diff --git a/internal/ceres/block_sparse_matrix.cc b/internal/ceres/block_sparse_matrix.cc
index c1be940..7dd395e 100644
--- a/internal/ceres/block_sparse_matrix.cc
+++ b/internal/ceres/block_sparse_matrix.cc
@@ -259,5 +259,28 @@
 }
 #endif
 
+void BlockSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int i = 0; i < block_structure_->rows.size(); ++i) {
+    const int row_block_pos = block_structure_->rows[i].block.position;
+    const int row_block_size = block_structure_->rows[i].block.size;
+    const vector<Cell>& cells = block_structure_->rows[i].cells;
+    for (int j = 0; j < cells.size(); ++j) {
+      const int col_block_id = cells[j].block_id;
+      const int col_block_size = block_structure_->cols[col_block_id].size;
+      const int col_block_pos = block_structure_->cols[col_block_id].position;
+      int jac_pos = cells[j].position;
+      for (int r = 0; r < row_block_size; ++r) {
+        for (int c = 0; c < col_block_size; ++c) {
+          fprintf(file, "% 10d % 10d %17f\n",
+                  row_block_pos + r,
+                  col_block_pos + c,
+                  values_[jac_pos++]);
+        }
+      }
+    }
+  }
+}
+
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/block_sparse_matrix.h b/internal/ceres/block_sparse_matrix.h
index b151dd0..f71446e 100644
--- a/internal/ceres/block_sparse_matrix.h
+++ b/internal/ceres/block_sparse_matrix.h
@@ -113,6 +113,8 @@
 #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
   virtual void ToProto(SparseMatrixProto* proto) const;
 #endif
+  virtual void ToTextFile(FILE* file) const;
+
   virtual int num_rows()         const { return num_rows_;     }
   virtual int num_cols()         const { return num_cols_;     }
   virtual int num_nonzeros()     const { return num_nonzeros_; }
diff --git a/internal/ceres/compressed_row_sparse_matrix.cc b/internal/ceres/compressed_row_sparse_matrix.cc
index 8fd568f..95edf53 100644
--- a/internal/ceres/compressed_row_sparse_matrix.cc
+++ b/internal/ceres/compressed_row_sparse_matrix.cc
@@ -321,5 +321,14 @@
   num_rows_ += m.num_rows();
 }
 
+void CompressedRowSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int r = 0; r < num_rows_; ++r) {
+    for (int idx = rows_[r]; idx < rows_[r + 1]; ++idx) {
+      fprintf(file, "% 10d % 10d %17f\n", r, cols_[idx], values_[idx]);
+    }
+  }
+}
+
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/compressed_row_sparse_matrix.h b/internal/ceres/compressed_row_sparse_matrix.h
index 43712a8..9a39d28 100644
--- a/internal/ceres/compressed_row_sparse_matrix.h
+++ b/internal/ceres/compressed_row_sparse_matrix.h
@@ -88,7 +88,7 @@
 #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
   virtual void ToProto(SparseMatrixProto* proto) const;
 #endif
-
+  virtual void ToTextFile(FILE* file) const;
   virtual int num_rows() const { return num_rows_; }
   virtual int num_cols() const { return num_cols_; }
   virtual int num_nonzeros() const { return rows_[num_rows_]; }
diff --git a/internal/ceres/dense_sparse_matrix.cc b/internal/ceres/dense_sparse_matrix.cc
index ffbfab6..5d392ba 100644
--- a/internal/ceres/dense_sparse_matrix.cc
+++ b/internal/ceres/dense_sparse_matrix.cc
@@ -179,6 +179,19 @@
   return AlignedMatrixRef(m_.data(), m_.rows(), m_.cols());
 }
 
+void DenseSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  const int active_rows =
+      (has_diagonal_reserved_ && !has_diagonal_appended_)
+      ? (m_.rows() - m_.cols()) 
+      : m_.rows();
+
+  for (int r = 0; r < active_rows; ++r) {
+    for (int c = 0; c < m_.cols(); ++c) {
+      fprintf(file,  "% 10d % 10d %17f\n", r, c, m_(r, c));
+    }
+  }
+}
 
