diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 473caa35e..2f8fcfcee 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -42,6 +42,8 @@ LevenbergMarquardtParams::VerbosityLM LevenbergMarquardtParams::verbosityLMTrans
   boost::algorithm::to_upper(s);
   if (s == "SILENT")
     return LevenbergMarquardtParams::SILENT;
+  if (s == "SUMMARY")
+    return LevenbergMarquardtParams::SUMMARY;
   if (s == "LAMBDA")
     return LevenbergMarquardtParams::LAMBDA;
   if (s == "TRYLAMBDA")
@@ -65,6 +67,9 @@ std::string LevenbergMarquardtParams::verbosityLMTranslator(
   case LevenbergMarquardtParams::SILENT:
     s = "SILENT";
     break;
+  case LevenbergMarquardtParams::SUMMARY:
+    s = "SUMMARY";
+    break;
   case LevenbergMarquardtParams::TERMINATION:
     s = "TERMINATION";
     break;
@@ -219,9 +224,15 @@ void LevenbergMarquardtOptimizer::iterate() {
     cout << "linearizing = " << endl;
   GaussianFactorGraph::shared_ptr linear = linearize();
 
-  if(state_.totalNumberInnerIterations==0) // write initial error
+  if(state_.totalNumberInnerIterations==0) { // write initial error
     writeLogFile(state_.error);
 
+    if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
+      cout << "Initial error: " << state_.error << ", values: " << state_.values.size()
+           << std::endl;
+    }
+  }
+
   // Keep increasing lambda until we make make progress
   while (true) {
 
@@ -248,6 +259,8 @@ void LevenbergMarquardtOptimizer::iterate() {
       systemSolvedSuccessfully = false;
     }
 
+    double linearizedCostChange = 0,
+           newlinearizedError = 0;
     if (systemSolvedSuccessfully) {
       params_.reuse_diagonal_ = true;
 
@@ -257,9 +270,9 @@ void LevenbergMarquardtOptimizer::iterate() {
         delta.print("delta");
 
       // cost change in the linearized system (old - new)
-      double newlinearizedError = linear->error(delta);
+      newlinearizedError = linear->error(delta);
 
-      double linearizedCostChange = state_.error - newlinearizedError;
+      linearizedCostChange = state_.error - newlinearizedError;
       if (lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA)
               cout << "newlinearizedError = " << newlinearizedError <<
               "  linearizedCostChange = " << linearizedCostChange << endl;
@@ -304,6 +317,12 @@ void LevenbergMarquardtOptimizer::iterate() {
       }
     }
 
+    if (lmVerbosity == LevenbergMarquardtParams::SUMMARY) {
+      cout << "[" << state_.iterations << "]: " << "new error = " << newlinearizedError
+           << ", delta = " << linearizedCostChange << ", lambda = " << state_.lambda
+           << ", success = " << systemSolvedSuccessfully << std::endl;
+    }
+
     ++state_.totalNumberInnerIterations;
 
     if (step_is_successful) { // we have successfully decreased the cost and we have good modelFidelity
@@ -320,7 +339,8 @@ void LevenbergMarquardtOptimizer::iterate() {
 
       // check if lambda is too big
       if (state_.lambda >= params_.lambdaUpperBound) {
-        if (nloVerbosity >= NonlinearOptimizerParams::TERMINATION)
+        if (nloVerbosity >= NonlinearOptimizerParams::TERMINATION ||
+            lmVerbosity == LevenbergMarquardtParams::SUMMARY)
           cout << "Warning:  Levenberg-Marquardt giving up because "
               "cannot decrease error with maximum lambda" << endl;
         break;
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
index 20f9dec3c..009b480f2 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.h
@@ -38,7 +38,7 @@ class GTSAM_EXPORT LevenbergMarquardtParams: public NonlinearOptimizerParams {
 public:
   /** See LevenbergMarquardtParams::lmVerbosity */
   enum VerbosityLM {
-    SILENT = 0, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA
+    SILENT = 0, SUMMARY, TERMINATION, LAMBDA, TRYLAMBDA, TRYCONFIG, DAMPED, TRYDELTA
   };
 
   static VerbosityLM verbosityLMTranslator(const std::string &s);