I think I'm on the right track. This is the highest I've managed to get my p (2.4) value and when I make a move of 4000 the graph looks good. When I make a move of up to 40,000 it looks like the position lags substantially. When the move is 400 it looks like the position overshoots. I have to graph for 3 seconds before the output line settles down. I don't know how to evaluate the quality of information I get from these graphs. I either look as though i'm way off or doing well based on the size of the move.

I am hoping someone here could give me some insight about what info to let guide my next move...