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This paper presents the development of an attitude complementary filter for an attitude and heading reference system (AHRS). Using strapdown inertial measurements and vector observations, the proposed complementary filter provides attitude estimates in Euler angles representation, while compensating for rate gyro bias. Stability and performance properties of the proposed filter under operating conditions usually found in oceanic applications are derived, and the tuning of the filter parameters in the frequency domain is emphasized. The proposed solution poses small computational requirements, and is suitable for implementation on low-power hardware using low-cost sensors. Experimental results obtained with an implementation of the algorithm running on-board the DELFIMx catamaran are presented and discussed.