diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 7411c082d..358d72ac3 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -99,7 +99,7 @@ void LevenbergMarquardtOptimizer::iterate() {
   const LevenbergMarquardtParams::VerbosityLM lmVerbosity = params_.verbosityLM;
 
   // Linearize graph
-  if(nloVerbosity >= NonlinearOptimizerParams::ERROR)
+  if(lmVerbosity >= LevenbergMarquardtParams::DAMPED)
     cout << "linearizing = " << endl;
   GaussianFactorGraph::shared_ptr linear = linearize();
 
@@ -172,7 +172,8 @@ void LevenbergMarquardtOptimizer::iterate() {
 
       // create new optimization state with more adventurous lambda
       gttic (compute_error);
-      if(nloVerbosity >= NonlinearOptimizerParams::ERROR) cout << "calculating error" << endl;
+
+      if(lmVerbosity >= LevenbergMarquardtParams::TRYLAMBDA) cout << "calculating error" << endl;
       double error = graph_.error(newValues);
       gttoc(compute_error);
 
@@ -211,11 +212,15 @@ void LevenbergMarquardtOptimizer::iterate() {
 
           increaseLambda(modelFidelity);
         }
+        // bool converged = checkConvergence(_params().relativeErrorTol, _params().absoluteErrorTol, _params().errorTol, state_.error, error);
+        // cout << " Inner iteration - converged " << converged << endl;
       }
     } catch (IndeterminantLinearSystemException& e) {
       (void) e; // Prevent unused variable warning
       if(lmVerbosity >= LevenbergMarquardtParams::LAMBDA)
         cout << "Negative matrix, increasing lambda" << endl;
+
+      // cout << "failed to solve current system" << endl;
       // Either we're not cautious, or the same lambda was worse than the current error.
       // The more adventurous lambda was worse too, so make lambda more conservative
       // and keep the same values.
diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp
index 52c1e1f08..1ff84ebfd 100644
--- a/gtsam/nonlinear/NonlinearOptimizer.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizer.cpp
@@ -55,8 +55,12 @@ void NonlinearOptimizer::defaultOptimize() {
   if (params.verbosity >= NonlinearOptimizerParams::ERROR) cout << "Initial error: " << currentError << endl;
 
   // Return if we already have too many iterations
-  if(this->iterations() >= params.maxIterations)
+  if(this->iterations() >= params.maxIterations){
+    if (params.verbosity >= NonlinearOptimizerParams::TERMINATION) {
+        cout << "iterations: " << this->iterations() << " >? " << params.maxIterations << endl;
+      }
     return;
+  }
 
   // Iterative loop
   do {
@@ -152,11 +156,16 @@ bool checkConvergence(double relativeErrorTreshold, double absoluteErrorTreshold
   }
   bool converged = (relativeErrorTreshold && (relativeDecrease <= relativeErrorTreshold))
       || (absoluteDecrease <= absoluteErrorTreshold);
-  if (verbosity >= NonlinearOptimizerParams::ERROR && converged) {
+  if (verbosity >= NonlinearOptimizerParams::TERMINATION && converged) {
+
     if(absoluteDecrease >= 0.0)
       cout << "converged" << endl;
     else
       cout << "Warning:  stopping nonlinear iterations because error increased" << endl;
+
+    cout << "errorThreshold: " << newError << " <? " << errorThreshold << endl;
+    cout << "absoluteDecrease: " << setprecision(12) << absoluteDecrease << " <? " << absoluteErrorTreshold << endl;
+    cout << "relativeDecrease: " << setprecision(12) << relativeDecrease << " <? " << relativeErrorTreshold << endl;
   }
   return converged;
 }
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h
index ce5cb1de8..10d468384 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.h
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.h
@@ -34,7 +34,7 @@ class GTSAM_EXPORT NonlinearOptimizerParams {
 public:
   /** See NonlinearOptimizerParams::verbosity */
   enum Verbosity {
-    SILENT, ERROR, VALUES, DELTA, LINEAR
+    SILENT, TERMINATION, ERROR, VALUES, DELTA, LINEAR
   };
 
   int maxIterations; ///< The maximum iterations to stop iterating (default 100)