688849E+00     1.000000E+19           
-         63  traj.phases.phase0.indep_states.states:v_2                             c     1.000000E-01     3.059747E+00     1.000000E+19           
-         64  traj.phases.phase0.indep_states.states:v_3                             c     1.000000E-01     3.065010E+00     1.000000E+19           
-         65  traj.phases.phase0.indep_states.states:v_4                             c     1.000000E-01     3.014439E+00     1.000000E+19           
-         66  traj.phases.phase0.indep_states.states:v_5                             c     1.000000E-01     2.961203E+00     1.000000E+19           
-         67  traj.phases.phase0.indep_states.states:v_6                             c     1.000000E-01     2.900130E+00     1.000000E+19           
-         68  traj.phases.phase0.indep_states.states:v_7                             c     1.000000E-01     2.859549E+00     1.000000E+19           
-         69  traj.phases.phase0.indep_states.states:v_8                             c     1.000000E-01     2.953624E+00     1.000000E+19           
-         70  traj.phases.phase0.indep_states.states:v_9                             c     1.000000E-01     3.228112E+00     1.000000E+19           
-         71  traj.phases.phase0.indep_states.states:v_10                            c     1.000000E-01     3.596149E+00     1.000000E+19           
-         72  traj.phases.phase0.indep_states.states:v_11                            c     1.000000E-01     3.914128E+00     1.000000E+19           
-         73  traj.phases.phase0.indep_states.states:v_12                            c     1.000000E-01     4.117564E+00     1.000000E+19           
-         74  traj.phases.phase0.indep_states.states:v_13                            c     1.000000E-01     4.235624E+00     1.000000E+19           
-         75  traj.phases.phase0.indep_states.states:v_14                            c     1.000000E-01     4.317749E+00     1.000000E+19           
-         76  traj.phases.phase0.indep_states.states:v_15                            c     1.000000E-01     4.394128E+00     1.000000E+19           
-         77  traj.phases.phase0.indep_states.states:v_16                            c     1.000000E-01     4.474295E+00     1.000000E+19           
-         78  traj.phases.phase0.indep_states.states:v_17                            c     1.000000E-01     4.557841E+00     1.000000E+19           
-         79  traj.phases.phase0.indep_states.states:v_18                            c     1.000000E-01     4.643775E+00     1.000000E+19           
-         80  traj.phases.phase0.indep_states.states:v_19                            c     1.000000E-01     4.735620E+00     1.000000E+19           
-         81  traj.phases.phase0.indep_states.states:v_20                            c     1.000000E-01     4.841471E+00     1.000000E+19           
-         82  traj.phases.phase0.indep_states.states:v_21                            c     1.000000E-01     4.967182E+00     1.000000E+19           
-         83  traj.phases.phase0.indep_states.states:v_22                            c     1.000000E-01     5.100036E+00     1.000000E+19           
-         84  traj.phases.phase0.indep_states.states:v_23                            c     1.000000E-01     5.186236E+00     1.000000E+19           
-         85  traj.phases.phase0.indep_states.states:v_24                            c     1.000000E-01     5.124457E+00     1.000000E+19           
-         86  traj.phases.phase0.indep_states.states:v_25                            c     1.000000E-01     4.823513E+00     1.000000E+19           
-         87  traj.phases.phase0.indep_states.states:v_26                            c     1.000000E-01     4.304586E+00     1.000000E+19           
-         88  traj.phases.phase0.indep_states.states:v_27                            c     1.000000E-01     3.708518E+00     1.000000E+19           
-         89  traj.phases.phase0.indep_states.states:v_28                            c     1.000000E-01     3.190622E+00     1.000000E+19           
+         61  traj.phases.phase0.indep_states.states:v_0                             c     1.000000E-01     2.001430E+00     1.000000E+19           
+         62  traj.phases.phase0.indep_states.states:v_1                             c     1.000000E-01     2.688834E+00     1.000000E+19           
+         63  traj.phases.phase0.indep_states.states:v_2                             c     1.000000E-01     3.059738E+00     1.000000E+19           
+         64  traj.phases.phase0.indep_states.states:v_3                             c     1.000000E-01     3.065028E+00     1.000000E+19           
+         65  traj.phases.phase0.indep_states.states:v_4                             c     1.000000E-01     3.014442E+00     1.000000E+19           
+         66  traj.phases.phase0.indep_states.states:v_5                             c     1.000000E-01     2.961177E+00     1.000000E+19           
+         67  traj.phases.phase0.indep_states.states:v_6                             c     1.000000E-01     2.900108E+00     1.000000E+19           
+         68  traj.phases.phase0.indep_states.states:v_7                             c     1.000000E-01     2.859609E+00     1.000000E+19           
+         69  traj.phases.phase0.indep_states.states:v_8                             c     1.000000E-01     2.953904E+00     1.000000E+19           
+         70  traj.phases.phase0.indep_states.states:v_9                             c     1.000000E-01     3.228545E+00     1.000000E+19           
+         71  traj.phases.phase0.indep_states.states:v_10                            c     1.000000E-01     3.596576E+00     1.000000E+19           
+         72  traj.phases.phase0.indep_states.states:v_11                            c     1.000000E-01     3.914410E+00     1.000000E+19           
+         73  traj.phases.phase0.indep_states.states:v_12                            c     1.000000E-01     4.117687E+00     1.000000E+19           
+         74  traj.phases.phase0.indep_states.states:v_13                            c     1.000000E-01     4.235641E+00     1.000000E+19           
+         75  traj.phases.phase0.indep_states.states:v_14                            c     1.000000E-01     4.317723E+00     1.000000E+19           
+         76  traj.phases.phase0.indep_states.states:v_15                            c     1.000000E-01     4.394098E+00     1.000000E+19           
+         77  traj.phases.phase0.indep_states.states:v_16                            c     1.000000E-01     4.474277E+00     1.000000E+19           
+         78  traj.phases.phase0.indep_states.states:v_17                            c     1.000000E-01     4.557839E+00     1.000000E+19           
+         79  traj.phases.phase0.indep_states.states:v_18                            c     1.000000E-01     4.643789E+00     1.000000E+19           
+         80  traj.phases.phase0.indep_states.states:v_19                            c     1.000000E-01     4.735646E+00     1.000000E+19           
+         81  traj.phases.phase0.indep_states.states:v_20                            c     1.000000E-01     4.841501E+00     1.000000E+19           
+         82  traj.phases.phase0.indep_states.states:v_21                            c     1.000000E-01     4.967204E+00     1.000000E+19           
+         83  traj.phases.phase0.indep_states.states:v_22                            c     1.000000E-01     5.100050E+00     1.000000E+19           
+         84  traj.phases.phase0.indep_states.states:v_23                            c     1.000000E-01     5.186232E+00     1.000000E+19           
+         85  traj.phases.phase0.indep_states.states:v_24                            c     1.000000E-01     5.124429E+00     1.000000E+19           
+         86  traj.phases.phase0.indep_states.states:v_25                            c     1.000000E-01     4.823461E+00     1.000000E+19           
+         87  traj.phases.phase0.indep_states.states:v_26                            c     1.000000E-01     4.304537E+00     1.000000E+19           
+         88  traj.phases.phase0.indep_states.states:v_27                            c     1.000000E-01     3.708484E+00     1.000000E+19           
+         89  traj.phases.phase0.indep_states.states:v_28                            c     1.000000E-01     3.190610E+00     1.000000E+19           
          90  traj.phases.phase0.indep_states.states:v_29                            c     1.000000E-01     2.950864E+00     1.000000E+19           
-         91  traj.phases.phase0.indep_states.states:gam_0                           c    -1.500000E+00     1.134914E-02     1.500000E+00           
-         92  traj.phases.phase0.indep_states.states:gam_1                           c    -1.500000E+00     3.612364E-02     1.500000E+00           
-         93  traj.phases.phase0.indep_states.states:gam_2                           c    -1.500000E+00     4.740198E-01     1.500000E+00           
-         94  traj.phases.phase0.indep_states.states:gam_3                           c    -1.500000E+00     5.938279E-01     1.500000E+00           
-         95  traj.phases.phase0.indep_states.states:gam_4                           c    -1.500000E+00     5.275371E-01     1.500000E+00           
-         96  traj.phases.phase0.indep_states.states:gam_5                           c    -1.500000E+00     4.638764E-01     1.500000E+00           
-         97  traj.phases.phase0.indep_states.states:gam_6                           c    -1.500000E+00     4.145374E-01     1.500000E+00           
-         98  traj.phases.phase0.indep_states.states:gam_7                           c    -1.500000E+00     3.139008E-01     1.500000E+00           
-         99  traj.phases.phase0.indep_states.states:gam_8                           c    -1.500000E+00     7.816896E-02     1.500000E+00           
-        100  traj.phases.phase0.indep_states.states:gam_9                           c    -1.500000E+00    -1.559359E-01     1.500000E+00           
-        101  traj.phases.phase0.indep_states.states:gam_10                          c    -1.500000E+00    -2.145919E-01     1.500000E+00           
-        102  traj.phases.phase0.indep_states.states:gam_11                          c    -1.500000E+00    -1.293357E-01     1.500000E+00           
-        103  traj.phases.phase0.indep_states.states:gam_12                          c    -1.500000E+00    -2.376391E-02     1.500000E+00           
-        104  traj.phases.phase0.indep_states.states:gam_13                          c    -1.500000E+00     3.904151E-02     1.500000E+00           
-        105  traj.phases.phase0.indep_states.states:gam_14                          c    -1.500000E+00     6.019387E-02     1.500000E+00           
-        106  traj.phases.phase0.indep_states.states:gam_15                          c    -1.500000E+00     6.124106E-02     1.500000E+00           
-        107  traj.phases.phase0.indep_states.states:gam_16                          c    -1.500000E+00     5.816304E-02     1.500000E+00           
-        108  traj.phases.phase0.indep_states.states:gam_17                          c    -1.500000E+00     5.665972E-02     1.500000E+00           
-        109  traj.phases.phase0.indep_states.states:gam_18                          c    -1.500000E+00     5.500413E-02     1.500000E+00           
-        110  traj.phases.phase0.indep_states.states:gam_19                          c    -1.500000E+00     4.805634E-02     1.500000E+00           
-        111  traj.phases.phase0.indep_states.states:gam_20                          c    -1.500000E+00     3.219858E-02     1.500000E+00           
-        112  traj.phases.phase0.indep_states.states:gam_21                          c    -1.500000E+00     1.263162E-02     1.500000E+00           
-        113  traj.phases.phase0.indep_states.states:gam_22                          c    -1.500000E+00     1.285156E-02     1.500000E+00           
-        114  traj.phases.phase0.indep_states.states:gam_23                          c    -1.500000E+00     7.681630E-02     1.500000E+00           
-        115  traj.phases.phase0.indep_states.states:gam_24                          c    -1.500000E+00     2.409699E-01     1.500000E+00           
-        116  traj.phases.phase0.indep_states.states:gam_25                          c    -1.500000E+00     4.652621E-01     1.500000E+00           
-        117  traj.phases.phase0.indep_states.states:gam_26                          c    -1.500000E+00     6.245277E-01     1.500000E+00           
-        118  traj.phases.phase0.indep_states.states:gam_27                          c    -1.500000E+00     6.313294E-01     1.500000E+00           
-        119  traj.phases.phase0.indep_states.states:gam_28                          c    -1.500000E+00     4.419434E-01     1.500000E+00           
-        120  traj.phases.phase0.indep_states.states:gam_29                          c    -1.500000E+00    -4.492784E-26     1.500000E+00           
+         91  traj.phases.phase0.indep_states.states:gam_0                           c    -1.500000E+00     1.134069E-02     1.500000E+00           
+         92  traj.phases.phase0.indep_states.states:gam_1                           c    -1.500000E+00     3.615929E-02     1.500000E+00           
+         93  traj.phases.phase0.indep_states.states:gam_2                           c    -1.500000E+00     4.739857E-01     1.500000E+00           
+         94  traj.phases.phase0.indep_states.states:gam_3                           c    -1.500000E+00     5.938102E-01     1.500000E+00           
+         95  traj.phases.phase0.indep_states.states:gam_4                           c    -1.500000E+00     5.275675E-01     1.500000E+00           
+         96  traj.phases.phase0.indep_states.states:gam_5                           c    -1.500000E+00     4.639051E-01     1.500000E+00           
+         97  traj.phases.phase0.indep_states.states:gam_6                           c    -1.500000E+00     4.145138E-01     1.500000E+00           
+         98  traj.phases.phase0.indep_states.states:gam_7                           c    -1.500000E+00     3.137607E-01     1.500000E+00           
+         99  traj.phases.phase0.indep_states.states:gam_8                           c    -1.500000E+00     7.787316E-02     1.500000E+00           
+        100  traj.phases.phase0.indep_states.states:gam_9                           c    -1.500000E+00    -1.560684E-01     1.500000E+00           
+        101  traj.phases.phase0.indep_states.states:gam_10                          c    -1.500000E+00    -2.145158E-01     1.500000E+00           
+        102  traj.phases.phase0.indep_states.states:gam_11                          c    -1.500000E+00    -1.291748E-01     1.500000E+00           
+        103  traj.phases.phase0.indep_states.states:gam_12                          c    -1.500000E+00    -2.362739E-02     1.500000E+00           
+        104  traj.phases.phase0.indep_states.states:gam_13                          c    -1.500000E+00     3.911965E-02     1.500000E+00           
+        105  traj.phases.phase0.indep_states.states:gam_14                          c    -1.500000E+00     6.021962E-02     1.500000E+00           
+        106  traj.phases.phase0.indep_states.states:gam_15                          c    -1.500000E+00     6.123843E-02     1.500000E+00           
+        107  traj.phases.phase0.indep_states.states:gam_16                          c    -1.500000E+00     5.815056E-02     1.500000E+00           
+        108  traj.phases.phase0.indep_states.states:gam_17                          c    -1.500000E+00     5.664587E-02     1.500000E+00           
+        109  traj.phases.phase0.indep_states.states:gam_18                          c    -1.500000E+00     5.498952E-02     1.500000E+00           
+        110  traj.phases.phase0.indep_states.states:gam_19                          c    -1.500000E+00     4.804579E-02     1.500000E+00           
+        111  traj.phases.phase0.indep_states.states:gam_20                          c    -1.500000E+00     3.219882E-02     1.500000E+00           
+        112  traj.phases.phase0.indep_states.states:gam_21                          c    -1.500000E+00     1.263990E-02     1.500000E+00           
+        113  traj.phases.phase0.indep_states.states:gam_22                          c    -1.500000E+00     1.285898E-02     1.500000E+00           
+        114  traj.phases.phase0.indep_states.states:gam_23                          c    -1.500000E+00     7.683714E-02     1.500000E+00           
+        115  traj.phases.phase0.indep_states.states:gam_24                          c    -1.500000E+00     2.409937E-01     1.500000E+00           
+        116  traj.phases.phase0.indep_states.states:gam_25                          c    -1.500000E+00     4.652827E-01     1.500000E+00           
+        117  traj.phases.phase0.indep_states.states:gam_26                          c    -1.500000E+00     6.245206E-01     1.500000E+00           
+        118  traj.phases.phase0.indep_states.states:gam_27                          c    -1.500000E+00     6.313076E-01     1.500000E+00           
+        119  traj.phases.phase0.indep_states.states:gam_28                          c    -1.500000E+00     4.419210E-01     1.500000E+00           
+        120  traj.phases.phase0.indep_states.states:gam_29                          c    -1.500000E+00     8.244699E-26     1.500000E+00           
         121  traj.phases.phase0.indep_states.states:m_0                             c     1.000000E-02     1.894029E+01     1.000000E+02           
         122  traj.phases.phase0.indep_states.states:m_1                             c     1.000000E-02     1.883985E+01     1.000000E+02           
         123  traj.phases.phase0.indep_states.states:m_2                             c     1.000000E-02     1.873364E+01     1.000000E+02           
@@ -1137,451 +1140,451 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
         127  traj.phases.phase0.indep_states.states:m_6                             c     1.000000E-02     1.841103E+01     1.000000E+02           
         128  traj.phases.phase0.indep_states.states:m_7                             c     1.000000E-02     1.835554E+01     1.000000E+02           
         129  traj.phases.phase0.indep_states.states:m_8                             c     1.000000E-02     1.830503E+01     1.000000E+02           
-        130  traj.phases.phase0.indep_states.states:m_9                             c     1.000000E-02     1.825308E+01     1.000000E+02           
-        131  traj.phases.phase0.indep_states.states:m_10                            c     1.000000E-02     1.819244E+01     1.000000E+02           
-        132  traj.phases.phase0.indep_states.states:m_11                            c     1.000000E-02     1.811957E+01     1.000000E+02           
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+        196  traj.phases.phase0.control_group.indep_controls.controls:alpha_45      c    -8.000000E+00     1.227481E+00     8.000000E+00           
+        197  traj.phases.phase0.control_group.indep_controls.controls:alpha_46      c    -8.000000E+00     1.361945E+00     8.000000E+00           
+        198  traj.phases.phase0.control_group.indep_controls.controls:alpha_47      c    -8.000000E+00     1.581945E+00     8.000000E+00           
+        199  traj.phases.phase0.control_group.indep_controls.controls:alpha_48      c    -8.000000E+00     1.902979E+00     8.000000E+00           
+        200  traj.phases.phase0.control_group.indep_controls.controls:alpha_49      c    -8.000000E+00     2.303881E+00     8.000000E+00           
+        201  traj.phases.phase0.control_group.indep_controls.controls:alpha_50      c    -8.000000E+00     2.763486E+00     8.000000E+00           
+        202  traj.phases.phase0.control_group.indep_controls.controls:alpha_51      c    -8.000000E+00     3.222315E+00     8.000000E+00           
+        203  traj.phases.phase0.control_group.indep_controls.controls:alpha_52      c    -8.000000E+00     3.620893E+00     8.000000E+00           
+        204  traj.phases.phase0.control_group.indep_controls.controls:alpha_53      c    -8.000000E+00     3.885782E+00     8.000000E+00           
+        205  traj.phases.phase0.control_group.indep_controls.controls:alpha_54      c    -8.000000E+00     3.943545E+00     8.000000E+00           
+        206  traj.phases.phase0.control_group.indep_controls.controls:alpha_55      c    -8.000000E+00     3.728626E+00     8.000000E+00           
+        207  traj.phases.phase0.control_group.indep_controls.controls:alpha_56      c    -8.000000E+00     3.175468E+00     8.000000E+00           
+        208  traj.phases.phase0.control_group.indep_controls.controls:alpha_57      c    -8.000000E+00     1.953461E+00     8.000000E+00           
+        209  traj.phases.phase0.control_group.indep_controls.controls:alpha_58      c    -8.000000E+00    -2.680018E-01     8.000000E+00           
+        210  traj.phases.phase0.control_group.indep_controls.controls:alpha_59      c    -8.000000E+00    -3.186035E+00     8.000000E+00           
+        211  traj.phases.phase0.control_group.indep_controls.controls:alpha_60      c    -8.000000E+00    -6.497753E+00     8.000000E+00           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                               Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;h                      e   2.000000E+01    2.000000E+01    2.000000E+01              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;mach                   e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
-          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00   -4.492784E-26    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.656402E-12    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.672560E-11    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.542708E-11    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.126306E-11    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.284288E-10    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.433047E-10    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.861134E-11    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.358488E-10    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.127531E-10    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.252645E-10    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.668741E-10    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.745016E-10    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.118164E-10    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.982901E-11    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.630997E-09    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.360129E-09    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.336653E-09    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.451782E-09    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.749738E-09    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.393567E-09    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.191509E-09    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.230472E-09    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.764448E-09    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.827363E-09    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.596866E-09    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.204554E-09    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.389974E-10    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.644187E-10    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.046924E-11    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -3.769234E-10    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.249891E-12    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.331110E-10    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.898919E-09    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.286536E-11    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.475319E-09    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.281846E-09    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.273177E-12    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.576634E-09    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.059832E-10    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.185239E-09    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.242919E-09    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.601572E-10    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.655069E-10    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.136750E-10    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.070479E-09    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.562836E-09    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.770318E-10    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.429802E-08    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.545016E-08    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.814474E-09    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.031496E-08    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.805931E-10    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.947006E-10    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.541292E-09    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.191258E-08    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.204937E-09    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.854255E-09    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.083401E-09    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -6.334140E-11    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.821050E-09    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.716474E-12    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.530504E-11    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.200080E-10    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.549538E-10    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.973814E-11    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.858839E-10    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.424119E-10    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.558176E-11    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.042798E-09    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.218270E-09    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.937939E-10    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.265962E-10    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.827765E-10    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.484078E-11    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.224377E-10    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.553736E-09    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.010245E-09    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.104595E-09    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.079905E-09    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.178201E-09    0.000000E+00              9.00000E+100
-         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.813266E-09    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.703316E-10    0.000000E+00              9.00000E+100
-         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.210862E-09    0.000000E+00              9.00000E+100
-         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.414875E-09    0.000000E+00              9.00000E+100
-         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.406749E-09    0.000000E+00              9.00000E+100
-         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.102850E-09    0.000000E+00              9.00000E+100
-         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.483742E-09    0.000000E+00              9.00000E+100
-         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.893441E-10    0.000000E+00              9.00000E+100
-         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.078186E-10    0.000000E+00              9.00000E+100
-         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.187172E-09    0.000000E+00              9.00000E+100
-         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    6.662986E-14    0.000000E+00              9.00000E+100
-         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.962944E-12    0.000000E+00              9.00000E+100
-         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.418486E-10    0.000000E+00              9.00000E+100
-         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.171710E-10    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.188538E-10    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.997345E-10    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.808578E-11    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.778051E-10    0.000000E+00              9.00000E+100
-        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.573510E-10    0.000000E+00              9.00000E+100
-        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.269050E-10    0.000000E+00              9.00000E+100
-        103  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    6.228671E-11    0.000000E+00              9.00000E+100
-        104  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.713666E-11    0.000000E+00              9.00000E+100
-        105  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.566320E-10    0.000000E+00              9.00000E+100
-        106  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.476508E-12    0.000000E+00              9.00000E+100
-        107  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.308851E-10    0.000000E+00              9.00000E+100
-        108  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.140790E-09    0.000000E+00              9.00000E+100
-        109  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.780524E-10    0.000000E+00              9.00000E+100
-        110  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.973983E-10    0.000000E+00              9.00000E+100
-        111  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.299280E-09    0.000000E+00              9.00000E+100
-        112  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.943267E-10    0.000000E+00              9.00000E+100
-        113  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.454610E-09    0.000000E+00              9.00000E+100
-        114  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.897149E-10    0.000000E+00              9.00000E+100
-        115  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.219264E-10    0.000000E+00              9.00000E+100
-        116  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.479005E-09    0.000000E+00              9.00000E+100
-        117  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.202759E-10    0.000000E+00              9.00000E+100
-        118  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.052765E-10    0.000000E+00              9.00000E+100
-        119  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.106102E-10    0.000000E+00              9.00000E+100
-        120  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.368361E-10    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.459344E-12    0.000000E+00              9.00000E+100
-        122  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.051981E-10    0.000000E+00              9.00000E+100
-        123  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.033431E-14    0.000000E+00              9.00000E+100
-        124  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -8.842112E-14    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.199968E-12    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.560558E-12    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.884052E-13    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.146510E-12    0.000000E+00              9.00000E+100
-        129  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    8.176463E-13    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    5.650495E-13    0.000000E+00              9.00000E+100
-        131  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -3.346680E-13    0.000000E+00              9.00000E+100
-        132  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.003531E-12    0.000000E+00              9.00000E+100
-        133  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.333261E-13    0.000000E+00              9.00000E+100
-        134  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.621437E-14    0.000000E+00              9.00000E+100
-        135  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.478224E-13    0.000000E+00              9.00000E+100
-        136  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.214742E-13    0.000000E+00              9.00000E+100
-        137  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.452391E-14    0.000000E+00              9.00000E+100
-        138  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.846298E-12    0.000000E+00              9.00000E+100
-        139  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.729796E-12    0.000000E+00              9.00000E+100
-        140  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.456506E-12    0.000000E+00              9.00000E+100
-        141  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -7.199435E-12    0.000000E+00              9.00000E+100
-        142  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.191531E-12    0.000000E+00              9.00000E+100
-        143  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.851732E-13    0.000000E+00              9.00000E+100
-        144  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -3.181992E-13    0.000000E+00              9.00000E+100
-        145  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -5.718831E-12    0.000000E+00              9.00000E+100
-        146  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.475163E-12    0.000000E+00              9.00000E+100
-        147  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.909013E-12    0.000000E+00              9.00000E+100
-        148  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.431610E-11    0.000000E+00              9.00000E+100
-        149  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.005369E-12    0.000000E+00              9.00000E+100
-        150  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    8.815893E-13    0.000000E+00              9.00000E+100
-        151  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.239224E-13    0.000000E+00              9.00000E+100
-        152  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.288433E-12    0.000000E+00              9.00000E+100
-        153  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.346861E-12    0.000000E+00              9.00000E+100
-        154  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.346861E-12    0.000000E+00              9.00000E+100
-        155  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    3.142675E-12    0.000000E+00              9.00000E+100
+          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00    8.244699E-26    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.381673E-12    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.635814E-10    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.170254E-10    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.626644E-10    0.000000E+00              9.00000E+100
+          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.615492E-10    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.227438E-10    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.971662E-11    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.022839E-11    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.137070E-10    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.225319E-10    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.516433E-10    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.502636E-10    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.787954E-11    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.849128E-11    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.810847E-11    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.922407E-11    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.279368E-11    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.449372E-11    0.000000E+00              9.00000E+100
+         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.536852E-12    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.350339E-10    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.945609E-11    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.620425E-11    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.870605E-11    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.110709E-11    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.414339E-10    0.000000E+00              9.00000E+100
+         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.292520E-11    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.521398E-11    0.000000E+00              9.00000E+100
+         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.354238E-11    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.062036E-12    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -1.705011E-11    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.176868E-11    0.000000E+00              9.00000E+100
+         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.671277E-10    0.000000E+00              9.00000E+100
+         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.970535E-09    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.559462E-09    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.539824E-10    0.000000E+00              9.00000E+100
+         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.707416E-09    0.000000E+00              9.00000E+100
+         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.964766E-10    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.038836E-10    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.167498E-10    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.971614E-09    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.403449E-09    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.685266E-09    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.084853E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.184422E-10    0.000000E+00              9.00000E+100
+         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -6.721940E-11    0.000000E+00              9.00000E+100
+         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.496136E-10    0.000000E+00              9.00000E+100
+         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.521829E-10    0.000000E+00              9.00000E+100
+         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.738298E-10    0.000000E+00              9.00000E+100
+         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.548182E-10    0.000000E+00              9.00000E+100
+         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.205975E-10    0.000000E+00              9.00000E+100
+         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.371287E-11    0.000000E+00              9.00000E+100
+         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.687445E-11    0.000000E+00              9.00000E+100
+         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.601637E-11    0.000000E+00              9.00000E+100
+         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.292855E-10    0.000000E+00              9.00000E+100
+         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.595874E-10    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.646151E-10    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.848509E-10    0.000000E+00              9.00000E+100
+         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.917974E-10    0.000000E+00              9.00000E+100
+         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.862054E-11    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.092108E-10    0.000000E+00              9.00000E+100
+         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.874490E-12    0.000000E+00              9.00000E+100
+         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.323389E-11    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.654940E-10    0.000000E+00              9.00000E+100
+         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.978694E-10    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.395803E-11    0.000000E+00              9.00000E+100
+         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.862186E-11    0.000000E+00              9.00000E+100
+         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.961942E-11    0.000000E+00              9.00000E+100
+         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.022420E-11    0.000000E+00              9.00000E+100
+         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.728791E-11    0.000000E+00              9.00000E+100
+         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -6.781702E-11    0.000000E+00              9.00000E+100
+         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.260991E-10    0.000000E+00              9.00000E+100
+         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.623296E-10    0.000000E+00              9.00000E+100
+         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.023256E-11    0.000000E+00              9.00000E+100
+         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.864459E-11    0.000000E+00              9.00000E+100
+         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.297699E-11    0.000000E+00              9.00000E+100
+         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.876507E-11    0.000000E+00              9.00000E+100
+         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.764854E-11    0.000000E+00              9.00000E+100
+         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.662232E-11    0.000000E+00              9.00000E+100
+         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.479414E-11    0.000000E+00              9.00000E+100
+         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.864323E-11    0.000000E+00              9.00000E+100
+         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.633189E-10    0.000000E+00              9.00000E+100
+         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.673217E-11    0.000000E+00              9.00000E+100
+         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.285461E-11    0.000000E+00              9.00000E+100
+         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.587652E-11    0.000000E+00              9.00000E+100
+         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.908841E-11    0.000000E+00              9.00000E+100
+         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.418811E-10    0.000000E+00              9.00000E+100
+         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.650246E-10    0.000000E+00              9.00000E+100
+         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.208766E-11    0.000000E+00              9.00000E+100
+         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.766193E-12    0.000000E+00              9.00000E+100
+         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.853302E-11    0.000000E+00              9.00000E+100
+         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.304070E-13    0.000000E+00              9.00000E+100
+         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.644042E-12    0.000000E+00              9.00000E+100
+         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.604094E-10    0.000000E+00              9.00000E+100
+         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.549545E-10    0.000000E+00              9.00000E+100
+         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.010441E-11    0.000000E+00              9.00000E+100
+         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.139057E-10    0.000000E+00              9.00000E+100
+         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.067828E-10    0.000000E+00              9.00000E+100
+        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.728010E-11    0.000000E+00              9.00000E+100
+        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.450077E-11    0.000000E+00              9.00000E+100
+        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    3.332098E-11    0.000000E+00              9.00000E+100
+        103  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.810076E-10    0.000000E+00              9.00000E+100
+        104  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.942269E-11    0.000000E+00              9.00000E+100
+        105  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    7.510938E-12    0.000000E+00              9.00000E+100
+        106  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.290005E-11    0.000000E+00              9.00000E+100
+        107  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.373798E-12    0.000000E+00              9.00000E+100
+        108  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    3.862202E-12    0.000000E+00              9.00000E+100
+        109  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.281636E-11    0.000000E+00              9.00000E+100
+        110  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.402028E-11    0.000000E+00              9.00000E+100
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         182  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    5.000000E-03    1.000000E+00         l    9.00000E+100
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         271  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.000084E-01    1.800000E+00              9.00000E+100
         272  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.928085E-01    1.800000E+00              9.00000E+100
-        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888638E-01    1.800000E+00              9.00000E+100
-        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888638E-01    1.800000E+00              9.00000E+100
+        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888648E-01    1.800000E+00              9.00000E+100
+        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888648E-01    1.800000E+00              9.00000E+100
         275  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    6.907438E-01    1.800000E+00              9.00000E+100
-        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911886E-01    1.800000E+00              9.00000E+100
-        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911886E-01    1.800000E+00              9.00000E+100
-        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675447E-01    1.800000E+00              9.00000E+100
-        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082451E-01    1.800000E+00              9.00000E+100
-        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082451E-01    1.800000E+00              9.00000E+100
-        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235913E-01    1.800000E+00              9.00000E+100
-        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290660E-01    1.800000E+00              9.00000E+100
-        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290660E-01    1.800000E+00              9.00000E+100
-        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318643E-01    1.800000E+00              9.00000E+100
-        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335824E-01    1.800000E+00              9.00000E+100
-        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335824E-01    1.800000E+00              9.00000E+100
-        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348366E-01    1.800000E+00              9.00000E+100
-        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351595E-01    1.800000E+00              9.00000E+100
-        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351595E-01    1.800000E+00              9.00000E+100
-        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.342028E-01    1.800000E+00              9.00000E+100
-        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323534E-01    1.800000E+00              9.00000E+100
-        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323534E-01    1.800000E+00              9.00000E+100
-        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308129E-01    1.800000E+00              9.00000E+100
-        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336835E-01    1.800000E+00              9.00000E+100
-        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336835E-01    1.800000E+00              9.00000E+100
-        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466404E-01    1.800000E+00              9.00000E+100
-        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729575E-01    1.800000E+00              9.00000E+100
-        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729575E-01    1.800000E+00              9.00000E+100
-        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012175E+00    1.800000E+00              9.00000E+100
-        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060903E+00    1.800000E+00              9.00000E+100
-        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060903E+00    1.800000E+00              9.00000E+100
-        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115330E+00    1.800000E+00              9.00000E+100
-        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169749E+00    1.800000E+00              9.00000E+100
-        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169749E+00    1.800000E+00              9.00000E+100
-        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219027E+00    1.800000E+00              9.00000E+100
-        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260723E+00    1.800000E+00              9.00000E+100
-        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260723E+00    1.800000E+00              9.00000E+100
-        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294111E+00    1.800000E+00              9.00000E+100
-        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320523E+00    1.800000E+00              9.00000E+100
-        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320523E+00    1.800000E+00              9.00000E+100
-        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341659E+00    1.800000E+00              9.00000E+100
-        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359365E+00    1.800000E+00              9.00000E+100
-        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359365E+00    1.800000E+00              9.00000E+100
-        314  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.375207E+00    1.800000E+00              9.00000E+100
-        315  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390236E+00    1.800000E+00              9.00000E+100
-        316  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390236E+00    1.800000E+00              9.00000E+100
-        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405196E+00    1.800000E+00              9.00000E+100
-        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420399E+00    1.800000E+00              9.00000E+100
-        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420399E+00    1.800000E+00              9.00000E+100
-        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.436001E+00    1.800000E+00              9.00000E+100
-        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451974E+00    1.800000E+00              9.00000E+100
-        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451974E+00    1.800000E+00              9.00000E+100
-        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468255E+00    1.800000E+00              9.00000E+100
-        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484789E+00    1.800000E+00              9.00000E+100
-        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484789E+00    1.800000E+00              9.00000E+100
-        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501558E+00    1.800000E+00              9.00000E+100
-        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518643E+00    1.800000E+00              9.00000E+100
-        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518643E+00    1.800000E+00              9.00000E+100
-        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536186E+00    1.800000E+00              9.00000E+100
-        330  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554416E+00    1.800000E+00              9.00000E+100
-        331  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554416E+00    1.800000E+00              9.00000E+100
-        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573585E+00    1.800000E+00              9.00000E+100
-        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593892E+00    1.800000E+00              9.00000E+100
-        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593892E+00    1.800000E+00              9.00000E+100
-        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615445E+00    1.800000E+00              9.00000E+100
-        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637978E+00    1.800000E+00              9.00000E+100
-        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637978E+00    1.800000E+00              9.00000E+100
-        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660940E+00    1.800000E+00              9.00000E+100
-        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683017E+00    1.800000E+00              9.00000E+100
-        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683017E+00    1.800000E+00              9.00000E+100
+        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911844E-01    1.800000E+00              9.00000E+100
+        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911844E-01    1.800000E+00              9.00000E+100
+        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675387E-01    1.800000E+00              9.00000E+100
+        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082427E-01    1.800000E+00              9.00000E+100
+        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082427E-01    1.800000E+00              9.00000E+100
+        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235936E-01    1.800000E+00              9.00000E+100
+        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290706E-01    1.800000E+00              9.00000E+100
+        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290706E-01    1.800000E+00              9.00000E+100
+        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318682E-01    1.800000E+00              9.00000E+100
+        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335830E-01    1.800000E+00              9.00000E+100
+        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335830E-01    1.800000E+00              9.00000E+100
+        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348329E-01    1.800000E+00              9.00000E+100
+        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351523E-01    1.800000E+00              9.00000E+100
+        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351523E-01    1.800000E+00              9.00000E+100
+        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.341943E-01    1.800000E+00              9.00000E+100
+        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323473E-01    1.800000E+00              9.00000E+100
+        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323473E-01    1.800000E+00              9.00000E+100
+        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308145E-01    1.800000E+00              9.00000E+100
+        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.337016E-01    1.800000E+00              9.00000E+100
+        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.337016E-01    1.800000E+00              9.00000E+100
+        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466876E-01    1.800000E+00              9.00000E+100
+        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.730385E-01    1.800000E+00              9.00000E+100
+        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.730385E-01    1.800000E+00              9.00000E+100
+        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012280E+00    1.800000E+00              9.00000E+100
+        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.061021E+00    1.800000E+00              9.00000E+100
+        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.061021E+00    1.800000E+00              9.00000E+100
+        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115450E+00    1.800000E+00              9.00000E+100
+        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169859E+00    1.800000E+00              9.00000E+100
+        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169859E+00    1.800000E+00              9.00000E+100
+        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219118E+00    1.800000E+00              9.00000E+100
+        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260791E+00    1.800000E+00              9.00000E+100
+        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260791E+00    1.800000E+00              9.00000E+100
+        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294158E+00    1.800000E+00              9.00000E+100
+        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320550E+00    1.800000E+00              9.00000E+100
+        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320550E+00    1.800000E+00              9.00000E+100
+        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341672E+00    1.800000E+00              9.00000E+100
+        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359367E+00    1.800000E+00              9.00000E+100
+        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359367E+00    1.800000E+00              9.00000E+100
+        314  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.375203E+00    1.800000E+00              9.00000E+100
+        315  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390229E+00    1.800000E+00              9.00000E+100
+        316  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390229E+00    1.800000E+00              9.00000E+100
+        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405187E+00    1.800000E+00              9.00000E+100
+        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420391E+00    1.800000E+00              9.00000E+100
+        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420391E+00    1.800000E+00              9.00000E+100
+        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.435995E+00    1.800000E+00              9.00000E+100
+        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451969E+00    1.800000E+00              9.00000E+100
+        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451969E+00    1.800000E+00              9.00000E+100
+        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468252E+00    1.800000E+00              9.00000E+100
+        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484788E+00    1.800000E+00              9.00000E+100
+        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484788E+00    1.800000E+00              9.00000E+100
+        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501559E+00    1.800000E+00              9.00000E+100
+        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518646E+00    1.800000E+00              9.00000E+100
+        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518646E+00    1.800000E+00              9.00000E+100
+        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536190E+00    1.800000E+00              9.00000E+100
+        330  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554421E+00    1.800000E+00              9.00000E+100
+        331  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554421E+00    1.800000E+00              9.00000E+100
+        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573591E+00    1.800000E+00              9.00000E+100
+        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593898E+00    1.800000E+00              9.00000E+100
+        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593898E+00    1.800000E+00              9.00000E+100
+        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615450E+00    1.800000E+00              9.00000E+100
+        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637981E+00    1.800000E+00              9.00000E+100
+        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637981E+00    1.800000E+00              9.00000E+100
+        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660943E+00    1.800000E+00              9.00000E+100
+        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683019E+00    1.800000E+00              9.00000E+100
+        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683019E+00    1.800000E+00              9.00000E+100
         341  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.702445E+00    1.800000E+00              9.00000E+100
-        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716558E+00    1.800000E+00              9.00000E+100
-        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716558E+00    1.800000E+00              9.00000E+100
-        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722342E+00    1.800000E+00              9.00000E+100
-        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716755E+00    1.800000E+00              9.00000E+100
-        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716755E+00    1.800000E+00              9.00000E+100
-        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696706E+00    1.800000E+00              9.00000E+100
-        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634738E+00    1.800000E+00              9.00000E+100
-        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634738E+00    1.800000E+00              9.00000E+100
-        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553473E+00    1.800000E+00              9.00000E+100
-        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458869E+00    1.800000E+00              9.00000E+100
-        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458869E+00    1.800000E+00              9.00000E+100
-        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357873E+00    1.800000E+00              9.00000E+100
-        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256855E+00    1.800000E+00              9.00000E+100
-        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256855E+00    1.800000E+00              9.00000E+100
-        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162030E+00    1.800000E+00              9.00000E+100
-        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081335E+00    1.800000E+00              9.00000E+100
-        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081335E+00    1.800000E+00              9.00000E+100
-        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024101E+00    1.800000E+00              9.00000E+100
+        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716556E+00    1.800000E+00              9.00000E+100
+        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716556E+00    1.800000E+00              9.00000E+100
+        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722338E+00    1.800000E+00              9.00000E+100
+        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716748E+00    1.800000E+00              9.00000E+100
+        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716748E+00    1.800000E+00              9.00000E+100
+        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696694E+00    1.800000E+00              9.00000E+100
+        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634721E+00    1.800000E+00              9.00000E+100
+        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634721E+00    1.800000E+00              9.00000E+100
+        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553455E+00    1.800000E+00              9.00000E+100
+        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458852E+00    1.800000E+00              9.00000E+100
+        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458852E+00    1.800000E+00              9.00000E+100
+        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357859E+00    1.800000E+00              9.00000E+100
+        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256843E+00    1.800000E+00              9.00000E+100
+        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256843E+00    1.800000E+00              9.00000E+100
+        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162022E+00    1.800000E+00              9.00000E+100
+        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081331E+00    1.800000E+00              9.00000E+100
+        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081331E+00    1.800000E+00              9.00000E+100
+        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024100E+00    1.800000E+00              9.00000E+100
 
 
    Exit Status
@@ -1596,9 +1599,9 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 13 vs 212  (93.9% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.507798 sec.
