diff --git a/docs/source/nnls_solving.rst b/docs/source/nnls_solving.rst
index d3a64799b..c76d78605 100644
--- a/docs/source/nnls_solving.rst
+++ b/docs/source/nnls_solving.rst
@@ -97,8 +97,8 @@ The basic trust region algorithm looks something like this.
       \|F(x)\|^2}{\displaystyle \|J(x)\Delta x + F(x)\|^2 -
       \|F(x)\|^2}`
    4. if :math:`\rho > \epsilon` then  :math:`x = x + \Delta x`.
-   5. if :math:`\rho > \eta_1` then :math:`\rho = 2  \rho`
-   6. else if :math:`\rho < \eta_2` then :math:`\rho = 0.5 * \rho`
+   5. if :math:`\rho > \eta_1` then :math:`\mu = 2  \mu`
+   6. else if :math:`\rho < \eta_2` then :math:`\mu = 0.5 * \mu`
    7. Go to 2.
 
 Here, :math:`\mu` is the trust region radius, :math:`D(x)` is some
diff --git a/docs/source/users.rst b/docs/source/users.rst
index f19800853..33d7d757e 100644
--- a/docs/source/users.rst
+++ b/docs/source/users.rst
@@ -48,6 +48,11 @@ Users
   Structure from Motion library that uses Ceres for `bundle adjustment`_
   and camera pose estimation.
 
+* The `Applied Research Laboratory <https://www.arl.psu.edu/>`_ at
+  Pennsylvania State University uses in their synthetic aperture Sonar
+  beamforming engine, called ASASIN , for estimating platform
+  kinematics.
+
 .. _bundle adjustment: http://en.wikipedia.org/wiki/Structure_from_motion
 .. _Street View: http://youtu.be/z00ORu4bU-A
 .. _PhotoTours: http://google-latlong.blogspot.com/2012/04/visit-global-landmarks-with-photo-tours.html
diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst
index 8ee77c904..c32b4f164 100644
--- a/docs/source/version_history.rst
+++ b/docs/source/version_history.rst
@@ -27,6 +27,12 @@ New Features
 
 Bug Fixes & Minor Changes
 -------------------------
+#. Use old minimum iOS version flags on Xcode < 7.0.
+#. Add gtest-specific flags when building/using as a shared library.
+#. Clean up iOS.cmake to use xcrun/xcodebuild & libtool.
+#. Import the latest version of ``googletest``.
+#. Refactored ``system_test`` into ``bundle_adjustment_test`` and
+   ``system_test``, where each test case is its own test.
 #. Fix invalid memory access bug in
    ``CompressedRowSparseMatrix::AppendRows`` when it was called with a
    matrix of size zero.