Model {
  Name			  "xy_2006a"
  Version		  6.4
  MdlSubVersion		  0
  GraphicalInterface {
    NumRootInports	    0
    NumRootOutports	    0
    ParameterArgumentNames  ""
    ComputedModelVersion    "1.484"
    NumModelReferences	    0
    NumTestPointedSignals   0
  }
  SavedCharacterEncoding  "windows-1252"
  SaveDefaultBlockParams  on
  ScopeRefreshTime	  0.035000
  OverrideScopeRefreshTime on
  DisableAllScopes	  off
  DataTypeOverride	  "UseLocalSettings"
  MinMaxOverflowLogging	  "UseLocalSettings"
  MinMaxOverflowArchiveMode "Overwrite"
  UserBdParams		  "PhysicalModelingChecksum;PhysicalModelingParameterChecksum;PhysicalModelingProducts"
  PhysicalModelingChecksum "1649352997"
  PhysicalModelingParameterChecksum "1602456637"
  PhysicalModelingProducts "SimMechanics"
  Created		  "Wed Nov 14 20:57:54 2007"
  Creator		  "Frischgesell"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "Tim Feddern"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Sat Dec 15 13:05:02 2012"
  ModelVersionFormat	  "1.%<AutoIncrement:484>"
  ConfigurationManager	  "None"
  SampleTimeColors	  on
  LibraryLinkDisplay	  "none"
  WideLines		  on
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ShowTestPointIcons	  on
  ShowViewerIcons	  on
  SortedOrder		  off
  ExecutionContextIcon	  off
  ShowLinearizationAnnotations on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  on
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovMetricSettings	  "dw"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  covSaveCumulativeToWorkspaceVar on
  CovSaveSingleToWorkspaceVar on
  CovCumulativeVarName	  "covCumulativeData"
  CovCumulativeReport	  off
  CovReportOnPause	  on
  ExtModeBatchMode	  off
  ExtModeEnableFloating	  on
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock on
  BufferReuse		  on
  ShowModelReferenceBlockVersion off
  ShowModelReferenceBlockIO off
  Array {
    Type		    "Handle"
    Dimension		    1
    Simulink.ConfigSet {
      $ObjectID		      7
      Version		      "1.2.0"
      Array {
	Type			"Handle"
	Dimension		8
	Simulink.SolverCC {
	  $ObjectID		  8
	  Version		  "1.2.0"
	  StartTime		  "0.0"
	  StopTime		  "2"
	  AbsTol		  "auto"
	  FixedStep		  "dt"
	  InitialStep		  "auto"
	  MaxNumMinSteps	  "-1"
	  MaxOrder		  5
	  ConsecutiveZCsStepRelTol "10*128*eps"
	  MaxConsecutiveZCs	  "1000"
	  ExtrapolationOrder	  4
	  NumberNewtonIterations  1
	  MaxStep		  "auto"
	  MinStep		  "auto"
	  MaxConsecutiveMinStep	  "1"
	  RelTol		  "1e-3"
	  SolverMode		  "Auto"
	  Solver		  "ode3"
	  SolverName		  "ode3"
	  ZeroCrossControl	  "UseLocalSettings"
	  AlgebraicLoopSolver	  "TrustRegion"
	  SolverResetMethod	  "Fast"
	  PositivePriorityOrder	  off
	  AutoInsertRateTranBlk	  off
	  SampleTimeConstraint	  "Unconstrained"
	  RateTranMode		  "Deterministic"
	}
	Simulink.DataIOCC {
	  $ObjectID		  9
	  Version		  "1.2.0"
	  Decimation		  "1"
	  ExternalInput		  "[t, u]"
	  FinalStateName	  "xFinal"
	  InitialState		  "xInitial"
	  LimitDataPoints	  on
	  MaxDataPoints		  "1000"
	  LoadExternalInput	  off
	  LoadInitialState	  off
	  SaveFinalState	  off
	  SaveFormat		  "Array"
	  SaveOutput		  on
	  SaveState		  off
	  SignalLogging		  on
	  InspectSignalLogs	  off
	  SaveTime		  on
	  StateSaveName		  "xout"
	  TimeSaveName		  "tout"
	  OutputSaveName	  "yout"