-Time to compute coloring: 0.362472 sec.
-Memory to compute coloring: 0.746094 MB.
+Time to compute sparsity: 0.595156 sec.
+Time to compute coloring: 0.351206 sec.
+Memory to compute coloring: 0.570312 MB.
 
 --- Constraint Report [traj] ---
     --- phase0 ---
@@ -1614,7 +1617,6 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 </pre></div>
 </div>
 <div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
-Model viewer data has already been recorded for Driver.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/driver.py:470: DriverWarning:The following design variable initial conditions are out of their specified bounds:
@@ -1625,7 +1627,10 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Set the initial value of the design variable to a valid value or set the driver option[&#39;invalid_desvar_behavior&#39;] to &#39;ignore&#39;.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.623725 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Model viewer data has already been recorded for Driver.
+</pre></div>
+</div>
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.691721 seconds.
 Total jacobian shape: (361, 212) 
 </pre></div>
 </div>
@@ -1634,9 +1639,9 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 154 vs 212  (27.4% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.623725 sec.
-Time to compute coloring: 1.695368 sec.
-Memory to compute coloring: 11.386719 MB.
+Time to compute sparsity: 0.691721 sec.
+Time to compute coloring: 1.634008 sec.
+Memory to compute coloring: 13.433594 MB.
 </pre></div>
 </div>
 <div class="output stderr highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>/usr/share/miniconda/envs/test/lib/python3.10/site-packages/openmdao/core/total_jac.py:1782: DerivativesWarning:Constraints or objectives [(&#39;traj.phases.phase0.timeseries.timeseries_comp.h&#39;, inds=[(0, 0)]), (&#39;traj.phases.phase0.timeseries.timeseries_comp.mach&#39;, inds=[(0, 0)])] cannot be impacted by the design variables of the problem.
@@ -1648,13 +1653,13 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                   20.3168
-       User Objective Time :       3.1118
-       User Sensitivity Time :    14.1925
-       Interface Time :            1.0981
-       Opt Solver Time:            1.9145
-    Calls to Objective Function :     136
-    Calls to Sens Function :          105
+    Total Time:                   39.9638
+       User Objective Time :       7.0890
+       User Sensitivity Time :    27.0066
+       Interface Time :            2.0378
+       Opt Solver Time:            3.8305
+    Calls to Objective Function :     262
+    Calls to Sens Function :          176
 
 
    Objectives
@@ -1665,125 +1670,125 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
       Index  Name                                                                Type      Lower Bound            Value      Upper Bound     Status
           0  traj.phase0.t_duration_0                                               c     5.000000E-01     3.235052E+00     4.000000E+00           
           1  traj.phases.phase0.indep_states.states:r_0                             c     0.000000E+00     1.808252E+00     1.000000E+03           
-          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338693E+00     1.000000E+03           
-          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365630E+00     1.000000E+03           
-          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015780E+01     1.000000E+03           
-          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292796E+01     1.000000E+03           
-          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576489E+01     1.000000E+03           
-          7  traj.phases.phase0.indep_states.states:r_6                             c     0.000000E+00     1.862476E+01     1.000000E+03           
-          8  traj.phases.phase0.indep_states.states:r_7                             c     0.000000E+00     2.150883E+01     1.000000E+03           
-          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455494E+01     1.000000E+03           
-         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786308E+01     1.000000E+03           
-         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146580E+01     1.000000E+03           
-         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545949E+01     1.000000E+03           
-         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978623E+01     1.000000E+03           
-         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429442E+01     1.000000E+03           
-         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.890136E+01     1.000000E+03           
-         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358952E+01     1.000000E+03           
-         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.836218E+01     1.000000E+03           
-         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322382E+01     1.000000E+03           
-         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817698E+01     1.000000E+03           
-         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322640E+01     1.000000E+03           
-         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838419E+01     1.000000E+03           
-         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366983E+01     1.000000E+03           
-         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909863E+01     1.000000E+03           
-         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464803E+01     1.000000E+03           
-         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001563E+02     1.000000E+03           
-         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.052025E+02     1.000000E+03           
-         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093968E+02     1.000000E+03           
-         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128562E+02     1.000000E+03           
-         29  traj.phases.phase0.indep_states.states:r_28                            c     0.000000E+00     1.159945E+02     1.000000E+03           
-         30  traj.phases.phase0.indep_states.states:r_29                            c     0.000000E+00     1.191462E+02     1.000000E+03           
-         31  traj.phases.phase0.indep_states.states:h_0                             c     0.000000E+00     1.061210E+00     2.000000E+02           
-         32  traj.phases.phase0.indep_states.states:h_1                             c     0.000000E+00     1.139505E+00     2.000000E+02           
-         33  traj.phases.phase0.indep_states.states:h_2                             c     0.000000E+00     8.818469E+00     2.000000E+02           
-         34  traj.phases.phase0.indep_states.states:h_3                             c     0.000000E+00     2.664461E+01     2.000000E+02           
-         35  traj.phases.phase0.indep_states.states:h_4                             c     0.000000E+00     4.417056E+01     2.000000E+02           
-         36  traj.phases.phase0.indep_states.states:h_5                             c     0.000000E+00     5.944184E+01     2.000000E+02           
-         37  traj.phases.phase0.indep_states.states:h_6                             c     0.000000E+00     7.289308E+01     2.000000E+02           
-         38  traj.phases.phase0.indep_states.states:h_7                             c     0.000000E+00     8.421087E+01     2.000000E+02           
-         39  traj.phases.phase0.indep_states.states:h_8                             c     0.000000E+00     9.049144E+01     2.000000E+02           
-         40  traj.phases.phase0.indep_states.states:h_9                             c     0.000000E+00     8.883534E+01     2.000000E+02           
-         41  traj.phases.phase0.indep_states.states:h_10                            c     0.000000E+00     8.145849E+01     2.000000E+02           
-         42  traj.phases.phase0.indep_states.states:h_11                            c     0.000000E+00     7.427619E+01     2.000000E+02           
-         43  traj.phases.phase0.indep_states.states:h_12                            c     0.000000E+00     7.107453E+01     2.000000E+02           
-         44  traj.phases.phase0.indep_states.states:h_13                            c     0.000000E+00     7.161520E+01     2.000000E+02           
-         45  traj.phases.phase0.indep_states.states:h_14                            c     0.000000E+00     7.402790E+01     2.000000E+02           
-         46  traj.phases.phase0.indep_states.states:h_15                            c     0.000000E+00     7.692158E+01     2.000000E+02           
-         47  traj.phases.phase0.indep_states.states:h_16                            c     0.000000E+00     7.977487E+01     2.000000E+02           
-         48  traj.phases.phase0.indep_states.states:h_17                            c     0.000000E+00     8.256259E+01     2.000000E+02           
-         49  traj.phases.phase0.indep_states.states:h_18                            c     0.000000E+00     8.533981E+01     2.000000E+02           
-         50  traj.phases.phase0.indep_states.states:h_19                            c     0.000000E+00     8.797432E+01     2.000000E+02           
-         51  traj.phases.phase0.indep_states.states:h_20                            c     0.000000E+00     9.007861E+01     2.000000E+02           
-         52  traj.phases.phase0.indep_states.states:h_21                            c     0.000000E+00     9.124157E+01     2.000000E+02           
-         53  traj.phases.phase0.indep_states.states:h_22                            c     0.000000E+00     9.175678E+01     2.000000E+02           
-         54  traj.phases.phase0.indep_states.states:h_23                            c     0.000000E+00     9.384211E+01     2.000000E+02           
-         55  traj.phases.phase0.indep_states.states:h_24                            c     0.000000E+00     1.021972E+02     2.000000E+02           
-         56  traj.phases.phase0.indep_states.states:h_25                            c     0.000000E+00     1.207198E+02     2.000000E+02           
-         57  traj.phases.phase0.indep_states.states:h_26                            c     0.000000E+00     1.466373E+02     2.000000E+02           
-         58  traj.phases.phase0.indep_states.states:h_27                            c     0.000000E+00     1.725175E+02     2.000000E+02           
-         59  traj.phases.phase0.indep_states.states:h_28                            c     0.000000E+00     1.921009E+02     2.000000E+02           
+          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338694E+00     1.000000E+03           
+          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365658E+00     1.000000E+03           
+          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015787E+01     1.000000E+03           
+          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292802E+01     1.000000E+03           
+          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576496E+01     1.000000E+03           
+          7  traj.phases.phase0.indep_states.states:r_6                             c     0.000000E+00     1.862489E+01     1.000000E+03           
+          8  traj.phases.phase0.indep_states.states:r_7                             c     0.000000E+00     2.150890E+01     1.000000E+03           
+          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455468E+01     1.000000E+03           
+         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786243E+01     1.000000E+03           
+         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146467E+01     1.000000E+03           
+         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545787E+01     1.000000E+03           
+         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978430E+01     1.000000E+03           
+         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429237E+01     1.000000E+03           
+         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.889927E+01     1.000000E+03           
+         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358748E+01     1.000000E+03           
+         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.836028E+01     1.000000E+03           
+         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322205E+01     1.000000E+03           
+         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817531E+01     1.000000E+03           
+         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322475E+01     1.000000E+03           
+         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838250E+01     1.000000E+03           
+         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366808E+01     1.000000E+03           
+         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909682E+01     1.000000E+03           
+         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464618E+01     1.000000E+03           
+         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001544E+02     1.000000E+03           
+         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.052003E+02     1.000000E+03           
+         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093944E+02     1.000000E+03           
+         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128536E+02     1.000000E+03           
+         29  traj.phases.phase0.indep_states.states:r_28                            c     0.000000E+00     1.159919E+02     1.000000E+03           
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-         93  traj.phases.phase0.indep_states.states:gam_2                           c    -1.500000E+00     4.740194E-01     1.500000E+00           
-         94  traj.phases.phase0.indep_states.states:gam_3                           c    -1.500000E+00     5.938258E-01     1.500000E+00           
-         95  traj.phases.phase0.indep_states.states:gam_4                           c    -1.500000E+00     5.275288E-01     1.500000E+00           
-         96  traj.phases.phase0.indep_states.states:gam_5                           c    -1.500000E+00     4.638945E-01     1.500000E+00           
-         97  traj.phases.phase0.indep_states.states:gam_6                           c    -1.500000E+00     4.145349E-01     1.500000E+00           
-         98  traj.phases.phase0.indep_states.states:gam_7                           c    -1.500000E+00     3.137513E-01     1.500000E+00           
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-        112  traj.phases.phase0.indep_states.states:gam_21                          c    -1.500000E+00     1.263645E-02     1.500000E+00           
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-        120  traj.phases.phase0.indep_states.states:gam_29                          c    -1.500000E+00     5.500971E-30     1.500000E+00           
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+        120  traj.phases.phase0.indep_states.states:gam_29                          c    -1.500000E+00    -1.842104E-29     1.500000E+00           
         121  traj.phases.phase0.indep_states.states:m_0                             c     1.000000E-02     1.894029E+01     1.000000E+02           
         122  traj.phases.phase0.indep_states.states:m_1                             c     1.000000E-02     1.883985E+01     1.000000E+02           
         123  traj.phases.phase0.indep_states.states:m_2                             c     1.000000E-02     1.873364E+01     1.000000E+02           
@@ -1793,451 +1798,451 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
         127  traj.phases.phase0.indep_states.states:m_6                             c     1.000000E-02     1.841103E+01     1.000000E+02           
         128  traj.phases.phase0.indep_states.states:m_7                             c     1.000000E-02     1.835554E+01     1.000000E+02           
         129  traj.phases.phase0.indep_states.states:m_8                             c     1.000000E-02     1.830503E+01     1.000000E+02           
-        130  traj.phases.phase0.indep_states.states:m_9                             c     1.000000E-02     1.825306E+01     1.000000E+02           
-        131  traj.phases.phase0.indep_states.states:m_10                            c     1.000000E-02     1.819240E+01     1.000000E+02           
-        132  traj.phases.phase0.indep_states.states:m_11                            c     1.000000E-02     1.811951E+01     1.000000E+02           
-        133  traj.phases.phase0.indep_states.states:m_12                            c     1.000000E-02     1.803716E+01     1.000000E+02           
-        134  traj.phases.phase0.indep_states.states:m_13                            c     1.000000E-02     1.795043E+01     1.000000E+02           
-        135  traj.phases.phase0.indep_states.states:m_14                            c     1.000000E-02     1.786271E+01     1.000000E+02           
-        136  traj.phases.phase0.indep_states.states:m_15                            c     1.000000E-02     1.777525E+01     1.000000E+02           
-        137  traj.phases.phase0.indep_states.states:m_16                            c     1.000000E-02     1.768820E+01     1.000000E+02           
-        138  traj.phases.phase0.indep_states.states:m_17                            c     1.000000E-02     1.760146E+01     1.000000E+02           
-        139  traj.phases.phase0.indep_states.states:m_18                            c     1.000000E-02     1.751502E+01     1.000000E+02           
-        140  traj.phases.phase0.indep_states.states:m_19                            c     1.000000E-02     1.742886E+01     1.000000E+02           
-        141  traj.phases.phase0.indep_states.states:m_20                            c     1.000000E-02     1.734262E+01     1.000000E+02           
-        142  traj.phases.phase0.indep_states.states:m_21                            c     1.000000E-02     1.725551E+01     1.000000E+02           
-        143  traj.phases.phase0.indep_states.states:m_22                            c     1.000000E-02     1.716668E+01     1.000000E+02           
-        144  traj.phases.phase0.indep_states.states:m_23                            c     1.000000E-02     1.707669E+01     1.000000E+02           
-        145  traj.phases.phase0.indep_states.states:m_24                            c     1.000000E-02     1.699006E+01     1.000000E+02           
-        146  traj.phases.phase0.indep_states.states:m_25                            c     1.000000E-02     1.691710E+01     1.000000E+02           
-        147  traj.phases.phase0.indep_states.states:m_26                            c     1.000000E-02     1.686885E+01     1.000000E+02           
-        148  traj.phases.phase0.indep_states.states:m_27                            c     1.000000E-02     1.684147E+01     1.000000E+02           
-        149  traj.phases.phase0.indep_states.states:m_28                            c     1.000000E-02     1.682671E+01     1.000000E+02           
-        150  traj.phases.phase0.indep_states.states:m_29                            c     1.000000E-02     1.681802E+01     1.000000E+02           
-        151  traj.phases.phase0.control_group.indep_controls.controls:alpha_0       c    -8.000000E+00     4.973652E+00     8.000000E+00           
-        152  traj.phases.phase0.control_group.indep_controls.controls:alpha_1       c    -8.000000E+00     3.717156E+00     8.000000E+00           
-        153  traj.phases.phase0.control_group.indep_controls.controls:alpha_2       c    -8.000000E+00     2.438067E+00     8.000000E+00           
-        154  traj.phases.phase0.control_group.indep_controls.controls:alpha_3       c    -8.000000E+00     1.746418E+00     8.000000E+00           
-        155  traj.phases.phase0.control_group.indep_controls.controls:alpha_4       c    -8.000000E+00     2.252238E+00     8.000000E+00           
-        156  traj.phases.phase0.control_group.indep_controls.controls:alpha_5       c    -8.000000E+00     2.787294E+00     8.000000E+00           
-        157  traj.phases.phase0.control_group.indep_controls.controls:alpha_6       c    -8.000000E+00     2.183355E+00     8.000000E+00           
-        158  traj.phases.phase0.control_group.indep_controls.controls:alpha_7       c    -8.000000E+00     1.279570E+00     8.000000E+00           
-        159  traj.phases.phase0.control_group.indep_controls.controls:alpha_8       c    -8.000000E+00     9.150907E-01     8.000000E+00           
-        160  traj.phases.phase0.control_group.indep_controls.controls:alpha_9       c    -8.000000E+00     8.886792E-01     8.000000E+00           
-        161  traj.phases.phase0.control_group.indep_controls.controls:alpha_10      c    -8.000000E+00     9.990992E-01     8.000000E+00           
-        162  traj.phases.phase0.control_group.indep_controls.controls:alpha_11      c    -8.000000E+00     1.188676E+00     8.000000E+00           
-        163  traj.phases.phase0.control_group.indep_controls.controls:alpha_12      c    -8.000000E+00     1.399736E+00     8.000000E+00           
-        164  traj.phases.phase0.control_group.indep_controls.controls:alpha_13      c    -8.000000E+00     1.593671E+00     8.000000E+00           
-        165  traj.phases.phase0.control_group.indep_controls.controls:alpha_14      c    -8.000000E+00     1.731871E+00     8.000000E+00           
-        166  traj.phases.phase0.control_group.indep_controls.controls:alpha_15      c    -8.000000E+00     1.675564E+00     8.000000E+00           
-        167  traj.phases.phase0.control_group.indep_controls.controls:alpha_16      c    -8.000000E+00     1.285980E+00     8.000000E+00           
-        168  traj.phases.phase0.control_group.indep_controls.controls:alpha_17      c    -8.000000E+00     8.304117E-01     8.000000E+00           
-        169  traj.phases.phase0.control_group.indep_controls.controls:alpha_18      c    -8.000000E+00     5.761546E-01     8.000000E+00           
-        170  traj.phases.phase0.control_group.indep_controls.controls:alpha_19      c    -8.000000E+00     6.241002E-01     8.000000E+00           
-        171  traj.phases.phase0.control_group.indep_controls.controls:alpha_20      c    -8.000000E+00     1.075140E+00     8.000000E+00           
-        172  traj.phases.phase0.control_group.indep_controls.controls:alpha_21      c    -8.000000E+00     1.617551E+00     8.000000E+00           
-        173  traj.phases.phase0.control_group.indep_controls.controls:alpha_22      c    -8.000000E+00     1.939610E+00     8.000000E+00           
-        174  traj.phases.phase0.control_group.indep_controls.controls:alpha_23      c    -8.000000E+00     2.066898E+00     8.000000E+00           
-        175  traj.phases.phase0.control_group.indep_controls.controls:alpha_24      c    -8.000000E+00     2.025000E+00     8.000000E+00           
-        176  traj.phases.phase0.control_group.indep_controls.controls:alpha_25      c    -8.000000E+00     1.885217E+00     8.000000E+00           
-        177  traj.phases.phase0.control_group.indep_controls.controls:alpha_26      c    -8.000000E+00     1.718851E+00     8.000000E+00           
-        178  traj.phases.phase0.control_group.indep_controls.controls:alpha_27      c    -8.000000E+00     1.555576E+00     8.000000E+00           
-        179  traj.phases.phase0.control_group.indep_controls.controls:alpha_28      c    -8.000000E+00     1.425069E+00     8.000000E+00           
-        180  traj.phases.phase0.control_group.indep_controls.controls:alpha_29      c    -8.000000E+00     1.329006E+00     8.000000E+00           
-        181  traj.phases.phase0.control_group.indep_controls.controls:alpha_30      c    -8.000000E+00     1.269062E+00     8.000000E+00           
-        182  traj.phases.phase0.control_group.indep_controls.controls:alpha_31      c    -8.000000E+00     1.237484E+00     8.000000E+00           
-        183  traj.phases.phase0.control_group.indep_controls.controls:alpha_32      c    -8.000000E+00     1.226517E+00     8.000000E+00           
-        184  traj.phases.phase0.control_group.indep_controls.controls:alpha_33      c    -8.000000E+00     1.228995E+00     8.000000E+00           
-        185  traj.phases.phase0.control_group.indep_controls.controls:alpha_34      c    -8.000000E+00     1.237754E+00     8.000000E+00           
-        186  traj.phases.phase0.control_group.indep_controls.controls:alpha_35      c    -8.000000E+00     1.248210E+00     8.000000E+00           
-        187  traj.phases.phase0.control_group.indep_controls.controls:alpha_36      c    -8.000000E+00     1.255783E+00     8.000000E+00           
-        188  traj.phases.phase0.control_group.indep_controls.controls:alpha_37      c    -8.000000E+00     1.257886E+00     8.000000E+00           
-        189  traj.phases.phase0.control_group.indep_controls.controls:alpha_38      c    -8.000000E+00     1.251934E+00     8.000000E+00           
-        190  traj.phases.phase0.control_group.indep_controls.controls:alpha_39      c    -8.000000E+00     1.237621E+00     8.000000E+00           
+        130  traj.phases.phase0.indep_states.states:m_9                             c     1.000000E-02     1.825308E+01     1.000000E+02           
+        131  traj.phases.phase0.indep_states.states:m_10                            c     1.000000E-02     1.819243E+01     1.000000E+02           
+        132  traj.phases.phase0.indep_states.states:m_11                            c     1.000000E-02     1.811956E+01     1.000000E+02           
+        133  traj.phases.phase0.indep_states.states:m_12                            c     1.000000E-02     1.803722E+01     1.000000E+02           
+        134  traj.phases.phase0.indep_states.states:m_13                            c     1.000000E-02     1.795051E+01     1.000000E+02           
+        135  traj.phases.phase0.indep_states.states:m_14                            c     1.000000E-02     1.786279E+01     1.000000E+02           
+        136  traj.phases.phase0.indep_states.states:m_15                            c     1.000000E-02     1.777533E+01     1.000000E+02           
+        137  traj.phases.phase0.indep_states.states:m_16                            c     1.000000E-02     1.768827E+01     1.000000E+02           
+        138  traj.phases.phase0.indep_states.states:m_17                            c     1.000000E-02     1.760152E+01     1.000000E+02           
+        139  traj.phases.phase0.indep_states.states:m_18                            c     1.000000E-02     1.751509E+01     1.000000E+02           
+        140  traj.phases.phase0.indep_states.states:m_19                            c     1.000000E-02     1.742892E+01     1.000000E+02           
+        141  traj.phases.phase0.indep_states.states:m_20                            c     1.000000E-02     1.734268E+01     1.000000E+02           
+        142  traj.phases.phase0.indep_states.states:m_21                            c     1.000000E-02     1.725557E+01     1.000000E+02           
+        143  traj.phases.phase0.indep_states.states:m_22                            c     1.000000E-02     1.716675E+01     1.000000E+02           
+        144  traj.phases.phase0.indep_states.states:m_23                            c     1.000000E-02     1.707676E+01     1.000000E+02           
+        145  traj.phases.phase0.indep_states.states:m_24                            c     1.000000E-02     1.699014E+01     1.000000E+02           
+        146  traj.phases.phase0.indep_states.states:m_25                            c     1.000000E-02     1.691717E+01     1.000000E+02           
+        147  traj.phases.phase0.indep_states.states:m_26                            c     1.000000E-02     1.686893E+01     1.000000E+02           
+        148  traj.phases.phase0.indep_states.states:m_27                            c     1.000000E-02     1.684156E+01     1.000000E+02           
+        149  traj.phases.phase0.indep_states.states:m_28                            c     1.000000E-02     1.682680E+01     1.000000E+02           
+        150  traj.phases.phase0.indep_states.states:m_29                            c     1.000000E-02     1.681811E+01     1.000000E+02           
+        151  traj.phases.phase0.control_group.indep_controls.controls:alpha_0       c    -8.000000E+00     4.973597E+00     8.000000E+00           
+        152  traj.phases.phase0.control_group.indep_controls.controls:alpha_1       c    -8.000000E+00     3.717187E+00     8.000000E+00           
+        153  traj.phases.phase0.control_group.indep_controls.controls:alpha_2       c    -8.000000E+00     2.438057E+00     8.000000E+00           
+        154  traj.phases.phase0.control_group.indep_controls.controls:alpha_3       c    -8.000000E+00     1.746341E+00     8.000000E+00           
+        155  traj.phases.phase0.control_group.indep_controls.controls:alpha_4       c    -8.000000E+00     2.252173E+00     8.000000E+00           
+        156  traj.phases.phase0.control_group.indep_controls.controls:alpha_5       c    -8.000000E+00     2.787268E+00     8.000000E+00           
+        157  traj.phases.phase0.control_group.indep_controls.controls:alpha_6       c    -8.000000E+00     2.183337E+00     8.000000E+00           
+        158  traj.phases.phase0.control_group.indep_controls.controls:alpha_7       c    -8.000000E+00     1.279568E+00     8.000000E+00           
+        159  traj.phases.phase0.control_group.indep_controls.controls:alpha_8       c    -8.000000E+00     9.151469E-01     8.000000E+00           
+        160  traj.phases.phase0.control_group.indep_controls.controls:alpha_9       c    -8.000000E+00     8.887387E-01     8.000000E+00           
+        161  traj.phases.phase0.control_group.indep_controls.controls:alpha_10      c    -8.000000E+00     9.990072E-01     8.000000E+00           
+        162  traj.phases.phase0.control_group.indep_controls.controls:alpha_11      c    -8.000000E+00     1.188453E+00     8.000000E+00           
+        163  traj.phases.phase0.control_group.indep_controls.controls:alpha_12      c    -8.000000E+00     1.399578E+00     8.000000E+00           
+        164  traj.phases.phase0.control_group.indep_controls.controls:alpha_13      c    -8.000000E+00     1.593732E+00     8.000000E+00           
+        165  traj.phases.phase0.control_group.indep_controls.controls:alpha_14      c    -8.000000E+00     1.732263E+00     8.000000E+00           
+        166  traj.phases.phase0.control_group.indep_controls.controls:alpha_15      c    -8.000000E+00     1.676463E+00     8.000000E+00           
+        167  traj.phases.phase0.control_group.indep_controls.controls:alpha_16      c    -8.000000E+00     1.287622E+00     8.000000E+00           
+        168  traj.phases.phase0.control_group.indep_controls.controls:alpha_17      c    -8.000000E+00     8.321653E-01     8.000000E+00           
+        169  traj.phases.phase0.control_group.indep_controls.controls:alpha_18      c    -8.000000E+00     5.765160E-01     8.000000E+00           
+        170  traj.phases.phase0.control_group.indep_controls.controls:alpha_19      c    -8.000000E+00     6.229924E-01     8.000000E+00           
+        171  traj.phases.phase0.control_group.indep_controls.controls:alpha_20      c    -8.000000E+00     1.073912E+00     8.000000E+00           
+        172  traj.phases.phase0.control_group.indep_controls.controls:alpha_21      c    -8.000000E+00     1.616882E+00     8.000000E+00           
+        173  traj.phases.phase0.control_group.indep_controls.controls:alpha_22      c    -8.000000E+00     1.939509E+00     8.000000E+00           
+        174  traj.phases.phase0.control_group.indep_controls.controls:alpha_23      c    -8.000000E+00     2.067225E+00     8.000000E+00           
+        175  traj.phases.phase0.control_group.indep_controls.controls:alpha_24      c    -8.000000E+00     2.025462E+00     8.000000E+00           
+        176  traj.phases.phase0.control_group.indep_controls.controls:alpha_25      c    -8.000000E+00     1.885687E+00     8.000000E+00           
+        177  traj.phases.phase0.control_group.indep_controls.controls:alpha_26      c    -8.000000E+00     1.719365E+00     8.000000E+00           
+        178  traj.phases.phase0.control_group.indep_controls.controls:alpha_27      c    -8.000000E+00     1.556061E+00     8.000000E+00           
+        179  traj.phases.phase0.control_group.indep_controls.controls:alpha_28      c    -8.000000E+00     1.425336E+00     8.000000E+00           
+        180  traj.phases.phase0.control_group.indep_controls.controls:alpha_29      c    -8.000000E+00     1.329039E+00     8.000000E+00           
+        181  traj.phases.phase0.control_group.indep_controls.controls:alpha_30      c    -8.000000E+00     1.269015E+00     8.000000E+00           
+        182  traj.phases.phase0.control_group.indep_controls.controls:alpha_31      c    -8.000000E+00     1.237454E+00     8.000000E+00           
+        183  traj.phases.phase0.control_group.indep_controls.controls:alpha_32      c    -8.000000E+00     1.226545E+00     8.000000E+00           
+        184  traj.phases.phase0.control_group.indep_controls.controls:alpha_33      c    -8.000000E+00     1.229098E+00     8.000000E+00           
+        185  traj.phases.phase0.control_group.indep_controls.controls:alpha_34      c    -8.000000E+00     1.237924E+00     8.000000E+00           
+        186  traj.phases.phase0.control_group.indep_controls.controls:alpha_35      c    -8.000000E+00     1.248404E+00     8.000000E+00           
+        187  traj.phases.phase0.control_group.indep_controls.controls:alpha_36      c    -8.000000E+00     1.255916E+00     8.000000E+00           
+        188  traj.phases.phase0.control_group.indep_controls.controls:alpha_37      c    -8.000000E+00     1.257949E+00     8.000000E+00           
+        189  traj.phases.phase0.control_group.indep_controls.controls:alpha_38      c    -8.000000E+00     1.251990E+00     8.000000E+00           
+        190  traj.phases.phase0.control_group.indep_controls.controls:alpha_39      c    -8.000000E+00     1.237675E+00     8.000000E+00           
         191  traj.phases.phase0.control_group.indep_controls.controls:alpha_40      c    -8.000000E+00     1.214640E+00     8.000000E+00           
-        192  traj.phases.phase0.control_group.indep_controls.controls:alpha_41      c    -8.000000E+00     1.187454E+00     8.000000E+00           
-        193  traj.phases.phase0.control_group.indep_controls.controls:alpha_42      c    -8.000000E+00     1.160525E+00     8.000000E+00           
-        194  traj.phases.phase0.control_group.indep_controls.controls:alpha_43      c    -8.000000E+00     1.147789E+00     8.000000E+00           
-        195  traj.phases.phase0.control_group.indep_controls.controls:alpha_44      c    -8.000000E+00     1.163182E+00     8.000000E+00           
-        196  traj.phases.phase0.control_group.indep_controls.controls:alpha_45      c    -8.000000E+00     1.227595E+00     8.000000E+00           
-        197  traj.phases.phase0.control_group.indep_controls.controls:alpha_46      c    -8.000000E+00     1.361916E+00     8.000000E+00           
-        198  traj.phases.phase0.control_group.indep_controls.controls:alpha_47      c    -8.000000E+00     1.581763E+00     8.000000E+00           
-        199  traj.phases.phase0.control_group.indep_controls.controls:alpha_48      c    -8.000000E+00     1.902754E+00     8.000000E+00           
-        200  traj.phases.phase0.control_group.indep_controls.controls:alpha_49      c    -8.000000E+00     2.303644E+00     8.000000E+00           
-        201  traj.phases.phase0.control_group.indep_controls.controls:alpha_50      c    -8.000000E+00     2.763190E+00     8.000000E+00           
-        202  traj.phases.phase0.control_group.indep_controls.controls:alpha_51      c    -8.000000E+00     3.222035E+00     8.000000E+00           
-        203  traj.phases.phase0.control_group.indep_controls.controls:alpha_52      c    -8.000000E+00     3.620824E+00     8.000000E+00           
-        204  traj.phases.phase0.control_group.indep_controls.controls:alpha_53      c    -8.000000E+00     3.885923E+00     8.000000E+00           
-        205  traj.phases.phase0.control_group.indep_controls.controls:alpha_54      c    -8.000000E+00     3.943702E+00     8.000000E+00           
-        206  traj.phases.phase0.control_group.indep_controls.controls:alpha_55      c    -8.000000E+00     3.728752E+00     8.000000E+00           
-        207  traj.phases.phase0.control_group.indep_controls.controls:alpha_56      c    -8.000000E+00     3.175666E+00     8.000000E+00           
-        208  traj.phases.phase0.control_group.indep_controls.controls:alpha_57      c    -8.000000E+00     1.953767E+00     8.000000E+00           
-        209  traj.phases.phase0.control_group.indep_controls.controls:alpha_58      c    -8.000000E+00    -2.676193E-01     8.000000E+00           
-        210  traj.phases.phase0.control_group.indep_controls.controls:alpha_59      c    -8.000000E+00    -3.187383E+00     8.000000E+00           
-        211  traj.phases.phase0.control_group.indep_controls.controls:alpha_60      c    -8.000000E+00    -6.504411E+00     8.000000E+00           
+        192  traj.phases.phase0.control_group.indep_controls.controls:alpha_41      c    -8.000000E+00     1.187367E+00     8.000000E+00           
+        193  traj.phases.phase0.control_group.indep_controls.controls:alpha_42      c    -8.000000E+00     1.160336E+00     8.000000E+00           
+        194  traj.phases.phase0.control_group.indep_controls.controls:alpha_43      c    -8.000000E+00     1.147551E+00     8.000000E+00           
+        195  traj.phases.phase0.control_group.indep_controls.controls:alpha_44      c    -8.000000E+00     1.163014E+00     8.000000E+00           
+        196  traj.phases.phase0.control_group.indep_controls.controls:alpha_45      c    -8.000000E+00     1.227558E+00     8.000000E+00           
+        197  traj.phases.phase0.control_group.indep_controls.controls:alpha_46      c    -8.000000E+00     1.362013E+00     8.000000E+00           
+        198  traj.phases.phase0.control_group.indep_controls.controls:alpha_47      c    -8.000000E+00     1.581982E+00     8.000000E+00           
+        199  traj.phases.phase0.control_group.indep_controls.controls:alpha_48      c    -8.000000E+00     1.903070E+00     8.000000E+00           
+        200  traj.phases.phase0.control_group.indep_controls.controls:alpha_49      c    -8.000000E+00     2.304021E+00     8.000000E+00           
+        201  traj.phases.phase0.control_group.indep_controls.controls:alpha_50      c    -8.000000E+00     2.763584E+00     8.000000E+00           
+        202  traj.phases.phase0.control_group.indep_controls.controls:alpha_51      c    -8.000000E+00     3.222385E+00     8.000000E+00           
+        203  traj.phases.phase0.control_group.indep_controls.controls:alpha_52      c    -8.000000E+00     3.621055E+00     8.000000E+00           
+        204  traj.phases.phase0.control_group.indep_controls.controls:alpha_53      c    -8.000000E+00     3.885969E+00     8.000000E+00           
+        205  traj.phases.phase0.control_group.indep_controls.controls:alpha_54      c    -8.000000E+00     3.943506E+00     8.000000E+00           
+        206  traj.phases.phase0.control_group.indep_controls.controls:alpha_55      c    -8.000000E+00     3.728364E+00     8.000000E+00           
+        207  traj.phases.phase0.control_group.indep_controls.controls:alpha_56      c    -8.000000E+00     3.175243E+00     8.000000E+00           
+        208  traj.phases.phase0.control_group.indep_controls.controls:alpha_57      c    -8.000000E+00     1.953276E+00     8.000000E+00           
+        209  traj.phases.phase0.control_group.indep_controls.controls:alpha_58      c    -8.000000E+00    -2.684045E-01     8.000000E+00           
+        210  traj.phases.phase0.control_group.indep_controls.controls:alpha_59      c    -8.000000E+00    -3.185373E+00     8.000000E+00           
+        211  traj.phases.phase0.control_group.indep_controls.controls:alpha_60      c    -8.000000E+00    -6.493203E+00     8.000000E+00           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                               Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;h                      e   2.000000E+01    2.000000E+01    2.000000E+01              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;mach                   e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
-          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00    5.500971E-30    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.618739E-13    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.007602E-11    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.017226E-11    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.638606E-12    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.009627E-12    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -9.081171E-13    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.476537E-12    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.730182E-12    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.472369E-11    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.672285E-11    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.786510E-11    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.247771E-11    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.165514E-11    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.579146E-11    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.908373E-11    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.850568E-11    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.828803E-11    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.152797E-10    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.196422E-10    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.479265E-11    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.557595E-11    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.090971E-11    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.090672E-12    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.842365E-10    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.268564E-10    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.657530E-10    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.087573E-11    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.263579E-11    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.412600E-12    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.770269E-13    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.236585E-12    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.188465E-11    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.327487E-11    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.275593E-11    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.295369E-11    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.005796E-11    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.548212E-11    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.261418E-11    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.179286E-09    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.134661E-10    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.051640E-10    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.335268E-10    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.619736E-10    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.417509E-10    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.515627E-10    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.272214E-10    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.784266E-11    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.547114E-10    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -7.270951E-11    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.013563E-10    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.235047E-11    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.004221E-10    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.253054E-10    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.795555E-10    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.966119E-10    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.431132E-10    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.560829E-10    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.336386E-10    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.069635E-11    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.896513E-12    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.026105E-12    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.735587E-12    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.960519E-11    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.956733E-12    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.191574E-12    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.956119E-12    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.330803E-12    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.026067E-11    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.467760E-11    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.389254E-10    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.484405E-10    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.274949E-10    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.744349E-11    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.975328E-11    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.485020E-11    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.027644E-11    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.086319E-11    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.431131E-11    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.222852E-10    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.079520E-10    0.000000E+00              9.00000E+100
-         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.385672E-10    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.875557E-11    0.000000E+00              9.00000E+100
-         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.895010E-11    0.000000E+00              9.00000E+100
-         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.285466E-10    0.000000E+00              9.00000E+100
-         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.885945E-10    0.000000E+00              9.00000E+100
-         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.656824E-10    0.000000E+00              9.00000E+100
-         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.187354E-10    0.000000E+00              9.00000E+100
-         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.572924E-11    0.000000E+00              9.00000E+100
-         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.801774E-12    0.000000E+00              9.00000E+100
-         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.309572E-12    0.000000E+00              9.00000E+100
-         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.484899E-15    0.000000E+00              9.00000E+100
-         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.390765E-12    0.000000E+00              9.00000E+100
-         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.061786E-11    0.000000E+00              9.00000E+100
-         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    3.026378E-12    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.948392E-12    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.589114E-12    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -8.302640E-12    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.123932E-12    0.000000E+00              9.00000E+100
-        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.916340E-11    0.000000E+00              9.00000E+100
-        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.816539E-11    0.000000E+00              9.00000E+100
-        103  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.194513E-11    0.000000E+00              9.00000E+100
-        104  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.866452E-11    0.000000E+00              9.00000E+100
-        105  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.914078E-12    0.000000E+00              9.00000E+100
-        106  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.856525E-12    0.000000E+00              9.00000E+100
-        107  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.043371E-11    0.000000E+00              9.00000E+100
-        108  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.548940E-11    0.000000E+00              9.00000E+100
-        109  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.886866E-12    0.000000E+00              9.00000E+100
-        110  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.348569E-11    0.000000E+00              9.00000E+100
-        111  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.478598E-11    0.000000E+00              9.00000E+100
-        112  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.888058E-11    0.000000E+00              9.00000E+100
-        113  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -5.366708E-12    0.000000E+00              9.00000E+100
-        114  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.285681E-11    0.000000E+00              9.00000E+100
-        115  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.311450E-11    0.000000E+00              9.00000E+100
-        116  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.519563E-11    0.000000E+00              9.00000E+100
-        117  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.129084E-10    0.000000E+00              9.00000E+100
-        118  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.013559E-10    0.000000E+00              9.00000E+100
-        119  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.983301E-12    0.000000E+00              9.00000E+100
-        120  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.679415E-12    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.822733E-12    0.000000E+00              9.00000E+100
-        122  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.796410E-13    0.000000E+00              9.00000E+100
-        123  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.427074E-15    0.000000E+00              9.00000E+100
-        124  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.517104E-14    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -9.320996E-14    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -8.629488E-15    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.218281E-14    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.540958E-14    0.000000E+00              9.00000E+100
-        129  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.774472E-15    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    5.231806E-14    0.000000E+00              9.00000E+100
-        131  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.731272E-13    0.000000E+00              9.00000E+100
-        132  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.095337E-12    0.000000E+00              9.00000E+100
-        133  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.506335E-13    0.000000E+00              9.00000E+100
-        134  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    4.822073E-13    0.000000E+00              9.00000E+100
-        135  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.880487E-14    0.000000E+00              9.00000E+100
-        136  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.308816E-14    0.000000E+00              9.00000E+100
-        137  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.937277E-13    0.000000E+00              9.00000E+100
-        138  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    8.459005E-14    0.000000E+00              9.00000E+100
-        139  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    5.814608E-14    0.000000E+00              9.00000E+100
-        140  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -7.757919E-14    0.000000E+00              9.00000E+100
-        141  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.682990E-13    0.000000E+00              9.00000E+100
-        142  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.625151E-15    0.000000E+00              9.00000E+100
-        143  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.697164E-14    0.000000E+00              9.00000E+100
-        144  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.856659E-14    0.000000E+00              9.00000E+100
-        145  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.290981E-14    0.000000E+00              9.00000E+100
-        146  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -8.482949E-14    0.000000E+00              9.00000E+100
-        147  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.122232E-13    0.000000E+00              9.00000E+100
-        148  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.096463E-12    0.000000E+00              9.00000E+100
-        149  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.068486E-13    0.000000E+00              9.00000E+100
-        150  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.508963E-14    0.000000E+00              9.00000E+100
-        151  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.551584E-15    0.000000E+00              9.00000E+100
-        152  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.000029E-14    0.000000E+00              9.00000E+100
-        153  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.346861E-12    0.000000E+00              9.00000E+100
-        154  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -1.346861E-12    0.000000E+00              9.00000E+100
-        155  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    2.693722E-12    0.000000E+00              9.00000E+100
-        156  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -6.734305E-13    0.000000E+00              9.00000E+100
-        157  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    1.571338E-12    0.000000E+00              9.00000E+100
-        158  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    4.489536E-13    0.000000E+00              9.00000E+100
-        159  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00   -3.647748E-12    0.000000E+00              9.00000E+100
+          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00   -1.842104E-29    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.502094E-13    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.395230E-11    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.888381E-11    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.572734E-11    0.000000E+00              9.00000E+100
+          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.403646E-11    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.001319E-11    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.136665E-11    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.134067E-12    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.452754E-10    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.348302E-11    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.309307E-11    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.912766E-10    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.923755E-10    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.035250E-10    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.522736E-10    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.469459E-10    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.025942E-10    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.078123E-10    0.000000E+00              9.00000E+100
+         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.501968E-11    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.487350E-11    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.327697E-11    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.295676E-10    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.935731E-10    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.532382E-10    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.241809E-10    0.000000E+00              9.00000E+100
+         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.137587E-10    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.301867E-11    0.000000E+00              9.00000E+100
+         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.710837E-11    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.681380E-12    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -1.163481E-11    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.230775E-12    0.000000E+00              9.00000E+100
+         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.259063E-11    0.000000E+00              9.00000E+100
+         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.099188E-10    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.258910E-10    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.436415E-11    0.000000E+00              9.00000E+100
+         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.265418E-10    0.000000E+00              9.00000E+100
+         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.428419E-11    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.544228E-11    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.568594E-10    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.384461E-10    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.220288E-10    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.597317E-09    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.035161E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.739131E-10    0.000000E+00              9.00000E+100
+         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.960164E-10    0.000000E+00              9.00000E+100
+         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.135993E-09    0.000000E+00              9.00000E+100
+         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.011136E-10    0.000000E+00              9.00000E+100
+         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.038641E-10    0.000000E+00              9.00000E+100
+         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.179787E-10    0.000000E+00              9.00000E+100
+         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.783404E-11    0.000000E+00              9.00000E+100
+         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.031856E-10    0.000000E+00              9.00000E+100
+         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.571332E-10    0.000000E+00              9.00000E+100
+         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.525328E-10    0.000000E+00              9.00000E+100
+         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.279384E-10    0.000000E+00              9.00000E+100
+         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.063027E-09    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.350846E-10    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.129304E-10    0.000000E+00              9.00000E+100
