//
// 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 = CleanBerg.bo;
//mapFileName = AxialTiles2019;
mapFileName = SurRidgeTiles;
//mapFileName = SantaMonica800mMound_Topo1m_UTM_Small1m.bo;
//mapFileName = PortugueseLedge_20080424UTM_5mbump.bo;
//mapFileName = PortugueseLedgeOctree_SomewhatFilled_1m.bin;
//mapFileName = PLsubmapWest_2048.bo;
//mapFileName = PortTiles;
//mapFileName = PortugueseLedge_SmallTopo1m_UTM_Off25mWest.bo;
//mapFileName = PL_NorthSouthRacetracks_120m_DepthShift.bo;
//mapFileName = PL_NorthSouthRacetracks_100m.bo;
//mapFileName = PL_NorthSouthRacetracks_100m_EastShift.bo;
//mapFileName = PL_BoulderCrossRacetracks_120m.bo;
//mapFileName = PL_50percentDropout_ThinZ.bo;
//mapFileName = PL_BoulderCrossRacetracks_80m.bo;
//mapFileName = PL_20mPatchesDropout.bo;
//mapFileName = PL_50percentDropout_20mDepthShiftBelow4061650.bo;
map_type    = 2;
//terrainNavServer = 134.89.32.25;          //trn.shore.mbari.org
//terrainNavServer = 134.89.10.232;         //sandpiper-vm2
//terrainNavServer = 134.89.11.159;         //sandpiper-ubuntu18
terrainNavServer = 134.89.32.71;          //whitebirdauv (native Mac!)
//terrainNavServer = 134.89.33.77;            //whitebird-VM (cygwin on Mac)
//terrainNavServer = 134.89.32.107;         //Mapper 1 Reson
//terrainNavServer = 134.89.13.60;          //Kent's cygwin
//terrainNavServer = 134.89.11.49;          //Healy
//terrainNavServer = 134.89.11.15;          //Rockford
terrainNavPort = 27027;                     //Default.
//terrainNavPort = 28028;                     //not cross race track version
// On the Linux machine:  export TRN_DATAFILES="$AUV/config/imaging/"
// On the Windows/Cygwin machine:  export TRN_MAPFILES ="$AUV/G2TerrainNav/"
vehicleCfgName = mappingAUV_specs.cfg;
//dvlCfgName     = rdiDVL_specs.cfg;
//resonCfgName   = resonSeabat8101_specs.cfg;
particlesName = particles.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.
filterType = 2;               // 0 - Undefined.
		       	      // 1 - Point Mass (not tested recently)
		       	      // 2 - Particle Filter
		       	      // 3 - Particle Filter Bank (David).
//
// UseModifiedWeighting table below only applies to filterType 2, the Particle Filter.
//
useModifiedWeighting = 4;   // 0 - No weighting modifications.
		       	      // 1 - Shandor's original alpha modification.
		       	      // 2 - Crossbeam with Shandor's weighting.
		       	      // 3 - Subcloud with Shandor's original.
		       	      // 4 - Subcloud with modified NIS always on.

// David's April 2019 Trn code, filterType = 3.
//  filter configuration set by 1s digit
//  filter comparison set by 10s digit
//  Threshold for inter-filter distance (in stdev) set by 100s digit
//  threshold for inter filter weight ratio set by 10000s and 1000s digits

//useModifiedWeighting = 212;


allowFilterReinits = true;  //if true, filter is allowed to reinitialize due to
		     	    //data outages or changes in filter variance.
//		      
samplePeriod = 3000;        //milliseconds
//
//maxNorthingCov   = 49;     //meters^2
//maxEastingCov    = 49;     //meters^2
maxNorthingCov   = 200;    //meters^2
maxEastingCov    = 200;    //meters^2
maxNorthingError = 200;    //meters
maxEastingError  = 200;    //meters
//
RollOffset = 0.;               //Deg.; subtracted from sensor reading.
//
useIDTData = false;

useMbTrnData = true;

