I have the Active 30i and the options are basically useless to me except I have the longer time for cleaning set as my default but with a new S200 or A20 there is an easy work around using "Automation Mode". And can remotely turn unit off and on and set a schedule, so you can have it run several times instead of longer cleaning and in my opinion is what I really want (anyone want to trade?). From what I read here on the form The Pentair Warrior has 2 models one an analogous to the S200/A20 and the other an analogous to the S300/A30. If I remember correctly, the price was $699 for one and $750 for the other. In that case I would spend the extra $50 because I believe you get the course filter that fits inside the fine filter. I use both all the time, the coarse filter grabs the bigger stuff so my fine filter lasts longer before cleaning. I find I need to clean the filter after 3 cycles because my fine filter is pretty clogged (these robots definitely clean better than anything else I have seen, you think you have a clean pool till you run it and see all the silt and dirt that you have trapped.) As far as the cord tangling, the major culprit for the tangle is the robot going in circles and causing line twists, not the user tangling, however if you do not coil it properly (over/under method mentioned above) that can add to the problem. Originally they said the robot was smart enough to prevent tangles but the robot is not very smart at all, they finally put a swivel on the line which helps but it is not the greatest swivel and still tangles, or twists may be the more appropriate word. I have the caddy but in my opinion not worth the cost. I would not store the robot sitting on a flat surface because it will flatten the brushes but a couple of 4x4s can solve that problem. If you want it to hold the control box it does do that very well but it is flimsy and does not roll over grass well. My thought is if it were used to pull over grass day in and day out it will break if not carefully used. I think a DIY would be much cheaper and function better with larger wheels. The caddy is very light though. By the way I also have a 20x40 pool and if outlet isn't positioned properly the cord would not be long enough and when the twists occur it acts like a shorter cord and won't let the robot reach the far end of my pool. Ussually after 3 cycles, but then I need to clean filters anyway. So leaving in pool for a week unattended on the timer is not so great either and my robot misses some spots in the pool and takes 2-3 cycles to get all the areas clean so it is pretty much an everyday thing for me.