+         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.265298E-11    0.000000E+00              9.00000E+100
+         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.566358E-11    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -5.184512E-11    0.000000E+00              9.00000E+100
+         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.436508E-12    0.000000E+00              9.00000E+100
+         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.646669E-12    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.946850E-11    0.000000E+00              9.00000E+100
+         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.016125E-11    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.137853E-11    0.000000E+00              9.00000E+100
+         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.091757E-11    0.000000E+00              9.00000E+100
+         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.041417E-12    0.000000E+00              9.00000E+100
+         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.109494E-11    0.000000E+00              9.00000E+100
+         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.771898E-11    0.000000E+00              9.00000E+100
+         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -2.980382E-12    0.000000E+00              9.00000E+100
+         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.078102E-11    0.000000E+00              9.00000E+100
+         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.483325E-10    0.000000E+00              9.00000E+100
+         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.583150E-10    0.000000E+00              9.00000E+100
+         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.033423E-10    0.000000E+00              9.00000E+100
+         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.841355E-10    0.000000E+00              9.00000E+100
+         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.795930E-10    0.000000E+00              9.00000E+100
+         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.998412E-10    0.000000E+00              9.00000E+100
+         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.740176E-11    0.000000E+00              9.00000E+100
+         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.749670E-11    0.000000E+00              9.00000E+100
+         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.312104E-11    0.000000E+00              9.00000E+100
+         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.182891E-11    0.000000E+00              9.00000E+100
+         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.154330E-10    0.000000E+00              9.00000E+100
+         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.609161E-10    0.000000E+00              9.00000E+100
+         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.794181E-10    0.000000E+00              9.00000E+100
+         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.020009E-09    0.000000E+00              9.00000E+100
+         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.237585E-10    0.000000E+00              9.00000E+100
+         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.083186E-10    0.000000E+00              9.00000E+100
+         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.589186E-11    0.000000E+00              9.00000E+100
+         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.745718E-12    0.000000E+00              9.00000E+100
+         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.622998E-11    0.000000E+00              9.00000E+100
+         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.876577E-14    0.000000E+00              9.00000E+100
+         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.189313E-12    0.000000E+00              9.00000E+100
+         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.087795E-11    0.000000E+00              9.00000E+100
+         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.808355E-11    0.000000E+00              9.00000E+100
+         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.892011E-11    0.000000E+00              9.00000E+100
+         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.896342E-11    0.000000E+00              9.00000E+100
+         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.991186E-12    0.000000E+00              9.00000E+100
+        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.830397E-11    0.000000E+00              9.00000E+100
+        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.138741E-11    0.000000E+00              9.00000E+100
+        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -7.789682E-12    0.000000E+00              9.00000E+100
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         182  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    5.000000E-03    1.000000E+00         l    9.00000E+100
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+        266  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    8.626147E-01    1.000000E+00              9.00000E+100
+        267  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    9.171212E-01    1.000000E+00              9.00000E+100
+        268  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    9.605175E-01    1.000000E+00              9.00000E+100
+        269  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    9.605175E-01    1.000000E+00              9.00000E+100
+        270  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    9.894546E-01    1.000000E+00              9.00000E+100
         271  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.000084E-01    1.800000E+00              9.00000E+100
         272  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.928085E-01    1.800000E+00              9.00000E+100
-        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888642E-01    1.800000E+00              9.00000E+100
-        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888642E-01    1.800000E+00              9.00000E+100
+        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888640E-01    1.800000E+00              9.00000E+100
+        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888640E-01    1.800000E+00              9.00000E+100
         275  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    6.907438E-01    1.800000E+00              9.00000E+100
-        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911864E-01    1.800000E+00              9.00000E+100
-        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911864E-01    1.800000E+00              9.00000E+100
-        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675405E-01    1.800000E+00              9.00000E+100
-        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082409E-01    1.800000E+00              9.00000E+100
-        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082409E-01    1.800000E+00              9.00000E+100
-        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235880E-01    1.800000E+00              9.00000E+100
-        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290634E-01    1.800000E+00              9.00000E+100
-        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290634E-01    1.800000E+00              9.00000E+100
-        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318627E-01    1.800000E+00              9.00000E+100
-        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335818E-01    1.800000E+00              9.00000E+100
-        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335818E-01    1.800000E+00              9.00000E+100
-        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348360E-01    1.800000E+00              9.00000E+100
-        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351572E-01    1.800000E+00              9.00000E+100
-        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351572E-01    1.800000E+00              9.00000E+100
-        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.341980E-01    1.800000E+00              9.00000E+100
-        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323482E-01    1.800000E+00              9.00000E+100
-        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323482E-01    1.800000E+00              9.00000E+100
-        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308136E-01    1.800000E+00              9.00000E+100
-        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.337012E-01    1.800000E+00              9.00000E+100
-        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.337012E-01    1.800000E+00              9.00000E+100
-        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466905E-01    1.800000E+00              9.00000E+100
-        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.730456E-01    1.800000E+00              9.00000E+100
-        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.730456E-01    1.800000E+00              9.00000E+100
-        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012290E+00    1.800000E+00              9.00000E+100
-        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.061032E+00    1.800000E+00              9.00000E+100
-        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.061032E+00    1.800000E+00              9.00000E+100
-        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115460E+00    1.800000E+00              9.00000E+100
-        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169869E+00    1.800000E+00              9.00000E+100
-        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169869E+00    1.800000E+00              9.00000E+100
-        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219130E+00    1.800000E+00              9.00000E+100
-        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260805E+00    1.800000E+00              9.00000E+100
-        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260805E+00    1.800000E+00              9.00000E+100
-        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294173E+00    1.800000E+00              9.00000E+100
-        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320567E+00    1.800000E+00              9.00000E+100
-        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320567E+00    1.800000E+00              9.00000E+100
-        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341691E+00    1.800000E+00              9.00000E+100
-        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359388E+00    1.800000E+00              9.00000E+100
-        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359388E+00    1.800000E+00              9.00000E+100
-        314  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.375222E+00    1.800000E+00              9.00000E+100
+        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911880E-01    1.800000E+00              9.00000E+100
+        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911880E-01    1.800000E+00              9.00000E+100
+        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675444E-01    1.800000E+00              9.00000E+100
+        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082465E-01    1.800000E+00              9.00000E+100
+        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082465E-01    1.800000E+00              9.00000E+100
+        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235940E-01    1.800000E+00              9.00000E+100
+        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290691E-01    1.800000E+00              9.00000E+100
+        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290691E-01    1.800000E+00              9.00000E+100
+        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318670E-01    1.800000E+00              9.00000E+100
+        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335842E-01    1.800000E+00              9.00000E+100
+        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335842E-01    1.800000E+00              9.00000E+100
+        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348380E-01    1.800000E+00              9.00000E+100
+        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351612E-01    1.800000E+00              9.00000E+100
+        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351612E-01    1.800000E+00              9.00000E+100
+        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.342050E-01    1.800000E+00              9.00000E+100
+        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323560E-01    1.800000E+00              9.00000E+100
+        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323560E-01    1.800000E+00              9.00000E+100
+        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308159E-01    1.800000E+00              9.00000E+100
+        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336868E-01    1.800000E+00              9.00000E+100
+        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336868E-01    1.800000E+00              9.00000E+100
+        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466438E-01    1.800000E+00              9.00000E+100
+        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729606E-01    1.800000E+00              9.00000E+100
+        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729606E-01    1.800000E+00              9.00000E+100
+        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012178E+00    1.800000E+00              9.00000E+100
+        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060907E+00    1.800000E+00              9.00000E+100
+        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060907E+00    1.800000E+00              9.00000E+100
+        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115335E+00    1.800000E+00              9.00000E+100
+        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169755E+00    1.800000E+00              9.00000E+100
+        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169755E+00    1.800000E+00              9.00000E+100
+        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219033E+00    1.800000E+00              9.00000E+100
+        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260727E+00    1.800000E+00              9.00000E+100
+        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260727E+00    1.800000E+00              9.00000E+100
+        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294115E+00    1.800000E+00              9.00000E+100
+        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320527E+00    1.800000E+00              9.00000E+100
+        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320527E+00    1.800000E+00              9.00000E+100
+        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341664E+00    1.800000E+00              9.00000E+100
+        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359370E+00    1.800000E+00              9.00000E+100
+        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359370E+00    1.800000E+00              9.00000E+100
+        314  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.375213E+00    1.800000E+00              9.00000E+100
         315  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390242E+00    1.800000E+00              9.00000E+100
         316  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390242E+00    1.800000E+00              9.00000E+100
-        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405194E+00    1.800000E+00              9.00000E+100
-        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420390E+00    1.800000E+00              9.00000E+100
-        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420390E+00    1.800000E+00              9.00000E+100
-        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.435988E+00    1.800000E+00              9.00000E+100
-        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451958E+00    1.800000E+00              9.00000E+100
-        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451958E+00    1.800000E+00              9.00000E+100
-        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468239E+00    1.800000E+00              9.00000E+100
-        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484774E+00    1.800000E+00              9.00000E+100
-        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484774E+00    1.800000E+00              9.00000E+100
-        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501547E+00    1.800000E+00              9.00000E+100
-        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518638E+00    1.800000E+00              9.00000E+100
-        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518638E+00    1.800000E+00              9.00000E+100
-        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536187E+00    1.800000E+00              9.00000E+100
+        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405203E+00    1.800000E+00              9.00000E+100
+        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420408E+00    1.800000E+00              9.00000E+100
+        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420408E+00    1.800000E+00              9.00000E+100
+        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.436013E+00    1.800000E+00              9.00000E+100
+        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451987E+00    1.800000E+00              9.00000E+100
+        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451987E+00    1.800000E+00              9.00000E+100
+        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468269E+00    1.800000E+00              9.00000E+100
+        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484802E+00    1.800000E+00              9.00000E+100
+        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484802E+00    1.800000E+00              9.00000E+100
+        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501570E+00    1.800000E+00              9.00000E+100
+        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518654E+00    1.800000E+00              9.00000E+100
+        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518654E+00    1.800000E+00              9.00000E+100
+        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536196E+00    1.800000E+00              9.00000E+100
         330  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554423E+00    1.800000E+00              9.00000E+100
         331  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554423E+00    1.800000E+00              9.00000E+100
-        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573596E+00    1.800000E+00              9.00000E+100
-        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593906E+00    1.800000E+00              9.00000E+100
-        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593906E+00    1.800000E+00              9.00000E+100
-        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615460E+00    1.800000E+00              9.00000E+100
-        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637991E+00    1.800000E+00              9.00000E+100
-        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637991E+00    1.800000E+00              9.00000E+100
-        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660951E+00    1.800000E+00              9.00000E+100
-        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683024E+00    1.800000E+00              9.00000E+100
-        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683024E+00    1.800000E+00              9.00000E+100
-        341  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.702448E+00    1.800000E+00              9.00000E+100
-        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716559E+00    1.800000E+00              9.00000E+100
-        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716559E+00    1.800000E+00              9.00000E+100
-        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722343E+00    1.800000E+00              9.00000E+100
-        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716758E+00    1.800000E+00              9.00000E+100
-        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716758E+00    1.800000E+00              9.00000E+100
-        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696715E+00    1.800000E+00              9.00000E+100
-        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634754E+00    1.800000E+00              9.00000E+100
-        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634754E+00    1.800000E+00              9.00000E+100
-        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553494E+00    1.800000E+00              9.00000E+100
-        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458892E+00    1.800000E+00              9.00000E+100
-        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458892E+00    1.800000E+00              9.00000E+100
-        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357898E+00    1.800000E+00              9.00000E+100
-        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256881E+00    1.800000E+00              9.00000E+100
-        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256881E+00    1.800000E+00              9.00000E+100
-        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162055E+00    1.800000E+00              9.00000E+100
-        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081356E+00    1.800000E+00              9.00000E+100
-        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081356E+00    1.800000E+00              9.00000E+100
-        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024116E+00    1.800000E+00              9.00000E+100
+        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573589E+00    1.800000E+00              9.00000E+100
+        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593894E+00    1.800000E+00              9.00000E+100
+        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593894E+00    1.800000E+00              9.00000E+100
+        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615447E+00    1.800000E+00              9.00000E+100
+        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637979E+00    1.800000E+00              9.00000E+100
+        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637979E+00    1.800000E+00              9.00000E+100
+        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660941E+00    1.800000E+00              9.00000E+100
+        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683017E+00    1.800000E+00              9.00000E+100
+        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683017E+00    1.800000E+00              9.00000E+100
+        341  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.702443E+00    1.800000E+00              9.00000E+100
+        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716554E+00    1.800000E+00              9.00000E+100
+        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716554E+00    1.800000E+00              9.00000E+100
+        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722334E+00    1.800000E+00              9.00000E+100
+        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716742E+00    1.800000E+00              9.00000E+100
+        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716742E+00    1.800000E+00              9.00000E+100
+        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696684E+00    1.800000E+00              9.00000E+100
+        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634705E+00    1.800000E+00              9.00000E+100
+        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634705E+00    1.800000E+00              9.00000E+100
+        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553435E+00    1.800000E+00              9.00000E+100
+        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458829E+00    1.800000E+00              9.00000E+100
+        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458829E+00    1.800000E+00              9.00000E+100
+        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357835E+00    1.800000E+00              9.00000E+100
+        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256821E+00    1.800000E+00              9.00000E+100
+        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256821E+00    1.800000E+00              9.00000E+100
+        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162002E+00    1.800000E+00              9.00000E+100
+        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081314E+00    1.800000E+00              9.00000E+100
+        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081314E+00    1.800000E+00              9.00000E+100
+        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024090E+00    1.800000E+00              9.00000E+100
 
 
    Exit Status
@@ -2252,9 +2257,9 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 154 vs 212  (27.4% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.623725 sec.
-Time to compute coloring: 1.695368 sec.
-Memory to compute coloring: 11.386719 MB.
+Time to compute sparsity: 0.691721 sec.
+Time to compute coloring: 1.634008 sec.
+Memory to compute coloring: 13.433594 MB.
 
 --- Constraint Report [traj] ---
     --- phase0 ---
@@ -2288,8 +2293,8 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 2 vs 120  (98.3% improvement)
 
 Sparsity computed using tolerance: 1e-06
-Time to compute sparsity: 0.013626 sec.
-Time to compute coloring: 0.013114 sec.
+Time to compute sparsity: 0.015464 sec.
+Time to compute coloring: 0.016973 sec.
 Memory to compute coloring: 0.000000 MB.
 
 Coloring for &#39;traj.phases.phase0.rhs_col.aero.q_comp&#39; (class DynamicPressureCompFD)
@@ -2299,12 +2304,12 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 2 vs 60  (96.7% improvement)
 
 Sparsity computed using tolerance: 1e-06
-Time to compute sparsity: 0.005896 sec.
-Time to compute coloring: 0.006907 sec.
+Time to compute sparsity: 0.007984 sec.
+Time to compute coloring: 0.009034 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
-<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.603314 seconds.
+<div class="output stream highlight-myst-ansi notranslate"><div class="highlight"><pre><span></span>Full total jacobian was computed 3 times, taking 0.702990 seconds.
 Total jacobian shape: (361, 212) 
 </pre></div>
 </div>
@@ -2313,8 +2318,8 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 13 vs 212  (93.9% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.603314 sec.
-Time to compute coloring: 0.317470 sec.
+Time to compute sparsity: 0.702990 sec.
+Time to compute coloring: 0.358993 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
@@ -2327,13 +2332,13 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 
     Solution: 
 --------------------------------------------------------------------------------
-    Total Time:                    8.4169
-       User Objective Time :       3.0087
-       User Sensitivity Time :     3.2071
-       Interface Time :            1.0575
-       Opt Solver Time:            1.1434
-    Calls to Objective Function :     130
-    Calls to Sens Function :          106
+    Total Time:                    9.3608
+       User Objective Time :       3.5384
+       User Sensitivity Time :     3.3792
+       Interface Time :            1.1308
+       Opt Solver Time:            1.3125
+    Calls to Objective Function :     127
+    Calls to Sens Function :          102
 
 
    Objectives
@@ -2343,126 +2348,126 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
    Variables (c - continuous, i - integer, d - discrete)
       Index  Name                                                                Type      Lower Bound            Value      Upper Bound     Status
           0  traj.phase0.t_duration_0                                               c     5.000000E-01     3.235052E+00     4.000000E+00           
-          1  traj.phases.phase0.indep_states.states:r_0                             c     0.000000E+00     1.808252E+00     1.000000E+03           
-          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338692E+00     1.000000E+03           
-          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365611E+00     1.000000E+03           
-          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015780E+01     1.000000E+03           
-          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292796E+01     1.000000E+03           
-          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576491E+01     1.000000E+03           
+          1  traj.phases.phase0.indep_states.states:r_0                             c     0.000000E+00     1.808253E+00     1.000000E+03           
+          2  traj.phases.phase0.indep_states.states:r_1                             c     0.000000E+00     4.338690E+00     1.000000E+03           
+          3  traj.phases.phase0.indep_states.states:r_2                             c     0.000000E+00     7.365600E+00     1.000000E+03           
+          4  traj.phases.phase0.indep_states.states:r_3                             c     0.000000E+00     1.015785E+01     1.000000E+03           
+          5  traj.phases.phase0.indep_states.states:r_4                             c     0.000000E+00     1.292802E+01     1.000000E+03           
+          6  traj.phases.phase0.indep_states.states:r_5                             c     0.000000E+00     1.576494E+01     1.000000E+03           
           7  traj.phases.phase0.indep_states.states:r_6                             c     0.000000E+00     1.862484E+01     1.000000E+03           
           8  traj.phases.phase0.indep_states.states:r_7                             c     0.000000E+00     2.150885E+01     1.000000E+03           
-          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455464E+01     1.000000E+03           
-         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786239E+01     1.000000E+03           
-         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146463E+01     1.000000E+03           
-         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545782E+01     1.000000E+03           
-         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978426E+01     1.000000E+03           
-         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429233E+01     1.000000E+03           
-         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.889919E+01     1.000000E+03           
-         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358732E+01     1.000000E+03           
-         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.835999E+01     1.000000E+03           
-         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322163E+01     1.000000E+03           
-         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817478E+01     1.000000E+03           
-         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322412E+01     1.000000E+03           
-         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838182E+01     1.000000E+03           
-         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366738E+01     1.000000E+03           
-         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909613E+01     1.000000E+03           
-         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464550E+01     1.000000E+03           
-         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001537E+02     1.000000E+03           
-         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.051998E+02     1.000000E+03           
-         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093939E+02     1.000000E+03           
-         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128533E+02     1.000000E+03           
-         29  traj.phases.phase0.indep_states.states:r_28                            c     0.000000E+00     1.159916E+02     1.000000E+03           
-         30  traj.phases.phase0.indep_states.states:r_29                            c     0.000000E+00     1.191433E+02     1.000000E+03           
-         31  traj.phases.phase0.indep_states.states:h_0                             c     0.000000E+00     1.061190E+00     2.000000E+02           
-         32  traj.phases.phase0.indep_states.states:h_1                             c     0.000000E+00     1.139677E+00     2.000000E+02           
-         33  traj.phases.phase0.indep_states.states:h_2                             c     0.000000E+00     8.818886E+00     2.000000E+02           
-         34  traj.phases.phase0.indep_states.states:h_3                             c     0.000000E+00     2.664465E+01     2.000000E+02           
-         35  traj.phases.phase0.indep_states.states:h_4                             c     0.000000E+00     4.417054E+01     2.000000E+02           
-         36  traj.phases.phase0.indep_states.states:h_5                             c     0.000000E+00     5.944154E+01     2.000000E+02           
-         37  traj.phases.phase0.indep_states.states:h_6                             c     0.000000E+00     7.289227E+01     2.000000E+02           
-         38  traj.phases.phase0.indep_states.states:h_7                             c     0.000000E+00     8.421178E+01     2.000000E+02           
-         39  traj.phases.phase0.indep_states.states:h_8                             c     0.000000E+00     9.049979E+01     2.000000E+02           
-         40  traj.phases.phase0.indep_states.states:h_9                             c     0.000000E+00     8.885219E+01     2.000000E+02           
-         41  traj.phases.phase0.indep_states.states:h_10                            c     0.000000E+00     8.147705E+01     2.000000E+02           
-         42  traj.phases.phase0.indep_states.states:h_11                            c     0.000000E+00     7.429031E+01     2.000000E+02           
-         43  traj.phases.phase0.indep_states.states:h_12                            c     0.000000E+00     7.108278E+01     2.000000E+02           
-         44  traj.phases.phase0.indep_states.states:h_13                            c     0.000000E+00     7.161994E+01     2.000000E+02           
-         45  traj.phases.phase0.indep_states.states:h_14                            c     0.000000E+00     7.403118E+01     2.000000E+02           
-         46  traj.phases.phase0.indep_states.states:h_15                            c     0.000000E+00     7.692319E+01     2.000000E+02           
-         47  traj.phases.phase0.indep_states.states:h_16                            c     0.000000E+00     7.977532E+01     2.000000E+02           
-         48  traj.phases.phase0.indep_states.states:h_17                            c     0.000000E+00     8.256294E+01     2.000000E+02           
-         49  traj.phases.phase0.indep_states.states:h_18                            c     0.000000E+00     8.534141E+01     2.000000E+02           
-         50  traj.phases.phase0.indep_states.states:h_19                            c     0.000000E+00     8.797793E+01     2.000000E+02           
-         51  traj.phases.phase0.indep_states.states:h_20                            c     0.000000E+00     9.008329E+01     2.000000E+02           
-         52  traj.phases.phase0.indep_states.states:h_21                            c     0.000000E+00     9.124582E+01     2.000000E+02           
-         53  traj.phases.phase0.indep_states.states:h_22                            c     0.000000E+00     9.175925E+01     2.000000E+02           
-         54  traj.phases.phase0.indep_states.states:h_23                            c     0.000000E+00     9.384353E+01     2.000000E+02           
-         55  traj.phases.phase0.indep_states.states:h_24                            c     0.000000E+00     1.021994E+02     2.000000E+02           
-         56  traj.phases.phase0.indep_states.states:h_25                            c     0.000000E+00     1.207237E+02     2.000000E+02           
-         57  traj.phases.phase0.indep_states.states:h_26                            c     0.000000E+00     1.466416E+02     2.000000E+02           
-         58  traj.phases.phase0.indep_states.states:h_27                            c     0.000000E+00     1.725206E+02     2.000000E+02           
-         59  traj.phases.phase0.indep_states.states:h_28                            c     0.000000E+00     1.921020E+02     2.000000E+02           
+          9  traj.phases.phase0.indep_states.states:r_8                             c     0.000000E+00     2.455472E+01     1.000000E+03           
+         10  traj.phases.phase0.indep_states.states:r_9                             c     0.000000E+00     2.786257E+01     1.000000E+03           
+         11  traj.phases.phase0.indep_states.states:r_10                            c     0.000000E+00     3.146493E+01     1.000000E+03           
+         12  traj.phases.phase0.indep_states.states:r_11                            c     0.000000E+00     3.545827E+01     1.000000E+03           
+         13  traj.phases.phase0.indep_states.states:r_12                            c     0.000000E+00     3.978479E+01     1.000000E+03           
+         14  traj.phases.phase0.indep_states.states:r_13                            c     0.000000E+00     4.429287E+01     1.000000E+03           
+         15  traj.phases.phase0.indep_states.states:r_14                            c     0.000000E+00     4.889973E+01     1.000000E+03           
+         16  traj.phases.phase0.indep_states.states:r_15                            c     0.000000E+00     5.358789E+01     1.000000E+03           
+         17  traj.phases.phase0.indep_states.states:r_16                            c     0.000000E+00     5.836061E+01     1.000000E+03           
+         18  traj.phases.phase0.indep_states.states:r_17                            c     0.000000E+00     6.322233E+01     1.000000E+03           
+         19  traj.phases.phase0.indep_states.states:r_18                            c     0.000000E+00     6.817555E+01     1.000000E+03           
+         20  traj.phases.phase0.indep_states.states:r_19                            c     0.000000E+00     7.322495E+01     1.000000E+03           
+         21  traj.phases.phase0.indep_states.states:r_20                            c     0.000000E+00     7.838269E+01     1.000000E+03           
+         22  traj.phases.phase0.indep_states.states:r_21                            c     0.000000E+00     8.366826E+01     1.000000E+03           
+         23  traj.phases.phase0.indep_states.states:r_22                            c     0.000000E+00     8.909701E+01     1.000000E+03           
+         24  traj.phases.phase0.indep_states.states:r_23                            c     0.000000E+00     9.464639E+01     1.000000E+03           
+         25  traj.phases.phase0.indep_states.states:r_24                            c     0.000000E+00     1.001546E+02     1.000000E+03           
+         26  traj.phases.phase0.indep_states.states:r_25                            c     0.000000E+00     1.052007E+02     1.000000E+03           
+         27  traj.phases.phase0.indep_states.states:r_26                            c     0.000000E+00     1.093949E+02     1.000000E+03           
+         28  traj.phases.phase0.indep_states.states:r_27                            c     0.000000E+00     1.128542E+02     1.000000E+03           
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-         93  traj.phases.phase0.indep_states.states:gam_2                           c    -1.500000E+00     4.740132E-01     1.500000E+00           
-         94  traj.phases.phase0.indep_states.states:gam_3                           c    -1.500000E+00     5.938148E-01     1.500000E+00           
-         95  traj.phases.phase0.indep_states.states:gam_4                           c    -1.500000E+00     5.275302E-01     1.500000E+00           
-         96  traj.phases.phase0.indep_states.states:gam_5                           c    -1.500000E+00     4.638704E-01     1.500000E+00           
-         97  traj.phases.phase0.indep_states.states:gam_6                           c    -1.500000E+00     4.145320E-01     1.500000E+00           
-         98  traj.phases.phase0.indep_states.states:gam_7                           c    -1.500000E+00     3.138966E-01     1.500000E+00           
-         99  traj.phases.phase0.indep_states.states:gam_8                           c    -1.500000E+00     7.816305E-02     1.500000E+00           
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+        120  traj.phases.phase0.indep_states.states:gam_29                          c    -1.500000E+00    -4.065332E-26     1.500000E+00           
         121  traj.phases.phase0.indep_states.states:m_0                             c     1.000000E-02     1.894029E+01     1.000000E+02           
         122  traj.phases.phase0.indep_states.states:m_1                             c     1.000000E-02     1.883985E+01     1.000000E+02           
         123  traj.phases.phase0.indep_states.states:m_2                             c     1.000000E-02     1.873364E+01     1.000000E+02           
@@ -2473,450 +2478,450 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
         128  traj.phases.phase0.indep_states.states:m_7                             c     1.000000E-02     1.835554E+01     1.000000E+02           
         129  traj.phases.phase0.indep_states.states:m_8                             c     1.000000E-02     1.830503E+01     1.000000E+02           
         130  traj.phases.phase0.indep_states.states:m_9                             c     1.000000E-02     1.825308E+01     1.000000E+02           
-        131  traj.phases.phase0.indep_states.states:m_10                            c     1.000000E-02     1.819244E+01     1.000000E+02           
-        132  traj.phases.phase0.indep_states.states:m_11                            c     1.000000E-02     1.811957E+01     1.000000E+02           
-        133  traj.phases.phase0.indep_states.states:m_12                            c     1.000000E-02     1.803723E+01     1.000000E+02           
-        134  traj.phases.phase0.indep_states.states:m_13                            c     1.000000E-02     1.795051E+01     1.000000E+02           
-        135  traj.phases.phase0.indep_states.states:m_14                            c     1.000000E-02     1.786280E+01     1.000000E+02           
-        136  traj.phases.phase0.indep_states.states:m_15                            c     1.000000E-02     1.777534E+01     1.000000E+02           
-        137  traj.phases.phase0.indep_states.states:m_16                            c     1.000000E-02     1.768828E+01     1.000000E+02           
-        138  traj.phases.phase0.indep_states.states:m_17                            c     1.000000E-02     1.760154E+01     1.000000E+02           
-        139  traj.phases.phase0.indep_states.states:m_18                            c     1.000000E-02     1.751511E+01     1.000000E+02           
-        140  traj.phases.phase0.indep_states.states:m_19                            c     1.000000E-02     1.742895E+01     1.000000E+02           
-        141  traj.phases.phase0.indep_states.states:m_20                            c     1.000000E-02     1.734272E+01     1.000000E+02           
-        142  traj.phases.phase0.indep_states.states:m_21                            c     1.000000E-02     1.725561E+01     1.000000E+02           
-        143  traj.phases.phase0.indep_states.states:m_22                            c     1.000000E-02     1.716678E+01     1.000000E+02           
-        144  traj.phases.phase0.indep_states.states:m_23                            c     1.000000E-02     1.707680E+01     1.000000E+02           
-        145  traj.phases.phase0.indep_states.states:m_24                            c     1.000000E-02     1.699017E+01     1.000000E+02           
-        146  traj.phases.phase0.indep_states.states:m_25                            c     1.000000E-02     1.691721E+01     1.000000E+02           
-        147  traj.phases.phase0.indep_states.states:m_26                            c     1.000000E-02     1.686896E+01     1.000000E+02           
-        148  traj.phases.phase0.indep_states.states:m_27                            c     1.000000E-02     1.684159E+01     1.000000E+02           
-        149  traj.phases.phase0.indep_states.states:m_28                            c     1.000000E-02     1.682682E+01     1.000000E+02           
-        150  traj.phases.phase0.indep_states.states:m_29                            c     1.000000E-02     1.681814E+01     1.000000E+02           
-        151  traj.phases.phase0.control_group.indep_controls.controls:alpha_0       c    -8.000000E+00     4.973755E+00     8.000000E+00           
-        152  traj.phases.phase0.control_group.indep_controls.controls:alpha_1       c    -8.000000E+00     3.717097E+00     8.000000E+00           
-        153  traj.phases.phase0.control_group.indep_controls.controls:alpha_2       c    -8.000000E+00     2.438086E+00     8.000000E+00           
-        154  traj.phases.phase0.control_group.indep_controls.controls:alpha_3       c    -8.000000E+00     1.746540E+00     8.000000E+00           
-        155  traj.phases.phase0.control_group.indep_controls.controls:alpha_4       c    -8.000000E+00     2.252279E+00     8.000000E+00           
-        156  traj.phases.phase0.control_group.indep_controls.controls:alpha_5       c    -8.000000E+00     2.787223E+00     8.000000E+00           
-        157  traj.phases.phase0.control_group.indep_controls.controls:alpha_6       c    -8.000000E+00     2.183294E+00     8.000000E+00           
-        158  traj.phases.phase0.control_group.indep_controls.controls:alpha_7       c    -8.000000E+00     1.279577E+00     8.000000E+00           
-        159  traj.phases.phase0.control_group.indep_controls.controls:alpha_8       c    -8.000000E+00     9.151570E-01     8.000000E+00           
-        160  traj.phases.phase0.control_group.indep_controls.controls:alpha_9       c    -8.000000E+00     8.887453E-01     8.000000E+00           
-        161  traj.phases.phase0.control_group.indep_controls.controls:alpha_10      c    -8.000000E+00     9.990546E-01     8.000000E+00           
-        162  traj.phases.phase0.control_group.indep_controls.controls:alpha_11      c    -8.000000E+00     1.188531E+00     8.000000E+00           
-        163  traj.phases.phase0.control_group.indep_controls.controls:alpha_12      c    -8.000000E+00     1.399619E+00     8.000000E+00           
-        164  traj.phases.phase0.control_group.indep_controls.controls:alpha_13      c    -8.000000E+00     1.593729E+00     8.000000E+00           
-        165  traj.phases.phase0.control_group.indep_controls.controls:alpha_14      c    -8.000000E+00     1.732271E+00     8.000000E+00           
-        166  traj.phases.phase0.control_group.indep_controls.controls:alpha_15      c    -8.000000E+00     1.676479E+00     8.000000E+00           
-        167  traj.phases.phase0.control_group.indep_controls.controls:alpha_16      c    -8.000000E+00     1.287589E+00     8.000000E+00           
-        168  traj.phases.phase0.control_group.indep_controls.controls:alpha_17      c    -8.000000E+00     8.321170E-01     8.000000E+00           
-        169  traj.phases.phase0.control_group.indep_controls.controls:alpha_18      c    -8.000000E+00     5.765794E-01     8.000000E+00           
-        170  traj.phases.phase0.control_group.indep_controls.controls:alpha_19      c    -8.000000E+00     6.231294E-01     8.000000E+00           
-        171  traj.phases.phase0.control_group.indep_controls.controls:alpha_20      c    -8.000000E+00     1.073920E+00     8.000000E+00           
-        172  traj.phases.phase0.control_group.indep_controls.controls:alpha_21      c    -8.000000E+00     1.616746E+00     8.000000E+00           
-        173  traj.phases.phase0.control_group.indep_controls.controls:alpha_22      c    -8.000000E+00     1.939402E+00     8.000000E+00           
-        174  traj.phases.phase0.control_group.indep_controls.controls:alpha_23      c    -8.000000E+00     2.067209E+00     8.000000E+00           
-        175  traj.phases.phase0.control_group.indep_controls.controls:alpha_24      c    -8.000000E+00     2.025487E+00     8.000000E+00           
-        176  traj.phases.phase0.control_group.indep_controls.controls:alpha_25      c    -8.000000E+00     1.885736E+00     8.000000E+00           
-        177  traj.phases.phase0.control_group.indep_controls.controls:alpha_26      c    -8.000000E+00     1.719456E+00     8.000000E+00           
-        178  traj.phases.phase0.control_group.indep_controls.controls:alpha_27      c    -8.000000E+00     1.556182E+00     8.000000E+00           
-        179  traj.phases.phase0.control_group.indep_controls.controls:alpha_28      c    -8.000000E+00     1.425446E+00     8.000000E+00           
-        180  traj.phases.phase0.control_group.indep_controls.controls:alpha_29      c    -8.000000E+00     1.329123E+00     8.000000E+00           
-        181  traj.phases.phase0.control_group.indep_controls.controls:alpha_30      c    -8.000000E+00     1.269085E+00     8.000000E+00           
-        182  traj.phases.phase0.control_group.indep_controls.controls:alpha_31      c    -8.000000E+00     1.237521E+00     8.000000E+00           
-        183  traj.phases.phase0.control_group.indep_controls.controls:alpha_32      c    -8.000000E+00     1.226618E+00     8.000000E+00           
-        184  traj.phases.phase0.control_group.indep_controls.controls:alpha_33      c    -8.000000E+00     1.229149E+00     8.000000E+00           
-        185  traj.phases.phase0.control_group.indep_controls.controls:alpha_34      c    -8.000000E+00     1.237885E+00     8.000000E+00           
-        186  traj.phases.phase0.control_group.indep_controls.controls:alpha_35      c    -8.000000E+00     1.248321E+00     8.000000E+00           
-        187  traj.phases.phase0.control_group.indep_controls.controls:alpha_36      c    -8.000000E+00     1.255952E+00     8.000000E+00           
-        188  traj.phases.phase0.control_group.indep_controls.controls:alpha_37      c    -8.000000E+00     1.258095E+00     8.000000E+00           
-        189  traj.phases.phase0.control_group.indep_controls.controls:alpha_38      c    -8.000000E+00     1.252069E+00     8.000000E+00           
-        190  traj.phases.phase0.control_group.indep_controls.controls:alpha_39      c    -8.000000E+00     1.237647E+00     8.000000E+00           
-        191  traj.phases.phase0.control_group.indep_controls.controls:alpha_40      c    -8.000000E+00     1.214602E+00     8.000000E+00           
-        192  traj.phases.phase0.control_group.indep_controls.controls:alpha_41      c    -8.000000E+00     1.187386E+00     8.000000E+00           
-        193  traj.phases.phase0.control_group.indep_controls.controls:alpha_42      c    -8.000000E+00     1.160452E+00     8.000000E+00           
-        194  traj.phases.phase0.control_group.indep_controls.controls:alpha_43      c    -8.000000E+00     1.147719E+00     8.000000E+00           
-        195  traj.phases.phase0.control_group.indep_controls.controls:alpha_44      c    -8.000000E+00     1.163105E+00     8.000000E+00           
-        196  traj.phases.phase0.control_group.indep_controls.controls:alpha_45      c    -8.000000E+00     1.227569E+00     8.000000E+00           
-        197  traj.phases.phase0.control_group.indep_controls.controls:alpha_46      c    -8.000000E+00     1.362072E+00     8.000000E+00           
-        198  traj.phases.phase0.control_group.indep_controls.controls:alpha_47      c    -8.000000E+00     1.582072E+00     8.000000E+00           
-        199  traj.phases.phase0.control_group.indep_controls.controls:alpha_48      c    -8.000000E+00     1.903026E+00     8.000000E+00           
-        200  traj.phases.phase0.control_group.indep_controls.controls:alpha_49      c    -8.000000E+00     2.303856E+00     8.000000E+00           
-        201  traj.phases.phase0.control_group.indep_controls.controls:alpha_50      c    -8.000000E+00     2.763482E+00     8.000000E+00           
-        202  traj.phases.phase0.control_group.indep_controls.controls:alpha_51      c    -8.000000E+00     3.222353E+00     8.000000E+00           
-        203  traj.phases.phase0.control_group.indep_controls.controls:alpha_52      c    -8.000000E+00     3.620916E+00     8.000000E+00           
-        204  traj.phases.phase0.control_group.indep_controls.controls:alpha_53      c    -8.000000E+00     3.885767E+00     8.000000E+00           
-        205  traj.phases.phase0.control_group.indep_controls.controls:alpha_54      c    -8.000000E+00     3.943499E+00     8.000000E+00           
-        206  traj.phases.phase0.control_group.indep_controls.controls:alpha_55      c    -8.000000E+00     3.728547E+00     8.000000E+00           
-        207  traj.phases.phase0.control_group.indep_controls.controls:alpha_56      c    -8.000000E+00     3.175345E+00     8.000000E+00           
-        208  traj.phases.phase0.control_group.indep_controls.controls:alpha_57      c    -8.000000E+00     1.953660E+00     8.000000E+00           
-        209  traj.phases.phase0.control_group.indep_controls.controls:alpha_58      c    -8.000000E+00    -2.667413E-01     8.000000E+00           
-        210  traj.phases.phase0.control_group.indep_controls.controls:alpha_59      c    -8.000000E+00    -3.185455E+00     8.000000E+00           
-        211  traj.phases.phase0.control_group.indep_controls.controls:alpha_60      c    -8.000000E+00    -6.502077E+00     8.000000E+00           
+        131  traj.phases.phase0.indep_states.states:m_10                            c     1.000000E-02     1.819243E+01     1.000000E+02           
+        132  traj.phases.phase0.indep_states.states:m_11                            c     1.000000E-02     1.811955E+01     1.000000E+02           
+        133  traj.phases.phase0.indep_states.states:m_12                            c     1.000000E-02     1.803721E+01     1.000000E+02           
+        134  traj.phases.phase0.indep_states.states:m_13                            c     1.000000E-02     1.795049E+01     1.000000E+02           
+        135  traj.phases.phase0.indep_states.states:m_14                            c     1.000000E-02     1.786278E+01     1.000000E+02           
+        136  traj.phases.phase0.indep_states.states:m_15                            c     1.000000E-02     1.777532E+01     1.000000E+02           
+        137  traj.phases.phase0.indep_states.states:m_16                            c     1.000000E-02     1.768826E+01     1.000000E+02           
+        138  traj.phases.phase0.indep_states.states:m_17                            c     1.000000E-02     1.760152E+01     1.000000E+02           
+        139  traj.phases.phase0.indep_states.states:m_18                            c     1.000000E-02     1.751508E+01     1.000000E+02           
+        140  traj.phases.phase0.indep_states.states:m_19                            c     1.000000E-02     1.742892E+01     1.000000E+02           
+        141  traj.phases.phase0.indep_states.states:m_20                            c     1.000000E-02     1.734268E+01     1.000000E+02           
+        142  traj.phases.phase0.indep_states.states:m_21                            c     1.000000E-02     1.725557E+01     1.000000E+02           
+        143  traj.phases.phase0.indep_states.states:m_22                            c     1.000000E-02     1.716675E+01     1.000000E+02           
+        144  traj.phases.phase0.indep_states.states:m_23                            c     1.000000E-02     1.707676E+01     1.000000E+02           
+        145  traj.phases.phase0.indep_states.states:m_24                            c     1.000000E-02     1.699013E+01     1.000000E+02           
+        146  traj.phases.phase0.indep_states.states:m_25                            c     1.000000E-02     1.691717E+01     1.000000E+02           
+        147  traj.phases.phase0.indep_states.states:m_26                            c     1.000000E-02     1.686892E+01     1.000000E+02           
+        148  traj.phases.phase0.indep_states.states:m_27                            c     1.000000E-02     1.684155E+01     1.000000E+02           
+        149  traj.phases.phase0.indep_states.states:m_28                            c     1.000000E-02     1.682678E+01     1.000000E+02           
+        150  traj.phases.phase0.indep_states.states:m_29                            c     1.000000E-02     1.681810E+01     1.000000E+02           
+        151  traj.phases.phase0.control_group.indep_controls.controls:alpha_0       c    -8.000000E+00     4.973910E+00     8.000000E+00           
+        152  traj.phases.phase0.control_group.indep_controls.controls:alpha_1       c    -8.000000E+00     3.717007E+00     8.000000E+00           
+        153  traj.phases.phase0.control_group.indep_controls.controls:alpha_2       c    -8.000000E+00     2.438112E+00     8.000000E+00           
+        154  traj.phases.phase0.control_group.indep_controls.controls:alpha_3       c    -8.000000E+00     1.746713E+00     8.000000E+00           
+        155  traj.phases.phase0.control_group.indep_controls.controls:alpha_4       c    -8.000000E+00     2.252294E+00     8.000000E+00           
+        156  traj.phases.phase0.control_group.indep_controls.controls:alpha_5       c    -8.000000E+00     2.787054E+00     8.000000E+00           
+        157  traj.phases.phase0.control_group.indep_controls.controls:alpha_6       c    -8.000000E+00     2.183193E+00     8.000000E+00           
+        158  traj.phases.phase0.control_group.indep_controls.controls:alpha_7       c    -8.000000E+00     1.279625E+00     8.000000E+00           
+        159  traj.phases.phase0.control_group.indep_controls.controls:alpha_8       c    -8.000000E+00     9.152669E-01     8.000000E+00           
+        160  traj.phases.phase0.control_group.indep_controls.controls:alpha_9       c    -8.000000E+00     8.888532E-01     8.000000E+00           
+        161  traj.phases.phase0.control_group.indep_controls.controls:alpha_10      c    -8.000000E+00     9.991189E-01     8.000000E+00           
+        162  traj.phases.phase0.control_group.indep_controls.controls:alpha_11      c    -8.000000E+00     1.188542E+00     8.000000E+00           
+        163  traj.phases.phase0.control_group.indep_controls.controls:alpha_12      c    -8.000000E+00     1.399601E+00     8.000000E+00           
+        164  traj.phases.phase0.control_group.indep_controls.controls:alpha_13      c    -8.000000E+00     1.593672E+00     8.000000E+00           
+        165  traj.phases.phase0.control_group.indep_controls.controls:alpha_14      c    -8.000000E+00     1.732132E+00     8.000000E+00           
+        166  traj.phases.phase0.control_group.indep_controls.controls:alpha_15      c    -8.000000E+00     1.676225E+00     8.000000E+00           
+        167  traj.phases.phase0.control_group.indep_controls.controls:alpha_16      c    -8.000000E+00     1.287196E+00     8.000000E+00           
+        168  traj.phases.phase0.control_group.indep_controls.controls:alpha_17      c    -8.000000E+00     8.317050E-01     8.000000E+00           
