//
// 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;
mapFileName =   Topo_Wall_2m_Small.bo;
map_type    = 2;
terrainNavServer = 134.89.32.25;        //trn.shore.mbari.org
terrainNavPort = 27027;                   //Default.
vehicleCfgName = mappingAUV_specs.cfg;
dvlCfgName     = rdiDVL_specs.cfg;
resonCfgName   = resonSeabat8101_specs.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.
