//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This is an automatically generated data file that
//          contains the model parameters for Imaging.
//          This file is designed to be read in by the on-board
//          simulation as "simulator.cfg".
// AUTHOR:  Rob McEwen, Using modelCoef() by Knut Streitlien.
// DATE:    25-Jan-2011
// 
//////////////////////////////////////////////////////////////// 
// 
// Imaging Parameters, Knut/Matlab; 25-Jan-2011
// 
// Mass Properties:
// 
//mass   = 1015.587701;  // mass, kg.
//length =    5.219700;  // length, m.
 Ixx    =   32.000000;  // Ixx, kg-m^2.
 Iyy    = 1757.802554;  // Iyy, kg-m^2.
 Izz    = 1757.802554;  // Izz, kg-m^2.
// 
// Added Mass:
// 
 Yvdot  = -970.290157;  // Yvdot, kg.
 Zwdot  = -970.290157;  // Zwdot, kg.
 Xudot  =  -26.133175;  // Xudot, kg.
 Mqdot  =-1541.634893;  // Mqdot, kg-m^2.
 Nrdot  =-1541.634893;  // Nrdot, kg-m^2.
 Kpdot  =    0.000000;  // Kpdot, kg-m^2.
 Kvdot  =    0.000000;  // Kvdot, kg-m.
 Mwdot  =   98.390533;  // Mwdot, kg-m.
 Zqdot  =   98.390533;  // Zqdot, kg-m.
 Nvdot  =  -98.390533;  // Nvdot, kg-m.
 Yrdot  =  -98.390533;  // Yrdot, kg-m.
 Ypdot  =    0.000000;  // Ypdot, kg-m.
// 
// Stability Derivatives:
// 
 Kpabp  =   -0.287619;  // Kp|p| , kg-m^2
 Nuv    = -821.416574;  // Nuv   , kg    
 Nur    = -457.014465;  // Nur   , kg-m  
 Xvv    =  -65.220952;  // Xvv   , kg/m  
 Xww    =  -65.220952;  // Xww   , kg/m  
 Xvr    =  970.290157;  // Xvr   , kg    
 Xwq    = -970.290157;  // Xwq   , kg    
 Xrr    =   98.390533;  // Xrr   , kg-m  
 Xqq    =   98.390533;  // Xqq   , kg-m  
 Yuv    = -133.344014;  // Yuv   , kg/m  
 Yur    =   75.425595;  // Yur   , kg    
 Nrabr  =-2212.743973;  // Nr|r| , kg-m^2
 Mqabq  =-2212.743973;  // Mq|q| , kg-m^2
 Nvabv  =  451.779116;  // Nv|v| , kg    
 Ywp    =  970.290157;  // Ywp   , kg-m  
 Yrabr  =    0.000000;  // Yr|r| , ?     
 Yvabv  = -854.971671;  // Yv|v| , kg/m  
 Zwabw  = -854.971671;  // Zw|w| , kg/m  
 Mwabw  = -451.779116;  // Mw|w| , kg    
 Zqabq  =    0.000000;  // Zq|q| , ?     
 Muq    = -457.014465;  // Muq   , kg-m  
 Muw    =  821.416574;  // Muw   , kg    
 Mpr    = 1541.634893;  // Mpr   , kg-m^2
 Npq    =-1541.634893;  // Npq   , kg-m^2
 Zuq    =  -75.425595;  // Zuq   , kg    
 Zuw    = -133.344014;  // Zuw   , kg/m  
 Zvp    = -970.290157;  // Zvp   , kg    
// 
 Kvt2   =    0.000000;  // ?     , ?     
// 
// Actuator (Tailcone) Parameters:
// 
 stallAngle    =   30.000000;  //   , Deg.  
 wideHystRud   =    0.000000;  //   , Deg.  
 centerHystRud =    0.000000;  //   , Deg.  
 wideHystElev  =    0.000000;  //   , Deg.  
 centerHystElev=    0.000000;  //   , Deg.  
 aspectRatio   =    4.260000;  //   , Unitless  
 finArea       =    0.029900;  //   , m^2  
 CDc           =    0.723000;  // Coef. of Drag  , Unitless  
 dCL           =    4.800000;  // Coef. of Lift  , Unitless  
// 
// Initial Conditions:
// 
 initZ         =    0.00;   // Initial depth,    m    
 initU         =    0.000000;  // vel x wrto B    , m/s  
 initV         =    0.000000;  // vel y wrto B    , m/s  
 initW         =    0.000000;  // vel z wrto B    , m/s  
 initPsi       =  225.000000;  // Yaw   wrto LV   , Deg. 
 northCurrent  =    0.000000;  // vel x wrto LV   , m/s  
 eastCurrent   =    0.000000;  // vel y wrto LV   , m/s  
//
//Bottom Specification:
//
 // depth1        = 25.;    // Initial depth,      m    
 // depth2        = 25.;    // Second depth,       m    
 // depth3        = 8.;    
 // depth4        = 13.;    
 // depth5        = 20.;    
 // depth6        = 13.;    
 // depth7        = 20.;    
 // depth8        = 13.;    
 // depth9        = 20.;    
 // depth10       = 20.;    
 // ydepth1       = -450.;  // Init y location,  m    
 // ydepth2       = -390.;  // Second y loc,     m    
 // ydepth3       = -312.;  
 // ydepth4       = -310.;  
 // ydepth5       = -230.;  
 // ydepth6       = -220.;  
 // ydepth7       = -140.;  
 // ydepth8       = -130.;  
 // ydepth9       =  -50.;  
 // ydepth10      =    0.;  
 depth1        = 100.;    // Initial depth,      m    
 depth2        = 100.;    // Second depth,       m    
 depth3        = 100.;    
 depth4        = 100.;    
 depth5        = 100.;    
 depth6        = 100.;    
 depth7        = 100.;    
 depth8        = 100.;    
 depth9        = 100.;    
 depth10       = 100.;    
 ydepth1       = -450.;  // Init y location,  m    
 ydepth2       = -390.;  // Second y loc,     m    
 ydepth3       = -312.;  
 ydepth4       = -310.;  
 ydepth5       = -230.;  
 ydepth6       = -220.;  
 ydepth7       = -140.;  
 ydepth8       = -130.;  
 ydepth9       =  -50.;  
 ydepth10      =    0.;  

// Comment this out to resurrect the simple-bottom flat wall:
//mapFileName = Topo_Wall_2m_Small.bo;
mapFileName = PortTiles;
//mapFileName = PortugueseLedgeOctree_SomewhatFilled_1m.bin;
//mapFileName = CleanBerg.bo;
//mapFileName = TheWall_2m.bo;
//mapFileName = Topo_UpperCanyonTesting_2m_Wall_UTM_STEVE2.bo;
//mapFileName = Topo_Wall_2m_Small_STEVE2.bo;
//mapFileName = IcebergTestWallFromSoundings_UTM_2m.bo;
verticalMount = true;