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Quick answer:

1. J is the Jacobian that should be of size MxN with M the number of samples and N the number of estimated parameters; JtJ is simply J^T x J that should be of size NxN
2. See 1
3. I believe the following applied to non-linear least-squares should have the necessary information

Quick answer:

1. J is the Jacobian that should be of size MxN with M the number of samples and N the number of estimated parameters; JtJ is simply J^T x J that should be of size NxN
2. See 1
3. I believe the following applied to non-linear least-squares /non-linear minimization should have the necessary information