//
// 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 = IcebergInTheBaySteve_1m.bo;
//mapFileName = TheWall_2m.bo;
mapFileName = theBerg_0deg_1m.bo;
//mapFileName = theBerg_0deg_1m_4069498_588897.bo;

map_type    = 2;
//terrainNavServer = 134.89.32.25;        //trn.shore.mbari.org
//terrainNavServer = 134.89.10.232;       //sandpiper-vm2
terrainNavServer = 134.89.33.88;          //whitebird-vm
//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_IcebergInTheBaySteve_1m.cfg;
//particlesName = particles_berg_30m_psirel_v2.cfg;
//particlesName = particles_berg_30m_psirel_big.cfg;
//particlesName = particles_berg_trk_100000_v1.cfg;
//particlesName = particles_berg_track_10000_v2.cfg;
//particlesName = particles_berg_UTM_v1.cfg;
particlesName = particles_berg_E1N1D0P10.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   = 9;      //meters^2
maxEastingCov    = 9;      //meters^2
maxDepthCov      = 16;     //meters^2
maxPsiBergCov    = .00274; //rad^2 => sigma = 3 deg
//maxNorthingError = 50;     //meters
//maxEastingError  = 50;     //meters
//
RollOffset = 0.;               //Deg.; subtracted from sensor reading.
//
useIDTData = false;
//
useDVLSide = true;
