subroutine qsadd
c
      use mblock_module
c
      use arrays_module
c
      use arrayp_module
c
      use meshcb_module
c
      use voids_module
c
      use obsijk_module
c
#ifdef SINGLE
      include '../comdeck/precis4.f'
#else
      include '../comdeck/precis.f'
#endif
      include '../comdeck/params.f'
      include '../comdeck/const.f'
      include '../comdeck/cntrl.f'
      include '../comdeck/cbusr.f'  
      include '../comdeck/dumn.f'  
      include '../comdeck/mparam.f'  
      include '../comdeck/acctrm.f'   
      include '../comdeck/scalar.f'     
c
c    
c  
c      HINCHEY JOT CODE: PROP AUV
c       
      if(cycle.eq.0) then 
       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
     ^ data.txt",STATUS='NEW')
       close(UNIT=1)
       endif            
       if(cycle.eq.0) then 
       sum=0.0
       cs=0.0
       rold=0.0 
       aold=0.0
       pold=0.0  
       eold=0.0     
       depth=dogs 
       eold=command-depth       
       endif
       if(t.gt.on) then
       depth=dogs  
       enew=command-depth 
       slope=(enew-eold)/delt 
       control=gp*enew
       control=control+gi*sum
       control=control+gd*slope 
       if(control>+dump) then
        control=+dump 
       endif
       if(control<-dump) then
        control=-dump 
       endif 
       sum=sum+delt*enew 
       rnew=rold+delt*cats 
       adot=(control-xyz*aold)/uvw
       anew=aold+delt*adot
       pdot=(paw-xyz*pold)/uvw
       pnew=pold+delt*pdot
       cs=anew
       rold=rnew
       aold=anew
       pold=pnew 
       eold=enew
       endif    
c      results
       if(cycle.eq.0) return       
       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
     ^ data.txt",ACCESS='APPEND',STATUS='OLD')
       WRITE(1,*) t,cs,dogs,cats
       close(UNIT=1)
c               
c      HINCHEY JOT CODE: PROP AUV
c
c
c 
c
c      HINCHEY JOT CODE: TANK AUV
c
c       if(cycle.eq.0) then 
c       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
c     ^ data.txt",STATUS='NEW')
c       close(UNIT=1)
c       endif         
c       if(cycle.eq.0) then 
c       cs=0.0
c       rold=0.0 
c       aold=0.0
c       anew=0.0
c       pold=0.0  
c       eold=0.0       
c       endif
c       depth=dogs 
c       enew=command-depth      
c       rnew=rold+delt*cats 
c       pdot=(paw-xyz*pold)/uvw
c       pnew=pold+delt*pdot
c       anew=aold
c       adot=0.0
c       if(enew.gt.0.0 .and. 
c     *  anew.lt.0.0254) then
c       anew=aold+0.0254*delt
c       adot=0.0254
c       endif  
c       cs=adot  
c       cs=0.0
c       rold=rnew
c       pold=pnew 
c       aold=anew
c       eold=enew
c      results
c       if(cycle.eq.0) return       
c       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
c     ^ data.txt",ACCESS='APPEND',STATUS='OLD')
c        WRITE(1,*) t,cs,fzb,dogs,cats
c       close(UNIT=1)        
c       
c      HINCHEY JOT CODE: TANK AUV
c
c    
c
c  
c      HINCHEY JOT CODE: PROP/TANK AUV
c       
c       if(cycle.eq.0) then 
c       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
c     ^ data.txt",STATUS='NEW')
c       close(UNIT=1)
c       endif            
c       if(cycle.eq.0) then 
c       sum=0.0
c       cs=0.0
c       rold=0.0 
c       aold=0.0
c       pold=0.0  
c       eold=0.0    
c       depth=dogs 
c       eold=command-depth       
c       endif
c       if(t.gt.on) then
c       depth=dogs  
c       enew=command-depth 
c       slope=(enew-eold)/delt 
c       control=gp*enew
c       control=control+gi*sum
c       control=control+gd*slope 
c       if(control>+dump) then
c        control=+dump 
c       endif
c       if(control<-dump) then
c        control=-dump 
c       endif 
c       sum=sum+delt*enew 
c       rnew=rold+delt*cats 
c       adot=(control-xyz*aold)/uvw
c       anew=aold+delt*adot
c       pdot=(paw-xyz*pold)/uvw
c       pnew=pold+delt*pdot
c       cs=anew
c       rold=rnew
c       aold=anew
c       pold=pnew 
c       eold=enew
c       endif    
c      results
c       if(cycle.eq.0) return       
c       open(UNIT=1,FILE="C:\\Users\\Hinchey\\Desktop\\
c     ^ data.txt",ACCESS='APPEND',STATUS='OLD')
c       WRITE(1,*) t,cs,dogs,cats
c       close(UNIT=1)
c               
c      HINCHEY JOT CODE: PROP/TANK AUV
c
c    
c       
c
      return
      end