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/dense_sparse_matrix.h b/internal/ceres/dense_sparse_matrix.h
index 5ce29ee..416c214 100644
--- a/internal/ceres/dense_sparse_matrix.h
+++ b/internal/ceres/dense_sparse_matrix.h
@@ -70,6 +70,7 @@
 #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
   virtual void ToProto(SparseMatrixProto* proto) const;
 #endif
+  virtual void ToTextFile(FILE* file) const;
   virtual int num_rows() const;
   virtual int num_cols() const;
   virtual int num_nonzeros() const;
diff --git a/internal/ceres/levenberg_marquardt.cc b/internal/ceres/levenberg_marquardt.cc
index 3ecae5d..4ada794 100644
--- a/internal/ceres/levenberg_marquardt.cc
+++ b/internal/ceres/levenberg_marquardt.cc
@@ -58,6 +58,7 @@
 #include "Eigen/Core"
 #include "ceres/evaluator.h"
 #include "ceres/file.h"
+#include "ceres/linear_least_squares_problems.h"
 #include "ceres/linear_solver.h"
 #include "ceres/matrix_proto.h"
 #include "ceres/sparse_matrix.h"
@@ -107,62 +108,6 @@
   }
 }
 
-string DumpLinearSolverProblem(
-    int iteration,
-    const SparseMatrix* A,
-    const double* D,
-    const double* b,
-    const double* x,
-    const Minimizer::Options& solver_options) {
-  if (solver_options.lsqp_dump_format == "ascii") {
-    // Dump to the screen instead of to file. Useful for debugging.
-    Matrix AA;
-    A->ToDenseMatrix(&AA);
-    LOG(INFO) << "A^T: \n" << AA.transpose();
-    if (D) {
-      LOG(INFO) << "A's appended diagonal:\n"
-                << ConstVectorRef(D, A->num_cols());
-    }
-    LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
-    LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
-    return "";
-  }
-#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
-  LinearLeastSquaresProblemProto lsqp;
-  A->ToProto(lsqp.mutable_a());
-  for (int i = 0; i < A->num_rows(); ++i) {
-    lsqp.add_b(b[i]);
-  }
-  if (D) {
-    for (int i = 0; i < A->num_cols(); ++i) {
-      lsqp.add_d(D[i]);
-    }
-  }
-  if (x) {
-    for (int i = 0; i < A->num_cols(); ++i) {
-      lsqp.add_x(x[i]);
-    }
-  }
-
-  lsqp.set_num_eliminate_blocks(solver_options.num_eliminate_blocks);
-
-  CHECK(solver_options.lsqp_dump_format.size());
-  string filename =
-      StringPrintf(solver_options.lsqp_dump_format.c_str(),  // NOLINT
-                   iteration);
-  VLOG(1) << "Dumping least squares problem for iteration " << iteration
-          << " to disk. File: " << filename;
-  WriteStringToFileOrDie(lsqp.SerializeAsString(), filename);
-  VLOG(2) << "Done dumping to disk";
-  return filename;
-#else
-  LOG(ERROR) << "Dumping least squares problems is only "
-             << "supported when Ceres is compiled with "
-             << "protocol buffer support.";
-  return "";
-#endif
-}
-
 bool RunCallback(IterationCallback* callback,
                  const IterationSummary& iteration_summary,
                  Solver::Summary* summary) {
@@ -379,12 +324,17 @@
       if (binary_search(iterations_to_dump.begin(),
                         iterations_to_dump.end(),
                         iteration)) {
-        DumpLinearSolverProblem(iteration,
-                                jacobian.get(),
-                                muD.data(),
-                                f.data(),
-                                lm_step.data(),
-                                options);
+        CHECK(DumpLinearLeastSquaresProblem(options.lsqp_dump_directory,
+                                            iteration,
+                                            options.lsqp_dump_format_type,
+                                            jacobian.get(),
+                                            muD.data(),
+                                            f.data(),
+                                            lm_step.data(),
+                                            options.num_eliminate_blocks))
+            << "Tried writing linear least squares problem: " 
+            << options.lsqp_dump_directory
+            << " but failed.";
       }
 
       // We ignore the case where the linear solver did not converge,
@@ -412,7 +362,7 @@
           (x_norm + options.parameter_tolerance)) {
         summary->termination_type = PARAMETER_TOLERANCE;
         VLOG(1) << "Terminating on PARAMETER_TOLERANCE."
-             << "Relative step size: " << step_norm / step_size_tolerance
+                << "Relative step size: " << step_norm / step_size_tolerance
             << " <= " << options.parameter_tolerance;
         return;
       }
@@ -544,33 +494,37 @@
     }
 
     if (num_consecutive_insane_steps == kMaxLinearSolverRetries) {
-      VLOG(1) << "Too many consecutive retries; ending with numerical fail.";
       summary->termination_type = NUMERICAL_FAILURE;
+      VLOG(1) << "Too many consecutive retries; ending with numerical fail.";
 