+        169  traj.phases.phase0.control_group.indep_controls.controls:alpha_18      c    -8.000000E+00     5.764099E-01     8.000000E+00           
+        170  traj.phases.phase0.control_group.indep_controls.controls:alpha_19      c    -8.000000E+00     6.232703E-01     8.000000E+00           
+        171  traj.phases.phase0.control_group.indep_controls.controls:alpha_20      c    -8.000000E+00     1.074246E+00     8.000000E+00           
+        172  traj.phases.phase0.control_group.indep_controls.controls:alpha_21      c    -8.000000E+00     1.617086E+00     8.000000E+00           
+        173  traj.phases.phase0.control_group.indep_controls.controls:alpha_22      c    -8.000000E+00     1.939543E+00     8.000000E+00           
+        174  traj.phases.phase0.control_group.indep_controls.controls:alpha_23      c    -8.000000E+00     2.067139E+00     8.000000E+00           
+        175  traj.phases.phase0.control_group.indep_controls.controls:alpha_24      c    -8.000000E+00     2.025401E+00     8.000000E+00           
+        176  traj.phases.phase0.control_group.indep_controls.controls:alpha_25      c    -8.000000E+00     1.885677E+00     8.000000E+00           
+        177  traj.phases.phase0.control_group.indep_controls.controls:alpha_26      c    -8.000000E+00     1.719315E+00     8.000000E+00           
+        178  traj.phases.phase0.control_group.indep_controls.controls:alpha_27      c    -8.000000E+00     1.555952E+00     8.000000E+00           
+        179  traj.phases.phase0.control_group.indep_controls.controls:alpha_28      c    -8.000000E+00     1.425222E+00     8.000000E+00           
+        180  traj.phases.phase0.control_group.indep_controls.controls:alpha_29      c    -8.000000E+00     1.328962E+00     8.000000E+00           
+        181  traj.phases.phase0.control_group.indep_controls.controls:alpha_30      c    -8.000000E+00     1.269011E+00     8.000000E+00           
+        182  traj.phases.phase0.control_group.indep_controls.controls:alpha_31      c    -8.000000E+00     1.237497E+00     8.000000E+00           
+        183  traj.phases.phase0.control_group.indep_controls.controls:alpha_32      c    -8.000000E+00     1.226551E+00     8.000000E+00           
+        184  traj.phases.phase0.control_group.indep_controls.controls:alpha_33      c    -8.000000E+00     1.229050E+00     8.000000E+00           
+        185  traj.phases.phase0.control_group.indep_controls.controls:alpha_34      c    -8.000000E+00     1.237876E+00     8.000000E+00           
+        186  traj.phases.phase0.control_group.indep_controls.controls:alpha_35      c    -8.000000E+00     1.248395E+00     8.000000E+00           
+        187  traj.phases.phase0.control_group.indep_controls.controls:alpha_36      c    -8.000000E+00     1.255978E+00     8.000000E+00           
+        188  traj.phases.phase0.control_group.indep_controls.controls:alpha_37      c    -8.000000E+00     1.258055E+00     8.000000E+00           
+        189  traj.phases.phase0.control_group.indep_controls.controls:alpha_38      c    -8.000000E+00     1.252059E+00     8.000000E+00           
+        190  traj.phases.phase0.control_group.indep_controls.controls:alpha_39      c    -8.000000E+00     1.237676E+00     8.000000E+00           
+        191  traj.phases.phase0.control_group.indep_controls.controls:alpha_40      c    -8.000000E+00     1.214595E+00     8.000000E+00           
+        192  traj.phases.phase0.control_group.indep_controls.controls:alpha_41      c    -8.000000E+00     1.187325E+00     8.000000E+00           
+        193  traj.phases.phase0.control_group.indep_controls.controls:alpha_42      c    -8.000000E+00     1.160379E+00     8.000000E+00           
+        194  traj.phases.phase0.control_group.indep_controls.controls:alpha_43      c    -8.000000E+00     1.147659E+00     8.000000E+00           
+        195  traj.phases.phase0.control_group.indep_controls.controls:alpha_44      c    -8.000000E+00     1.163066E+00     8.000000E+00           
+        196  traj.phases.phase0.control_group.indep_controls.controls:alpha_45      c    -8.000000E+00     1.227526E+00     8.000000E+00           
+        197  traj.phases.phase0.control_group.indep_controls.controls:alpha_46      c    -8.000000E+00     1.361963E+00     8.000000E+00           
+        198  traj.phases.phase0.control_group.indep_controls.controls:alpha_47      c    -8.000000E+00     1.581927E+00     8.000000E+00           
+        199  traj.phases.phase0.control_group.indep_controls.controls:alpha_48      c    -8.000000E+00     1.902969E+00     8.000000E+00           
+        200  traj.phases.phase0.control_group.indep_controls.controls:alpha_49      c    -8.000000E+00     2.303878E+00     8.000000E+00           
+        201  traj.phases.phase0.control_group.indep_controls.controls:alpha_50      c    -8.000000E+00     2.763444E+00     8.000000E+00           
+        202  traj.phases.phase0.control_group.indep_controls.controls:alpha_51      c    -8.000000E+00     3.222260E+00     8.000000E+00           
+        203  traj.phases.phase0.control_group.indep_controls.controls:alpha_52      c    -8.000000E+00     3.620922E+00     8.000000E+00           
+        204  traj.phases.phase0.control_group.indep_controls.controls:alpha_53      c    -8.000000E+00     3.885883E+00     8.000000E+00           
+        205  traj.phases.phase0.control_group.indep_controls.controls:alpha_54      c    -8.000000E+00     3.943594E+00     8.000000E+00           
+        206  traj.phases.phase0.control_group.indep_controls.controls:alpha_55      c    -8.000000E+00     3.728612E+00     8.000000E+00           
+        207  traj.phases.phase0.control_group.indep_controls.controls:alpha_56      c    -8.000000E+00     3.175489E+00     8.000000E+00           
+        208  traj.phases.phase0.control_group.indep_controls.controls:alpha_57      c    -8.000000E+00     1.953486E+00     8.000000E+00           
+        209  traj.phases.phase0.control_group.indep_controls.controls:alpha_58      c    -8.000000E+00    -2.681377E-01     8.000000E+00           
+        210  traj.phases.phase0.control_group.indep_controls.controls:alpha_59      c    -8.000000E+00    -3.186535E+00     8.000000E+00           
+        211  traj.phases.phase0.control_group.indep_controls.controls:alpha_60      c    -8.000000E+00    -6.498859E+00     8.000000E+00           
 
    Constraints (i - inequality, e - equality)
       Index  Name                                                               Type          Lower           Value           Upper    Status  Lagrange Multiplier (N/A)
           0  traj.phases.phase0-&gt;final_boundary_constraint-&gt;h                      e   2.000000E+01    2.000000E+01    2.000000E+01              9.00000E+100
           1  traj.phases.phase0-&gt;final_boundary_constraint-&gt;mach                   e   1.000000E+00    1.000000E+00    1.000000E+00              9.00000E+100
-          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00    2.244736E-26    0.000000E+00              9.00000E+100
-          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.304230E-13    0.000000E+00              9.00000E+100
-          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.820510E-11    0.000000E+00              9.00000E+100
-          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.960987E-11    0.000000E+00              9.00000E+100
-          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.226741E-11    0.000000E+00              9.00000E+100
-          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.155328E-11    0.000000E+00              9.00000E+100
-          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.791102E-12    0.000000E+00              9.00000E+100
-          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.106999E-11    0.000000E+00              9.00000E+100
-         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.066846E-11    0.000000E+00              9.00000E+100
-         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.085148E-12    0.000000E+00              9.00000E+100
-         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.130998E-11    0.000000E+00              9.00000E+100
-         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.949923E-11    0.000000E+00              9.00000E+100
-         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.045637E-11    0.000000E+00              9.00000E+100
-         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.613678E-11    0.000000E+00              9.00000E+100
-         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.586872E-12    0.000000E+00              9.00000E+100
-         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.706921E-11    0.000000E+00              9.00000E+100
-         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.023328E-11    0.000000E+00              9.00000E+100
-         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.916303E-11    0.000000E+00              9.00000E+100
-         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.341368E-11    0.000000E+00              9.00000E+100
-         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.158580E-11    0.000000E+00              9.00000E+100
-         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.576198E-11    0.000000E+00              9.00000E+100
-         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.748901E-11    0.000000E+00              9.00000E+100
-         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.601023E-11    0.000000E+00              9.00000E+100
-         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.010698E-11    0.000000E+00              9.00000E+100
-         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.967158E-12    0.000000E+00              9.00000E+100
-         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.486764E-11    0.000000E+00              9.00000E+100
-         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.984127E-11    0.000000E+00              9.00000E+100
-         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.890894E-11    0.000000E+00              9.00000E+100
-         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.335916E-13    0.000000E+00              9.00000E+100
-         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.105557E-13    0.000000E+00              9.00000E+100
-         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -1.210956E-11    0.000000E+00              9.00000E+100
-         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.106253E-12    0.000000E+00              9.00000E+100
-         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.522039E-11    0.000000E+00              9.00000E+100
-         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.134097E-10    0.000000E+00              9.00000E+100
-         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.001053E-11    0.000000E+00              9.00000E+100
-         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.003098E-10    0.000000E+00              9.00000E+100
-         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.990597E-11    0.000000E+00              9.00000E+100
-         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.230670E-10    0.000000E+00              9.00000E+100
-         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.925060E-10    0.000000E+00              9.00000E+100
-         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.658697E-11    0.000000E+00              9.00000E+100
-         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.745006E-11    0.000000E+00              9.00000E+100
-         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    7.272446E-11    0.000000E+00              9.00000E+100
-         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.297867E-10    0.000000E+00              9.00000E+100
-         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.183237E-12    0.000000E+00              9.00000E+100
-         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.879240E-11    0.000000E+00              9.00000E+100
-         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.046976E-10    0.000000E+00              9.00000E+100
-         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -9.234988E-11    0.000000E+00              9.00000E+100
-         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.245703E-10    0.000000E+00              9.00000E+100
-         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.975207E-11    0.000000E+00              9.00000E+100
-         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.175008E-11    0.000000E+00              9.00000E+100
-         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.068718E-10    0.000000E+00              9.00000E+100
-         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.455238E-10    0.000000E+00              9.00000E+100
-         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.585622E-12    0.000000E+00              9.00000E+100
-         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.688430E-12    0.000000E+00              9.00000E+100
-         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.751949E-11    0.000000E+00              9.00000E+100
-         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.057445E-10    0.000000E+00              9.00000E+100
-         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.405896E-10    0.000000E+00              9.00000E+100
-         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.992046E-11    0.000000E+00              9.00000E+100
-         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.994003E-12    0.000000E+00              9.00000E+100
-         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.090386E-11    0.000000E+00              9.00000E+100
-         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.964838E-11    0.000000E+00              9.00000E+100
-         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.836568E-12    0.000000E+00              9.00000E+100
-         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.602048E-12    0.000000E+00              9.00000E+100
-         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.586021E-11    0.000000E+00              9.00000E+100
-         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.331424E-11    0.000000E+00              9.00000E+100
-         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.555977E-12    0.000000E+00              9.00000E+100
-         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.671949E-11    0.000000E+00              9.00000E+100
-         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.371930E-12    0.000000E+00              9.00000E+100
-         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.937317E-11    0.000000E+00              9.00000E+100
-         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.476992E-11    0.000000E+00              9.00000E+100
-         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.555380E-12    0.000000E+00              9.00000E+100
-         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.394125E-11    0.000000E+00              9.00000E+100
-         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.794609E-12    0.000000E+00              9.00000E+100
-         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.538563E-12    0.000000E+00              9.00000E+100
-         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.428791E-11    0.000000E+00              9.00000E+100
-         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.552148E-11    0.000000E+00              9.00000E+100
-         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.788665E-11    0.000000E+00              9.00000E+100
-         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.955804E-11    0.000000E+00              9.00000E+100
-         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.162539E-11    0.000000E+00              9.00000E+100
-         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.629242E-11    0.000000E+00              9.00000E+100
-         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.358520E-11    0.000000E+00              9.00000E+100
-         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.393438E-11    0.000000E+00              9.00000E+100
-         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.883384E-12    0.000000E+00              9.00000E+100
-         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.153269E-11    0.000000E+00              9.00000E+100
-         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.781178E-11    0.000000E+00              9.00000E+100
-         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.398134E-11    0.000000E+00              9.00000E+100
-         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.560566E-11    0.000000E+00              9.00000E+100
-         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.803424E-11    0.000000E+00              9.00000E+100
-         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.493357E-12    0.000000E+00              9.00000E+100
-         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.883078E-12    0.000000E+00              9.00000E+100
-         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.335487E-11    0.000000E+00              9.00000E+100
-         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    3.076502E-14    0.000000E+00              9.00000E+100
-         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.716422E-12    0.000000E+00              9.00000E+100
-         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.823858E-11    0.000000E+00              9.00000E+100
-         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.134395E-12    0.000000E+00              9.00000E+100
-         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.195878E-12    0.000000E+00              9.00000E+100
-         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.946386E-11    0.000000E+00              9.00000E+100
-         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.104630E-12    0.000000E+00              9.00000E+100
-        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.993453E-11    0.000000E+00              9.00000E+100
-        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.860275E-12    0.000000E+00              9.00000E+100
-        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -6.929431E-12    0.000000E+00              9.00000E+100
-        103  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.042243E-11    0.000000E+00              9.00000E+100
-        104  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    6.555471E-13    0.000000E+00              9.00000E+100
-        105  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.757953E-12    0.000000E+00              9.00000E+100
-        106  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.103078E-12    0.000000E+00              9.00000E+100
-        107  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.183422E-12    0.000000E+00              9.00000E+100
-        108  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.553836E-11    0.000000E+00              9.00000E+100
-        109  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.763534E-11    0.000000E+00              9.00000E+100
-        110  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.882502E-11    0.000000E+00              9.00000E+100
-        111  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    1.686555E-11    0.000000E+00              9.00000E+100
-        112  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.557677E-11    0.000000E+00              9.00000E+100
-        113  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -8.492307E-12    0.000000E+00              9.00000E+100
-        114  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.938261E-12    0.000000E+00              9.00000E+100
-        115  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.686108E-12    0.000000E+00              9.00000E+100
-        116  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.521733E-12    0.000000E+00              9.00000E+100
-        117  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.835942E-12    0.000000E+00              9.00000E+100
-        118  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.124823E-11    0.000000E+00              9.00000E+100
-        119  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    5.296156E-13    0.000000E+00              9.00000E+100
-        120  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    5.639045E-14    0.000000E+00              9.00000E+100
-        121  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.550662E-13    0.000000E+00              9.00000E+100
-        122  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -2.709510E-12    0.000000E+00              9.00000E+100
-        123  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -5.583786E-15    0.000000E+00              9.00000E+100
-        124  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.545747E-14    0.000000E+00              9.00000E+100
-        125  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.695632E-13    0.000000E+00              9.00000E+100
-        126  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.805807E-15    0.000000E+00              9.00000E+100
-        127  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.757919E-15    0.000000E+00              9.00000E+100
-        128  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    5.798805E-14    0.000000E+00              9.00000E+100
-        129  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.028552E-14    0.000000E+00              9.00000E+100
-        130  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.469168E-13    0.000000E+00              9.00000E+100
-        131  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.055460E-13    0.000000E+00              9.00000E+100
-        132  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    6.522398E-15    0.000000E+00              9.00000E+100
-        133  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.896332E-13    0.000000E+00              9.00000E+100
-        134  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.711441E-14    0.000000E+00              9.00000E+100
-        135  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.422700E-16    0.000000E+00              9.00000E+100
-        136  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    5.174819E-14    0.000000E+00              9.00000E+100
-        137  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -3.172127E-14    0.000000E+00              9.00000E+100
-        138  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.126840E-14    0.000000E+00              9.00000E+100
-        139  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -5.511953E-14    0.000000E+00              9.00000E+100
-        140  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -3.967074E-14    0.000000E+00              9.00000E+100
-        141  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.087934E-14    0.000000E+00              9.00000E+100
-        142  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -6.356705E-14    0.000000E+00              9.00000E+100
-        143  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -1.500343E-13    0.000000E+00              9.00000E+100
-        144  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.656938E-15    0.000000E+00              9.00000E+100
-        145  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -2.413575E-14    0.000000E+00              9.00000E+100
-        146  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    3.476697E-15    0.000000E+00              9.00000E+100
-        147  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -4.121275E-14    0.000000E+00              9.00000E+100
-        148  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -7.794266E-13    0.000000E+00              9.00000E+100
-        149  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    2.020411E-14    0.000000E+00              9.00000E+100
-        150  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00   -9.161049E-15    0.000000E+00              9.00000E+100
-        151  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    1.474723E-14    0.000000E+00              9.00000E+100
-        152  traj.phases.phase0.collocation_constraint.defects:m                   e   0.000000E+00    7.126810E-14    0.000000E+00              9.00000E+100
-        153  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
+          2  traj.phases.phase0-&gt;final_boundary_constraint-&gt;gam                    e   0.000000E+00   -4.065332E-26    0.000000E+00              9.00000E+100
+          3  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.915571E-12    0.000000E+00              9.00000E+100
+          4  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.255798E-10    0.000000E+00              9.00000E+100
+          5  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.268829E-10    0.000000E+00              9.00000E+100
+          6  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.571990E-10    0.000000E+00              9.00000E+100
+          7  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.305178E-11    0.000000E+00              9.00000E+100
+          8  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.160883E-11    0.000000E+00              9.00000E+100
+          9  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.252795E-12    0.000000E+00              9.00000E+100
+         10  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    6.987015E-11    0.000000E+00              9.00000E+100
+         11  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    9.224974E-11    0.000000E+00              9.00000E+100
+         12  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.164901E-11    0.000000E+00              9.00000E+100
+         13  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    5.358013E-11    0.000000E+00              9.00000E+100
+         14  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.103759E-10    0.000000E+00              9.00000E+100
+         15  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.920539E-10    0.000000E+00              9.00000E+100
+         16  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.040301E-10    0.000000E+00              9.00000E+100
+         17  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.014075E-10    0.000000E+00              9.00000E+100
+         18  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    7.006140E-11    0.000000E+00              9.00000E+100
+         19  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.280316E-11    0.000000E+00              9.00000E+100
+         20  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.927951E-11    0.000000E+00              9.00000E+100
+         21  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.091610E-11    0.000000E+00              9.00000E+100
+         22  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.895588E-11    0.000000E+00              9.00000E+100
+         23  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    4.514657E-11    0.000000E+00              9.00000E+100
+         24  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.045916E-11    0.000000E+00              9.00000E+100
+         25  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.175866E-10    0.000000E+00              9.00000E+100
+         26  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.381639E-11    0.000000E+00              9.00000E+100
+         27  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.592932E-11    0.000000E+00              9.00000E+100
+         28  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    8.220804E-11    0.000000E+00              9.00000E+100
+         29  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    1.164431E-11    0.000000E+00              9.00000E+100
+         30  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    2.040275E-12    0.000000E+00              9.00000E+100
+         31  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00    3.931905E-12    0.000000E+00              9.00000E+100
+         32  traj.phases.phase0.collocation_constraint.defects:r                   e   0.000000E+00   -5.957193E-11    0.000000E+00              9.00000E+100
+         33  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.479088E-11    0.000000E+00              9.00000E+100
+         34  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.384385E-10    0.000000E+00              9.00000E+100
+         35  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.634952E-09    0.000000E+00              9.00000E+100
+         36  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.704866E-09    0.000000E+00              9.00000E+100
+         37  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.014719E-11    0.000000E+00              9.00000E+100
+         38  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.322202E-10    0.000000E+00              9.00000E+100
+         39  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.926492E-11    0.000000E+00              9.00000E+100
+         40  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.978966E-10    0.000000E+00              9.00000E+100
+         41  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.530806E-12    0.000000E+00              9.00000E+100
+         42  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.209915E-10    0.000000E+00              9.00000E+100
+         43  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.490579E-10    0.000000E+00              9.00000E+100
+         44  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    5.813267E-11    0.000000E+00              9.00000E+100
+         45  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.525124E-10    0.000000E+00              9.00000E+100
+         46  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.775658E-11    0.000000E+00              9.00000E+100
+         47  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    6.906119E-11    0.000000E+00              9.00000E+100
+         48  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.716393E-10    0.000000E+00              9.00000E+100
+         49  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    9.224261E-12    0.000000E+00              9.00000E+100
+         50  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.269861E-10    0.000000E+00              9.00000E+100
+         51  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    2.385127E-10    0.000000E+00              9.00000E+100
+         52  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.480913E-10    0.000000E+00              9.00000E+100
+         53  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -7.224979E-11    0.000000E+00              9.00000E+100
+         54  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    4.119682E-10    0.000000E+00              9.00000E+100
+         55  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -3.132892E-10    0.000000E+00              9.00000E+100
+         56  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    3.797070E-11    0.000000E+00              9.00000E+100
+         57  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    1.219376E-10    0.000000E+00              9.00000E+100
+         58  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00    8.723073E-10    0.000000E+00              9.00000E+100
+         59  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -1.954612E-11    0.000000E+00              9.00000E+100
+         60  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -2.136665E-11    0.000000E+00              9.00000E+100
+         61  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -8.210445E-11    0.000000E+00              9.00000E+100
+         62  traj.phases.phase0.collocation_constraint.defects:h                   e   0.000000E+00   -4.808017E-10    0.000000E+00              9.00000E+100
+         63  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.088288E-11    0.000000E+00              9.00000E+100
+         64  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.747833E-11    0.000000E+00              9.00000E+100
+         65  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.546346E-10    0.000000E+00              9.00000E+100
+         66  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.637615E-12    0.000000E+00              9.00000E+100
+         67  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.983289E-11    0.000000E+00              9.00000E+100
+         68  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.708699E-11    0.000000E+00              9.00000E+100
+         69  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.270711E-11    0.000000E+00              9.00000E+100
+         70  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.458198E-11    0.000000E+00              9.00000E+100
+         71  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.517306E-10    0.000000E+00              9.00000E+100
+         72  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.823972E-11    0.000000E+00              9.00000E+100
+         73  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    9.706684E-11    0.000000E+00              9.00000E+100
+         74  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.471738E-10    0.000000E+00              9.00000E+100
+         75  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.227219E-10    0.000000E+00              9.00000E+100
+         76  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    5.323431E-11    0.000000E+00              9.00000E+100
+         77  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.218516E-10    0.000000E+00              9.00000E+100
+         78  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.280119E-10    0.000000E+00              9.00000E+100
+         79  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.852366E-11    0.000000E+00              9.00000E+100
+         80  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    6.348558E-11    0.000000E+00              9.00000E+100
+         81  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    4.631570E-11    0.000000E+00              9.00000E+100
+         82  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.091096E-10    0.000000E+00              9.00000E+100
+         83  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.157093E-10    0.000000E+00              9.00000E+100
+         84  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    8.998593E-11    0.000000E+00              9.00000E+100
+         85  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.785499E-11    0.000000E+00              9.00000E+100
+         86  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.988833E-11    0.000000E+00              9.00000E+100
+         87  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    7.299910E-11    0.000000E+00              9.00000E+100
+         88  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    3.250235E-11    0.000000E+00              9.00000E+100
+         89  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.205734E-11    0.000000E+00              9.00000E+100
+         90  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00   -1.965866E-12    0.000000E+00              9.00000E+100
+         91  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    1.172418E-11    0.000000E+00              9.00000E+100
+         92  traj.phases.phase0.collocation_constraint.defects:v                   e   0.000000E+00    2.410977E-10    0.000000E+00              9.00000E+100
+         93  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.090856E-13    0.000000E+00              9.00000E+100
+         94  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.539242E-11    0.000000E+00              9.00000E+100
+         95  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.088625E-10    0.000000E+00              9.00000E+100
+         96  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -8.806169E-11    0.000000E+00              9.00000E+100
+         97  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.055880E-10    0.000000E+00              9.00000E+100
+         98  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -4.831617E-11    0.000000E+00              9.00000E+100
+         99  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.309231E-11    0.000000E+00              9.00000E+100
+        100  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.230306E-11    0.000000E+00              9.00000E+100
+        101  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -9.724482E-11    0.000000E+00              9.00000E+100
+        102  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.112648E-11    0.000000E+00              9.00000E+100
+        103  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    4.326808E-11    0.000000E+00              9.00000E+100
+        104  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.640941E-10    0.000000E+00              9.00000E+100
+        105  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.561132E-11    0.000000E+00              9.00000E+100
+        106  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -1.925673E-11    0.000000E+00              9.00000E+100
+        107  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00   -3.421068E-11    0.000000E+00              9.00000E+100
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+        109  traj.phases.phase0.collocation_constraint.defects:gam                 e   0.000000E+00    2.361266E-11    0.000000E+00              9.00000E+100
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         160  traj.phases.phase0.continuity_comp.defect_control_rates:alpha_rate    e   0.000000E+00    0.000000E+00    0.000000E+00              9.00000E+100
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         182  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    5.000000E-03    1.000000E+00         l    9.00000E+100
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+        270  traj.phases.phase0-&gt;path_constraint-&gt;h                                i   5.000000E-03    9.894523E-01    1.000000E+00              9.00000E+100
         271  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.000084E-01    1.800000E+00              9.00000E+100
-        272  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.928085E-01    1.800000E+00              9.00000E+100
-        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888647E-01    1.800000E+00              9.00000E+100
-        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888647E-01    1.800000E+00              9.00000E+100
-        275  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    6.907438E-01    1.800000E+00              9.00000E+100
-        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911843E-01    1.800000E+00              9.00000E+100
-        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911843E-01    1.800000E+00              9.00000E+100
-        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675366E-01    1.800000E+00              9.00000E+100
-        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082376E-01    1.800000E+00              9.00000E+100
-        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082376E-01    1.800000E+00              9.00000E+100
-        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235865E-01    1.800000E+00              9.00000E+100
-        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290635E-01    1.800000E+00              9.00000E+100
-        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290635E-01    1.800000E+00              9.00000E+100
-        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318632E-01    1.800000E+00              9.00000E+100
-        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335822E-01    1.800000E+00              9.00000E+100
-        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335822E-01    1.800000E+00              9.00000E+100
-        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348371E-01    1.800000E+00              9.00000E+100
-        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351607E-01    1.800000E+00              9.00000E+100
-        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351607E-01    1.800000E+00              9.00000E+100
-        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.342047E-01    1.800000E+00              9.00000E+100
-        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323559E-01    1.800000E+00              9.00000E+100
-        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323559E-01    1.800000E+00              9.00000E+100
-        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308158E-01    1.800000E+00              9.00000E+100
-        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336869E-01    1.800000E+00              9.00000E+100
-        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336869E-01    1.800000E+00              9.00000E+100
-        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466444E-01    1.800000E+00              9.00000E+100
-        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729619E-01    1.800000E+00              9.00000E+100
-        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729619E-01    1.800000E+00              9.00000E+100
-        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012179E+00    1.800000E+00              9.00000E+100
-        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060907E+00    1.800000E+00              9.00000E+100
-        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060907E+00    1.800000E+00              9.00000E+100
-        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115334E+00    1.800000E+00              9.00000E+100
-        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169755E+00    1.800000E+00              9.00000E+100
-        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169755E+00    1.800000E+00              9.00000E+100
-        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219033E+00    1.800000E+00              9.00000E+100
-        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260730E+00    1.800000E+00              9.00000E+100
-        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260730E+00    1.800000E+00              9.00000E+100
-        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294118E+00    1.800000E+00              9.00000E+100
-        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320529E+00    1.800000E+00              9.00000E+100
-        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320529E+00    1.800000E+00              9.00000E+100
-        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341664E+00    1.800000E+00              9.00000E+100
-        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359367E+00    1.800000E+00              9.00000E+100
-        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359367E+00    1.800000E+00              9.00000E+100
+        272  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    4.928086E-01    1.800000E+00              9.00000E+100
+        273  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888653E-01    1.800000E+00              9.00000E+100
+        274  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    5.888653E-01    1.800000E+00              9.00000E+100
+        275  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    6.907437E-01    1.800000E+00              9.00000E+100
+        276  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911814E-01    1.800000E+00              9.00000E+100
+        277  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    7.911814E-01    1.800000E+00              9.00000E+100
+        278  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    8.675327E-01    1.800000E+00              9.00000E+100
+        279  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082363E-01    1.800000E+00              9.00000E+100
+        280  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.082363E-01    1.800000E+00              9.00000E+100
+        281  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.235887E-01    1.800000E+00              9.00000E+100
+        282  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290677E-01    1.800000E+00              9.00000E+100
+        283  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.290677E-01    1.800000E+00              9.00000E+100
+        284  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.318675E-01    1.800000E+00              9.00000E+100
+        285  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335850E-01    1.800000E+00              9.00000E+100
+        286  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.335850E-01    1.800000E+00              9.00000E+100
+        287  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.348375E-01    1.800000E+00              9.00000E+100
+        288  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351586E-01    1.800000E+00              9.00000E+100
+        289  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.351586E-01    1.800000E+00              9.00000E+100
+        290  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.342004E-01    1.800000E+00              9.00000E+100
+        291  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323508E-01    1.800000E+00              9.00000E+100
+        292  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.323508E-01    1.800000E+00              9.00000E+100
+        293  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.308122E-01    1.800000E+00              9.00000E+100
+        294  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336879E-01    1.800000E+00              9.00000E+100
+        295  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.336879E-01    1.800000E+00              9.00000E+100
+        296  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.466540E-01    1.800000E+00              9.00000E+100
+        297  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729818E-01    1.800000E+00              9.00000E+100
+        298  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    9.729818E-01    1.800000E+00              9.00000E+100
+        299  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.012207E+00    1.800000E+00              9.00000E+100
+        300  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060941E+00    1.800000E+00              9.00000E+100
+        301  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.060941E+00    1.800000E+00              9.00000E+100
+        302  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.115370E+00    1.800000E+00              9.00000E+100
+        303  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169787E+00    1.800000E+00              9.00000E+100
+        304  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.169787E+00    1.800000E+00              9.00000E+100
+        305  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.219060E+00    1.800000E+00              9.00000E+100
+        306  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260750E+00    1.800000E+00              9.00000E+100
+        307  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.260750E+00    1.800000E+00              9.00000E+100
+        308  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.294131E+00    1.800000E+00              9.00000E+100
+        309  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320535E+00    1.800000E+00              9.00000E+100
+        310  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.320535E+00    1.800000E+00              9.00000E+100
+        311  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.341665E+00    1.800000E+00              9.00000E+100
+        312  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359366E+00    1.800000E+00              9.00000E+100
+        313  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.359366E+00    1.800000E+00              9.00000E+100
         314  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.375205E+00    1.800000E+00              9.00000E+100
-        315  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390230E+00    1.800000E+00              9.00000E+100
-        316  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390230E+00    1.800000E+00              9.00000E+100
-        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405186E+00    1.800000E+00              9.00000E+100
-        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420387E+00    1.800000E+00              9.00000E+100
-        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420387E+00    1.800000E+00              9.00000E+100
-        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.435988E+00    1.800000E+00              9.00000E+100
-        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451960E+00    1.800000E+00              9.00000E+100
-        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451960E+00    1.800000E+00              9.00000E+100
-        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468241E+00    1.800000E+00              9.00000E+100
-        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484775E+00    1.800000E+00              9.00000E+100
-        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484775E+00    1.800000E+00              9.00000E+100
-        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501545E+00    1.800000E+00              9.00000E+100
-        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518631E+00    1.800000E+00              9.00000E+100
-        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518631E+00    1.800000E+00              9.00000E+100
-        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536175E+00    1.800000E+00              9.00000E+100
-        330  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554407E+00    1.800000E+00              9.00000E+100
-        331  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554407E+00    1.800000E+00              9.00000E+100
-        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573578E+00    1.800000E+00              9.00000E+100
-        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593888E+00    1.800000E+00              9.00000E+100
-        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593888E+00    1.800000E+00              9.00000E+100
-        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615444E+00    1.800000E+00              9.00000E+100
-        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637978E+00    1.800000E+00              9.00000E+100
-        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637978E+00    1.800000E+00              9.00000E+100
-        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660942E+00    1.800000E+00              9.00000E+100
-        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683020E+00    1.800000E+00              9.00000E+100
-        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683020E+00    1.800000E+00              9.00000E+100
+        315  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390233E+00    1.800000E+00              9.00000E+100
+        316  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.390233E+00    1.800000E+00              9.00000E+100
+        317  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.405191E+00    1.800000E+00              9.00000E+100
+        318  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420395E+00    1.800000E+00              9.00000E+100
+        319  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.420395E+00    1.800000E+00              9.00000E+100
+        320  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.435999E+00    1.800000E+00              9.00000E+100
+        321  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451974E+00    1.800000E+00              9.00000E+100
+        322  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.451974E+00    1.800000E+00              9.00000E+100
+        323  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.468257E+00    1.800000E+00              9.00000E+100
+        324  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484792E+00    1.800000E+00              9.00000E+100
+        325  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.484792E+00    1.800000E+00              9.00000E+100
+        326  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.501561E+00    1.800000E+00              9.00000E+100
+        327  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518646E+00    1.800000E+00              9.00000E+100
+        328  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.518646E+00    1.800000E+00              9.00000E+100
+        329  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.536188E+00    1.800000E+00              9.00000E+100
+        330  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554417E+00    1.800000E+00              9.00000E+100
+        331  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.554417E+00    1.800000E+00              9.00000E+100
+        332  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.573585E+00    1.800000E+00              9.00000E+100
+        333  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593892E+00    1.800000E+00              9.00000E+100
+        334  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.593892E+00    1.800000E+00              9.00000E+100
+        335  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.615446E+00    1.800000E+00              9.00000E+100
+        336  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637979E+00    1.800000E+00              9.00000E+100
+        337  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.637979E+00    1.800000E+00              9.00000E+100
+        338  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.660941E+00    1.800000E+00              9.00000E+100
+        339  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683019E+00    1.800000E+00              9.00000E+100
+        340  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.683019E+00    1.800000E+00              9.00000E+100
         341  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.702446E+00    1.800000E+00              9.00000E+100
-        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716556E+00    1.800000E+00              9.00000E+100
-        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716556E+00    1.800000E+00              9.00000E+100
-        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722338E+00    1.800000E+00              9.00000E+100
-        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716748E+00    1.800000E+00              9.00000E+100
-        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716748E+00    1.800000E+00              9.00000E+100
-        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696695E+00    1.800000E+00              9.00000E+100
-        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634722E+00    1.800000E+00              9.00000E+100
-        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634722E+00    1.800000E+00              9.00000E+100
-        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553457E+00    1.800000E+00              9.00000E+100
-        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458854E+00    1.800000E+00              9.00000E+100
-        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458854E+00    1.800000E+00              9.00000E+100
-        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357862E+00    1.800000E+00              9.00000E+100
-        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256849E+00    1.800000E+00              9.00000E+100
-        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256849E+00    1.800000E+00              9.00000E+100
-        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162029E+00    1.800000E+00              9.00000E+100
-        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081339E+00    1.800000E+00              9.00000E+100
-        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081339E+00    1.800000E+00              9.00000E+100
-        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024108E+00    1.800000E+00              9.00000E+100
+        342  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716558E+00    1.800000E+00              9.00000E+100
+        343  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716558E+00    1.800000E+00              9.00000E+100
+        344  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.722341E+00    1.800000E+00              9.00000E+100
+        345  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716752E+00    1.800000E+00              9.00000E+100
+        346  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.716752E+00    1.800000E+00              9.00000E+100
+        347  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.696702E+00    1.800000E+00              9.00000E+100
+        348  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634733E+00    1.800000E+00              9.00000E+100
+        349  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.634733E+00    1.800000E+00              9.00000E+100
+        350  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.553468E+00    1.800000E+00              9.00000E+100
+        351  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458864E+00    1.800000E+00              9.00000E+100
+        352  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.458864E+00    1.800000E+00              9.00000E+100
+        353  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.357870E+00    1.800000E+00              9.00000E+100
+        354  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256853E+00    1.800000E+00              9.00000E+100
+        355  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.256853E+00    1.800000E+00              9.00000E+100
+        356  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.162030E+00    1.800000E+00              9.00000E+100
+        357  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081336E+00    1.800000E+00              9.00000E+100
+        358  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.081336E+00    1.800000E+00              9.00000E+100
+        359  traj.phases.phase0-&gt;path_constraint-&gt;mach                             i   1.000000E-01    1.024103E+00    1.800000E+00              9.00000E+100
 
 
    Exit Status
@@ -2931,8 +2936,8 @@ <h1>How can I more efficiently use finite-differenced components in the ODE?<a c
 Total colors vs. total size: 13 vs 212  (93.9% improvement)
 
 Sparsity computed using tolerance: 1e-12
-Time to compute sparsity: 0.603314 sec.
