Model {
  Name			  "WayPtInteg"
  Version		  3.00
  SimParamPage		  "Solver"
  SampleTimeColors	  off
  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
  MaxRows		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "normal"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "grt.tlc"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Fri Jun 11 15:10:19 1999"
  Creator		  "rob"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "rob"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Fri Jun 11 15:11:20 1999"
  ModelVersionFormat	  "1.%<AutoIncrement:1>"
  ConfigurationManager	  "none"
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "WayPtInteg"
    Location		    [96, 124, 1121, 908]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Inport
      Name		      "In1"
      Position		      [40, 193, 70, 207]
      Port		      "1"
      PortWidth		      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      SignalType	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Inport
      Name		      "In2"
      Position		      [45, 563, 75, 577]
      Port		      "2"
      PortWidth		      "-1"
      SampleTime	      "-1"
      DataType		      "auto"
      SignalType	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [805, 125, 855, 155]
      Value		      "WpMode"
    }
    Block {
      BlockType		      Demux
      Name		      "Demux"
      Ports		      [1, 11, 0, 0, 0]
      Position		      [105, 454, 140, 686]
      Outputs		      "[ ones(1,10) -1]"
      Port {
	PortNumber		2
	Name			"r"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		10
	Name			"Psi"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Demux
      Name		      "Demux1"
      Ports		      [1, 5, 0, 0, 0]
      Position		      [100, 49, 130, 351]
      Outputs		      "5"
      Port {
	PortNumber		1
	Name			"<Heading>"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		2
	Name			"<Depth>"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		3
	Name			"<Speed>"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		4
	Name			"<r_No_WP1_N_x>"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
      Port {
	PortNumber		5
	Name			"<r_No_WP1_N_y>"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      DiscreteIntegrator
      Name		      "Discrete-Time\nIntegrator"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [575, 295, 610, 335]
      IntegratorMethod	      "BackwardEuler"
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      SampleTime	      "Ts"
    }
    Block {
      BlockType		      From
      Name		      "From"
      Position		      [185, 276, 285, 304]
      CloseFcn		      "tagdialog Close"
      GotoTag		      "r_No_Bo_N_x"
    }
    Block {
      BlockType		      From
      Name		      "From1"
      Position		      [185, 385, 285, 415]
      CloseFcn		      "tagdialog Close"
      GotoTag		      "r_No_Bo_N_y"
    }
    Block {
      BlockType		      From
      Name		      "From2"
      Position		      [505, 631, 545, 659]
      CloseFcn		      "tagdialog Close"
      GotoTag		      "Psi"
    }
    Block {
      BlockType		      From
      Name		      "From3"
      Position		      [505, 681, 545, 709]
      CloseFcn		      "tagdialog Close"
      GotoTag		      "Psi"
    }
    Block {
      BlockType		      Goto
      Name		      "Goto1"
      Position		      [180, 650, 210, 680]
      GotoTag		      "Psi"
      TagVisibility	      "local"
    }
    Block {
      BlockType		      Goto
      Name		      "Goto2"
      Position		      [190, 594, 280, 626]
      GotoTag		      "r_No_Bo_N_x"
      TagVisibility	      "local"
    }
    Block {
      BlockType		      Goto
      Name		      "Goto3"
      Position		      [255, 639, 345, 671]
      GotoTag		      "r_No_Bo_N_y"
      TagVisibility	      "local"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [7, 1, 0, 0, 0]
      Position		      [370, 450, 405, 750]
      Inputs		      "7"
      DisplayOption	      "none"
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [425, 342, 455, 373]
      Inputs		      "2"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Product
      Name		      "Product1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [425, 237, 455, 268]
      Inputs		      "2"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [310, 250, 330, 270]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
      Port {
	PortNumber		1
	Name			"r_Bo_WP1_N_x"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [310, 355, 330, 375]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|+-"
      SaturateOnIntegerOverflow	on
      Port {
	PortNumber		1
	Name			"r_Bo_WP1_N_y"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [495, 240, 525, 270]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|-+"
      SaturateOnIntegerOverflow	on
      Port {
	PortNumber		1
	Name			"r_Bo_WP1_B_y"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [775, 190, 795, 210]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum4"
      Ports		      [2, 1, 0, 0, 0]
      Position		      [710, 275, 730, 295]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Switch
      Name		      "Switch"
      Position		      [875, 52, 900, 228]
      Threshold		      ".5"
      Port {
	PortNumber		1
	Name			"Heading"
	TestPoint		off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator2"
      Position		      [175, 135, 195, 155]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator3"
      Position		      [175, 190, 195, 210]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator4"
      Position		      [455, 610, 475, 630]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator5"
      Position		      [180, 480, 200, 500]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator6"
      Position		      [570, 640, 590, 660]
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator7"
      Position		      [575, 685, 595, 705]
    }
    Block {
      BlockType		      Trigonometry
      Name		      "Trigonometric\nFunction"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [370, 185, 400, 215]
