diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index d17f8b2211ca80c253d16269ffa1f45bad97c7bb..4b3137253b511ccb33da83a7a52bcec3497b72be 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_IRI.txt"
     print_problem: true
     print_period: 10
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/IRI/params_only_gnss.yaml b/yaml/IRI/params_only_gnss.yaml
index 27a9982846ada8aeda89fe4f7815f37e20fdad69..f960229c2c51837d4bfc58341e3f72af340fca0b 100644
--- a/yaml/IRI/params_only_gnss.yaml
+++ b/yaml/IRI/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"
diff --git a/yaml/M600a/params.yaml b/yaml/M600a/params.yaml
index 09a8e2412fb6f831b28b4265b6d1b3b8e3043c4e..d2a909bf7e380e08488b9c186b001122b9b17f7c 100644
--- a/yaml/M600a/params.yaml
+++ b/yaml/M600a/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/M600a/params_only_gnss.yaml b/yaml/M600a/params_only_gnss.yaml
index 27a9982846ada8aeda89fe4f7815f37e20fdad69..f960229c2c51837d4bfc58341e3f72af340fca0b 100644
--- a/yaml/M600a/params_only_gnss.yaml
+++ b/yaml/M600a/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"
diff --git a/yaml/M600b/params.yaml b/yaml/M600b/params.yaml
index 09a8e2412fb6f831b28b4265b6d1b3b8e3043c4e..d2a909bf7e380e08488b9c186b001122b9b17f7c 100644
--- a/yaml/M600b/params.yaml
+++ b/yaml/M600b/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/M600b/params_only_gnss.yaml b/yaml/M600b/params_only_gnss.yaml
index 27a9982846ada8aeda89fe4f7815f37e20fdad69..f960229c2c51837d4bfc58341e3f72af340fca0b 100644
--- a/yaml/M600b/params_only_gnss.yaml
+++ b/yaml/M600b/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"
diff --git a/yaml/atlantic/params.yaml b/yaml/atlantic/params.yaml
index 5f0636433f3cfba5c5dbca766586a81e8cd10d79..0fc823b78292fec15e02fd101a6b8af141152d95 100644
--- a/yaml/atlantic/params.yaml
+++ b/yaml/atlantic/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/atlantic/params_only_gnss.yaml b/yaml/atlantic/params_only_gnss.yaml
index 27a9982846ada8aeda89fe4f7815f37e20fdad69..f960229c2c51837d4bfc58341e3f72af340fca0b 100644
--- a/yaml/atlantic/params_only_gnss.yaml
+++ b/yaml/atlantic/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"
diff --git a/yaml/scrab/params.yaml b/yaml/scrab/params.yaml
index 28064bde37e25dc1cf8e19d0b633e32e019928c4..f54d088423133ee40f8a5460c4990c02b65a214c 100644
--- a/yaml/scrab/params.yaml
+++ b/yaml/scrab/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/scrab/params_only_gnss.yaml b/yaml/scrab/params_only_gnss.yaml
index 27a9982846ada8aeda89fe4f7815f37e20fdad69..f960229c2c51837d4bfc58341e3f72af340fca0b 100644
--- a/yaml/scrab/params_only_gnss.yaml
+++ b/yaml/scrab/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_M600_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"
diff --git a/yaml/tucan/params.yaml b/yaml/tucan/params.yaml
index 1f68467880fa80fcf9751aed3a1f02379bc921fe..c9791adbf345374cde4076ae17989d3cb92bdae7 100644
--- a/yaml/tucan/params.yaml
+++ b/yaml/tucan/params.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_tucan.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "POV"
diff --git a/yaml/tucan/params_only_gnss.yaml b/yaml/tucan/params_only_gnss.yaml
index 478ec2e4e14e6af339a1afe164f223eb8ddb26fa..6ac199d6cac61bf48345957472f292ae8efa6519 100644
--- a/yaml/tucan/params_only_gnss.yaml
+++ b/yaml/tucan/params_only_gnss.yaml
@@ -4,6 +4,10 @@ config:
     profiling_file: "~/profiling_tucan_only_GNSS.txt"
     print_problem: false
     print_period: 1
+    print_depth: 4
+    print_constr_by: false
+    print_metric: true
+    print_state_blocks: false
     
   problem:
     frame_structure: "PO"