-Time to compute coloring: 0.317470 sec.
+Time to compute sparsity: 0.702990 sec.
+Time to compute coloring: 0.358993 sec.
 Memory to compute coloring: 0.000000 MB.
 </pre></div>
 </div>
diff --git a/features/exploiting_sparsity.html b/features/exploiting_sparsity.html
index 629d41a9c..83a214e0a 100644
--- a/features/exploiting_sparsity.html
+++ b/features/exploiting_sparsity.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/phases/analytic_phases.html b/features/phases/analytic_phases.html
index 6db5b9920..cee9ee9e7 100644
--- a/features/phases/analytic_phases.html
+++ b/features/phases/analytic_phases.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -505,8 +506,8 @@ <h1>Analytic Phases in Dymos<a class="headerlink" href="#analytic-phases-in-dymo
 Compared to implicit approaches this reduces the size of the optimization problem by removing some design variables and corresponding defect constraints.
 Compared to explicit approaches it removes the need to numerically propagate the ODE, which is generally a performance bottleneck.</p>
 <p>For analytic phases, the OpenMDAO system we provide to the phase provides the <em>solution</em> to the ODE, not the ODE itself.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-4e817359-6168-4eb7-8b30-b6cf998b2529">
-<span class="eqno">(94)<a class="headerlink" href="#equation-4e817359-6168-4eb7-8b30-b6cf998b2529" title="Permalink to this equation">#</a></span>\[\begin{align}  
+<div class="amsmath math notranslate nohighlight" id="equation-cf72e610-354e-411d-bd77-b4e021675ee6">
+<span class="eqno">(94)<a class="headerlink" href="#equation-cf72e610-354e-411d-bd77-b4e021675ee6" title="Permalink to this equation">#</a></span>\[\begin{align}  
     \textbf x = \textbf f(t, \textbf p)
 \end{align}\]</div>
 <p>where
@@ -557,26 +558,26 @@ <h2>Differences with other transcriptions<a class="headerlink" href="#difference
 <section id="a-basic-example">
 <h2>A basic example<a class="headerlink" href="#a-basic-example" title="Permalink to this heading">#</a></h2>
 <p>Suppose we want to use Dymos to solve the ODE</p>
-<div class="amsmath math notranslate nohighlight" id="equation-09f05887-6e3a-486e-a4ee-8a2ed719bd1d">
-<span class="eqno">(95)<a class="headerlink" href="#equation-09f05887-6e3a-486e-a4ee-8a2ed719bd1d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-312ba983-302b-46e6-adc8-ac54f3c20b65">
+<span class="eqno">(95)<a class="headerlink" href="#equation-312ba983-302b-46e6-adc8-ac54f3c20b65" title="Permalink to this equation">#</a></span>\[\begin{align}
   \frac{dx}{dt} = x - t^2 + 1
 \end{align}\]</div>
 <p>subject to:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-ac445ddb-2bc9-444a-97c1-dd5cd5a3709d">
-<span class="eqno">(96)<a class="headerlink" href="#equation-ac445ddb-2bc9-444a-97c1-dd5cd5a3709d" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-0ef1f4b4-7938-47f6-b6c5-5fe194fdda77">
+<span class="eqno">(96)<a class="headerlink" href="#equation-0ef1f4b4-7938-47f6-b6c5-5fe194fdda77" title="Permalink to this equation">#</a></span>\[\begin{align}
   x(0) = 0.5
 \end{align}\]</div>
 <p>Here we want to find the value of <em>x</em> at t=2.</p>
 <p>We can absolutely use a pseudospectral method or explicit shooting in Dymos to find the value of <em>x</em> on a given interval using this information.
 But in this case, the solution is known analytically.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-f1c22eec-b947-4eb6-a392-ab2845ba8206">
-<span class="eqno">(97)<a class="headerlink" href="#equation-f1c22eec-b947-4eb6-a392-ab2845ba8206" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c77887eb-4e8f-43b8-9557-a51b8cf617ac">
+<span class="eqno">(97)<a class="headerlink" href="#equation-c77887eb-4e8f-43b8-9557-a51b8cf617ac" title="Permalink to this equation">#</a></span>\[\begin{align}
   x(t) &amp;= t^2 + 2t + 1 - c_1e^t
 \end{align}\]</div>
 <p>We need to find the value of constant <span class="math notranslate nohighlight">\(c_1\)</span> to find our particular solution.
 Applying the given initial condition gives c_1 as 0.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5d884179-78b6-47de-afc2-a670959b484e">
-<span class="eqno">(98)<a class="headerlink" href="#equation-5d884179-78b6-47de-afc2-a670959b484e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-f5c7eaab-290d-41fd-b8fa-02b2fddc46e7">
+<span class="eqno">(98)<a class="headerlink" href="#equation-f5c7eaab-290d-41fd-b8fa-02b2fddc46e7" title="Permalink to this equation">#</a></span>\[\begin{align}
   x(0) &amp;= 1 - c_1 = 0.5 \\
   c_1 &amp;\equiv y_0 = 0.5
 \end{align}\]</div>
diff --git a/features/phases/constraints.html b/features/phases/constraints.html
index 290701853..1077c6300 100644
--- a/features/phases/constraints.html
+++ b/features/phases/constraints.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -504,8 +505,8 @@ <h2>Boundary Constraints<a class="headerlink" href="#boundary-constraints" title
 <p>Let’s consider that we want to solve for the elevation angle that results in the maximum possible
 range flown by a cannonball.  In this situation we have some set of initial conditions that are
 fixed.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-9413d38c-f8e8-4f07-a7f1-39bc83957a8e">
-<span class="eqno">(99)<a class="headerlink" href="#equation-9413d38c-f8e8-4f07-a7f1-39bc83957a8e" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-9dd6c437-46b0-407f-adb8-35b3a751b63a">
+<span class="eqno">(99)<a class="headerlink" href="#equation-9dd6c437-46b0-407f-adb8-35b3a751b63a" title="Permalink to this equation">#</a></span>\[\begin{align}
     t_0 &amp;= 0 \, \mathrm{s} \\
     x_0 &amp;= 0 \, \mathrm{m} \\
     y_0 &amp;= 0 \, \mathrm{m} \\
@@ -568,8 +569,8 @@ <h2>Path Constraints<a class="headerlink" href="#path-constraints" title="Permal
 <h2>Constraining Expressions<a class="headerlink" href="#constraining-expressions" title="Permalink to this heading">#</a></h2>
 <p>Constraints may be defined using mathematical expressions of the form <code class="docutils literal notranslate"><span class="pre">y=f(x)</span></code> to be evaluated. Here <code class="docutils literal notranslate"><span class="pre">x</span></code> may be vector combination of time, states, controls, parameters, or any outputs of the ODE. The variable <code class="docutils literal notranslate"><span class="pre">y</span></code> is added to the timeseries outputs of the phase and the desired constraint is applied to it.</p>
 <p>Consider, again, the example of maximizing the range flown by a cannonball. But now, rather than a constraint on the initial velocity, we wish to apply a constraint to the initial normalized kinetic energy.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-5c91e7aa-1b87-407c-a0d3-a5f41afc5bae">
-<span class="eqno">(100)<a class="headerlink" href="#equation-5c91e7aa-1b87-407c-a0d3-a5f41afc5bae" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-1bb27ef9-830c-4167-a336-e650940a2cc7">
+<span class="eqno">(100)<a class="headerlink" href="#equation-1bb27ef9-830c-4167-a336-e650940a2cc7" title="Permalink to this equation">#</a></span>\[\begin{align}
     ke &amp;= 0.5 * v^2 \\
     ke_0 &amp;= 5000 \, \frac{\mathrm{m^2}}{\mathrm{s^2}}
 \end{align}\]</div>
diff --git a/features/phases/objective.html b/features/phases/objective.html
index 3a13c76e0..daea237b1 100644
--- a/features/phases/objective.html
+++ b/features/phases/objective.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/phases/phases.html b/features/phases/phases.html
index ed1cf2286..c50d965e1 100644
--- a/features/phases/phases.html
+++ b/features/phases/phases.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -494,8 +495,8 @@ <h1>Phases of a Trajectory<a class="headerlink" href="#phases-of-a-trajectory" t
 Multiple phases may be assembled to form one or more trajectories by enforcing compatibility constraints between them.</p>
 <p>For implicit and explicit phases, the equations-of-motion or process equations are defined via an ordinary differential equation.</p>
 <p>An ODE is of the form</p>
-<div class="amsmath math notranslate nohighlight" id="equation-d71389dd-276e-4218-8942-8e9ad5315c77">
-<span class="eqno">(92)<a class="headerlink" href="#equation-d71389dd-276e-4218-8942-8e9ad5315c77" title="Permalink to this equation">#</a></span>\[\begin{align}  
+<div class="amsmath math notranslate nohighlight" id="equation-a492f8ae-b6fb-4243-905c-8a47add34be3">
+<span class="eqno">(92)<a class="headerlink" href="#equation-a492f8ae-b6fb-4243-905c-8a47add34be3" title="Permalink to this equation">#</a></span>\[\begin{align}  
     \frac{\partial \textbf x}{\partial t} = \textbf f(t, \textbf x, \textbf u)
 \end{align}\]</div>
 <p>where
@@ -508,8 +509,8 @@ <h1>Phases of a Trajectory<a class="headerlink" href="#phases-of-a-trajectory" t
 In addition, Dymos automatically calculates the first and second time-derivatives of the controls.
 These derivatives can then be utilized as via constraints or as additional parameters to the ODE.
 Subsequently, the optimal control problem as solved by Dymos can be expressed as:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-ddfcf5b2-6acd-48bf-b9aa-bec9f6910dbc">
-<span class="eqno">(93)<a class="headerlink" href="#equation-ddfcf5b2-6acd-48bf-b9aa-bec9f6910dbc" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-f6de9ef8-32a0-4d63-adfa-6e08ec80073f">
+<span class="eqno">(93)<a class="headerlink" href="#equation-f6de9ef8-32a0-4d63-adfa-6e08ec80073f" title="Permalink to this equation">#</a></span>\[\begin{align}
   \textrm{Minimize}:&amp; \quad J = \textbf f_{obj}(t, \textbf x, \textbf u, \dot{\textbf u}, \ddot{\textbf u}) \\
   \textrm{subject to:}&amp; \\
   &amp;\textrm{system dynamics} \quad &amp;\frac{\partial \textbf x}{\partial t} &amp;= \textbf f_{ode}(t, \textbf x, \textbf u, \dot{\textbf u}, \ddot{\textbf u}) \\
diff --git a/features/phases/phases_list.html b/features/phases/phases_list.html
index b634348b1..9e9dacf1c 100644
--- a/features/phases/phases_list.html
+++ b/features/phases/phases_list.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/phases/segments.html b/features/phases/segments.html
index 5fdd025a2..44b8b52ae 100644
--- a/features/phases/segments.html
+++ b/features/phases/segments.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/phases/timeseries.html b/features/phases/timeseries.html
index fa09dd5e5..d55be6f05 100644
--- a/features/phases/timeseries.html
+++ b/features/phases/timeseries.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/phases/variables.html b/features/phases/variables.html
index b09787304..6d931a493 100644
--- a/features/phases/variables.html
+++ b/features/phases/variables.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/plotting.html b/features/plotting.html
index e08be2c8b..1efe87316 100644
--- a/features/plotting.html
+++ b/features/plotting.html
@@ -240,7 +240,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/features/trajectories/trajectories.html b/features/trajectories/trajectories.html
index 777d91be0..0d2bb175c 100644
--- a/features/trajectories/trajectories.html
+++ b/features/trajectories/trajectories.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -555,8 +556,8 @@ <h2>Defining Phase Linkages<a class="headerlink" href="#defining-phase-linkages"
 There are two methods in dymos which provide this functionality.
 The <code class="docutils literal notranslate"><span class="pre">add_linkage_constraint</span></code> method provides a very general way of coupling two phases together.
 It does so by generating a constraint of the following form:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-b7fbcbc3-2920-4826-a20e-ba580cc92636">
-<span class="eqno">(101)<a class="headerlink" href="#equation-b7fbcbc3-2920-4826-a20e-ba580cc92636" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-b784e848-86bc-41bc-86ce-9285e437e316">
+<span class="eqno">(101)<a class="headerlink" href="#equation-b784e848-86bc-41bc-86ce-9285e437e316" title="Permalink to this equation">#</a></span>\[\begin{align}
     c = \mathrm{sign}_a \mathrm{var}_a + \mathrm{sign}_b \mathrm{var}_b
 \end{align}\]</div>
 <p>Method <code class="docutils literal notranslate"><span class="pre">add_linkage_constraint</span></code> lets the user specify the variables and phases to be compared for this constraint, as well as the location of the variable in each phase (either ‘initial’ or ‘final’)
diff --git a/genindex.html b/genindex.html
index 6d2250cb0..922cd606f 100644
--- a/genindex.html
+++ b/genindex.html
@@ -237,7 +237,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
diff --git a/getting_started/collocation.html b/getting_started/collocation.html
index 44abaa141..87f22e362 100644
--- a/getting_started/collocation.html
+++ b/getting_started/collocation.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -518,13 +519,13 @@ <h2> Contents </h2>
 <h2>Example:  Simulating the fall of an object<a class="headerlink" href="#example-simulating-the-fall-of-an-object" title="Permalink to this heading">#</a></h2>
 <p>As a “hello, world” problem for Dymos, consider the vertical fall of an object acting under gravity - like Galileo dropping cannonballs from the Tower of Pisa.
 Ignoring aerodynamics and treating the ball as a point mass in a rectilinear gravity field, the motion is governed by:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-cd570625-909b-4bb2-8579-5f4dbb6eca04">
-<span class="eqno">(5)<a class="headerlink" href="#equation-cd570625-909b-4bb2-8579-5f4dbb6eca04" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-39d51434-d534-4d95-90c1-dd877a36b487">
+<span class="eqno">(5)<a class="headerlink" href="#equation-39d51434-d534-4d95-90c1-dd877a36b487" title="Permalink to this equation">#</a></span>\[\begin{align}
     \ddot{y} = -g
 \end{align}\]</div>
 <p>The techniques in Dymos are generally centered around first-order dynamics, so we convert the above equation into the following system of ODEs.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-c4e2b07e-6eaf-4257-b8f8-e72b7a52268f">
-<span class="eqno">(6)<a class="headerlink" href="#equation-c4e2b07e-6eaf-4257-b8f8-e72b7a52268f" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-8c5da952-9f0e-4256-b014-d4ff6c4cbaf4">
+<span class="eqno">(6)<a class="headerlink" href="#equation-8c5da952-9f0e-4256-b014-d4ff6c4cbaf4" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot{y} &amp;= v_y \\
     \dot{v_y} &amp;= -g
 \end{align}\]</div>
@@ -600,8 +601,8 @@ <h2>Finding the trajectory using high-order Legendre-Gauss-Lobatto collocation<a
 <p>To form 3rd-order polynomials for the states we need four pieces of information, but so far we only have the two endpoint values.
 We’ll use the state rates at the state discretization nodes to provide the other two values needed for interpolation.
 To obtain these, we evaluate our ODE at the state discretization nodes.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-63539ce2-a482-4a86-becf-b264ce1c1de5">
-<span class="eqno">(7)<a class="headerlink" href="#equation-63539ce2-a482-4a86-becf-b264ce1c1de5" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-1a8f5eb2-aaab-47d5-aaf6-45ce335cd63c">
+<span class="eqno">(7)<a class="headerlink" href="#equation-1a8f5eb2-aaab-47d5-aaf6-45ce335cd63c" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot{y}_0 &amp;= 0 \\
     \dot{y}_f &amp;= -50 \\
     \dot{v}_{y0} &amp;= -9.80665 \\
@@ -615,21 +616,21 @@ <h2>Finding the trajectory using high-order Legendre-Gauss-Lobatto collocation<a
 <p>Having computed the ODE at the state discretization nodes, we can form interpolants for the values and the slope of the states at the collocation nodes.
 Dymos uses Lagrange interpolants, such that the inputs to the system are the values of the states and controls, rather than less intuitive coefficients.
 In this case, the state values at our single collocation node are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-e704ee13-fd13-4856-9245-ba1f855bf5a2">
-<span class="eqno">(8)<a class="headerlink" href="#equation-e704ee13-fd13-4856-9245-ba1f855bf5a2" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-d4212b9d-30aa-4aff-b720-5d1400ff5d4e">
+<span class="eqno">(8)<a class="headerlink" href="#equation-d4212b9d-30aa-4aff-b720-5d1400ff5d4e" title="Permalink to this equation">#</a></span>\[\begin{align}
     y_m &amp;= 50 \\
     v_{ym} &amp;= -25
 \end{align}\]</div>
 <p><img alt="Screenshot" src="../_images/lgl_animation_2.png" /></p>
 <p>The polynomial slopes at the collocation node are:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-f9387cbf-7679-4684-889b-97ff7a14afed">
-<span class="eqno">(9)<a class="headerlink" href="#equation-f9387cbf-7679-4684-889b-97ff7a14afed" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-c1d8c4e3-ab14-4b62-9c31-31721789f742">
+<span class="eqno">(9)<a class="headerlink" href="#equation-c1d8c4e3-ab14-4b62-9c31-31721789f742" title="Permalink to this equation">#</a></span>\[\begin{align}
     y'_m &amp;= 50 \\
     v'_{ym} &amp;= -25
 \end{align}\]</div>
 <p>Now, having the state and time values at the collocation nodes, we can again evaluate the ODE.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-dd286c16-4fa2-4c8c-b2fc-95f272cbb958">
-<span class="eqno">(10)<a class="headerlink" href="#equation-dd286c16-4fa2-4c8c-b2fc-95f272cbb958" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-bef03f99-3931-475e-9edc-988724f00970">
+<span class="eqno">(10)<a class="headerlink" href="#equation-bef03f99-3931-475e-9edc-988724f00970" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot{y}_m &amp;= -17 \\
     \dot{v}_{ym} &amp;= -9.80665
 \end{align}\]</div>
diff --git a/getting_started/defining_odes.html b/getting_started/defining_odes.html
index fe68cdd4d..bc81fd550 100644
--- a/getting_started/defining_odes.html
+++ b/getting_started/defining_odes.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -506,8 +507,8 @@ <h1>Defining ODEs<a class="headerlink" href="#defining-odes" title="Permalink to
 Typically this evolution occurs in time, and the ODE represents equations of motion (EOM).
 The equations of motion can define a variety of systems, not just mechanical ones.
 In other fields they are sometimes referred to as <em>process equations</em>.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-b8d94275-abe1-4e27-b0f7-f8b3eee65ea6">
-<span class="eqno">(4)<a class="headerlink" href="#equation-b8d94275-abe1-4e27-b0f7-f8b3eee65ea6" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-3c479b4c-b650-4ed9-b5b3-ea367981c8e4">
+<span class="eqno">(4)<a class="headerlink" href="#equation-3c479b4c-b650-4ed9-b5b3-ea367981c8e4" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot{\bar{x}} = f_{ode}(\bar{x},t,\bar{u},\bar{d})
 \end{align}\]</div>
 <p>To represent EOM, Dymos uses a standard OpenMDAO System (a Group or Component).
diff --git a/getting_started/intro_to_dymos/intro_ivp.html b/getting_started/intro_to_dymos/intro_ivp.html
index b0ba666d3..15fb8085e 100644
--- a/getting_started/intro_to_dymos/intro_ivp.html
+++ b/getting_started/intro_to_dymos/intro_ivp.html
@@ -242,7 +242,8 @@
 <ul class="nav bd-sidenav">
 <li class="toctree-l1 has-children"><a class="reference internal" href="../../api/api.html">Dymos Reference API</a><input class="toctree-checkbox" id="toctree-checkbox-4" name="toctree-checkbox-4" type="checkbox"/><label class="toctree-toggle" for="toctree-checkbox-4"><i class="fa-solid fa-chevron-down"></i></label><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../api/run_problem_function.html">The run_problem function</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
 </ul>
@@ -508,13 +509,13 @@ <h1>Modeling Dynamic Systems with Dymos<a class="headerlink" href="#modeling-dyn
 differential equations (the ODE) which governs their behavior.</p>
 <p>Consider a simple damped harmonic oscillator.</p>
 <p><img alt="Damped harmonic oscillator free-body diagram" src="../../_images/spring_mass_damper.png" /></p>
-<div class="amsmath math notranslate nohighlight" id="equation-e49f82bb-65fe-46b6-93c2-8e0a38c36297">
-<span class="eqno">(11)<a class="headerlink" href="#equation-e49f82bb-65fe-46b6-93c2-8e0a38c36297" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-535023ff-fb75-4f10-8f3d-0efaa2bfc34e">
+<span class="eqno">(11)<a class="headerlink" href="#equation-535023ff-fb75-4f10-8f3d-0efaa2bfc34e" title="Permalink to this equation">#</a></span>\[\begin{align}
     \ddot{x} &amp;= -\frac{kx}{m} - \frac{c \dot{x}}{m}
 \end{align}\]</div>
 <p>Converting this to a first order system results in an ODE system with two states:</p>
-<div class="amsmath math notranslate nohighlight" id="equation-968bbd84-5c8d-486a-a217-55e58ef47c2f">
-<span class="eqno">(12)<a class="headerlink" href="#equation-968bbd84-5c8d-486a-a217-55e58ef47c2f" title="Permalink to this equation">#</a></span>\[\begin{align}
+<div class="amsmath math notranslate nohighlight" id="equation-01f25d24-9662-4990-a7cf-22680b8c1d7d">
+<span class="eqno">(12)<a class="headerlink" href="#equation-01f25d24-9662-4990-a7cf-22680b8c1d7d" title="Permalink to this equation">#</a></span>\[\begin{align}
     \dot{x} &amp;= v \\
     \dot{v} &amp;= -\frac{kx}{m} - \frac{c \dot{x}}{m}
 \end{align}\]</div>
@@ -806,8 +807,8 @@ <h2>Using a solver to converge the physical trajectory<a class="headerlink" href
 traj.phases.phase0
 ==================
 NL: Newton 0 ; 64.9519053 1
-NL: Newton 1 ; 5.02959895e-08 7.74357416e-10
-NL: Newton 2 ; 3.51772665e-15 5.41589448e-17
+NL: Newton 1 ; 5.02960147e-08 7.74357804e-10
+NL: Newton 2 ; 7.84951849e-15 1.20851243e-16
 NL: Newton Converged
 </pre></div>
 </div>
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-<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../../api/transcriptions_api.html">The Transcriptions API</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../api/trajectory_api.html">The Trajectory API</a></li>
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diff --git a/getting_started/optimal_control.html b/getting_started/optimal_control.html
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-<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">The Phase API</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../api/phase_api.html">Phase Options</a></li>
+
 <li class="toctree-l2"><a class="reference internal" href="../api/transcriptions_api.html">The Transcriptions API</a></li>
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@@ -468,8 +469,8 @@ <h1>Optimal Control<a class="headerlink" href="#optimal-control" title="Permalin
 <span class="math notranslate nohighlight">\(\left(\bar{x}\right)\)</span> are typically governed by an ordinary differential equation (ODE) or
 a differential algebraic equation (DAE).  In Dymos we characterize all dynamics as an (ODE),
 although solving systems of DAEs is also possible.</p>
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+<div class="amsmath math notranslate nohighlight" id="equation-b47bee15-9244-4420-9c67-d1201e6a6081">
+<span class="eqno">(1)<a class="headerlink" href="#equation-b47bee15-9244-4420-9c67-d1201e6a6081" title="Permalink to this equation">#</a></span>\[\begin{align}
   \dot{\bar{x}} = f_{ode}(\bar{x},t,\bar{u},\bar{d})
 \end{align}\]</div>
 </section>
@@ -488,8 +489,8 @@ <h1>Constraints<a class="headerlink" href="#constraints" title="Permalink to thi
 <p>When optimizing problems there will always be constraints on the system.
 Some of these constraints can be characterized as bounds on our independent variables.
 For instance, fixing the initial conditions of a trajectory can be accomplished by bounding the initial states and time to the desired value.</p>
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+<div class="amsmath math notranslate nohighlight" id="equation-bc8bfd4f-9e3e-4ffe-a729-8c989c2e09d7">
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   \mathrm{State \, Variables:}&amp; \qquad \bar{x}_{lb} \leq \bar{x} \leq \bar{x}_{ub} \\
   \mathrm{Dynamic \, Controls:}&amp; \qquad \bar{u}_{lb} \leq \bar{u} \leq \bar{u}_{ub} \\
@@ -497,8 +498,8 @@ <h1>Constraints<a class="headerlink" href="#constraints" title="Permalink to thi
 \end{align}\]</div>
 <p>Other times we may want to constrain an output of our system at a specific point along the trajectory (boundary constraints) or along the entire trajectory (path constraints).
