Below you can download documentation about MOOS. You should definitely look at the MOOS V10 Tutorial - it is has a real focus on the communications API. 

This site is about V10 of MOOS in particular the software which handles interprocess communications. 95 % of the changes between V10 and the previous versions are to do with its core functionality - in particular the communications facilities and the classes it provides which make writing communicating applications simple, lightweight and fast.So if you are already a MOOS user, we suggest you download the Using MOOSV10 document in the table below. 

Document / use	Download	Date Changed
Using MOOS V10 - what is new?		21 July 2013
A MOOS Tutorial		21 July 2013
Sharing Data with pShare	Download	21 July 2013