I never understood why anyone would call xml human readable. It's a complete mess and most of the parsers only implement half of it.
JSON is more readable to me.
But if you really need something only for yourself/inhouse I would alwqays choose ini or an ini-based format.
You can choose arbitrary section names and use them to build hierarchies (e.g. [Engine\Renderer]).
If you need lists or tables, just use a csv-string, or make up your own format.
Of course you shouldn't use GetPrivateProfileString for performance and portability reasons. Write your own parser or use something like SDL_Config.
I wouldn't ever pick a comma to be a delimiter in my own formats to be honest. If you ever plan on distributing it and also support float types in that file you might run in to trouble with locale on certain machines.
Remember that in Europe most countries use "," as the decimal operator and not ".", this means that floats written out will be 0,05 instead of 0.05, the .x and .obj formats have tripped me up with this on several occasions.
Again on home project shouldn't be an issues but it's worth knowing about.