This is not the first time I've come to Udipi, and trust me, I don't always find myself tucked into a random town near Pittsburgh. I first tried Udipi a year ago and loved it. The food was mind blowing, authentic. The service (or slight lack thereof) was also authentic. And the prices were great. So no surprise, I asked my friend that we have to come back here the next time I was in town, and that we did.
There is nothing on the menu I wouldn't recommend, basically you can have anything you want and it will be authentic, so it's more up to what you'd like to have in your dosas and whatnot. Keep in mind this is a vegetarian place. The chana batura is one of their highlights because it comes as this GIANT puffed thing and is really fun to photograph. I got the spring dosa which was promptly inhaled. If you are able to make the trip out here, I definitely recommend it!