<tag><origin_warp>
MOOSTimeWarp = $(WARP)

// Forest Lake
// LatOrigin  = 43.825300 
// LongOrigin = -70.330400 

// MIT Sailing Pavilion                                                    
LatOrigin  = 42.358456  
LongOrigin = -71.087589 


<tag><pHostInfo>
//--------------------------------------------------
// pHostInfo config block

ProcessConfig = pHostInfo
{
  AppTick 	= 1
  CommsTick = 1

  default_hostip_force = $(IP_ADDR)
}

<tag><uSimMarine>
//------------------------------------------------------
// uSimMarine Config Block

ProcessConfig = uSimMarine
{
  AppTick   = 10
  CommsTick = 10

	deprecated_ok = true
  start_pos = $(START_POS), 180
  prefix    = NAV
}


<tag><uProcessWatch>
//------------------------------------------
// uProcessWatch config block

ProcessConfig = uProcessWatch                                   
{                                                               
  AppTick   = 4                                                 
  CommsTick = 4  

  watch_all = true
  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = uPokeDB*
  nowatch   = uQueryDB*

	summary_wait = 5
}
	
<tag><pShare>
//---------------------------------------------------------
// pShare config block

ProcessConfig = pShare
{
  AppTick    = 5
  CommsTick  = 5

  input = route = localhost:$(PSHARE_PORT)
}

	
<tag><iM300>
//---------------------------------------------------------
// iM300 config block

ProcessConfig = iM300
{
  AppTick    = 10
  CommsTick  = 10

	comms_type = client
  port       = 29500
	ip_addr    = $(FSEAT_IP)

	stale_thresh = 15
	
	max_rudder = 50
	max_thrust = 100
	drive_mode = normal
	ignore_msg = $GPGLL, $GPGSV, $GPVTG, $GPZDA, $CPALT, $CPIMU
	ignore_msg = $CPNVR, $GPGST, $CPRCM, $GNGLL, $GNGSV, $GNVTG,
	ignore_msg = $GNZDA, $GLGSV, $GNGSA, $GNTXT
	ignore_checksum_errors = true

	max_appcast_events = 8
  // max_appcast_run_warnings = 10

	// heading_source options are gps, imu, or auto where auto uses imu
	// when available and not timed out as defined in the stale_thresh
	// parameter
  heading_source = auto    

	// threshold in seconds, default is 1.5
	stale_thresh = 5
	
	nav_prefix     = NAV
	gps_prefix		 = GPS
	compass_prefix = COMPASS
}

	
<tag><iM300Health>
//------------------------------------------------
// iM300Health config block

ProcessConfig = iM300Health
{
   AppTick   = 4
   CommsTick = 4
   
   StaleTime = 3.0         //  Time until messages are considered stale
   MaxHeadingDelta = 5.0   //  Max Delta allowable between IMU and GPS

   LowBattThresh  = 13.0
   FullBattThresh = 14.4 
}