//////////////////////////////////////////////////////////
// this is an entry level mission script for
// learning about a simulated environment
////////////////////////////////////////////////////////////


/////////////////////////////////////
//  global variables anyone can use them

ServerHost = localhost
ServerPort = 9000

//Vehicle Type
VehicleType = BLUEFIN

LatOrigin = 44.19722
LongOrigin = 9.541667
MagneticOffset = 0


Simulator = true

////////////////////////////////////////////////
// simulator block
ProcessConfig = uMVS
{
    ADD_AUV=  pose=[4x1]{7,3,4,0},name = AUV1,InputPrefix=AUV1_,OutputPrefix=AUV1_
    ADD_AUV=  pose=[4x1]{7,3,4,0},name = AUV2,InputPrefix=AUV2_,OutputPrefix=AUV2_
    
    TideHeight = 60

    //a few variables for the simulator..
    LogFile = SimLog.txt
    InstantLogAcoustics = true

    //what is standard deviation of noise on
    //TOF measurements? 1ms = 1.5 meters
    TOFNoise = 0.00066
}


ProcessConfig = uMVSMatlab
{
    AppTick     = 10
    CommsTick   = 10
    Port        = COM6
    BaudRate    = 4800
    Verbose     = false
    Streaming   = false
    MOOSComms = true
    SerialComms = false
    SERIAL_TIMEOUT = 10.0
    SUBSCRIBE = DB_TIME @ 0.0
}