 These are so-called nonlinear constraints because they <em>may</em> be nonlinear functions of our independent variables.</p>
-<div class="amsmath math notranslate nohighlight" id="equation-fdb804d0-cd61-4739-a50c-d312e2455e10">
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+<div class="amsmath math notranslate nohighlight" id="equation-980b1971-62e5-4249-8d87-44ed7961540c">
+<span class="eqno">(3)<a class="headerlink" href="#equation-980b1971-62e5-4249-8d87-44ed7961540c" title="Permalink to this equation">#</a></span>\[\begin{align}
 \mathrm{Initial \, Boundary \, Constraints:}&amp; \qquad \bar{g}_{0,lb} \leq g_{0}(\bar{x}_0,t_0,\bar{u}_0, \bar{d}) \leq \bar{g}_{0,ub} \\
 \mathrm{Final \, Boundary \, Constraints:}&amp; \qquad \bar{g}_{f,lb} \leq g_{f}(\bar{x}_f,t_f,\bar{u}_f, \bar{d}) \leq \bar{g}_{f,ub} \\
 \mathrm{Path \, Constraints:}&amp; \qquad \bar{p}_{f,lb} \leq p_{f}(\bar{x},t,\bar{u},\bar{d}) \leq \bar{p}_{f,ub} \\
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+
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54, 55, 56, 57, 59, 60, 61], "thi": [1, 2, 3, 4, 5, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 50, 51, 53, 54, 55, 58, 59, 60, 61], "group": [1, 5, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 53, 55, 56], "implicit": [1, 2, 19, 22, 29, 36, 44, 45, 54, 56, 57, 59, 60, 61], "compon": [1, 5, 6, 8, 10, 11, 12, 13, 16, 17, 19, 20, 22, 24, 26, 30, 31, 32, 33, 34, 36, 37, 38, 39, 40, 41, 44, 45, 46, 50, 51, 53, 55, 56], "us": [1, 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 44, 45, 46, 47, 49, 50, 51, 52, 55, 57, 58, 59, 60, 61], "an": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 15, 16, 17, 18, 20, 22, 23, 24, 28, 29, 31, 32, 34, 36, 39, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 55, 57, 58, 59, 60], "assembl": [1, 42, 43, 47], "jacobian": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 55, 57, 59], "type": [1, 5, 6, 8, 9, 10, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "ode_classn": 1, "asystem": 1, "defin": [1, 3, 6, 7, 10, 11, 12, 14, 15, 16, 18, 22, 25, 27, 32, 34, 36, 44, 45, 47, 51, 54, 56, 58, 60], "od": [1, 3, 4, 5, 10, 11, 12, 18, 19, 26, 27, 31, 32, 39, 44, 45, 46, 47, 50, 51, 53, 54, 57, 58, 59], "ode_init_kwarg": [1, 6, 7, 26, 34, 36, 42, 55], "A": [1, 2, 3, 4, 5, 6, 8, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 26, 28, 30, 31, 32, 34, 40, 42, 43, 45, 50, 51, 52, 53, 54, 55, 56, 57, 60], "dict": [1, 2, 3, 6, 7, 19, 50, 51, 53, 55], "keyword": [1, 5, 20, 55], "argument": [1, 2, 3, 8, 10, 11, 12, 20, 33, 35, 36, 42, 44, 45, 46, 49, 50, 51, 52, 53, 55, 56, 57], "provid": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 24, 25, 29, 30, 32, 34, 35, 36, 37, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 56, 57, 58, 59, 60], "when": [1, 2, 3, 4, 5, 6, 7, 8, 9, 13, 15, 16, 20, 21, 22, 24, 25, 28, 33, 34, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 58, 59, 61], "initi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 40, 42, 43, 44, 45, 46, 47, 51, 53, 54, 55, 56, 57, 58, 59], "system": [1, 2, 4, 7, 10, 11, 12, 13, 15, 18, 19, 20, 22, 24, 25, 26, 27, 28, 30, 31, 32, 34, 37, 40, 42, 43, 44, 45, 46, 47, 51, 54, 57, 58, 59, 60, 61], "requir": [1, 3, 5, 6, 13, 14, 16, 18, 20, 23, 24, 26, 30, 31, 33, 34, 38, 40, 42, 43, 44, 45, 46, 51, 52, 53, 54, 55, 56, 57, 59, 60, 61], "transcriptionbas": 1, "techniqu": [1, 16, 30, 45, 47, 54, 56, 57, 59, 61], "optim": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 57, 61], "control": [1, 2, 3, 4, 7, 9, 11, 12, 17, 18, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 35, 36, 40, 42, 43, 44, 45, 46, 47, 49, 50, 53, 54, 56, 61], "problem": [1, 2, 3, 4, 5, 9, 10, 11, 12, 18, 22, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 56, 57, 59, 60, 61], "instanc": [1, 3, 9, 16, 22, 33, 35, 40, 41, 42, 44, 45, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60], "one": [1, 2, 3, 6, 7, 8, 9, 10, 16, 20, 26, 28, 30, 32, 33, 35, 36, 37, 40, 41, 42, 43, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 59, 60], "avail": [1, 6, 7, 22, 27, 34, 44, 50, 51, 55, 61], "dymo": [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 14, 15, 16, 17, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 39, 40, 42, 43, 45, 46, 47, 49, 51, 52, 53, 54, 55, 58, 59], "unit": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 50, 51, 53, 55, 56, 57], "unspecifi": [1, 3, 44, 50, 51, 53, 55], "fix_initi": [1, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 56, 57], "fix_dur": [1, 13, 15, 17, 20, 21, 26, 27, 29, 33, 44, 45, 56, 57], "input_initi": [1, 11, 51, 55], "input_dur": [1, 9, 11, 27, 40, 51], "initial_v": 1, "initial_bound": [1, 19, 25, 34, 45, 51, 55], "initial_scal": 1, "initial_add": 1, "initial_ref0": 1, "initial_ref": [1, 19], "duration_v": [1, 15, 27, 33], "duration_bound": [1, 6, 7, 8, 9, 10, 12, 14, 16, 19, 22, 23, 24, 25, 30, 31, 32, 34, 36, 40, 42, 44, 45, 51, 55], "duration_scal": 1, "duration_add": 1, "duration_ref0": [1, 27], "duration_ref": [1, 6, 7, 16, 19, 23, 24, 25, 27, 28, 34, 42], "target": [1, 3, 6, 7, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 50, 51, 53, 56, 57], "time_phase_target": 1, "t_initial_target": [1, 51, 55], "t_duration_target": [1, 51, 55], "name": [1, 2, 3, 5, 6, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 35, 37, 40, 42, 44, 45, 46, 47, 50, 51, 53, 55, 56], "sourc": [1, 2, 3, 5, 13, 14, 16, 20, 24, 25, 37, 41, 44, 45, 50, 51, 53, 55, 56, 60, 61], "set": [1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 32, 33, 34, 36, 37, 40, 41, 42, 43, 45, 47, 51, 52, 53, 55, 56, 58, 59], "time": [1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 39, 42, 43, 44, 45, 47, 48, 49, 50, 53, 54, 56, 57, 58, 59, 60, 61], "onli": [1, 2, 3, 4, 8, 13, 16, 20, 24, 31, 33, 34, 38, 42, 43, 44, 45, 47, 51, 52, 53, 54, 55, 56, 59, 61], "those": [1, 3, 5, 6, 9, 13, 14, 15, 18, 20, 24, 25, 40, 41, 42, 44, 45, 51, 53, 54, 55, 56, 59, 60], "which": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 18, 19, 24, 25, 27, 28, 29, 31, 32, 33, 34, 36, 40, 41, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "ar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "specifi": [1, 3, 6, 7, 8, 13, 14, 16, 19, 20, 23, 24, 32, 33, 42, 44, 45, 46, 49, 50, 51, 53, 54, 55], "updat": [1, 16, 27], "paramet": [1, 2, 3, 4, 7, 9, 14, 17, 19, 21, 22, 23, 24, 25, 30, 31, 32, 33, 35, 36, 38, 40, 43, 44, 45, 47, 50, 56, 57, 60], "str": [1, 2, 3, 4, 16, 44, 50, 51, 53, 55], "default": [1, 3, 4, 5, 6, 7, 8, 10, 12, 15, 19, 21, 22, 23, 24, 26, 27, 30, 32, 33, 34, 35, 36, 40, 42, 43, 49, 50, 51, 53, 55, 56, 57], "variabl": [1, 2, 3, 5, 6, 7, 9, 10, 11, 12, 14, 15, 17, 18, 19, 21, 22, 23, 25, 26, 28, 29, 30, 31, 32, 34, 35, 36, 38, 40, 42, 43, 44, 45, 46, 47, 48, 49, 50, 52, 53, 54, 56, 57, 58, 60, 61], "bool": [1, 2, 3, 4, 5, 8, 22, 23, 33, 34, 36, 40, 42, 51, 53, 55], "If": [1, 2, 3, 4, 5, 6, 8, 13, 16, 20, 22, 23, 24, 25, 27, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 50, 51, 52, 53, 54, 55, 56, 57, 59, 60, 61], "true": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 51, 53, 54, 55, 56, 57], "treat": [1, 3, 5, 6, 8, 16, 22, 24, 33, 36, 40, 42, 45, 47, 53, 54, 56, 57], "design": [1, 2, 3, 6, 7, 8, 10, 11, 12, 13, 14, 16, 20, 23, 24, 27, 32, 33, 34, 36, 38, 41, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 60, 61], "durat": [1, 6, 9, 10, 11, 12, 13, 21, 24, 32, 43, 51, 54, 55, 56, 57, 59], "user": [1, 2, 3, 5, 7, 14, 16, 17, 18, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 46, 50, 51, 52, 53, 54, 55, 57, 58, 59, 60, 61], "expect": [1, 5, 16, 17, 37, 38, 40, 44, 45, 51, 54, 55, 56], "link": [1, 3, 6, 9, 11, 12, 19, 25, 26, 27, 34, 51, 53, 55], "t_initi": [1, 3, 6, 7, 8, 9, 11, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 36, 40, 42, 44, 45, 51, 53, 55, 56, 57], "extern": [1, 15, 16, 25, 41, 45, 51, 53, 55, 61], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 39, 40, 42, 43, 44, 45, 46, 47, 53, 56, 57, 58, 60], "make": [1, 4, 5, 7, 8, 9, 13, 16, 17, 19, 21, 22, 23, 24, 25, 26, 30, 32, 33, 34, 36, 40, 43, 44, 45, 50, 51, 54, 55, 56, 57, 59, 60], "all": [1, 2, 3, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 24, 25, 26, 27, 32, 33, 35, 36, 42, 43, 44, 45, 47, 49, 50, 51, 53, 54, 55, 56, 58, 60, 61], "irrelev": [1, 45], "t_durat": [1, 3, 6, 7, 8, 9, 11, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 44, 45, 51, 53, 55, 56, 57], "float": [1, 3, 4, 6, 15, 23, 30, 53], "valu": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59], "start": [1, 3, 6, 8, 9, 17, 26, 27, 28, 34, 40, 45, 46, 51, 53, 55, 56, 59], "iter": [1, 2, 3, 8, 10, 11, 12, 13, 16, 21, 22, 24, 26, 27, 32, 33, 34, 36, 43, 44, 45, 47, 51, 54, 55, 56, 57, 59, 60], "bound": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 57, 58, 59, 60], "lower": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 41, 42, 44, 45, 51, 53, 55, 56, 57, 59], "upper": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 51, 53, 55], "scalar": [1, 5, 6, 8, 14, 22, 25, 31, 33, 39, 40, 43, 45, 46, 50, 51, 55, 56], "adder": [1, 3, 51, 53, 55], "zero": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 19, 20, 21, 22, 25, 27, 30, 31, 32, 33, 34, 36, 40, 42, 43, 51, 53, 54, 55, 56, 57, 59], "refer": [1, 3, 14, 25, 41, 51, 53, 55, 58], "scaler": [1, 3, 8, 13, 14, 17, 19, 20, 22, 23, 24, 25, 30, 31, 32, 36, 42, 44, 46, 51, 53, 55], "current": [1, 2, 4, 5, 6, 8, 10, 11, 12, 13, 16, 22, 26, 32, 33, 36, 44, 50, 51, 55, 56, 57], "elaps": [1, 27, 47, 50, 51, 55, 59], "integr": [1, 3, 4, 6, 10, 11, 12, 15, 16, 22, 24, 27, 29, 30, 33, 34, 37, 40, 44, 47, 50, 54, 55, 56, 59, 60], "shape": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 50, 51, 54, 55, 56, 57], "rate_sourc": [1, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 51, 56, 57], "val": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "fix_fin": [1, 6, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 32, 33, 34, 36, 40, 45], "ref0": [1, 3, 14, 25, 27, 28, 53], "ref": [1, 3, 6, 7, 9, 13, 14, 15, 16, 20, 22, 23, 24, 25, 27, 28, 30, 33, 34, 40, 42, 51, 53, 55], "defect_scal": [1, 19, 51, 55], "defect_ref": [1, 6, 7, 15, 16, 23, 24, 28, 30, 33, 34, 42, 51, 55], "continuity_scal": 1, "continuity_ref": 1, "solve_seg": [1, 4, 14, 15, 36, 41, 43, 45, 46, 51, 54, 55, 56], "connected_initi": [1, 51, 55], "initial_target": 1, "opt": [1, 3, 6, 7, 9, 10, 11, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 34, 36, 40, 41, 42, 43, 44, 51, 55], "final_bound": 1, "add": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 19, 20, 22, 24, 25, 27, 28, 29, 32, 33, 34, 36, 37, 39, 40, 43, 44, 45, 46, 50, 51, 53, 55, 56, 57, 61], "state": [1, 2, 3, 4, 6, 7, 9, 10, 14, 15, 17, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 35, 36, 38, 40, 42, 43, 45, 46, 47, 49, 50, 53, 54, 56, 57, 58, 59, 60], "rh": [1, 16, 23, 27, 30, 31, 32, 51, 55], "none": [1, 2, 3, 4, 6, 7, 8, 10, 11, 12, 16, 17, 19, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 42, 43, 44, 50, 51, 52, 53, 55, 56, 57], "intern": [1, 13, 25, 26, 34, 55], "mai": [1, 3, 4, 6, 8, 9, 16, 18, 33, 36, 38, 40, 41, 43, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "differ": [1, 2, 3, 5, 6, 7, 8, 9, 13, 16, 18, 19, 20, 22, 27, 33, 34, 36, 37, 40, 41, 42, 43, 45, 47, 50, 51, 53, 54, 55, 60], "indepvarcomp": [1, 5, 8, 10, 11, 12, 16, 32, 41], "its": [1, 6, 7, 8, 13, 14, 16, 17, 20, 21, 22, 24, 25, 28, 33, 34, 41, 42, 45, 51, 53, 54, 55, 56, 59, 60], "colloc": [1, 2, 4, 15, 16, 19, 27, 41, 43, 45, 47, 49, 50, 51, 55, 56, 57, 60], "defect": [1, 2, 4, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 43, 44, 45, 51, 55, 56, 59], "here": [1, 3, 6, 7, 11, 12, 13, 14, 15, 16, 19, 20, 23, 24, 25, 27, 29, 31, 32, 34, 36, 42, 43, 44, 45, 46, 52, 53, 55, 56, 57], "determin": [1, 4, 9, 10, 11, 12, 14, 16, 20, 25, 27, 29, 34, 42, 43, 44, 51, 54, 55, 56, 59], "from": [1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 51, 53, 54, 55, 57, 59, 60, 61], "tupl": [1, 3, 44, 45, 50, 51, 53, 55], "int": [1, 2, 3, 4, 5, 6, 8, 9, 10, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "For": [1, 3, 5, 6, 9, 16, 24, 26, 27, 28, 33, 35, 37, 38, 40, 41, 43, 44, 45, 47, 50, 51, 53, 55, 56, 58, 59, 61], "3d": [1, 44], "cartesian": [1, 31, 32, 44], "posit": [1, 8, 10, 11, 12, 13, 15, 19, 20, 21, 24, 27, 33, 40, 44, 45, 51, 54], "vector": [1, 8, 13, 14, 15, 20, 25, 27, 33, 36, 43, 44, 45, 46, 47, 50, 56, 59], "would": [1, 5, 13, 20, 22, 34, 40, 44, 46, 51, 53, 54, 55, 56, 60], "have": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 31, 33, 34, 36, 40, 41, 42, 43, 44, 45, 46, 51, 53, 54, 55, 56, 57, 59, 60], "3": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 49, 51, 55, 56, 57, 60, 61], "need": [1, 2, 4, 7, 8, 13, 14, 15, 16, 17, 19, 20, 22, 24, 25, 27, 29, 32, 34, 36, 38, 40, 41, 44, 45, 46, 51, 53, 54, 55, 56, 57, 58, 60, 61], "point": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 20, 22, 24, 26, 27, 31, 33, 34, 40, 41, 44, 51, 53, 54, 55, 56, 57, 58, 59], "whose": [1, 8, 43, 53, 54, 55, 56], "isn": [1, 42, 44, 56, 57], "t": [1, 5, 6, 7, 8, 13, 14, 15, 16, 17, 20, 21, 22, 23, 24, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 47, 50, 51, 53, 54, 55, 57, 58, 59, 60], "known": [1, 8, 16, 21, 34, 37, 44, 47, 54, 55, 56, 59], "path": [1, 2, 4, 7, 8, 13, 14, 23, 24, 25, 26, 27, 28, 34, 42, 44, 46, 47, 51, 52, 53, 55, 56, 58, 59, 60], "rate": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 43, 46, 47, 50, 51, 53, 54, 55, 56, 57, 59], "sequenc": [1, 3, 4, 6, 19, 34, 51, 53, 57], "given": [1, 2, 3, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 19, 20, 21, 23, 24, 25, 27, 28, 29, 30, 32, 33, 34, 41, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 59, 60], "overrid": [1, 24, 50, 51, 53, 55, 56], "declare_st": 1, "decor": [1, 5, 32], "In": [1, 2, 5, 6, 7, 8, 9, 11, 13, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60], "futur": [1, 5], "left": [1, 6, 13, 15, 22, 24, 27, 31, 34, 43, 50, 51, 54, 58], "_unspecifi": [1, 3, 50, 51, 53, 55], "try": [1, 5, 8, 16, 18, 19, 24, 27, 33, 34, 43, 57], "connect": [1, 3, 5, 8, 9, 10, 11, 12, 14, 16, 22, 23, 25, 26, 27, 31, 32, 34, 37, 39, 40, 42, 44, 45, 51, 53, 55, 60], "input": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 37, 39, 40, 42, 43, 44, 47, 51, 53, 54, 56, 57, 60], "same": [1, 3, 6, 7, 9, 10, 13, 24, 25, 26, 27, 34, 40, 42, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 60], "prevent": [1, 5, 43, 51, 55], "ndarrai": [1, 3, 4, 51, 55], "discret": [1, 4, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 45, 50, 51, 54, 55, 57, 58, 59], "node": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 20, 22, 23, 24, 27, 29, 30, 31, 32, 33, 36, 38, 40, 41, 43, 44, 45, 50, 51, 54, 55], "fals": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 44, 51, 53, 55, 59], "omit": [1, 6, 7, 8, 25, 33, 42, 45, 53, 56], "first": [1, 3, 6, 7, 10, 13, 14, 15, 16, 19, 20, 24, 25, 26, 28, 32, 33, 34, 40, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 59, 60], "chang": [1, 3, 6, 7, 8, 9, 13, 16, 19, 20, 21, 24, 27, 28, 30, 31, 32, 33, 34, 36, 40, 43, 44, 45, 47, 51, 53, 54, 56, 57, 60, 61], "final": [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 34, 36, 38, 40, 42, 43, 44, 45, 51, 52, 53, 54, 55, 56, 57, 58, 59], "constraint": [1, 3, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 41, 42, 43, 44, 47, 48, 49, 50, 51, 53, 54, 55, 56, 57, 60, 61], "enforc": [1, 3, 4, 6, 13, 20, 44, 47, 49, 51, 53, 55], "continu": [1, 3, 4, 8, 9, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 49, 50, 51, 53, 54, 55, 57, 58, 59], "mismatch": 1, "between": [1, 3, 4, 6, 8, 12, 13, 16, 17, 19, 20, 21, 25, 26, 27, 33, 34, 43, 44, 47, 53, 54, 57, 60], "segment": [1, 3, 4, 13, 20, 21, 24, 29, 33, 40, 42, 43, 44, 47, 48, 51, 55, 59], "compress": [1, 4, 9, 14, 15, 16, 17, 19, 21, 22, 23, 25, 26, 27, 30, 31, 32, 33, 34, 40, 43, 49, 51, 54, 55, 59], "place": [1, 13, 20, 51], "converg": [1, 2, 3, 4, 14, 15, 16, 24, 27, 28, 34, 42, 43, 49, 51, 54, 55, 57, 59, 60, 61], "within": [1, 3, 4, 5, 6, 15, 16, 24, 42, 43, 45, 46, 49, 51, 53, 54, 55, 56, 58, 60], "note": [1, 6, 13, 14, 15, 16, 17, 18, 19, 20, 23, 24, 25, 27, 33, 34, 42, 44, 45, 51, 53, 54, 55, 59], "segement": 1, "still": [1, 6, 13, 15, 16, 17, 34, 41, 43, 51, 55], "handl": [1, 6, 7, 13, 14, 19, 24, 25, 27, 32, 34, 45, 46, 61], "come": [1, 6, 10, 13, 24, 37, 45, 55], "deprec": [1, 3, 4, 27, 51, 53, 55], "solut": [1, 2, 5, 6, 8, 10, 11, 12, 14, 15, 16, 17, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 44, 45, 47, 52, 54, 55, 59, 60], "analyt": [1, 6, 8, 16, 21, 30, 33, 37, 42, 43, 45, 47, 48, 51, 55, 56, 60], "should": [1, 3, 4, 5, 8, 15, 16, 17, 27, 33, 34, 40, 41, 42, 45, 46, 51, 53, 54, 55, 56, 57, 59, 61], "fix": [1, 4, 6, 10, 11, 12, 14, 15, 16, 19, 21, 24, 25, 27, 33, 34, 36, 41, 43, 45, 51, 54, 55, 56, 58, 59], "resolv": [1, 5], "vari": [1, 9, 14, 16, 17, 25, 33, 36, 44, 47, 51, 54, 55, 56, 57, 58, 59], "other": [1, 3, 4, 6, 8, 9, 10, 11, 12, 13, 16, 17, 20, 28, 32, 33, 34, 35, 43, 46, 50, 51, 53, 54, 55, 56, 58, 59, 60], "appli": [1, 3, 5, 6, 13, 15, 16, 24, 28, 41, 44, 45, 53, 55, 56, 58, 60], "eom": [1, 19, 23, 28, 30, 31, 32, 34, 55], "desc": [1, 3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 16, 19, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 55, 56, 57], "rate_target": 1, "rate2_target": 1, "rate_continu": [1, 8, 9, 13, 15, 16, 17, 19, 22, 23, 24, 27, 33, 36, 40, 42], "rate_continuity_scal": [1, 19, 23, 42], "rate_continuity_ref": 1, "rate2_continu": [1, 16, 17, 19, 23, 42], "rate2_continuity_scal": [1, 19], "rate2_continuity_ref": 1, "dynam": [1, 2, 3, 4, 6, 7, 9, 13, 14, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 34, 36, 37, 40, 42, 43, 47, 50, 51, 54, 55, 57, 58, 59, 60], "ti": 1, "assign": [1, 6, 17, 21, 32, 56, 57], "ha": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 45, 46, 51, 52, 53, 55, 56, 58, 59, 60, 61], "been": [1, 2, 3, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 51, 54, 55, 59, 60], "It": [1, 5, 8, 13, 16, 19, 20, 23, 24, 30, 31, 32, 33, 34, 37, 41, 42, 44, 45, 51, 53, 55, 56, 57, 59], "must": [1, 3, 6, 7, 8, 16, 24, 27, 34, 44, 45, 46, 50, 53, 55, 57, 58], "compat": [1, 3, 47, 50, 53, 59, 61], "descript": [1, 3, 6, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 34, 40, 42, 50, 51, 54, 55], "allow": [1, 3, 5, 6, 7, 8, 10, 11, 12, 13, 16, 20, 21, 24, 25, 26, 27, 28, 33, 36, 37, 38, 40, 41, 43, 44, 45, 47, 51, 53, 55, 58, 60], "invalid": [1, 28, 51, 55], "2nd": [1, 51, 55], "deriv": [1, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 18, 20, 24, 25, 26, 29, 30, 32, 33, 34, 42, 45, 46, 47, 50, 51, 54, 55, 56, 59, 60], "each": [1, 3, 4, 5, 6, 8, 14, 15, 16, 22, 24, 25, 33, 36, 40, 42, 43, 45, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60], "don": [1, 6, 8, 13, 15, 20, 21, 24, 32, 37, 47, 51, 54], "number": [1, 2, 3, 4, 8, 10, 11, 12, 13, 15, 16, 20, 21, 22, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 36, 38, 42, 43, 44, 45, 50, 51, 54, 55, 56, 59, 60], "boundari": [1, 3, 4, 8, 12, 13, 15, 20, 21, 23, 24, 32, 42, 43, 47, 49, 51, 53, 54, 55, 56, 57, 58, 59, 60], "relev": [1, 3, 10, 38, 56, 57], "radau": [1, 6, 7, 9, 13, 14, 15, 16, 17, 20, 21, 22, 24, 25, 26, 28, 29, 32, 33, 34, 40, 43, 46, 47, 49, 50, 51, 55, 56, 57, 60], "pseudospectr": [1, 4, 13, 16, 17, 20, 21, 22, 24, 43, 44, 47, 49, 50, 51, 57, 59, 60], "where": [1, 3, 6, 8, 15, 17, 20, 21, 26, 28, 29, 32, 33, 34, 36, 37, 40, 43, 44, 46, 47, 51, 53, 54, 55, 59, 60], "nonlinear": [1, 4, 14, 19, 24, 28, 33, 37, 43, 45, 47, 56, 58, 59, 60, 61], "gauss": [1, 4, 16, 32, 33, 42, 43, 44, 45, 46, 47, 49, 50, 51, 57, 60], "lobatto": [1, 4, 16, 32, 33, 42, 43, 44, 45, 46, 47, 49, 50, 51, 57, 60], "linear": [1, 3, 6, 7, 8, 14, 15, 19, 25, 26, 30, 32, 33, 42, 43, 49, 53, 54, 55], "dimensionless": [1, 32, 51, 54, 55], "second": [1, 3, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 46, 47, 50, 51, 53, 55, 59], "rate2": [1, 46, 51, 55], "exist": [1, 3, 5, 7, 8, 9, 11, 12, 25, 28, 33, 34, 37, 40, 41, 42, 44, 45, 51, 53, 54, 55, 56, 60], "order": [1, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 42, 43, 49, 50, 51, 53, 55, 56, 58, 59, 60], "polynomi": [1, 6, 7, 16, 21, 24, 43, 44, 47, 49, 50, 54, 55, 56, 57], "legendr": [1, 32, 44, 57], "singl": [1, 2, 3, 6, 7, 13, 14, 16, 20, 24, 26, 29, 30, 31, 32, 33, 34, 42, 43, 44, 49, 51, 53, 54, 55, 56, 57, 59, 60], "1": [1, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 44, 46, 51, 53, 55, 56, 57, 60], "tau": [1, 16], "space": [1, 3, 4, 6, 9, 24, 27, 29, 57, 60], "interpol": [1, 8, 13, 14, 16, 20, 21, 24, 25, 26, 27, 32, 33, 36, 40, 45, 51, 54, 56, 57], "repres": [1, 13, 20, 24, 26, 43, 47, 51, 54, 55], "broadcast": [1, 55], "0": [1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 57, 58], "declar": [1, 3, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 51, 53, 55, 56, 57], "phase_nam": [1, 51], "indep_control": [1, 16, 17, 19, 20, 21, 23, 24, 28, 30, 33, 40, 42], "control_nam": [1, 51], "dure": [1, 15, 19, 24, 28, 34, 43, 53, 58], "static_target": [1, 3, 5, 6, 7, 8, 14, 15, 22, 25, 27, 36, 40, 44, 51, 55], "include_timeseri": [1, 51], "static": [1, 3, 5, 6, 8, 14, 16, 22, 25, 31, 40, 41, 44, 47, 51, 55, 58, 60], "own": [1, 5, 15, 40, 41, 45, 53], "size": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 50, 54, 55, 59], "els": [1, 3, 5, 6, 7, 8, 13, 14, 16, 22, 23, 24, 25, 27, 33, 34, 36, 40, 42, 51, 55], "num_nod": [1, 3, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 44, 55, 56, 57], "dimens": [1, 3, 45, 50], "mean": [1, 3, 4, 13, 20, 24, 25, 34, 43, 44, 51, 54, 55, 56, 59, 60], "thei": [1, 3, 5, 6, 8, 10, 16, 25, 26, 27, 32, 33, 34, 36, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 58, 59], "cannot": [1, 3, 6, 7, 8, 13, 23, 25, 27, 42, 44, 53, 55, 56, 57], "uniqu": [1, 3, 17, 43, 47, 51, 55], "otherwis": [1, 2, 3, 34, 51, 53, 55, 56, 57], "includ": [1, 5, 6, 16, 27, 28, 30, 32, 33, 34, 35, 37, 40, 44, 50, 51, 53, 54, 55, 56, 59, 60, 61], "timeseri": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 38, 39, 40, 42, 44, 45, 46, 47, 55, 56, 57], "subset": [1, 9, 40, 50, 54], "new": [1, 7, 8, 10, 11, 12, 21, 31, 33, 36, 41, 43, 45, 50], "upon": [1, 2, 42, 50, 53, 55, 60], "can": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 32, 33, 34, 35, 36, 38, 39, 40, 41, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61], "object": [1, 2, 3, 7, 8, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 35, 38, 40, 42, 43, 44, 47, 48, 50, 51, 53, 56, 57, 59, 60], "grid": [1, 2, 4, 6, 7, 8, 9, 10, 11, 12, 13, 19, 20, 24, 25, 27, 30, 31, 32, 34, 40, 43, 44, 50, 57], "output_nam": [1, 27, 44, 50, 51], "kwarg": [1, 3, 33, 50, 53, 55], "express": [1, 3, 20, 31, 33, 46, 47, 50, 51, 53], "pass": [1, 2, 5, 16, 19, 21, 33, 36, 40, 41, 44, 50, 51, 55, 56, 60], "openmdao": [1, 2, 3, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 40, 41, 42, 44, 45, 46, 50, 53, 55, 57, 58, 60, 61], "execcomp": [1, 12, 31, 32, 50, 55], "result": [1, 2, 3, 4, 6, 8, 10, 12, 13, 15, 16, 18, 20, 22, 24, 26, 28, 33, 37, 38, 40, 41, 42, 43, 45, 49, 50, 52, 53, 54, 55, 59, 60], "comput": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 46, 50, 51, 54, 55, 56, 57, 59, 60], "store": [1, 2, 13, 20, 24, 43, 50], "under": [1, 3, 5, 6, 7, 30, 33, 34, 43, 50, 54], "equal": [1, 3, 4, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 42, 43, 44, 45, 50, 53, 57], "sign": [1, 13, 24, 50, 53], "list": [1, 3, 5, 33, 34, 50, 53], "mathemat": [1, 20, 28, 45, 50, 54, 55, 60], "rel": [1, 3, 5, 8, 9, 21, 23, 27, 40, 42, 46, 50, 51, 56, 57, 59], "e": [1, 2, 6, 7, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 50, 51, 53, 60, 61], "g": [1, 5, 6, 7, 8, 9, 10, 12, 14, 15, 20, 22, 23, 25, 28, 30, 31, 32, 34, 36, 40, 50, 53, 54, 55, 58], "time_phas": [1, 31, 50, 51], "glob": [1, 35, 50], "pattern": [1, 10, 11, 12, 13, 14, 20, 24, 25, 27, 35, 42, 43, 50], "match": [1, 6, 7, 27, 33, 35, 50, 54, 57], "some": [1, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 24, 25, 27, 33, 34, 35, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60, 61], "By": [1, 6, 13, 14, 15, 20, 24, 25, 27, 35, 36, 43, 50, 53, 55, 59], "last": [1, 13, 16, 20, 28, 44, 46, 50, 56], "element": [1, 3, 43, 44, 50, 53, 56, 57], "split": [1, 34, 50], "dot": [1, 6, 13, 15, 16, 19, 20, 21, 22, 24, 29, 33, 34, 47, 50, 54, 55, 56, 58], "caus": [1, 5, 6, 16, 27, 32, 34, 42, 43, 50, 54, 59], "collis": [1, 50], "associ": [1, 2, 3, 5, 50, 53], "dictionari": [1, 2, 20, 26, 50, 51, 53, 55], "sinc": [1, 6, 8, 10, 13, 14, 15, 16, 17, 20, 23, 24, 25, 27, 29, 32, 33, 34, 36, 38, 40, 41, 42, 43, 44, 45, 46, 50, 51, 53, 54, 55, 56, 57, 60], "doesn": [1, 5, 8, 13, 16, 17, 20, 24, 43, 44, 50, 53, 59], "necessarili": [1, 14, 16, 25, 45, 50, 56, 58], "know": [1, 3, 6, 13, 20, 24, 27, 36, 37, 38, 41, 45, 50, 53, 54, 55, 56, 59], "until": [1, 2, 6, 13, 20, 24, 25, 47, 50, 54, 56, 57, 58], "setup": [1, 2, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 50, 53, 55, 56, 57], "being": [1, 3, 4, 6, 7, 8, 9, 11, 12, 16, 21, 24, 33, 34, 38, 40, 41, 42, 43, 44, 45, 47, 50, 53, 55, 56, 59], "ad": [1, 3, 7, 8, 10, 11, 12, 14, 20, 34, 35, 41, 43, 44, 45, 46, 51, 54, 55, 56], "addit": [1, 3, 5, 6, 7, 13, 16, 18, 20, 24, 33, 34, 43, 47, 51, 53, 54, 55, 57, 60], "exec": [1, 50], "comp": [1, 10, 11, 12, 32, 50], "loc": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 46, 51, 53, 56, 57], "constraint_nam": 1, "indic": [1, 8, 33, 42, 45, 52, 53, 55, 56], "flat_indic": 1, "constrain": [1, 3, 6, 8, 11, 12, 13, 16, 17, 20, 24, 28, 34, 38, 41, 53, 58], "also": [1, 6, 7, 11, 13, 15, 16, 17, 20, 21, 24, 25, 26, 27, 32, 33, 34, 41, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60, 61], "evalu": [1, 6, 8, 9, 10, 11, 12, 13, 15, 16, 18, 22, 23, 26, 27, 30, 31, 32, 33, 34, 36, 40, 44, 45, 54, 55, 56, 57], "assum": [1, 2, 3, 6, 7, 8, 14, 16, 18, 22, 25, 34, 46, 51, 53, 54, 55, 59], "form": [1, 6, 7, 20, 31, 45, 46, 47, 51, 53, 54, 55, 58, 59], "equat": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 24, 26, 27, 28, 31, 32, 33, 40, 43, 44, 46, 47, 51, 53, 54, 55, 56, 58, 59], "right": [1, 6, 9, 15, 19, 22, 24, 27, 28, 30, 31, 34, 44, 54, 56, 58], "hand": [1, 13, 20, 43, 54, 58, 59], "side": [1, 30, 45], "locat": [1, 3, 4, 6, 9, 15, 16, 27, 46, 53, 55, 57], "var_constraint": 1, "infer": [1, 14, 25, 54], "automat": [1, 2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 30, 32, 33, 40, 43, 44, 47, 51], "slice": [1, 54], "either": [1, 3, 6, 28, 36, 44, 45, 47, 51, 53, 55, 57], "multi": [1, 14, 34, 41, 44, 51, 53], "dimension": 1, "contain": [1, 2, 5, 8, 13, 24, 26, 28, 33, 37, 52, 53, 55, 56], "behavior": [1, 3, 4, 5, 8, 16, 17, 21, 37, 40, 45, 49, 51, 53, 55, 56, 57, 58], "depend": [1, 6, 7, 8, 16, 28, 33, 41, 42, 43, 45, 46, 50, 51, 53, 54, 55, 56, 59], "multipli": [1, 3, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 51, 53], "model": [1, 2, 3, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 27, 29, 30, 31, 32, 33, 36, 38, 39, 40, 42, 43, 44, 45, 47, 49, 51, 53, 54, 57, 58, 60], "get": [1, 7, 10, 11, 12, 15, 16, 22, 27, 33, 35, 38, 42, 52, 57], "scale": [1, 13, 15, 16, 24, 33, 34, 40, 43, 45, 51, 54, 57, 59, 60], "preced": [1, 20], "respons": [1, 9, 33, 34, 43, 45, 54], "driver": [1, 2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 51, 57], "failur": [1, 6, 26, 45], "flatten": 1, "c": [1, 5, 8, 9, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 33, 34, 36, 40, 42, 53, 54, 55, 56, 57], "give": [1, 6, 7, 13, 20, 24, 44, 46, 53, 54, 55, 57, 60], "fail": [1, 5, 6, 8, 16, 26, 32, 42, 43, 59, 60], "times_per_seg": [1, 3, 15, 56, 57], "10": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 55, 56, 57, 60], "method": [1, 2, 3, 4, 5, 6, 7, 8, 10, 13, 14, 15, 16, 17, 20, 21, 22, 24, 25, 27, 28, 29, 30, 33, 35, 36, 37, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 55, 56, 57, 58, 59, 60], "atol": [1, 3, 37], "rtol": [1, 3, 37], "first_step": [1, 3], "max_step": [1, 3], "record_fil": [1, 3], "scipi": [1, 3, 10, 11, 12, 13, 14, 15, 20, 24, 25, 26, 29, 56, 57], "solve_ivp": [1, 3, 10, 11, 12, 13, 15, 20, 24, 29, 56, 57], "per": [1, 3, 26, 43], "request": [1, 3, 5, 7, 44], "absolut": [1, 3, 24, 44, 45], "toler": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 45], "step": [1, 3, 4, 6, 7, 8, 14, 15, 16, 18, 24, 25, 29, 30, 33, 34, 37, 