       if (!options.crash_and_dump_lsqp_on_failure) {
         return;
       }
 
       // Dump debugging information to disk.
-      CHECK(!options.lsqp_dump_format.empty())
+      CHECK(options.lsqp_dump_format_type == TEXTFILE ||
+            options.lsqp_dump_format_type == PROTOBUF)
           << "Dumping the linear least squares problem on crash "
-          << "requires Solver::Options::lsqp_dump_format set a "
-          << "filename";
-      CHECK_NE(options.lsqp_dump_format, "ascii")
-          << "Dumping the linear least squares problem on crash "
-          << "requires Solver::Options::lsqp_dump_format set a "
-          << "filename";
+          << "requires Solver::Options::lsqp_dump_format_type to be "
+          << "PROTOBUF or TEXTFILE.";
 
-      const string filename = DumpLinearSolverProblem(iteration,
-                                                      jacobian.get(),
-                                                      muD.data(),
-                                                      f.data(),
-                                                      lm_step.data(),
-                                                      options);
-      LOG(FATAL) << "Linear least squares problem saved to " << filename
-                 << " please provide this to the Ceres developers for "
-                 << " debugging along with the v=2 log.";
-      return;
+      if (DumpLinearLeastSquaresProblem(options.lsqp_dump_directory,
+                                        iteration,
+                                        options.lsqp_dump_format_type,
+                                        jacobian.get(),
+                                        muD.data(),
+                                        f.data(),
+                                        lm_step.data(),
+                                        options.num_eliminate_blocks)) {
+        LOG(FATAL) << "Linear least squares problem saved to: " 
+                   << options.lsqp_dump_directory
+                   << ". Please provide this to the Ceres developers for "
+                   << " debugging along with the v=2 log.";
+      } else {
+        LOG(FATAL) << "Tried writing linear least squares problem: " 
+                   << options.lsqp_dump_directory
+                   << " but failed.";
+      }
     }
 
     if (!step_is_successful) {
diff --git a/internal/ceres/linear_least_squares_problems.cc b/internal/ceres/linear_least_squares_problems.cc
index 9e3d8bd..da3ed8c 100644
--- a/internal/ceres/linear_least_squares_problems.cc
+++ b/internal/ceres/linear_least_squares_problems.cc
@@ -30,15 +30,18 @@
 
 #include "ceres/linear_least_squares_problems.h"
 
+#include <cstdio>
 #include <string>
 #include <vector>
 #include <glog/logging.h>
 #include "ceres/block_sparse_matrix.h"
 #include "ceres/block_structure.h"
+#include "ceres/casts.h"
 #include "ceres/compressed_row_sparse_matrix.h"
 #include "ceres/file.h"
 #include "ceres/matrix_proto.h"
 #include "ceres/triplet_sparse_matrix.h"
+#include "ceres/stringprintf.h"
 #include "ceres/internal/scoped_ptr.h"
 #include "ceres/types.h"
 
