//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains NavigationModule parameters for Tethys.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count). 
// 
//////////////////////////////////////////////////////////////// 

   DeadReckonUsingMultipleVelocitySources.loadAtStartup         = 1 bool;
   DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier = 0.9 none;
   DeadReckonUsingMultipleVelocitySources.allowableFailures     = 20 count;
   DeadReckonUsingMultipleVelocitySources.orientationStaleAfter = 2 min;
   DeadReckonUsingMultipleVelocitySources.velocityStaleAfter    = 20 s;
   DeadReckonUsingMultipleVelocitySources.verbosity             = 0 count;

   DeadReckonUsingSpeedCalculator.loadAtStartup                 = 1 bool;
   DeadReckonUsingSpeedCalculator.accuracyPremultiplier         = 1.0 none;
   DeadReckonUsingSpeedCalculator.allowableFailures             = 20 count;
   DeadReckonUsingSpeedCalculator.orientationStaleAfter         = 2 min;
   DeadReckonUsingSpeedCalculator.velocityStaleAfter            = 20 s;
   DeadReckonUsingSpeedCalculator.verbosity                     = 0 count;

   DeadReckonWithRespectToWater.loadAtStartup                   = 0 bool;
   DeadReckonWithRespectToWater.accuracyPremultiplier           = 1.0 none;
   DeadReckonWithRespectToWater.allowableFailures               = 20 count;
   DeadReckonWithRespectToWater.orientationStaleAfter           = 2 min;
   DeadReckonWithRespectToWater.velocityStaleAfter              = 20 s;
   DeadReckonWithRespectToWater.verbosity                       = 0 count;

   DeadReckonWithRespectToSeafloor.loadAtStartup                = 0 bool;
   DeadReckonWithRespectToSeafloor.accuracyPremultiplier        = 1.0 none;
   DeadReckonWithRespectToSeafloor.allowableFailures            = 20 count;
   DeadReckonWithRespectToSeafloor.orientationStaleAfter        = 2 min;
   DeadReckonWithRespectToSeafloor.velocityStaleAfter           = 20 s;
   DeadReckonWithRespectToSeafloor.verbosity                    = 0 count;

   DeadReckonUsingDVLWaterTrack.loadAtStartup                   = 0 bool;
   DeadReckonUsingDVLWaterTrack.accuracyPremultiplier           = 1.0 none;
   DeadReckonUsingDVLWaterTrack.allowableFailures               = 20 count;
   DeadReckonUsingDVLWaterTrack.orientationStaleAfter           = 2 min;
   DeadReckonUsingDVLWaterTrack.velocityStaleAfter              = 20 s;
   DeadReckonUsingDVLWaterTrack.verbosity                       = 0 count;

   DeadReckonUsingCompactModelForecast.loadAtStartup            = 0 bool;
   DeadReckonUsingCompactModelForecast.accuracyPremultiplier    = 1.0 none;
   DeadReckonUsingCompactModelForecast.allowableFailures        = 20 count;
   DeadReckonUsingCompactModelForecast.orientationStaleAfter    = 2 min;
   DeadReckonUsingCompactModelForecast.velocityStaleAfter       = 20 s;
   DeadReckonUsingCompactModelForecast.verbosity                = 0 count;

   NavChart.loadAtStartup = 1 bool;
   NavChart.UseChartAltitude = 0 bool; // Set to 1 to use altitude from the charts. Otherwise, vehicle will use a measured value available

   // Monterey Bay, CA Nav Charts:
   NavChartDb.charts    = "US1WC07M,US2WC11M,US3CA52M,US4CA60M,US5CA50M,US5CA61M,US5CA62M,US5CA83M";
   // Cook Inlet, AK Nav Charts:
   // NavChartDb.charts = "US1WC07M,US2AK20M,US3AK12M,US3AK1DM,US3AK5KM,US4AK13M,US4AK14M,US4AK15M,US4AK1AM,US4AK1CM,US4AK1EM,US4AK5BM,US4AK5JM,US4AK5QM,US4AK5VM";
   // Baker Oilfield, AK Nav Charts
   // NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
   // Lake Michigan Nav Charts:
   // NavChartDb.charts = "US2MI01M,US2MI80M,US4IN01M,US4MI56M,US4MI57M,US4MI59M,US4MI89M,US4MI90M,US4WI03M,US4WI06M,US4WI33M,US4WI34M";
   // Hawaii Charts
   // NavChartDb.charts = "US2HA05M,US3HA20M,US4HA51M,US4HA51M,US5HA53M,US5HA55M"

   NavChartDb.cycleTimeout = 50 millisecond;

   UniversalFixResidualReporter.loadAtStartup = 1 bool;
   UniversalFixResidualReporter.verbosity     = 0 count;