40, 42, 45, 54, 56, 57, 59, 60], "maximum": [1, 2, 3, 6, 7, 13, 14, 16, 24, 28, 41, 45], "string": [1, 2, 3, 53], "file": [1, 2, 3, 5, 7, 8, 9, 11, 12, 13, 16, 19, 20, 24, 27, 33, 34, 37, 40, 42, 43, 52], "save": [1, 3, 5, 9, 27, 30, 42, 43, 52], "record": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 52], "return": [1, 2, 3, 7, 13, 14, 15, 16, 20, 24, 29, 33, 34, 53, 55, 56], "implement": [1, 3, 4, 5, 6, 8, 12, 13, 20, 22, 24, 28, 31, 53, 55, 60], "interfac": [1, 2, 3, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 40, 42, 43, 60, 61], "interrog": [1, 3], "obtain": [1, 3, 10, 13, 14, 16, 20, 24, 25, 34, 38, 43, 44, 47, 50, 54, 56, 57], "manner": [1, 3], "refin": [1, 2, 24, 57], "tol": [1, 15, 21, 24, 27, 30, 33, 34, 42, 43, 55], "min_ord": 1, "max_ord": 1, "smoothness_factor": 1, "undergo": 1, "procedur": [1, 60], "error": [1, 2, 5, 8, 11, 12, 16, 21, 24, 27, 33, 34, 44, 59], "algorithm": [1, 2, 14, 21, 25, 42, 51, 54], "minimum": [1, 6, 8, 13, 15, 22, 27, 31, 37, 42, 49, 51, 55, 59], "hp": [1, 2, 33, 60], "ph": [1, 2, 13, 19, 20, 21, 24], "ratio": [1, 6, 7, 16], "exceed": 1, "ys": [1, 8, 9, 13, 14, 15, 16, 17, 24, 28, 40], "xs": [1, 14, 15], "kind": [1, 6, 7, 10, 11, 12, 14, 17, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 32, 33, 40, 52, 60], "axi": [1, 16, 27], "onto": [1, 36, 50], "state_input": [1, 15, 36], "relat": [1, 5, 34, 42, 51], "control_input": [1, 9, 10, 15, 36, 40], "ani": [1, 2, 5, 6, 7, 8, 10, 11, 12, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 45, 46, 50, 51, 54, 55, 58, 59], "arrai": [1, 3, 9, 14, 15, 25, 26, 27, 33, 53], "packag": [1, 5, 6, 7, 8, 9, 11, 12, 13, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 30, 32, 33, 34, 40, 42, 54, 56, 57, 60], "One": [1, 16, 38, 41, 44, 54, 56], "nearest": 1, "slinear": 1, "quadrat": [1, 15, 51, 54], "cubic": 1, "spline": [1, 27], "zeroth": 1, "third": [1, 6, 7, 19, 28, 33, 45, 54, 57], "integ": [1, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 51], "along": [1, 6, 8, 9, 16, 17, 22, 27, 33, 40, 54, 58, 59], "perform": [1, 2, 6, 7, 9, 13, 14, 16, 20, 25, 26, 27, 33, 34, 36, 41, 44, 45, 51, 53, 54, 55, 56, 57, 60], "np": [1, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 44, 55, 56, 57], "y": [1, 5, 8, 9, 10, 11, 12, 19, 22, 27, 29, 30, 31, 32, 34, 36, 40, 43, 45, 54, 55, 56, 57], "brachistochron": [2, 5, 38, 40, 41, 43, 45, 51, 55], "exampl": [2, 14, 15, 16, 17, 19, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 40, 41, 42, 43, 45, 47, 51, 52, 55, 59], "we": [2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60], "two": [2, 3, 6, 7, 8, 9, 11, 13, 16, 20, 24, 26, 27, 28, 31, 32, 33, 34, 37, 39, 42, 43, 44, 45, 46, 50, 51, 53, 54, 56, 59], "class": [2, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 45, 47, 53, 55, 56, 57], "execut": [2, 4, 6, 10, 11, 12, 13, 16, 20, 24, 27, 30, 56, 57], "run_model": [2, 5, 8, 26, 29, 37, 44, 56, 57], "take": [2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 38, 40, 41, 42, 43, 45, 51, 53, 54, 55, 56, 58, 59], "run": [2, 3, 4, 10, 11, 12, 13, 20, 24, 33, 36, 37, 39, 42, 56, 57, 61], "driven": [2, 33, 41, 43, 56], "produc": [2, 8, 13, 24, 34, 61], "physic": [2, 14, 16, 25, 34, 43, 54], "valid": [2, 3, 4, 8, 10, 11, 12, 23, 33, 42, 44, 51, 53, 56], "satisfi": [2, 3, 14, 16, 26, 30, 43, 45, 53, 56, 59, 60], "possibl": [2, 5, 6, 8, 13, 16, 24, 34, 41, 45, 51, 55, 56, 58, 59], "extent": 2, "run_driv": [2, 6, 7, 10, 13, 15, 20, 22, 24, 27, 33, 34, 44, 56, 57], "wrap": [2, 60], "around": [2, 6, 16, 45, 54], "typic": [2, 6, 8, 9, 16, 24, 25, 27, 29, 40, 44, 45, 46, 47, 51, 53, 54, 55, 56, 58, 59, 60], "done": [2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 45, 51, 56, 57], "repeatedli": [2, 13, 20, 24], "approach": [2, 6, 8, 16, 22, 43, 44, 54, 56, 60], "suffici": [2, 13, 14, 20, 21, 24, 45, 54, 57], "accur": [2, 13, 16, 20, 21, 24, 37, 42, 54, 57, 59, 60], "But": [2, 15, 32, 36, 44, 45, 54, 60], "commonli": 2, "want": [2, 3, 5, 13, 24, 25, 33, 35, 38, 41, 44, 45, 50, 51, 53, 54, 56, 58, 60], "do": [2, 5, 6, 7, 10, 11, 12, 13, 15, 17, 20, 24, 27, 32, 33, 34, 39, 42, 43, 44, 46, 51, 53, 54, 55, 56, 60], "follow": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 38, 40, 42, 43, 45, 49, 50, 51, 53, 54, 55, 56, 59], "arriv": 2, "explicit": [2, 4, 8, 13, 14, 16, 19, 20, 22, 23, 24, 25, 28, 29, 36, 44, 54, 56, 57], "simul": [2, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 34, 36, 40, 45, 52, 57, 58, 59], "verifi": [2, 8, 16, 22, 37, 53, 59], "accuraci": [2, 21, 57, 59, 60], "load": [2, 11, 13, 16, 20, 24, 27], "previou": [2, 6, 7, 16, 32, 45, 57], "case": [2, 4, 6, 7, 8, 9, 11, 12, 13, 15, 16, 17, 20, 22, 24, 25, 28, 29, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61], "guess": [2, 6, 7, 8, 13, 15, 19, 20, 23, 24, 25, 27, 32, 33, 36, 42, 54, 57], "re": [2, 6, 7, 9, 11, 12, 13, 14, 16, 20, 24, 25, 29, 32, 38, 42, 44, 45, 56, 57, 59], "attempt": [2, 8, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 26, 30, 32, 33, 40, 43, 51, 53, 55], "minim": [2, 6, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 27, 30, 33, 36, 40, 42, 44, 47, 56, 57, 58, 59, 60], "i": [2, 9, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 39, 51, 56, 57], "To": [2, 5, 6, 13, 15, 20, 21, 24, 27, 33, 38, 40, 42, 43, 44, 45, 46, 51, 53, 54, 55, 56, 57, 58, 59, 60], "remov": [2, 5, 13, 20, 24, 27, 43, 44, 45, 46, 51, 55, 59, 61], "code": [2, 5, 7, 8, 13, 14, 16, 19, 20, 23, 24, 25, 27, 28, 33, 34, 37, 42, 44, 53, 55, 56, 61], "call": [2, 3, 7, 8, 9, 10, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60], "refine_method": [2, 13, 20, 24, 33], "refine_iteration_limit": [2, 21, 24, 33], "restart": [2, 33], "solution_record_fil": 2, "dymos_solut": [2, 7, 8, 9, 11, 12, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 40, 42], "db": [2, 6, 7, 8, 9, 11, 12, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36, 40, 42], "simulation_record_fil": [2, 52], "dymos_simul": [2, 6, 7, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "make_plot": [2, 12, 16], "plot_dir": [2, 52], "plot": [2, 5, 6, 7, 8, 10, 12, 15, 16, 17, 18, 21, 22, 23, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 54, 56, 57], "case_prefix": [2, 3], "reset_iter_count": [2, 3], "simulate_kwarg": [2, 15], "plot_kwarg": 2, "specif": [2, 3, 5, 8, 16, 30, 31, 32, 41, 51, 53, 58, 60, 61], "check": [2, 5, 6, 7, 8, 10, 11, 12, 13, 15, 17, 19, 20, 21, 22, 23, 24, 27, 28, 29, 30, 31, 32, 33, 36, 37, 40, 43, 54, 56], "om": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 51, 55, 56, 57], "presum": 2, "more": [2, 3, 4, 6, 7, 8, 9, 13, 16, 20, 21, 24, 25, 27, 29, 31, 33, 34, 35, 38, 39, 40, 41, 43, 44, 47, 49, 51, 53, 54, 55, 56, 57, 59, 60, 61], "choic": [2, 45], "option": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 46, 52, 53, 54, 56, 57, 59], "h": [2, 6, 7, 13, 14, 16, 23, 24, 25, 26, 27, 28, 34, 42], "p": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 47, 50, 58, 60], "adapt": [2, 4, 6, 7, 15, 24, 34, 42, 60], "through": [2, 4, 18, 34, 41, 44, 51, 55, 59], "made": [2, 3, 4, 25, 44, 53, 55, 61], "attach": [2, 6, 7, 10, 11, 12, 15, 17, 19, 21, 22, 23, 27, 28, 29, 30, 31, 32, 33, 40], "just": [2, 11, 12, 13, 17, 20, 24, 29, 31, 32, 34, 42, 44, 45, 50, 55, 56, 60], "found": [2, 7, 8, 16, 27, 33, 34, 44, 56, 57], "after": [2, 5, 6, 15, 34, 44, 56, 61], "complet": [2, 6, 8, 10, 11, 12, 13, 21, 22, 24, 26, 27, 33, 36, 42, 44, 56, 57], "caseread": [2, 6, 7, 9, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "get_cas": [2, 6, 7, 9, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "next": [2, 5, 6, 9, 13, 15, 20, 24, 27, 33, 40, 56, 57], "caserecord": 2, "gener": [2, 4, 6, 8, 13, 16, 22, 24, 27, 30, 34, 36, 40, 42, 43, 44, 45, 47, 53, 54, 55, 56, 57, 58, 60, 61], "These": [2, 11, 18, 28, 32, 33, 35, 40, 43, 47, 49, 50, 51, 55, 56, 58], "report": [2, 3, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 42, 43, 44, 56, 57], "subdirectori": 2, "directori": [2, 5, 16, 33, 43, 52, 61], "creat": [2, 3, 8, 13, 16, 17, 20, 22, 24, 27, 29, 33, 36, 51, 52, 53, 55, 61], "pair": [2, 3, 13, 20, 24, 53], "ignor": [2, 15, 16, 20, 23, 33, 42, 50, 54], "timeseries_plot": [2, 52], "prefix": [2, 3], "prepend": [2, 3], "coordin": [2, 3, 27, 33, 51], "previous": [2, 3, 13, 20, 24, 51], "reset": [2, 3], "counter": [2, 3, 15, 21], "phase_a": [3, 6, 7, 53], "phase_b": [3, 6, 7, 53], "var_a": [3, 6, 7, 53], "var_b": [3, 6, 7, 53], "loc_a": [3, 6, 7, 53], "loc_b": [3, 6, 7, 53], "sign_a": [3, 53], "sign_b": [3, 53], "mult_a": [3, 53], "mult_b": [3, 53], "explicitli": [3, 4, 8, 22, 36, 51, 53, 55, 56], "linkag": [3, 6, 7, 12, 19, 25, 34, 51], "coupl": [3, 26, 53, 60], "condit": [3, 6, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 29, 30, 42, 44, 45, 47, 51, 53, 54, 56, 57, 58], "across": [3, 7, 8, 13, 19, 20, 24, 32, 42, 43, 51, 53, 54, 55, 60], "common": [3, 6, 7, 53, 54], "With": [3, 5, 6, 16, 27, 33, 34, 43, 47, 53, 54, 60], "x": [3, 5, 6, 8, 9, 10, 11, 12, 13, 15, 17, 19, 20, 21, 22, 24, 26, 27, 29, 30, 31, 32, 33, 36, 40, 43, 44, 45, 46, 47, 50, 53, 55, 56, 57, 58, 61], "foo": [3, 53], "bar": [3, 34, 53, 55, 58], "accomplish": [3, 27, 38, 43, 45, 50, 51, 53, 55, 58], "sometim": [3, 6, 24, 38, 40, 41, 42, 45, 50, 51, 53, 55, 59], "unnecessari": [3, 29, 53], "help": [3, 5, 15, 16, 24, 27, 29, 37, 51, 53, 59], "clariti": [3, 53], "what": [3, 5, 6, 13, 20, 24, 27, 41, 44, 51, 52, 53, 60], "go": [3, 5, 6, 25, 39, 42, 53, 55], "Or": [3, 9, 53], "perhap": [3, 9, 53], "cyclic": [3, 53], "exact": [3, 15, 29, 53], "end": [3, 4, 6, 7, 8, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 33, 34, 36, 40, 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26, 42], "dens": [1, 4, 7, 9, 13, 20, 24, 40, 42, 43, 44, 59], "n": [1, 4, 6, 7, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 34, 37, 40, 42, 44, 51, 55, 56, 57, 61], "alinear": 1, "solver": [1, 2, 4, 6, 7, 10, 11, 12, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 42, 43, 51, 55, 60], "s": [1, 2, 3, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 44, 45, 46, 50, 51, 53, 54, 55, 56, 57, 59, 60, 61], "thi": [1, 2, 3, 4, 5, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 50, 51, 53, 54, 55, 58, 59, 60, 61], "group": [1, 5, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 53, 55, 56], "implicit": [1, 2, 19, 22, 29, 36, 44, 45, 54, 56, 57, 59, 60, 61], "compon": [1, 5, 6, 8, 10, 11, 12, 13, 16, 17, 19, 20, 22, 24, 26, 30, 31, 32, 33, 34, 36, 37, 38, 39, 40, 41, 44, 45, 46, 50, 51, 53, 55, 56], "us": [1, 2, 3, 4, 5, 6, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 39, 40, 41, 44, 45, 46, 47, 49, 50, 51, 52, 55, 57, 58, 59, 60, 61], "an": [1, 2, 3, 4, 5, 6, 7, 9, 10, 11, 12, 13, 15, 16, 17, 18, 20, 22, 23, 24, 28, 29, 31, 32, 34, 36, 39, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 55, 57, 58, 59, 60], "assembl": [1, 42, 43, 47], "jacobian": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 55, 57, 59], "type": [1, 5, 6, 8, 9, 10, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "ode_classn": 1, "asystem": 1, "defin": [1, 3, 6, 7, 10, 11, 12, 14, 15, 16, 18, 22, 25, 27, 32, 34, 36, 44, 45, 47, 51, 54, 56, 58, 60], "od": [1, 3, 4, 5, 10, 11, 12, 18, 19, 26, 27, 31, 32, 39, 44, 45, 46, 47, 50, 51, 53, 54, 57, 58, 59], "ode_init_kwarg": [1, 6, 7, 26, 34, 36, 42, 55], "A": [1, 2, 3, 4, 5, 6, 8, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 26, 28, 30, 31, 32, 34, 40, 42, 43, 45, 50, 51, 52, 53, 54, 55, 56, 57, 60], "dict": [1, 2, 3, 6, 7, 19, 50, 51, 53, 55], "keyword": [1, 5, 20, 55], "argument": [1, 2, 3, 8, 10, 11, 12, 20, 33, 35, 36, 42, 44, 45, 46, 49, 50, 51, 52, 53, 55, 56, 57], "provid": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 24, 25, 29, 30, 32, 34, 35, 36, 37, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 56, 57, 58, 59, 60], "when": [1, 2, 3, 4, 5, 6, 7, 8, 9, 13, 15, 16, 20, 21, 22, 24, 25, 28, 33, 34, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 58, 59, 61], "initi": [1, 2, 3, 4, 5, 6, 7, 9, 10, 13, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 38, 40, 42, 43, 44, 45, 46, 47, 51, 53, 54, 55, 56, 57, 58, 59], "system": [1, 2, 4, 7, 10, 11, 12, 13, 15, 18, 19, 20, 22, 24, 25, 26, 27, 28, 30, 31, 32, 34, 37, 40, 42, 43, 44, 45, 46, 47, 51, 54, 57, 58, 59, 60, 61], "requir": [1, 3, 5, 6, 13, 14, 16, 18, 20, 23, 24, 26, 30, 31, 33, 34, 38, 40, 42, 43, 44, 45, 46, 51, 52, 53, 54, 55, 56, 57, 59, 60, 61], "transcriptionbas": 1, "techniqu": [1, 16, 30, 45, 47, 54, 56, 57, 59, 61], "optim": [1, 2, 3, 4, 5, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 57, 61], "control": [1, 2, 3, 4, 7, 9, 11, 12, 17, 18, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 35, 36, 40, 42, 43, 44, 45, 46, 47, 49, 50, 53, 54, 56, 61], "problem": [1, 2, 3, 4, 5, 9, 10, 11, 12, 18, 22, 36, 37, 38, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 56, 57, 59, 60, 61], "instanc": [1, 3, 9, 16, 22, 33, 35, 40, 41, 42, 44, 45, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60], "one": [1, 2, 3, 6, 7, 8, 9, 10, 16, 20, 26, 28, 30, 32, 33, 35, 36, 37, 40, 41, 42, 43, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 59, 60], "other": [1, 3, 4, 6, 8, 9, 10, 11, 12, 13, 16, 17, 20, 28, 32, 33, 34, 35, 43, 46, 50, 51, 53, 54, 55, 56, 58, 59, 60], "list": [1, 3, 5, 33, 34, 50, 53], "below": [1, 5, 6, 13, 21, 24, 27, 28, 33, 34, 36, 41, 42, 43, 44, 55], "behavior": [1, 3, 4, 5, 8, 16, 17, 21, 37, 40, 45, 49, 51, 53, 55, 56, 57, 58], "variou": [1, 6, 13, 16, 20, 24, 51, 53, 54, 59], "aspect": [1, 6, 7], "while": [1, 6, 8, 10, 11, 12, 13, 16, 20, 21, 24, 25, 27, 28, 40, 43, 44, 45, 51, 53, 54, 55, 57, 58, 59, 60], "most": [1, 6, 8, 16, 21, 22, 24, 25, 33, 37, 43, 45, 51], "have": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 31, 33, 34, 36, 40, 41, 42, 43, 44, 45, 46, 51, 53, 54, 55, 56, 57, 59, 60], "correspond": [1, 6, 15, 36, 43, 44, 54, 59], "set": [1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 32, 33, 34, 36, 37, 40, 41, 42, 43, 45, 47, 51, 52, 53, 55, 56, 58, 59], "valu": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59], "user": [1, 2, 3, 5, 7, 14, 16, 17, 18, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 46, 50, 51, 52, 53, 54, 55, 57, 58, 59, 60, 61], "mai": [1, 3, 4, 6, 8, 9, 16, 18, 33, 36, 38, 40, 41, 43, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "now": [1, 4, 8, 10, 11, 12, 15, 22, 27, 32, 34, 41, 44, 45, 51, 53, 54, 55, 56, 57], "openmdao": [1, 2, 3, 5, 6, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 36, 37, 40, 41, 42, 44, 45, 46, 50, 53, 55, 57, 58, 60, 61], "optionsdictionari": 1, "These": [1, 2, 11, 18, 28, 32, 33, 35, 40, 43, 47, 49, 50, 51, 55, 56, 58], "timeseri": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 38, 39, 40, 42, 44, 45, 46, 47, 55, 56, 57], "within": [1, 3, 4, 5, 6, 15, 16, 24, 42, 43, 45, 46, 49, 51, 53, 54, 55, 56, 58, 60], "include_control_ratesfals": 1, "true": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 51, 53, 54, 55, 56, 57], "fals": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 44, 51, 53, 55, 59], "bool": [1, 2, 3, 4, 5, 8, 22, 23, 33, 34, 36, 40, 42, 51, 53, 55], "If": [1, 2, 3, 4, 5, 6, 8, 13, 16, 20, 22, 23, 24, 25, 27, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 50, 51, 52, 53, 54, 55, 56, 57, 59, 60, 61], "includ": [1, 5, 6, 16, 27, 28, 30, 32, 33, 34, 35, 37, 40, 44, 50, 51, 53, 54, 55, 56, 59, 60, 61], "rate": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 43, 46, 47, 50, 51, 53, 54, 55, 56, 57, 59], "output": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 39, 40, 42, 43, 44, 45, 46, 47, 53, 56, 57, 58, 60], "default": [1, 3, 4, 5, 6, 7, 8, 10, 12, 15, 19, 21, 22, 23, 24, 26, 27, 30, 32, 33, 34, 35, 36, 40, 42, 43, 49, 50, 51, 53, 55, 56, 57], "include_parametersfals": 1, "paramet": [1, 2, 3, 4, 7, 9, 14, 17, 19, 21, 22, 23, 24, 25, 30, 31, 32, 33, 35, 36, 38, 40, 43, 44, 45, 47, 50, 56, 57, 60], "include_state_ratesfals": 1, "state": [1, 2, 3, 4, 6, 7, 9, 10, 14, 15, 17, 18, 19, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 35, 36, 38, 40, 42, 43, 45, 46, 47, 49, 50, 53, 54, 56, 57, 58, 59, 60], "include_t_phasefals": 1, "elaps": [1, 27, 47, 50, 51, 55, 59], "time": [1, 2, 3, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 39, 42, 43, 44, 45, 47, 48, 49, 50, 53, 54, 56, 57, 58, 59, 60, 61], "use_prefixfals": 1, "prefix": [1, 2, 3], "variabl": [1, 2, 3, 5, 6, 7, 9, 10, 11, 12, 14, 15, 17, 18, 19, 21, 22, 23, 25, 26, 28, 29, 30, 31, 32, 34, 35, 36, 38, 40, 42, 43, 44, 45, 46, 47, 48, 49, 50, 52, 53, 54, 56, 57, 58, 60, 61], "legaci": [1, 60], "chang": [1, 3, 6, 7, 8, 9, 13, 16, 19, 20, 21, 24, 27, 28, 30, 31, 32, 33, 34, 36, 40, 43, 44, 45, 47, 51, 53, 54, 56, 57, 60, 61], "1": [1, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 44, 46, 51, 53, 55, 56, 57, 60], "8": [1, 6, 7, 8, 11, 12, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 61], "0": [1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 57, 58], "grid": [1, 2, 4, 6, 7, 8, 9, 10, 11, 12, 13, 19, 20, 24, 25, 27, 30, 31, 32, 34, 40, 43, 44, 50, 57], "refin": [1, 2, 24, 57], "each": [1, 3, 4, 5, 6, 8, 14, 15, 16, 22, 24, 25, 33, 36, 40, 42, 43, 45, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60], "max_order14n": 1, "int": [1, 2, 3, 4, 5, 6, 8, 9, 10, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "maximum": [1, 2, 3, 6, 7, 13, 14, 16, 24, 28, 41, 45], "order": [1, 4, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 40, 42, 43, 49, 50, 51, 53, 55, 56, 58, 59, 60], "segment": [1, 3, 4, 13, 20, 21, 24, 29, 33, 40, 42, 43, 44, 47, 48, 51, 55, 59], "min_order3n": 1, "minimum": [1, 6, 8, 13, 15, 22, 27, 31, 37, 42, 49, 51, 55, 59], "refinetru": 1, "dure": [1, 10, 15, 19, 24, 28, 34, 43, 53, 58], "procedur": [1, 60], "smoothness_factor1": 1, "2n": 1, "float": [1, 3, 4, 6, 15, 23, 30, 53], "allow": [1, 3, 5, 6, 7, 8, 10, 11, 12, 13, 16, 20, 21, 24, 25, 26, 27, 28, 33, 36, 37, 38, 40, 41, 43, 44, 45, 47, 51, 53, 55, 58, 60], "ratio": [1, 6, 7, 16], "second": [1, 3, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 46, 47, 50, 51, 53, 55, 59], "deriv": [1, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 18, 20, 24, 25, 26, 29, 30, 32, 33, 34, 42, 45, 46, 47, 50, 51, 54, 55, 56, 59, 60], "across": [1, 3, 7, 8, 13, 19, 20, 24, 32, 42, 43, 51, 53, 54, 55, 60], "iter": [1, 2, 3, 8, 10, 11, 12, 13, 16, 21, 22, 24, 26, 27, 32, 33, 34, 36, 43, 44, 45, 47, 51, 54, 55, 56, 57, 59, 60], "tolerance0": 1, "0001n": 1, "toler": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 45], "explicit": [1, 2, 4, 8, 13, 14, 16, 19, 20, 22, 23, 24, 25, 28, 29, 36, 44, 54, 56, 57], "atol1": [1, 4], "06n": [1, 4], "arrai": [1, 3, 9, 14, 15, 25, 26, 27, 33, 53], "absolut": [1, 3, 24, 44, 45], "error": [1, 2, 5, 8, 11, 12, 16, 21, 24, 27, 33, 34, 44, 59], "step": [1, 3, 4, 6, 7, 8, 10, 14, 15, 16, 18, 24, 25, 29, 30, 33, 34, 37, 40, 42, 45, 54, 56, 57, 59, 60], "integr": [1, 3, 4, 6, 10, 11, 12, 15, 16, 22, 24, 27, 29, 30, 33, 34, 37, 40, 44, 47, 50, 54, 55, 56, 59, 60], "first_stepn": [1, 4], "size": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 50, 54, 55, 59], "none": [1, 2, 3, 4, 6, 7, 8, 10, 11, 12, 16, 17, 19, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 42, 43, 44, 50, 51, 52, 53, 55, 56, 57], "algorithm": [1, 2, 14, 21, 25, 42, 51, 54], "should": [1, 3, 4, 5, 8, 15, 16, 17, 27, 33, 34, 40, 41, 42, 45, 46, 51, 53, 54, 55, 56, 57, 59, 61], "choos": [1, 4, 43, 44, 54], "max_stepinfn": [1, 4], "methoddop853": 1, "rk23": 1, "rk45": 1, "dop853": 1, "bdf": [1, 29], "radau": [1, 6, 7, 9, 13, 14, 15, 16, 17, 20, 21, 22, 24, 25, 26, 28, 29, 32, 33, 34, 40, 43, 46, 47, 49, 50, 51, 55, 56, 57, 60], "lsoda": [1, 29], "ath": [1, 51, 55], "propag": [1, 4, 6, 29, 34, 43, 44, 47, 51, 54, 55, 57, 59], "rtol0": 1, "001n": 1, "rel": [1, 3, 5, 8, 9, 21, 23, 27, 40, 42, 46, 50, 51, 56, 57, 59], "unit": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 50, 51, 53, 55, 56, 57], "unspecifi": [1, 3, 44, 50, 51, 53, 55], "fix_initi": [1, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 56, 57], "fix_dur": [1, 13, 15, 17, 20, 21, 26, 27, 29, 33, 44, 45, 56, 57], "input_initi": [1, 11, 51, 55], "input_dur": [1, 9, 11, 27, 40, 51], "initial_v": 1, "initial_bound": [1, 19, 25, 34, 45, 51, 55], "initial_scal": 1, "initial_add": 1, "initial_ref0": 1, "initial_ref": [1, 19], "duration_v": [1, 15, 27, 33], "duration_bound": [1, 6, 7, 8, 9, 10, 12, 14, 16, 19, 22, 23, 24, 25, 30, 31, 32, 34, 36, 40, 42, 44, 45, 51, 55], "duration_scal": 1, "duration_add": 1, "duration_ref0": [1, 27], "duration_ref": [1, 6, 7, 16, 19, 23, 24, 25, 27, 28, 34, 42], "target": [1, 3, 6, 7, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 50, 51, 53, 56, 57], "time_phase_target": 1, "t_initial_target": [1, 51, 55], "t_duration_target": [1, 51, 55], "name": [1, 2, 3, 5, 6, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 35, 37, 40, 42, 44, 45, 46, 47, 50, 51, 53, 55, 56], "sourc": [1, 2, 3, 5, 13, 14, 16, 20, 24, 25, 37, 41, 44, 45, 50, 51, 53, 55, 56, 60, 61], "onli": [1, 2, 3, 4, 8, 13, 16, 20, 24, 31, 33, 34, 38, 42, 43, 44, 45, 47, 51, 52, 53, 54, 55, 56, 59, 61], "those": [1, 3, 5, 6, 9, 13, 14, 15, 18, 20, 24, 25, 40, 41, 42, 44, 45, 51, 53, 54, 55, 56, 59, 60], "which": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 18, 19, 24, 25, 27, 28, 29, 31, 32, 33, 34, 36, 40, 41, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "ar": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 53, 54, 55, 56, 58, 59, 60, 61], "specifi": [1, 3, 6, 7, 8, 13, 14, 16, 19, 20, 23, 24, 32, 33, 42, 44, 45, 46, 49, 50, 51, 53, 54, 55], "updat": [1, 16, 27], "str": [1, 2, 3, 4, 16, 44, 50, 51, 53, 55], "treat": [1, 3, 5, 6, 8, 16, 22, 24, 33, 36, 40, 42, 45, 47, 53, 54, 56, 57], "design": [1, 2, 3, 6, 7, 8, 10, 11, 12, 13, 14, 16, 20, 23, 24, 27, 32, 33, 34, 36, 38, 41, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 60, 61], "durat": [1, 6, 9, 10, 11, 12, 13, 21, 24, 32, 43, 51, 54, 55, 56, 57, 59], "expect": [1, 5, 16, 17, 37, 38, 40, 44, 45, 51, 54, 55, 56], "link": [1, 3, 6, 9, 11, 12, 19, 25, 26, 27, 34, 51, 53, 55], "t_initi": [1, 3, 6, 7, 8, 9, 11, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 36, 40, 42, 44, 45, 51, 53, 55, 56, 57], "extern": [1, 15, 16, 25, 41, 45, 51, 53, 55, 61], "make": [1, 4, 5, 7, 8, 9, 13, 16, 17, 19, 21, 22, 23, 24, 25, 26, 30, 32, 33, 34, 36, 40, 43, 44, 45, 50, 51, 54, 55, 56, 57, 59, 60], "irrelev": [1, 45], "t_durat": [1, 3, 6, 7, 8, 9, 11, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 44, 45, 51, 53, 55, 56, 57], "start": [1, 3, 6, 8, 9, 17, 26, 27, 28, 34, 40, 45, 46, 51, 53, 55, 56, 59], "bound": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 57, 58, 59, 60], "lower": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 41, 42, 44, 45, 51, 53, 55, 56, 57, 59], "upper": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 51, 53, 55], "scalar": [1, 5, 6, 8, 14, 22, 25, 31, 33, 39, 40, 43, 45, 46, 50, 51, 55, 56], "adder": [1, 3, 51, 53, 55], "zero": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 19, 20, 21, 22, 25, 27, 30, 31, 32, 33, 34, 36, 40, 42, 43, 51, 53, 54, 55, 56, 57, 59], "refer": [1, 3, 14, 25, 41, 51, 53, 55, 58], "scaler": [1, 3, 8, 13, 14, 17, 19, 20, 22, 23, 24, 25, 30, 31, 32, 36, 42, 44, 46, 51, 53, 55], "current": [1, 2, 4, 5, 6, 8, 10, 11, 12, 13, 16, 22, 26, 32, 33, 36, 44, 50, 51, 55, 56, 57], "shape": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 50, 51, 54, 55, 56, 57], "rate_sourc": [1, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 51, 56, 57], "val": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 55, 56, 57], "fix_fin": [1, 6, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 32, 33, 34, 36, 40, 45], "ref0": [1, 3, 14, 25, 27, 28, 53], "ref": [1, 3, 6, 7, 9, 13, 14, 15, 16, 20, 22, 23, 24, 25, 27, 28, 30, 33, 34, 40, 42, 51, 53, 55], "defect_scal": [1, 19, 51, 55], "defect_ref": [1, 6, 7, 15, 16, 23, 24, 28, 30, 33, 34, 42, 51, 55], "continuity_scal": 1, "continuity_ref": 1, "solve_seg": [1, 4, 14, 15, 36, 41, 43, 45, 46, 51, 54, 55, 56], "connected_initi": [1, 51, 55], "initial_target": 1, "opt": [1, 3, 6, 7, 9, 10, 11, 12, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 34, 36, 40, 41, 42, 43, 44, 51, 55], "final_bound": 1, "add": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 19, 20, 22, 24, 25, 27, 28, 29, 32, 33, 34, 36, 37, 39, 40, 43, 44, 45, 46, 50, 51, 53, 55, 56, 57, 61], "rh": [1, 16, 23, 27, 30, 31, 32, 51, 55], "intern": [1, 13, 25, 26, 34, 55], "differ": [1, 2, 3, 5, 6, 7, 8, 9, 13, 16, 18, 19, 20, 22, 27, 33, 34, 36, 37, 40, 41, 42, 43, 45, 47, 50, 51, 53, 54, 55, 60], "indepvarcomp": [1, 5, 8, 10, 11, 12, 16, 32, 41], "its": [1, 6, 7, 8, 13, 14, 16, 17, 20, 21, 22, 24, 25, 28, 33, 34, 41, 42, 45, 51, 53, 54, 55, 56, 59, 60], "colloc": [1, 2, 4, 15, 16, 19, 27, 41, 43, 45, 47, 49, 50, 51, 55, 56, 57, 60], "defect": [1, 2, 4, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 43, 44, 45, 51, 55, 56, 59], "here": [1, 3, 6, 7, 11, 12, 13, 14, 15, 16, 19, 20, 23, 24, 25, 27, 29, 31, 32, 34, 36, 42, 43, 44, 45, 46, 52, 53, 55, 56, 57], "determin": [1, 4, 9, 10, 11, 12, 14, 16, 20, 25, 27, 29, 34, 42, 43, 44, 51, 54, 55, 56, 59], "from": [1, 2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 51, 53, 54, 55, 57, 59, 60, 61], "tupl": [1, 3, 44, 45, 50, 51, 53, 55], "For": [1, 3, 5, 6, 9, 16, 24, 26, 27, 28, 33, 35, 37, 38, 40, 41, 43, 44, 45, 47, 50, 51, 53, 55, 56, 58, 59, 61], "3d": [1, 44], "cartesian": [1, 31, 32, 44], "posit": [1, 8, 10, 11, 12, 13, 15, 19, 20, 21, 24, 27, 33, 40, 44, 45, 51, 54], "vector": [1, 8, 13, 14, 15, 20, 25, 27, 33, 36, 43, 44, 45, 46, 47, 50, 56, 59], "would": [1, 5, 13, 20, 22, 34, 40, 44, 46, 51, 53, 54, 55, 56, 60], "3": [1, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 49, 51, 55, 57, 60, 61], "need": [1, 2, 4, 7, 8, 13, 14, 15, 16, 17, 19, 20, 22, 24, 25, 27, 29, 32, 34, 36, 38, 40, 41, 44, 45, 46, 51, 53, 54, 55, 56, 57, 58, 60, 61], "point": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 20, 22, 24, 26, 27, 31, 33, 34, 40, 41, 44, 51, 53, 54, 55, 56, 57, 58, 59], "whose": [1, 8, 43, 53, 54, 55, 56], "isn": [1, 42, 44, 56, 57], "t": [1, 5, 6, 7, 8, 13, 14, 15, 16, 17, 20, 21, 22, 23, 24, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 45, 47, 50, 51, 53, 54, 55, 57, 58, 59, 60], "known": [1, 8, 16, 21, 34, 37, 44, 47, 54, 55, 56, 59], "path": [1, 2, 4, 7, 8, 13, 14, 23, 24, 25, 26, 27, 28, 34, 42, 44, 46, 47, 51, 52, 53, 55, 56, 58, 59, 60], "sequenc": [1, 3, 4, 6, 19, 34, 51, 53, 57], "given": [1, 2, 3, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 19, 20, 21, 23, 24, 25, 27, 28, 29, 30, 32, 33, 34, 41, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 59, 60], "overrid": [1, 24, 50, 51, 53, 55, 56], "declare_st": 1, "decor": [1, 5, 32], "In": [1, 2, 5, 6, 7, 8, 9, 11, 13, 16, 17, 18, 20, 21, 22, 23, 24, 25, 26, 27, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60], "futur": [1, 5], "left": [1, 6, 13, 15, 22, 24, 27, 31, 34, 43, 50, 51, 54, 58], "_unspecifi": [1, 3, 50, 51, 53, 55], "try": [1, 5, 8, 16, 18, 19, 24, 27, 33, 34, 43, 57], "connect": [1, 3, 5, 8, 9, 10, 11, 12, 14, 16, 22, 23, 25, 26, 27, 31, 32, 34, 37, 39, 40, 42, 44, 45, 51, 53, 55, 60], "input": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 37, 39, 40, 42, 43, 44, 47, 51, 53, 54, 56, 57, 60], "same": [1, 3, 6, 7, 9, 10, 13, 24, 25, 26, 27, 34, 40, 42, 43, 44, 45, 46, 47, 50, 51, 53, 54, 55, 60], "prevent": [1, 5, 43, 51, 55], "ndarrai": [1, 3, 4, 51, 55], "discret": [1, 4, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 45, 50, 51, 54, 55, 57, 58, 59], "node": [1, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 20, 22, 23, 24, 27, 29, 30, 31, 32, 33, 36, 38, 40, 41, 43, 44, 45, 50, 51, 54, 55], "omit": [1, 6, 7, 8, 25, 33, 42, 45, 53, 56], "first": [1, 3, 6, 7, 10, 13, 14, 15, 16, 19, 20, 24, 25, 26, 28, 32, 33, 34, 40, 44, 45, 46, 47, 50, 51, 53, 54, 55, 56, 59, 60], "final": [1, 2, 3, 4, 6, 7, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 34, 36, 38, 40, 42, 43, 44, 45, 51, 52, 53, 54, 55, 56, 57, 58, 59], "constraint": [1, 3, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 41, 42, 43, 44, 47, 48, 49, 50, 51, 53, 54, 55, 56, 57, 60, 61], "enforc": [1, 3, 4, 6, 13, 20, 44, 47, 49, 51, 53, 55], "continu": [1, 3, 4, 8, 9, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 43, 49, 50, 51, 53, 54, 55, 57, 58, 59], "mismatch": 1, "between": [1, 3, 4, 6, 8, 12, 13, 16, 17, 19, 20, 21, 25, 26, 27, 33, 34, 43, 44, 47, 53, 54, 57, 60], "compress": [1, 4, 9, 14, 15, 16, 17, 19, 21, 22, 23, 25, 26, 27, 30, 31, 32, 33, 34, 40, 43, 49, 51, 54, 55, 59], "place": [1, 13, 20, 51], "converg": [1, 2, 3, 4, 14, 15, 16, 24, 27, 28, 34, 42, 43, 49, 51, 54, 55, 57, 59, 60, 61], "note": [1, 6, 13, 14, 15, 16, 17, 18, 19, 20, 23, 24, 25, 27, 33, 34, 42, 44, 45, 51, 53, 54, 55, 59], "segement": 1, "still": [1, 6, 13, 15, 16, 17, 34, 41, 43, 51, 55], "handl": [1, 6, 7, 13, 14, 19, 24, 25, 27, 32, 34, 45, 46, 61], "come": [1, 6, 10, 13, 24, 37, 45, 55], "deprec": [1, 3, 4, 27, 51, 53, 55], "solut": [1, 2, 5, 6, 8, 10, 11, 12, 14, 15, 16, 17, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 44, 45, 47, 52, 54, 55, 59, 60], "analyt": [1, 6, 8, 16, 21, 30, 33, 37, 42, 43, 45, 47, 48, 51, 55, 56, 60], "fix": [1, 4, 6, 10, 11, 12, 14, 15, 16, 19, 21, 24, 25, 27, 33, 34, 36, 41, 43, 45, 51, 54, 55, 56, 58, 59], "resolv": [1, 5], "vari": [1, 9, 14, 16, 17, 25, 33, 36, 44, 47, 51, 54, 55, 56, 57, 58, 59], "appli": [1, 3, 5, 6, 13, 15, 16, 24, 28, 41, 44, 45, 53, 55, 56, 58, 60], "eom": [1, 19, 23, 28, 30, 31, 32, 34, 55], "desc": [1, 3, 5, 6, 7, 8, 9, 10, 12, 14, 15, 16, 19, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 55, 56, 57], "rate_target": 1, "rate2_target": 1, "rate_continu": [1, 8, 9, 13, 15, 16, 17, 19, 22, 23, 24, 27, 33, 36, 40, 42], "rate_continuity_scal": [1, 19, 23, 42], "rate_continuity_ref": 1, "rate2_continu": [1, 16, 17, 19, 23, 42], "rate2_continuity_scal": [1, 19], "rate2_continuity_ref": 1, "dynam": [1, 2, 3, 4, 6, 7, 9, 13, 14, 17, 18, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 34, 36, 37, 40, 42, 43, 47, 50, 51, 54, 55, 57, 58, 59, 60], "ti": 1, "assign": [1, 6, 17, 21, 32, 56, 57], "ha": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 45, 46, 51, 52, 53, 55, 56, 58, 59, 60, 61], "been": [1, 2, 3, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 51, 54, 55, 59, 60], "It": [1, 5, 8, 13, 16, 19, 20, 23, 24, 30, 31, 32, 33, 34, 37, 41, 42, 44, 45, 51, 53, 55, 56, 57, 59], "must": [1, 3, 6, 7, 8, 16, 24, 27, 34, 44, 45, 46, 50, 53, 55, 57, 58], "compat": [1, 3, 47, 50, 53, 59, 61], "descript": [1, 3, 6, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 34, 40, 42, 50, 51, 54, 55], "invalid": [1, 28, 51, 55], "2nd": [1, 51, 55], "don": [1, 6, 8, 13, 15, 20, 21, 24, 32, 37, 47, 51, 54], "number": [1, 2, 3, 4, 8, 10, 11, 12, 13, 15, 16, 20, 21, 22, 23, 24, 26, 27, 29, 30, 31, 32, 33, 34, 36, 38, 42, 43, 44, 45, 50, 51, 54, 55, 56, 59, 60], "boundari": [1, 3, 4, 8, 12, 13, 15, 20, 21, 23, 24, 32, 42, 43, 47, 49, 51, 53, 54, 55, 56, 57, 58, 59, 60], "relev": [1, 3, 10, 38, 56, 57], "pseudospectr": [1, 4, 13, 16, 17, 20, 21, 22, 24, 43, 44, 47, 49, 50, 51, 57, 59, 60], "where": [1, 3, 6, 8, 15, 17, 20, 21, 26, 28, 29, 32, 33, 34, 36, 37, 40, 43, 44, 46, 47, 51, 53, 54, 55, 59, 60], "nonlinear": [1, 4, 14, 19, 24, 28, 33, 37, 43, 45, 47, 56, 58, 59, 60, 61], "gauss": [1, 4, 16, 32, 33, 42, 43, 44, 45, 46, 47, 49, 50, 51, 57, 60], "lobatto": [1, 4, 16, 32, 33, 42, 43, 44, 45, 46, 47, 49, 50, 51, 57, 60], "linear": [1, 3, 6, 7, 8, 14, 15, 19, 25, 26, 30, 32, 33, 42, 43, 49, 53, 54, 55], "dimensionless": [1, 32, 51, 54, 55], "rate2": [1, 46, 51, 55], "exist": [1, 3, 5, 7, 8, 9, 11, 12, 25, 28, 33, 34, 37, 40, 41, 42, 44, 45, 51, 53, 54, 55, 56, 60], "polynomi": [1, 6, 7, 16, 21, 24, 43, 44, 47, 49, 50, 54, 55, 56, 57], "legendr": [1, 32, 44, 57], "singl": [1, 2, 3, 6, 7, 13, 14, 16, 20, 24, 26, 29, 30, 31, 32, 33, 34, 42, 43, 44, 49, 51, 53, 54, 55, 56, 57, 59, 60], "tau": [1, 16], "space": [1, 3, 4, 6, 9, 24, 27, 29, 57, 60], "interpol": [1, 8, 13, 14, 16, 20, 21, 24, 25, 26, 27, 32, 33, 36, 40, 45, 51, 54, 56, 57], "repres": [1, 13, 20, 24, 26, 43, 47, 51, 54, 55], "broadcast": [1, 55], "declar": [1, 3, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 51, 53, 55, 56, 57], "phase_nam": [1, 51], "indep_control": [1, 16, 17, 19, 20, 21, 23, 24, 28, 30, 33, 40, 42], "control_nam": [1, 51], "static_target": [1, 3, 5, 6, 7, 8, 14, 15, 22, 25, 27, 36, 40, 44, 51, 55], "include_timeseri": [1, 51], "static": [1, 3, 5, 6, 8, 14, 16, 22, 25, 31, 40, 41, 44, 47, 51, 55, 58, 60], "own": [1, 5, 15, 40, 41, 45, 53], "els": [1, 3, 5, 6, 7, 8, 13, 14, 16, 22, 23, 24, 25, 27, 33, 34, 36, 40, 42, 51, 55], "num_nod": [1, 3, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 38, 40, 42, 44, 55, 56, 57], "dimens": [1, 3, 45, 50], "mean": [1, 3, 4, 13, 20, 24, 25, 34, 43, 44, 51, 54, 55, 56, 59, 60], "thei": [1, 3, 5, 6, 8, 10, 16, 25, 26, 27, 32, 33, 34, 36, 40, 42, 43, 44, 45, 47, 51, 53, 54, 55, 56, 58, 59], "cannot": [1, 3, 6, 7, 8, 13, 23, 25, 27, 42, 44, 53, 55, 56, 57], "uniqu": [1, 3, 17, 43, 47, 51, 55], "otherwis": [1, 2, 3, 34, 51, 53, 55, 56, 57], "subset": [1, 9, 40, 50, 54], "new": [1, 7, 8, 10, 11, 12, 21, 31, 33, 36, 41, 43, 45, 50], "upon": [1, 2, 42, 50, 53, 55, 60], "can": [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 32, 33, 34, 35, 36, 38, 39, 40, 41, 43, 44, 45, 46, 47, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61], "object": [1, 2, 3, 7, 8, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 35, 38, 40, 42, 43, 44, 47, 48, 50, 51, 53, 56, 57, 59, 60], "output_nam": [1, 27, 44, 50, 51], "kwarg": [1, 3, 33, 50, 53, 55], "express": [1, 3, 20, 31, 33, 46, 47, 50, 51, 53], "pass": [1, 2, 5, 16, 19, 21, 33, 36, 40, 41, 44, 50, 51, 55, 56, 60], "execcomp": [1, 12, 31, 32, 50, 55], "result": [1, 2, 3, 4, 6, 8, 10, 12, 13, 15, 16, 18, 20, 22, 24, 26, 28, 33, 37, 38, 40, 41, 42, 43, 45, 49, 50, 52, 53, 54, 55, 59, 60], "comput": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 41, 42, 43, 44, 45, 46, 50, 51, 54, 55, 56, 57, 59, 60], "store": [1, 2, 13, 20, 24, 43, 50], "under": [1, 3, 5, 6, 7, 30, 33, 34, 43, 50, 54], "equal": [1, 3, 4, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 30, 31, 32, 33, 34, 40, 42, 43, 44, 45, 50, 53, 57], "sign": [1, 13, 24, 50, 53], "mathemat": [1, 20, 28, 45, 50, 54, 55, 60], "e": [1, 2, 6, 7, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 50, 51, 53, 60, 61], "g": [1, 5, 6, 7, 8, 9, 10, 12, 14, 15, 20, 22, 23, 25, 28, 30, 31, 32, 34, 36, 40, 50, 53, 54, 55, 58], "time_phas": [1, 31, 50, 51], "glob": [1, 35, 50], "pattern": [1, 10, 11, 12, 13, 14, 20, 24, 25, 27, 35, 42, 43, 50], "match": [1, 6, 7, 27, 33, 35, 50, 54, 57], "some": [1, 3, 4, 5, 6, 7, 9, 12, 13, 14, 16, 18, 20, 24, 25, 27, 33, 34, 35, 36, 37, 38, 40, 41, 42, 43, 44, 45, 47, 49, 50, 51, 53, 54, 55, 56, 57, 58, 59, 60, 61], "By": [1, 6, 13, 14, 15, 20, 24, 25, 27, 35, 36, 43, 50, 53, 55, 59], "last": [1, 13, 16, 20, 28, 44, 46, 50, 56], "element": [1, 3, 43, 44, 50, 53, 56, 57], "split": [1, 34, 50], "dot": [1, 6, 13, 15, 16, 19, 20, 21, 22, 24, 29, 33, 34, 47, 50, 54, 55, 56, 58], "caus": [1, 5, 6, 16, 27, 32, 34, 42, 43, 50, 54, 59], "collis": [1, 50], "associ": [1, 2, 3, 5, 50, 53], "dictionari": [1, 2, 20, 26, 50, 51, 53, 55], "sinc": [1, 6, 8, 10, 13, 14, 15, 16, 17, 20, 23, 24, 25, 27, 29, 32, 33, 34, 36, 38, 40, 41, 42, 43, 44, 45, 46, 50, 51, 53, 54, 55, 56, 57, 60], "doesn": [1, 5, 8, 13, 16, 17, 20, 24, 43, 44, 50, 53, 59], "necessarili": [1, 14, 16, 25, 45, 50, 56, 58], "know": [1, 3, 6, 13, 20, 24, 27, 36, 37, 38, 41, 45, 50, 53, 54, 55, 56, 59], "until": [1, 2, 6, 13, 20, 24, 25, 47, 50, 54, 56, 57, 58], "setup": [1, 2, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 50, 53, 55, 56, 57], "being": [1, 3, 4, 6, 7, 8, 9, 11, 12, 16, 21, 24, 33, 34, 38, 40, 41, 42, 43, 44, 45, 47, 50, 53, 55, 56, 59], "ad": [1, 3, 7, 8, 10, 11, 12, 14, 20, 34, 35, 41, 43, 44, 45, 46, 51, 54, 55, 56], "addit": [1, 3, 5, 6, 7, 13, 16, 18, 20, 24, 33, 34, 43, 47, 51, 53, 54, 55, 57, 60], "exec": [1, 50], "comp": [1, 10, 11, 12, 32, 50], "loc": [1, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 40, 42, 44, 45, 46, 51, 53, 56, 57], "constraint_nam": 1, "indic": [1, 8, 33, 42, 45, 52, 53, 55, 56], "flat_indic": 1, "constrain": [1, 3, 6, 8, 11, 12, 13, 16, 17, 20, 24, 28, 34, 38, 41, 53, 58], "also": [1, 6, 7, 11, 13, 15, 16, 17, 20, 21, 24, 25, 26, 27, 32, 33, 34, 41, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60, 61], "evalu": [1, 6, 8, 9, 10, 11, 12, 13, 15, 16, 18, 22, 23, 26, 27, 30, 31, 32, 33, 34, 36, 40, 44, 45, 54, 55, 56, 57], "assum": [1, 2, 3, 6, 7, 8, 14, 16, 18, 22, 25, 34, 46, 51, 53, 54, 55, 59], "form": [1, 6, 7, 20, 31, 45, 46, 47, 51, 53, 54, 55, 58, 59], "equat": [1, 3, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20, 24, 26, 27, 28, 31, 32, 33, 40, 43, 44, 46, 47, 51, 53, 54, 55, 56, 58, 59], "right": [1, 6, 9, 15, 19, 22, 24, 27, 28, 30, 31, 34, 44, 54, 56, 58], "hand": [1, 13, 20, 43, 54, 58, 59], "side": [1, 30, 45], "locat": [1, 3, 4, 6, 9, 15, 16, 27, 46, 53, 55, 57], "var_constraint": 1, "infer": [1, 14, 25, 54], "automat": [1, 2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 30, 32, 33, 40, 43, 44, 47, 51], "slice": [1, 54], "either": [1, 3, 6, 28, 36, 44, 45, 47, 51, 53, 55, 57], "multi": [1, 14, 34, 41, 44, 51, 53], "dimension": 1, "contain": [1, 2, 5, 8, 13, 24, 26, 28, 33, 37, 52, 53, 55, 56], "depend": [1, 6, 7, 8, 16, 28, 33, 41, 42, 43, 45, 46, 50, 51, 53, 54, 55, 56, 59], "multipli": [1, 3, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 51, 53], "model": [1, 2, 3, 5, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 27, 29, 30, 31, 32, 33, 36, 38, 39, 40, 42, 43, 44, 45, 47, 49, 51, 53, 54, 57, 58, 60], "get": [1, 7, 10, 11, 12, 15, 16, 22, 27, 33, 35, 38, 42, 52, 57], "scale": [1, 13, 15, 16, 24, 33, 34, 40, 43, 45, 51, 54, 57, 59, 60], "preced": [1, 20], "respons": [1, 9, 33, 34, 43, 45, 54], "driver": [1, 2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 51, 57], "failur": [1, 6, 26, 45], "flatten": 1, "c": [1, 5, 8, 9, 14, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 33, 34, 36, 40, 42, 53, 54, 55, 56, 57], "give": [1, 6, 7, 13, 20, 24, 44, 46, 53, 54, 55, 57, 60], "fail": [1, 5, 6, 8, 16, 26, 32, 42, 43, 59, 60], "times_per_seg": [1, 3, 15, 56, 57], "10": [1, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 55, 56, 57, 60], "atol": [1, 3, 37], "rtol": [1, 3, 37], "first_step": [1, 3], "max_step": [1, 3], "record_fil": [1, 3], "scipi": [1, 3, 10, 11, 12, 13, 14, 15, 20, 24, 25, 26, 29, 56, 57], "solve_ivp": [1, 3, 10, 11, 12, 13, 15, 20, 24, 29, 56, 57], "per": [1, 3, 26, 43], "request": [1, 3, 5, 7, 44], "string": [1, 2, 3, 53], "file": [1, 2, 3, 5, 7, 8, 9, 11, 12, 13, 16, 19, 20, 24, 27, 33, 34, 37, 40, 42, 43, 52], "save": [1, 3, 5, 9, 27, 30, 42, 43, 52], "record": [1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 52], "return": [1, 2, 3, 7, 13, 14, 15, 16, 20, 24, 29, 33, 34, 53, 55, 56], "implement": [1, 3, 4, 5, 6, 8, 12, 13, 20, 22, 24, 28, 31, 53, 55, 60], "interfac": [1, 2, 3, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 40, 42, 43, 60, 61], "interrog": [1, 3], "obtain": [1, 3, 10, 13, 14, 16, 20, 24, 25, 34, 38, 43, 44, 47, 50, 54, 56, 57], "manner": [1, 3], "tol": [1, 15, 21, 24, 27, 30, 33, 34, 42, 43, 55], "min_ord": 1, "max_ord": 1, "smoothness_factor": 1, "undergo": 1, "hp": [1, 2, 33, 60], "ph": [1, 2, 13, 19, 20, 21, 24], "exceed": 1, "ys": [1, 8, 9, 13, 14, 15, 16, 17, 24, 28, 40], "xs": [1, 14, 15], "kind": [1, 6, 7, 10, 11, 12, 14, 17, 19, 21, 22, 23, 25, 27, 28, 29, 30, 31, 32, 33, 40, 52, 60], "axi": [1, 16, 27], "onto": [1, 36, 50], "state_input": [1, 15, 36], "relat": [1, 5, 34, 42, 51], "control_input": [1, 9, 10, 15, 36, 40], "ani": [1, 2, 5, 6, 7, 8, 10, 11, 12, 13, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 36, 40, 42, 43, 45, 46, 50, 51, 54, 55, 58, 59], "packag": [1, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16, 17, 18, 19, 20, 21, 22, 23, 24, 26, 27, 28, 30, 32, 33, 34, 40, 42, 54, 56, 57, 60], "One": [1, 16, 38, 41, 44, 54, 56], "nearest": 1, "slinear": 1, "quadrat": [1, 15, 51, 54], "cubic": 1, "spline": [1, 27], "zeroth": 1, "third": [1, 6, 7, 19, 28, 33, 45, 54, 57], "integ": [1, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 34, 40, 42, 51], "along": [1, 6, 8, 9, 16, 17, 22, 27, 33, 40, 54, 58, 59], "perform": [1, 2, 6, 7, 9, 13, 14, 16, 20, 25, 26, 27, 33, 34, 36, 41, 44, 45, 51, 53, 54, 55, 56, 57, 60], "np": [1, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 44, 55, 56, 57], "y": [1, 5, 8, 9, 10, 11, 12, 19, 22, 27, 29, 30, 31, 32, 34, 36, 40, 43, 45, 54, 55, 56, 57], "brachistochron": [2, 5, 38, 40, 41, 43, 45, 51, 55], "exampl": [2, 14, 15, 16, 17, 19, 21, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 35, 36, 38, 40, 41, 42, 43, 45, 47, 51, 52, 55, 59], "we": [2, 3, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 40, 41, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60], "two": [2, 3, 6, 7, 8, 9, 11, 13, 16, 20, 24, 26, 27, 28, 31, 32, 33, 34, 37, 39, 42, 43, 44, 45, 46, 50, 51, 53, 54, 56, 59], "method": [2, 3, 4, 5, 6, 7, 8, 10, 13, 14, 15, 16, 17, 20, 21, 22, 24, 25, 27, 28, 29, 30, 33, 35, 36, 37, 41, 42, 43, 44, 45, 46, 47, 49, 50, 51, 55, 56, 57, 58, 59, 60], "class": [2, 5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 45, 47, 53, 55, 56, 57], "execut": [2, 4, 6, 10, 11, 12, 13, 16, 20, 24, 27, 30, 56, 57], "run_model": [2, 5, 8, 26, 29, 37, 44, 56, 57], "take": [2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 38, 40, 41, 42, 43, 45, 51, 53, 54, 55, 56, 58, 59], "run": [2, 3, 4, 10, 11, 12, 13, 20, 24, 33, 36, 37, 39, 42, 56, 57, 61], "driven": [2, 33, 41, 43, 56], "produc": [2, 8, 13, 24, 34, 61], "physic": [2, 14, 16, 25, 34, 43, 54], "valid": [2, 3, 4, 8, 10, 11, 12, 23, 33, 42, 44, 51, 53, 56], "satisfi": [2, 3, 14, 16, 26, 30, 43, 45, 53, 56, 59, 60], "possibl": [2, 5, 6, 8, 13, 16, 24, 34, 41, 45, 51, 55, 56, 58, 59], "extent": 2, "run_driv": [2, 6, 7, 10, 13, 15, 20, 22, 24, 27, 33, 34, 44, 56, 57], "wrap": [2, 60], "around": [2, 6, 16, 45, 54], "typic": [2, 6, 8, 9, 16, 24, 25, 27, 29, 40, 44, 45, 46, 47, 51, 53, 54, 55, 56, 58, 59, 60], "done": [2, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 45, 51, 56, 57], "repeatedli": [2, 13, 20, 24], "approach": [2, 6, 8, 16, 22, 43, 44, 54, 56, 60], "suffici": [2, 13, 14, 20, 21, 24, 45, 54, 57], "accur": [2, 13, 16, 20, 21, 24, 37, 42, 54, 57, 59, 60], "But": [2, 15, 32, 36, 44, 45, 54, 60], "commonli": 2, "want": [2, 3, 5, 13, 24, 25, 33, 35, 38, 41, 44, 45, 50, 51, 53, 54, 56, 58, 60], "do": [2, 5, 6, 7, 10, 11, 12, 13, 15, 17, 20, 24, 27, 32, 33, 34, 39, 42, 43, 44, 46, 51, 53, 54, 55, 56, 60], "follow": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 22, 23, 24, 25, 26, 27, 28, 29, 31, 32, 33, 34, 38, 40, 42, 43, 45, 49, 50, 51, 53, 54, 55, 56, 59], "arriv": 2, "simul": [2, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 34, 36, 40, 45, 52, 57, 58, 59], "verifi": [2, 8, 16, 22, 37, 53, 59], "accuraci": [2, 21, 57, 59, 60], "load": [2, 11, 13, 16, 20, 24, 27], "previou": [2, 6, 7, 16, 32, 45, 57], "case": [2, 4, 6, 7, 8, 9, 11, 12, 13, 15, 16, 17, 20, 22, 24, 25, 28, 29, 31, 32, 33, 34, 36, 37, 38, 40, 41, 42, 43, 44, 45, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61], "guess": [2, 6, 7, 8, 13, 15, 19, 20, 23, 24, 25, 27, 32, 33, 36, 42, 54, 57], "re": [2, 6, 7, 9, 11, 12, 13, 14, 16, 20, 24, 25, 29, 32, 38, 42, 44, 45, 56, 57, 59], "attempt": [2, 8, 9, 13, 16, 17, 19, 20, 21, 22, 23, 24, 26, 30, 32, 33, 40, 43, 51, 53, 55], "minim": [2, 6, 8, 9, 10, 11, 12, 13, 15, 16, 17, 19, 20, 21, 22, 23, 24, 27, 30, 33, 36, 40, 42, 44, 47, 56, 57, 58, 59, 60], "i": [2, 9, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 34, 39, 51, 56, 57], "To": [2, 5, 6, 13, 15, 20, 21, 24, 27, 33, 38, 40, 42, 43, 44, 45, 46, 51, 53, 54, 55, 56, 57, 58, 59, 60], "remov": [2, 5, 13, 20, 24, 27, 43, 44, 45, 46, 51, 55, 59, 61], "code": [2, 5, 7, 8, 13, 14, 16, 19, 20, 23, 24, 25, 27, 28, 33, 34, 37, 42, 44, 53, 55, 56, 61], "call": [2, 3, 7, 8, 9, 10, 13, 14, 15, 16, 17, 19, 20, 21, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 37, 40, 42, 43, 44, 45, 51, 53, 54, 55, 56, 57, 58, 59, 60], "refine_method": [2, 13, 20, 24, 33], "refine_iteration_limit": [2, 21, 24, 33], "restart": [2, 33], "solution_record_fil": 2, "dymos_solut": [2, 7, 8, 9, 11, 12, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 40, 42], "db": [2, 6, 7, 8, 9, 11, 12, 13, 15, 17, 19, 20, 21, 22, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36, 40, 42], "simulation_record_fil": [2, 52], "dymos_simul": [2, 6, 7, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "make_plot": [2, 12, 16], "plot_dir": [2, 52], "plot": [2, 5, 6, 7, 8, 10, 12, 15, 16, 17, 18, 21, 22, 23, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 51, 54, 56, 57], "case_prefix": [2, 3], "reset_iter_count": [2, 3], "simulate_kwarg": [2, 15], "plot_kwarg": 2, "specif": [2, 3, 5, 8, 16, 30, 31, 32, 41, 51, 53, 58, 60, 61], "check": [2, 5, 6, 7, 8, 10, 11, 12, 13, 15, 17, 19, 20, 21, 22, 23, 24, 27, 28, 29, 30, 31, 32, 33, 36, 37, 40, 43, 54, 56], "om": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 51, 55, 56, 57], "presum": 2, "more": [2, 3, 4, 6, 7, 8, 9, 13, 16, 20, 21, 24, 25, 27, 29, 31, 33, 34, 35, 38, 39, 40, 41, 43, 44, 47, 49, 51, 53, 54, 55, 56, 57, 59, 60, 61], "choic": [2, 45], "option": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 46, 52, 53, 54, 56, 57, 59], "h": [2, 6, 7, 13, 14, 16, 23, 24, 25, 26, 27, 28, 34, 42], "p": [2, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 47, 50, 58, 60], "adapt": [2, 4, 6, 7, 15, 24, 34, 42, 60], "through": [2, 4, 18, 34, 41, 44, 51, 55, 59], "made": [2, 3, 4, 25, 44, 53, 55, 61], "attach": [2, 6, 7, 10, 11, 12, 15, 17, 19, 21, 22, 23, 27, 28, 29, 30, 31, 32, 33, 40], "just": [2, 11, 12, 13, 17, 20, 24, 29, 31, 32, 34, 42, 44, 45, 50, 55, 56, 60], "found": [2, 7, 8, 16, 27, 33, 34, 44, 56, 57], "after": [2, 5, 6, 15, 34, 44, 56, 61], "complet": [2, 6, 8, 10, 11, 12, 13, 21, 22, 24, 26, 27, 33, 36, 42, 44, 56, 57], "caseread": [2, 6, 7, 9, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "get_cas": [2, 6, 7, 9, 11, 13, 15, 17, 19, 20, 21, 23, 24, 25, 28, 30, 31, 32, 33, 34, 36], "next": [2, 5, 6, 9, 13, 15, 20, 24, 27, 33, 40, 56, 57], "caserecord": 2, "report": [2, 3, 4, 6, 7, 8, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 42, 43, 44, 56, 57], "subdirectori": 2, "directori": [2, 5, 16, 33, 43, 52, 61], "creat": [2, 3, 8, 13, 16, 17, 20, 22, 24, 27, 29, 33, 36, 51, 52, 53, 55, 61], "pair": [2, 3, 13, 20, 24, 53], "ignor": [2, 15, 16, 20, 23, 33, 42, 50, 54], "timeseries_plot": [2, 52], "prepend": [2, 3], "coordin": [2, 3, 27, 33, 51], "previous": [2, 3, 13, 20, 24, 51], "reset": [2, 3], "counter": [2, 3, 15, 21], "phase_a": [3, 6, 7, 53], "phase_b": [3, 6, 7, 53], "var_a": [3, 6, 7, 53], "var_b": [3, 6, 7, 53], "loc_a": [3, 6, 7, 53], "loc_b": [3, 6, 7, 53], "sign_a": [3, 53], "sign_b": [3, 53], "mult_a": [3, 53], "mult_b": [3, 53], "explicitli": [3, 4, 8, 22, 36, 51, 53, 55, 56], "linkag": [3, 6, 7, 12, 19, 25, 34, 51], "coupl": [3, 26, 53, 60], "condit": [3, 6, 13, 14, 16, 17, 19, 20, 21, 23, 24, 25, 28, 29, 30, 42, 44, 45, 47, 51, 53, 54, 56, 57, 58], "common": [3, 6, 7, 53, 54], "With": [3, 5, 6, 16, 27, 33, 34, 43, 47, 53, 54, 60], "x": [3, 5, 6, 8, 9, 10, 11, 12, 13, 15, 17, 19, 20, 21, 22, 24, 26, 27, 29, 30, 31, 32, 33, 36, 40, 43, 44, 45, 46, 47, 50, 53, 55, 56, 57, 58, 61], "foo": [3, 53], "bar": [3, 34, 53, 55, 58], "accomplish": [3, 27, 38, 43, 45, 50, 51, 53, 55, 58], "sometim": [3, 6, 24, 38, 40, 41, 42, 45, 50, 51, 53, 55, 59], "unnecessari": [3, 29, 53], "help": [3, 5, 15, 16, 24, 27, 29, 37, 51, 53, 59], "clariti": [3, 53], "what": [3, 5, 6, 13, 20, 24, 27, 41, 44, 51, 52, 53, 60], "go": [3, 5, 6, 25, 39, 42, 53, 55], "Or": [3, 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15, 16, 24, 53, 54, 59, 60], "rather": [3, 5, 7, 8, 11, 12, 16, 22, 31, 33, 36, 40, 41, 43, 45, 51, 53, 54, 55, 59], "than": [3, 4, 5, 6, 7, 8, 11, 12, 14, 16, 22, 25, 31, 32, 33, 34, 36, 40, 41, 42, 43, 45, 51, 53, 54, 55, 59, 60], "warn": [3, 6, 7, 10, 11, 12, 17, 19, 21, 22, 23, 27, 28, 29, 30, 31, 32, 33, 40, 51], "issu": [3, 5, 25, 27, 34, 43, 45, 54], "kei": [3, 8, 9, 34, 43, 44], "respect": [3, 4, 11, 14, 25, 26, 27, 33, 51, 54, 55, 60], "subgroup": [3, 53], "phasebas": [3, 53], "var": [3, 5, 6, 7, 8, 10, 11, 12, 19, 25, 26, 27, 34, 53], "cach": [3, 10, 45, 53], "multipl": [3, 4, 6, 7, 16, 26, 33, 35, 43, 45, 46, 47, 50, 51, 53, 55, 57, 59, 60], "complex": [3, 6, 7, 8, 14, 15, 18, 25, 30, 33, 37, 40, 41, 42, 45, 46, 53, 54, 56, 60, 61], "branch": [3, 6, 26, 53], "etc": [3, 5, 8, 15, 27, 33, 53, 59], "sequenti": [3, 53], "them": [3, 6, 7, 9, 10, 13, 15, 16, 19, 20, 25, 38, 41, 45, 47, 51, 52, 53, 54, 55, 56, 57], "everi": [3, 5, 6, 7, 33, 50, 53, 55, 56], "wish": [3, 6, 42, 45, 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56], "ones": [4, 5, 6, 7, 8, 10, 12, 16, 19, 22, 26, 28, 30, 31, 32, 33, 34, 36, 40, 51, 55, 59], "mimic": [4, 51, 54, 55], "revers": [4, 13, 51, 55], "disabl": [4, 17, 51, 55, 56], "histori": [4, 6, 13, 15, 16, 19, 20, 23, 24, 41, 43, 49, 51, 54, 55, 56, 57, 59], "5": [4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 45, 54, 56, 57], "typesdescriptiondeprec": [4, 51, 55], "gridgausslobattogridn": 4, "gausslobattogrid": [4, 8], "radaugrid": 4, "distribut": [4, 8, 16, 33, 57], "layout": [4, 27, 28, 34], "methoddop853n": 4, "segmentsn": 4, "num_steps_per_segmentn": 4, "segmentopt": 4, "num_steps_per_seg": 4, "output_gridn": 4, "uniformgrid": 4, "highli": [4, 5, 16, 38, 57], "smooth": [4, 59], "over": [4, 6, 32, 35, 40, 42, 45, 47, 51, 54, 59, 60], "wise": [4, 15], "captur": [4, 21], "propagate_derivstru": 4, "primal": [4, 42], "nof": 4, "faster": [4, 24, 27, 33, 42, 59], "rtol1": 4, "09n": 4, 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25, 27, 41, 43, 45, 47, 49, 51, 55, 57, 59, 60, 61], "team": 5, "small": [5, 6, 25, 27, 29, 34, 41, 42, 43, 45, 54], "promis": 5, "ll": [5, 18, 32, 37, 44, 54], "capabl": [5, 6, 16, 24, 25, 46, 47, 53, 54, 60, 61], "happili": 5, "discuss": [5, 34], "accommod": [5, 6, 22, 40, 55], "reason": [5, 6, 13, 16, 20, 24, 37, 43, 54, 55, 60, 61], "fit": [5, 6, 7, 16, 26, 27, 47, 54, 57], "goal": [5, 15, 18, 25, 27, 28, 38, 41, 60], "librari": [5, 56], "great": [5, 60], "wai": [5, 6, 8, 13, 14, 16, 20, 22, 25, 26, 27, 35, 41, 43, 45, 47, 50, 53, 54, 55, 56, 58, 59, 60, 61], "introduct": [5, 15, 43], "process": [5, 13, 16, 18, 20, 23, 24, 32, 33, 34, 43, 47, 53, 55, 59, 61], "learn": [5, 24, 43], "applic": [5, 16, 20, 21, 30, 31, 40, 60], "unittest": [5, 37], "doc": [5, 23, 42, 55], "subfold": 5, "self": [5, 6, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 55, 56, 57], "import": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 51, 55, 56, 57, 59], "necessari": [5, 13, 15, 16, 20, 24, 34, 40, 42, 43, 44, 53, 54, 56, 57, 61], "document": [5, 8, 24, 33, 35, 42, 43, 56, 61], "recommend": [5, 8, 13, 20, 24, 27, 33, 36, 37, 38, 41, 43, 56], "util": [5, 6, 7, 8, 16, 19, 20, 26, 33, 37, 40, 43, 44, 47, 51], "doc_util": 5, "save_for_doc": 5, "text": [5, 13, 24, 34], "inclus": [5, 47, 51, 60], "markdown": 5, "mkdoc": 5, "repositori": [5, 27], "built": [5, 60], "jupyterbook": 5, "page": [5, 27, 43, 60], "colab": 5, "jupyt": [5, 13, 24], "abl": [5, 6, 25, 57, 60, 61], "write": [5, 13, 61], "how": [5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16, 20, 22, 24, 26, 27, 29, 33, 39, 43, 44, 45, 53, 54, 55, 56, 59, 60], "build": [5, 10, 11, 12, 13, 18, 20, 22, 24, 34, 37, 38, 61], "header": [5, 42], "At": [5, 6, 13, 20, 24, 26, 43, 44, 51], "begin": [5, 6, 7, 8, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 33, 34, 40, 44, 45, 47, 51, 53, 54, 55, 56, 58, 60], "without": [5, 6, 8, 17, 24, 27, 28, 34, 42, 46, 59, 60], "except": [5, 10, 14, 16, 19, 25, 34, 51], "cell": [5, 6, 11, 13, 19, 24, 26], "top": [5, 6, 7, 9, 13, 20, 23, 24, 25, 27, 28, 30, 46, 51, 55], "three": [5, 6, 8, 13, 19, 26, 33, 34, 47, 53, 54], "tag": [5, 6, 7, 8, 10, 12, 13, 14, 20, 22, 24, 25, 36, 40, 44], "activ": [5, 27, 61], "ipynb": 5, "menu": 5, "view": [5, 19, 42], "toolbar": 5, "block": [5, 13, 17, 20, 28], "simpli": [5, 6, 22, 31, 32, 43, 44, 45, 53, 54, 55], "numpi": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 44, 55, 56], "api": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 56, 57], "brachistochroneod": [5, 8, 9, 10, 11, 12, 22, 36, 40], "explicitcompon": [5, 6, 8, 9, 10, 12, 13, 14, 15, 17, 19, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "def": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 55, 56, 57], "39": [5, 10, 12, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 30, 31, 32, 34, 36, 37, 40, 42, 57], "9": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 54, 55], "80665": [5, 6, 7, 8, 9, 10, 12, 14, 16, 22, 25, 30, 36, 40, 54, 55], "gravit": [5, 6, 10, 12, 28, 30, 36, 55], "acceler": [5, 6, 8, 10, 12, 13, 15, 16, 17, 19, 22, 23, 24, 27, 28, 30, 31, 32, 34, 36, 40, 53, 54, 55], "2": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 43, 44, 45, 46, 51, 54, 55, 56, 57, 60], "nn": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "add_input": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 19, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "v": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 19, 21, 22, 23, 24, 25, 26, 27, 28, 33, 34, 36, 40, 42, 43, 45, 54, 55, 56, 57, 60], "theta": [5, 8, 9, 10, 11, 12, 15, 19, 22, 28, 30, 31, 32, 36, 40, 43, 55], "angl": [5, 7, 8, 9, 10, 12, 13, 14, 15, 19, 22, 23, 24, 25, 27, 28, 30, 31, 32, 34, 36, 40, 45, 51, 55, 58, 59], "wire": [5, 8, 10, 12, 22, 36, 55], "rad": [5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 19, 22, 23, 25, 27, 28, 30, 31, 32, 36, 40, 42, 55], "add_output": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 19, 20, 21, 22, 24, 25, 26, 28, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "xdot": [5, 8, 10, 11, 12, 22, 29, 30, 31, 32, 36, 40, 55], "state_rate_sourc": [5, 6, 7, 8, 10, 12, 13, 14, 20, 22, 24, 25, 36, 40, 55], "state_unit": [5, 8, 10, 12, 13, 20, 22, 24, 36, 40, 55], "ydot": [5, 8, 10, 11, 12, 22, 29, 30, 31, 32, 36, 40, 55], "vdot": [5, 8, 10, 11, 12, 22, 27, 28, 34, 36, 40, 55], "sin": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 16, 19, 22, 23, 24, 25, 28, 30, 31, 32, 36, 40, 55], "constant": [5, 6, 7, 8, 10, 12, 14, 15, 16, 21, 22, 24, 25, 27, 28, 30, 33, 34, 36, 40, 44, 51, 56, 57], "partial": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 18, 19, 20, 21, 22, 23, 24, 25, 26, 28, 30, 31, 32, 33, 34, 36, 37, 40, 42, 43, 44, 47, 55], "arang": [5, 8, 9, 10, 12, 13, 15, 19, 20, 21, 22, 24, 26, 28, 29, 31, 32, 33, 34, 36, 40, 44, 55], "dtype": [5, 10, 12, 13, 14, 15, 24, 25, 28, 33, 44], "declare_parti": [5, 7, 8, 9, 10, 12, 13, 14, 15, 19, 20, 21, 22, 24, 25, 26, 28, 29, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "wrt": [5, 6, 7, 8, 9, 10, 12, 13, 14, 15, 19, 20, 21, 22, 24, 25, 26, 27, 29, 30, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56, 57], "row": [5, 8, 9, 10, 12, 13, 15, 19, 20, 21, 22, 24, 26, 28, 29, 31, 32, 33, 34, 36, 40, 43, 44, 55], "col": [5, 8, 9, 10, 12, 13, 15, 19, 20, 21, 22, 24, 26, 28, 29, 31, 32, 33, 34, 36, 40, 44, 55], "cos_theta": [5, 8, 9, 10, 12, 22, 30, 31, 32, 36, 40], "co": [5, 6, 7, 8, 9, 10, 12, 14, 15, 16, 19, 22, 23, 24, 25, 28, 30, 31, 32, 36, 40, 55], "sin_theta": [5, 8, 9, 10, 12, 22, 30, 31, 32, 36, 40], "compute_parti": [5, 8, 9, 10, 12, 13, 14, 15, 19, 20, 21, 22, 24, 25, 26, 28, 29, 31, 32, 33, 34, 36, 40, 42, 44, 55, 56], "brachistochrone_od": [5, 9, 10, 11, 12, 22, 36, 40], "ivc": [5, 8, 10, 11, 12], "add_subsystem": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 36, 37, 40, 42, 44, 56, 57], "deg": [5, 6, 7, 8, 9, 10, 11, 12, 14, 16, 19, 22, 23, 25, 27, 28, 30, 31, 32, 34, 36, 40, 42], "force_alloc_complex": [5, 8, 27], "set_val": [5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 17, 19, 20, 21, 22, 23, 24, 25, 27, 28, 29, 30, 36, 37, 40, 44, 56, 57], "random": [5, 8, 43], "uniform": [5, 8, 61], "179": [5, 8, 9, 16, 17, 19, 20, 21, 22, 23, 24, 28, 32, 34, 36, 40, 42], "cpd": [5, 8, 37], "check_parti": [5, 8, 26, 37], "cs": [5, 6, 8, 14, 15, 22, 25, 30, 33, 42, 55], "compact_print": [5, 8, 26, 37], "calc": [5, 8], "mag": 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