@@ -569,5 +572,172 @@
   return problem;
 }
 
+bool DumpLinearLeastSquaresProblemToConsole(const string& directory,
+                                            int iteration,
+                                            const SparseMatrix* A,
+                                            const double* D,
+                                            const double* b,
+                                            const double* x,
+                                            int num_eliminate_blocks) {
+  CHECK_NOTNULL(A);
+  Matrix AA;
+  A->ToDenseMatrix(&AA);
+  LOG(INFO) << "A^T: \n" << AA.transpose();
+
+  if (D != NULL) {
+    LOG(INFO) << "A's appended diagonal:\n"
+              << ConstVectorRef(D, A->num_cols());
+  }
+
+  if (b != NULL) {
+    LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
+  }
+
+  if (x != NULL) {
+    LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
+  }
+  return true;
+};
+
+#ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
+bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
+                                                   int iteration,
+                                                   const SparseMatrix* A,
+                                                   const double* D,
+                                                   const double* b,
+                                                   const double* x,
+                                                   int num_eliminate_blocks) {
+  CHECK_NOTNULL(A);
+  LinearLeastSquaresProblemProto lsqp;
+  A->ToProto(lsqp.mutable_a());
+
+  if (D != NULL) {
+    for (int i = 0; i < A->num_cols(); ++i) {
+      lsqp.add_d(D[i]);
+    }
+  }
+
+  if (b != NULL) {
+    for (int i = 0; i < A->num_rows(); ++i) {
+      lsqp.add_b(b[i]);
+    }
+  }
+
+  if (x != NULL) {
+    for (int i = 0; i < A->num_cols(); ++i) {
+      lsqp.add_x(x[i]);
+    }
+  }
+
+  lsqp.set_num_eliminate_blocks(num_eliminate_blocks);
+  string format_string = JoinPath(directory,
+                                  "lm_iteration_%03d.lsqp");
+  string filename =
+      StringPrintf(format_string.c_str(),  iteration);
+  LOG(INFO) << "Dumping least squares problem for iteration " << iteration
+            << " to disk. File: " << filename;
+  WriteStringToFileOrDie(lsqp.SerializeAsString(), filename);
+  return true;
+}
+#else
+bool DumpLinearLeastSquaresProblemToProtocolBuffer(const string& directory,
+                                                   int iteration,
+                                                   const SparseMatrix* A,
+                                                   const double* D,
+                                                   const double* b,
+                                                   const double* x,
+                                                   int num_eliminate_blocks) {
+  LOG(ERROR) << "Dumping least squares problems is only "
+             << "supported when Ceres is compiled with "
+             << "protocol buffer support.";
+  return false;
+}
+#endif
+
+void WriteArrayToFileOrDie(const string& filename,
+                           const double* x,
+                           const int size) {
+  CHECK_NOTNULL(x);
+  VLOG(2) << "Writing array to: " << filename;
+  FILE* fptr = fopen(filename.c_str(), "w");
+  CHECK_NOTNULL(fptr);
+  for (int i = 0; i < size; ++i) {
+    fprintf(fptr, "%17f\n", x[i]);
+  }
+  fclose(fptr);
+}
+
+bool DumpLinearLeastSquaresProblemToTextFile(const string& directory,
+                                             int iteration,
+                                             const SparseMatrix* A,
+                                             const double* D,
+                                             const double* b,
+                                             const double* x,
+                                             int num_eliminate_blocks) {
+  CHECK_NOTNULL(A);
+  string format_string = JoinPath(directory,
+                                  "lm_iteration_%03d");
+  string filename_prefix =
+      StringPrintf(format_string.c_str(), iteration);
+
+  {
+    string filename = filename_prefix + "_A.txt";
+    LOG(INFO) << "writing to: " << filename;
+    FILE* fptr = fopen(filename.c_str(), "w");
+    CHECK_NOTNULL(fptr);
+    A->ToTextFile(fptr);
+    fclose(fptr);
+  }
+
+  if (D != NULL) {
+    string filename = filename_prefix + "_D.txt";
+    WriteArrayToFileOrDie(filename, D, A->num_cols());
+  }
+
+  if (b != NULL) {
+    string filename = filename_prefix + "_b.txt";
+    WriteArrayToFileOrDie(filename, b, A->num_rows());
+  }
+
+  if (x != NULL) {
+    string filename = filename_prefix + "_x.txt";
+    WriteArrayToFileOrDie(filename, x, A->num_cols());
+  }
+
+  return true;
+}
+
+bool DumpLinearLeastSquaresProblem(const string& directory,
+                              	   int iteration,
+                                   DumpFormatType dump_format_type,
+                                   const SparseMatrix* A,
+                                   const double* D,
+                                   const double* b,
+                                   const double* x,
+                                   int num_eliminate_blocks) {
+  switch (dump_format_type) {
+    case (CONSOLE):
+      return DumpLinearLeastSquaresProblemToConsole(directory,
+                                                    iteration,
+                                                    A, D, b, x,
+                                                    num_eliminate_blocks);
+    case (PROTOBUF):
+      return DumpLinearLeastSquaresProblemToProtocolBuffer(
+          directory,
+          iteration,
+          A, D, b, x,
+          num_eliminate_blocks);
+    case (TEXTFILE):
+      return DumpLinearLeastSquaresProblemToTextFile(directory,
+                                                     iteration,
+                                                     A, D, b, x,
+                                                     num_eliminate_blocks);
+    default:
+      LOG(FATAL) << "Unknown DumpFormatType " << dump_format_type;
+  };
+
+  return true;
+}
+
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/linear_least_squares_problems.h b/internal/ceres/linear_least_squares_problems.h
index 46a624b..553cc0d 100644
--- a/internal/ceres/linear_least_squares_problems.h
+++ b/internal/ceres/linear_least_squares_problems.h
@@ -32,7 +32,7 @@
 #define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
 
 #include <string>
-
+#include <vector>
 #include "ceres/sparse_matrix.h"
 #include "ceres/internal/port.h"
 #include "ceres/internal/scoped_ptr.h"
@@ -71,6 +71,16 @@
 LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
 LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
 
