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

// MIT Sailing Pavilion (PavLab)
LatOrigin = 42.358436
LongOrigin = -71.087448

<tag><pHostInfo>
//--------------------------------------------------
// pHostInfo Config Block
	
ProcessConfig = pHostInfo
{
  AppTick     = 1
  CommsTick   = 1

  default_hostip_force = $(IP_ADDR)
}

<tag><pShare>
//-------------------------------------------------
// pShare Config Block 

ProcessConfig = pShare
{
  AppTick    = 2
  CommsTick  = 2

	input = route =  $(IP_ADDR):$(PSHARE_PORT)
}

<tag><uLoadWatch>
//-------------------------------------------------
// uLoadWatch Config Block 

ProcessConfig = uLoadWatch 
{
  AppTick = 4
  CommsTick = 4

  thresh = app=any,      gapthresh=1.5
  thresh = app=iSay,     gapthresh=40.0 
  // iSay is blocking when it plays audio, ignore unless it gets too out of hand
}

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

ProcessConfig = uSimMarine
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS)
  prefix    = NAV

	turn_rate = 99
  //rotate_speed = 0.012
  //drift_x      = 0.0045

  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5
  //thrust_map = -100:-2, 0:0, 20:1, 40:2, 60:3, 80:5, 100:5

  deprecated_ok = true
}

<tag><iM300>
//--------------------------------------------------------
// iM300 Config Block
	
ProcessConfig = iM300
{
  AppTick    = 6
  CommsTick  = 6

	// iM300 needs to know the IP address of the M300 front seat
	// computer, from the perspective of the PABLO. This is different
	// than the IP of the front seat computer for users logging in from
	// outside the vehicle.

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

  warn_bad_nmea_len  = false   
  warn_bad_nmea_form = false   
	
	stale_thresh = 15
	
	max_rudder  = 50
	max_thrust  = 100
	drive_mode  = aggro
	ignore_msg  = $GPGLL, $GPGSV, $GPVTG, $GPZDA, $CPALT, $CPIMU, $GPGST, $GNGLL, $GNGSV, $GNVTG, $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_nave_msg_thresh parameter
 	heading_source = auto    

	// threshold in seconds, default is 1.5
	stale_gps_msg_thresh = 3
	
	nav_prefix 	= NAV
	gps_prefix	= GPS
	compass_prefix	= COMPASS

	// Publish the body-relative velocities for adaptive controller
	publish_body_vel = false				      
}