<?xml version="1.0" encoding="UTF-8"?>
<configurations>
  <!-- Vehicle simulation parameters --> 
  <VehicleModel id="falcon">
    <sampling-time>10</sampling-time>
    <mass>185</mass>
    <gravity>10</gravity>
    <inertia-matrix>diag([3](30,30,50))</inertia-matrix>
    <rg>[3](0,0,0)</rg>
    <rb>[3](0,0,0)</rb>
    <rho>1025</rho>
    <lift-force>1850</lift-force>
    <added-mass>diag([6](80,80,80,15,30,30))</added-mass>
    <linear-damping>diag([6](100,100,100,400,300,300))</linear-damping>
    <quadratic-damping>diag([6](0,0,0,0,0,0))</quadratic-damping>
    <eta0>[6](0,0,0,0,0,0)</eta0>
    <nu0>[6](0,0,0,0,0,0)</nu0>
    <coupled>0</coupled>
  </VehicleModel> 
  
  <!-- Specify the desired plugin to load in the UUV control -->
  <plugin name="vrsim-plug" id="falcon"/>
  
  <!-- iUUVModem configuration -->
  <UUVModem id="default">
	 <param name="PortName" value="/dev/pts/9"/>
	 <param name="BaudRate" value="4800"/>
	 <param name="FlowControl" value="none"/>
	 <param name="Parity" value="none"/>
	 <param name="StopBits" value="1"/>
 	 <param name="DataBits" value="8"/>
  </UUVModem>
  
  <textparam>This is a test case</textparam>
</configurations>