      Operator		      "sin"
      OutputSignalType	      "auto"
    }
    Block {
      BlockType		      Trigonometry
      Name		      "Trigonometric\nFunction1"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [370, 290, 400, 320]
      Operator		      "cos"
      OutputSignalType	      "auto"
    }
    Block {
      BlockType		      Gain
      Name		      "WayPoint Gain"
      Position		      [585, 240, 630, 270]
      Gain		      "Kwp"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "WayPoint Gain1"
      Position		      [640, 300, 685, 330]
      Gain		      "Kiwp"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Width
      Name		      "Width2"
      Position		      [190, 705, 220, 735]
    }
    Block {
      BlockType		      Outport
      Name		      "Out1"
      Position		      [940, 133, 970, 147]
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Line {
      SrcBlock		      "In1"
      SrcPort		      1
      DstBlock		      "Demux1"
      DstPort		      1
    }
    Line {
      Name		      "<Depth>"
      Labels		      [2, 1]
      SrcBlock		      "Demux1"
      SrcPort		      2
      Points		      [0, 5]
      DstBlock		      "Terminator2"
      DstPort		      1
    }
    Line {
      Name		      "<Speed>"
      Labels		      [1, 1]
      SrcBlock		      "Demux1"
      SrcPort		      3
      DstBlock		      "Terminator3"
      DstPort		      1
    }
    Line {
      Name		      "<r_No_WP1_N_x>"
      Labels		      [0, 0]
      SrcBlock		      "Demux1"
      SrcPort		      4
      DstBlock		      "Sum"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Trigonometric\nFunction"
      SrcPort		      1
      Points		      [0, 45]
      DstBlock		      "Product1"
      DstPort		      1
    }
    Line {
      Name		      "r_Bo_WP1_N_x"
      Labels		      [0, 0]
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Product1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Product1"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      1
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      Name		      "Psi"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      10
      DstBlock		      "Goto1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      3
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      4
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      5
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      4
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      6
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      5
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      7
      Points		      [210, 0]
      DstBlock		      "Mux1"
      DstPort		      6
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      11
      Points		      [0, 50]
      DstBlock		      "Width2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "In2"
      SrcPort		      1
      DstBlock		      "Demux"
      DstPort		      1
    }
    Line {
      Name		      "r"
      Labels		      [0, 0]
      SrcBlock		      "Demux"
      SrcPort		      2
      DstBlock		      "Terminator5"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Mux1"
      SrcPort		      1
      Points		      [0, 20]
      DstBlock		      "Terminator4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      8
      DstBlock		      "Goto2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Demux"
      SrcPort		      9
      Points		      [90, 0; 0, 25]
      DstBlock		      "Goto3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Width2"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      7
    }
    Line {
      Name		      "<Heading>"
      Labels		      [0, 0]
      SrcBlock		      "Demux1"
      SrcPort		      1
      Points		      [210, 0]
      Branch {
	Points			[0, 120]
	Branch {
	  Points		  [0, 105]
	  DstBlock		  "Trigonometric\nFunction1"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Trigonometric\nFunction"
	  DstPort		  1
	}
      }
      Branch {
	Points			[440, 0]
	Branch {
	  DstBlock		  "Switch"
	  DstPort		  1
	}
	Branch {
	  DstBlock		  "Sum3"
	  DstPort		  1
	}
      }
    }
    Line {
      Name		      "<r_No_WP1_N_y>"
      Labels		      [0, 0]
      SrcBlock		      "Demux1"
      SrcPort		      5
      Points		      [160, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From1"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      Name		      "r_Bo_WP1_N_y"
      Labels		      [0, 0]
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Product"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Trigonometric\nFunction1"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From3"
      SrcPort		      1
      DstBlock		      "Terminator7"
      DstPort		      1
    }
    Line {
      SrcBlock		      "From2"
      SrcPort		      1
      Points		      [5, 0]
      DstBlock		      "Terminator6"
      DstPort		      1
    }
    Line {
      Name		      "r_Bo_WP1_B_y"
      Labels		      [0, 0]
      SrcBlock		      "Sum2"
      SrcPort		      1
      Points		      [15, 0]
      Branch {
	Points			[0, 60]
	DstBlock		"Discrete-Time\nIntegrator"
	DstPort			1
      }
      Branch {
	DstBlock		"WayPoint Gain"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Discrete-Time\nIntegrator"
      SrcPort		      1
      DstBlock		      "WayPoint Gain1"
      DstPort		      1
    }
    Line {
      Name		      "Heading"
      Labels		      [0, 0]
      SrcBlock		      "Switch"
      SrcPort		      1
      DstBlock		      "Out1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Switch"
      DstPort		      3
    }
    Line {
      SrcBlock		      "WayPoint Gain1"
      SrcPort		      1
      Points		      [30, 0]
      DstBlock		      "Sum4"
      DstPort		      2
    }
    Line {
      SrcBlock		      "WayPoint Gain"
      SrcPort		      1
      Points		      [85, 0]
      DstBlock		      "Sum4"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum4"
      SrcPort		      1
      Points		      [50, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
  }
}