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pMarinePID Example MOOS Configuration                           
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ProcessConfig = pMarinePID                                      
{                                                               
  AppTick   = 20          // Default MOOS AppTick=4          
  CommsTick = 20          // Default MOOS CommsTick=4        
                                                                
  speed_factor    = 20    // Range [0,inf)                   
  sim_instability = 0     // Range [0,inf)                   
                                                                
  tardy_helm_threshold = 2.0                                    
  tardy_nav_threshold  = 2.0                                    
  active_start         = false    // or {true}               
  verbose              = terse    // or {verbose, quiet}     
                                                                
  // Yaw control configuration                                  
  yaw_pid_kp  = 0.5                                             
  yaw_pid_kd  = 0.1                                             
  yaw_pid_ki  = 0.012                                           
  yaw_pid_integral_limit = 0.07                                 
  yaw_pid_ki_limit       = 0.2                                  
  max_rudder  = 100                                             
                                                                
  // Speed control configuration                                
  speed_pid_kp = 0.8                                            
  speed_pid_kd = 0.1                                            
  speed_pid_ki = 0.11                                           
  speed_pid_ki_limit = 0.07                                     
  max_thrust   = 100                                            
                                                                
  // Depth control configuration                                
  depth_control      = true   // or {false}                  
  z_to_pitch_pid_kp  = 0.12                                     
  z_to_pitch_pid_kd  = 1.0                                      
  z_to_pitch_pid_ki  = 0.004                                    
  z_to_pitch_pid_integral_limit = 0.05                          
  max_pitch          = 15                                       
                                                                
  // Depth control configuration                                
  pitch_pid_kp       = 0.5                                      
  pitch_pid_kd       = 1.0                                      
  pitch_pid_ki       = 0                                        
  pitchp_id_integral_limit = 0                                  
  max_elevator       = 13                                       
}