Current parameters: 
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[int   1-3] exampleNo                  - Example number:                                       1
[double   ] xLeft                      - Left side of interval:                                -5
[double >0] lengthX                    - Interval length:                                      10
[double >0] mu                         - mu/gamma:                                             1
[double >0] sigma                      - sigma:                                                0.8
[int    >0] stateDim                   - State dimension:                                      399
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[int    >0] controlDim                 - Control dimension:                                    399
[double   ] controlLb                  - Lower bound of control:                               -10
[double   ] controlUb                  - Upper bound of control:                               10
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[double >0] lambda                     - Regularization parameter:                             0.001
[double >0] alpha                      - alpha parameter in the cost functional:               1
[bool     ] _trackStateOverTime        - Track state over time?:                               0
[bool     ] _trackControlOverTime      - Track control over time?:                             0
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[int    >0] horizon                    - MPC horizon:                                          1
[int    >0] mpcSteps                   - MPC steps:                                            10
[double >0] mpcStepsize                - MPC sampling rate:                                    0.5
[int    >0] mpcStepsToImplement        - MPC steps to implement:                               1
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[bool     ] compareGradients           - Compare adj.-based gradient to num.:                  0
[bool     ] computeGradientNumerically - Compute gradient numerically:                         0
[double >0] optimizerHu                - Stepsize to compute grad. num.:                       1e-06
[bool     ] useDxpInGradient           - Use integration by parts in adjoint-based gradient?:  1
[int   1-2] optMethod                  - Optimization method no.:                              2
[bool     ] useLinesearch              - Use linesearch?:                                      0
[int   1-2] lesOptSolver               - Linear system solver in optimization method:          1
[int    >0] optimizerMaxSteps          - Maximum number of optimizing iterations:              4000
[double >0] optimizerTol               - Optimization error tolerance:                         1e-05
[bool     ] uInitFromFile              - Read initial control guess from a file?:              0
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[int   1-2] odeMethod                  - ODE solver no.:                                       1
[double >0] dt                         - Ode solver step size:                                  0.0008
[int   1-2] lesOdeSolver               - Linear system solver in ODE solver:                   1
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[int    >0] iterativeLESMaxSteps       - Max. number of iterations in linear system solver:    1000
[double >0] iterativeLESTol            - Error tolerance in linear system solver:              1e-12
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