	The development of GPOPS-II began in 2007. The code development name for the software was "OptimalPrime", but was changed to GPOPS-II in late 2012 in order to keep with the lineage of the original version of GPOPS which implemented global collocation using the Gauss pseudospectral method. The development of GPOPS-II continues today, with improvements that include the open-source algorithmic differentiation package ADiGator and continued development of formula_10-adaptive mesh refinement methods for optimal control.