//
// Map file name:
//
//mapFileName = C502m200610Topo.grd;
//mapFileName = canyonDataUTMG3.grd;
//mapFileName = PortugueseLedge1stTopoUTM_Mod.grd;
//mapFileName = PortugueseLedge20080424TopoUTM_NoNan.grd;
//mapFileName = 20070618Topo1mUTM_new.grd;
//mapFileName = SoquelCanyon1998em300_NoNan_20m.grd;
//mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd;  (before client/server)
//mapFileName = SoquelCanyon/SoquelCanyonTopo3dPointsDEM_1m.txt;
//mapFileName = SoquelCanyon/SoquelCanyonMAUVUTMTopo_061709cut.grd;
//mapFileName = SoquelCanyon/SoquelCanyonMAUVUTMTopo_061709cut_Shift30m.grd;
// On the Linux machine:  export TRN_MAPFILES ="$AUV/config/imaging/"
// On the Windows/Cygwin machine:  export TRN_MAPFILES ="$AUV/G2TerrainNav/Maps/"
//mapFileName = PortugueseLedgeOctree_SomewhatFilled_1m.bin;
//mapFileName = IcebergTestWallFromSoundings_UTM_2m.bo;
//mapFileName = Topo_Wall_2m_Small.bo;
mapFileName = TheWall_2m.bo;
map_type    = 2;
//terrainNavServer = 134.89.32.25;        //trn.shore.mbari.org
terrainNavServer = 134.89.10.232;         //sandpiper-vm2
//terrainNavServer = 134.89.10.239;         //bluecoat
//terrainNavServer = 134.89.32.110;         //reson
terrainNavPort = 27027;                   //Default.
// On the Linux machine:  export TRN_DATAFILES="$AUV/config/imaging/"
// On the Windows/Cygwin machine:  export TRN_MAPFILES ="$AUV/G2TerrainNav/"
vehicleCfgName = mappingAUV_specsSide20.cfg;
//dvlCfgName     = rdiDVL_specs.cfg;
//resonCfgName   = resonSeabat8101_specs.cfg;
//particlesName  = particles_860v2.cfg;
particlesName  = particles900v1.cfg;

forceLowGradeFilter  = false;  //if true,filter performs angular rate 
		      	 //integration and estimates attitude and position.
		      	 //if false, filter will choose its settings based on 
			 //whether the kearfott system is available.
useModifiedWeighting = true;  //if true, filter used Shandor's modified weighting
							//to prevent overconfidence in flat terrain.
allowFilterReinits = true;  //if true, filter is allowed to reinitialize due to
		     	    //data outages or changes in filter variance.

//		      
samplePeriod = 3000;        //milliseconds
//
//maxNorthingCov   = 30;     //meters^2
//maxEastingCov    = 30;     //meters^2
//maxNorthingError = 50;     //meters
//maxEastingError  = 50;     //meters
//
RollOffset = 0.;               //Deg.; subtracted from sensor reading.
//
// useIDTData = true shuts off Dvl going to trn, and replaces it with Idt.
// The Dvl data is still logged.
useIDTData = true;
//
useDVLSide = true;
