<?xml version="1.0" encoding="UTF-8"?>
<configurations>
   <!-- Vehicle simulation parameters --> 
   <VehicleModel id="falcon">
    <sampling-time>0.1</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](50,20,0,0,0,0)</eta0>
    <nu0>[6](0,0,0,0,0,0)</nu0>
    
    <coupled>0</coupled>
    
    <process-noise>[6](0,0,0,0,0,0)</process-noise>
    <measurement-noise>[6](0,0,0,0,0,0)</measurement-noise>
   </VehicleModel> 
</configurations>