Dr. Abner Mallity has decided to build on his growing reputation as a flight control system designer and move out to the area of submarines.  Some of the members of the Antique Aircraft Association are also into personal submarines.  One of them, a big financial backer who managed not to go down in the crash and burn of the late internet era and who now makes her living on eBay is Selma Junkoff.  Selma has been trying to develop a personal submarine, and the Navy seems to have an interest in its development.  Not really learning from his past experience, Mallity has accepted the challenge of designing the control system for the personal submarine.  Again, he has a simulator for the system - shown below.