+// Write the linear least squares problem to disk. The exact format
+// depends on dump_format_type.
+bool DumpLinearLeastSquaresProblem(const string& directory,
+                              	   int iteration,
+                                   DumpFormatType dump_format_type,
+                                   const SparseMatrix* A,
+                                   const double* D,
+                                   const double* b,
+                                   const double* x,
+                                   int num_eliminate_blocks);
 }  // namespace internal
 }  // namespace ceres
 
diff --git a/internal/ceres/minimizer.h b/internal/ceres/minimizer.h
index 71163a8..77cb00c 100644
--- a/internal/ceres/minimizer.h
+++ b/internal/ceres/minimizer.h
@@ -59,8 +59,9 @@
       tau = options.tau;
       jacobi_scaling = options.jacobi_scaling;
       crash_and_dump_lsqp_on_failure = options.crash_and_dump_lsqp_on_failure;
-      lsqp_dump_format = options.lsqp_dump_format;
+      lsqp_dump_directory = options.lsqp_dump_directory;
       lsqp_iterations_to_dump = options.lsqp_iterations_to_dump;
+      lsqp_dump_format_type = options.lsqp_dump_format_type;
       num_eliminate_blocks = options.num_eliminate_blocks;
       logging_type = options.logging_type;
     }
@@ -75,8 +76,9 @@
     double tau;
     bool jacobi_scaling;
     bool crash_and_dump_lsqp_on_failure;
-    string lsqp_dump_format;
     vector<int> lsqp_iterations_to_dump;
+    DumpFormatType lsqp_dump_format_type;
+    string lsqp_dump_directory;
     int num_eliminate_blocks;
     LoggingType logging_type;
 
diff --git a/internal/ceres/sparse_matrix.h b/internal/ceres/sparse_matrix.h
index 962b803..562210d 100644
--- a/internal/ceres/sparse_matrix.h
+++ b/internal/ceres/sparse_matrix.h
@@ -33,6 +33,7 @@
 #ifndef CERES_INTERNAL_SPARSE_MATRIX_H_
 #define CERES_INTERNAL_SPARSE_MATRIX_H_
 
+#include <cstdio>
 #include "ceres/linear_operator.h"
 #include "ceres/internal/eigen.h"
 #include "ceres/types.h"
@@ -87,9 +88,14 @@
 
 #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
   // Dump the sparse matrix to a proto. Destroys the contents of proto.
-  virtual void ToProto(SparseMatrixProto *proto) const = 0;
+  virtual void ToProto(SparseMatrixProto* proto) const = 0;
 #endif
 
+  // Write out the matrix as a sequence of (i,j,s) triplets. This
+  // format is useful for loading the matrix into MATLAB/octave as a
+  // sparse matrix.
+  virtual void ToTextFile(FILE* file) const = 0;
+
   // Accessors for the values array that stores the entries of the
   // sparse matrix. The exact interpreptation of the values of this
   // array depends on the particular kind of SparseMatrix being
diff --git a/internal/ceres/triplet_sparse_matrix.cc b/internal/ceres/triplet_sparse_matrix.cc
index 7d7c3df..247ab2e 100644
--- a/internal/ceres/triplet_sparse_matrix.cc
+++ b/internal/ceres/triplet_sparse_matrix.cc
@@ -295,5 +295,12 @@
   return m;
 }
 
+void TripletSparseMatrix::ToTextFile(FILE* file) const {
+  CHECK_NOTNULL(file);
+  for (int i = 0; i < num_nonzeros_; ++i) {
+    fprintf(file, "% 10d % 10d %17f\n", rows_[i], cols_[i], values_[i]);
+  }
+}
+
 }  // namespace internal
 }  // namespace ceres
diff --git a/internal/ceres/triplet_sparse_matrix.h b/internal/ceres/triplet_sparse_matrix.h
index 3c90a62..300e74d 100644
--- a/internal/ceres/triplet_sparse_matrix.h
+++ b/internal/ceres/triplet_sparse_matrix.h
@@ -68,6 +68,7 @@
 #ifndef CERES_DONT_HAVE_PROTOCOL_BUFFERS
   virtual void ToProto(SparseMatrixProto *proto) const;
 #endif
+  virtual void ToTextFile(FILE* file) const;
   virtual int num_rows()        const { return num_rows_;     }
   virtual int num_cols()        const { return num_cols_;     }
   virtual int num_nonzeros()    const { return num_nonzeros_; }