	  SignalLoggingName	  "logsout"
	  OutputOption		  "RefineOutputTimes"
	  OutputTimes		  "[]"
	  Refine		  "1"
	}
	Simulink.OptimizationCC {
	  $ObjectID		  10
	  Version		  "1.2.0"
	  Array {
	    Type		    "Cell"
	    Dimension		    9
	    Cell		    "ZeroExternalMemoryAtStartup"
	    Cell		    "ZeroInternalMemoryAtStartup"
	    Cell		    "NoFixptDivByZeroProtection"
	    Cell		    "OptimizeModelRefInitCode"
	    Cell		    "BooleansAsBitfields"
	    Cell		    "PassReuseOutputArgsAs"
	    Cell		    "PassReuseOutputArgsThreshold"
	    Cell		    "UseSpecifiedMinMax"
	    Cell		    "InitFltsAndDblsToZero"
	    PropName		    "DisabledProps"
	  }
	  BlockReduction	  on
	  BooleanDataType	  on
	  ConditionallyExecuteInputs on
	  InlineParams		  off
	  InlineInvariantSignals  off
	  OptimizeBlockIOStorage  on
	  BufferReuse		  on
	  ExpressionFolding	  on
	  FoldNonRolledExpr	  on
	  LocalBlockOutputs	  on
	  RollThreshold		  5
	  SystemCodeInlineAuto	  off
	  StateBitsets		  off
	  DataBitsets		  off
	  UseTempVars		  off
	  ZeroExternalMemoryAtStartup on
	  ZeroInternalMemoryAtStartup on
	  InitFltsAndDblsToZero	  on
	  NoFixptDivByZeroProtection off
	  EfficientFloat2IntCast  off
	  OptimizeModelRefInitCode off
	  LifeSpan		  "inf"
	  BufferReusableBoundary  on
  EnforceIntegerDowncast   on
	}
	Simulink.DebuggingCC {
	  $ObjectID		  11
	  Version		  "1.2.0"
	  RTPrefix		  "error"
	  ConsistencyChecking	  "none"
	  ArrayBoundsChecking	  "none"
	  SignalInfNanChecking	  "none"
	  ReadBeforeWriteMsg	  "UseLocalSettings"
	  WriteAfterWriteMsg	  "UseLocalSettings"
	  WriteAfterReadMsg	  "UseLocalSettings"
	  AlgebraicLoopMsg	  "warning"
	  ArtificialAlgebraicLoopMsg "warning"
	  CheckSSInitialOutputMsg on
	  CheckExecutionContextPreStartOutputMsg off
	  CheckExecutionContextRuntimeOutputMsg	off
	  SignalResolutionControl "TryResolveAllWithWarning"
	  BlockPriorityViolationMsg "warning"
	  MinStepSizeMsg	  "warning"
	  TimeAdjustmentMsg	  "none"
	  MaxConsecutiveZCsMsg	  "error"
	  SolverPrmCheckMsg	  "none"
	  InheritedTsInSrcMsg	  "warning"
	  DiscreteInheritContinuousMsg "warning"
	  MultiTaskDSMMsg	  "warning"
	  MultiTaskCondExecSysMsg "none"
	  MultiTaskRateTransMsg	  "error"
	  SingleTaskRateTransMsg  "none"
	  TasksWithSamePriorityMsg "warning"
	  SigSpecEnsureSampleTimeMsg "warning"
	  CheckMatrixSingularityMsg "none"
	  IntegerOverflowMsg	  "warning"
	  Int32ToFloatConvMsg	  "warning"
	  ParameterDowncastMsg	  "error"
	  ParameterOverflowMsg	  "error"
	  ParameterUnderflowMsg	  "none"
	  ParameterPrecisionLossMsg "warning"
	  UnderSpecifiedDataTypeMsg "none"
	  UnnecessaryDatatypeConvMsg "none"
	  VectorMatrixConversionMsg "none"
	  InvalidFcnCallConnMsg	  "error"
	  FcnCallInpInsideContextMsg "Use local settings"
	  SignalLabelMismatchMsg  "none"
	  UnconnectedInputMsg	  "warning"
	  UnconnectedOutputMsg	  "warning"
	  UnconnectedLineMsg	  "warning"
	  SFcnCompatibilityMsg	  "none"
	  UniqueDataStoreMsg	  "none"
	  BusObjectLabelMismatch  "warning"
	  RootOutportRequireBusObject "warning"
	  AssertControl		  "UseLocalSettings"
	  EnableOverflowDetection off
	  ModelReferenceIOMsg	  "none"
	  ModelReferenceVersionMismatchMessage "none"
	  ModelReferenceIOMismatchMessage "none"
	  ModelReferenceCSMismatchMessage "none"
	  UnknownTsInhSupMsg	  "warning"
	  ModelReferenceDataLoggingMessage "warning"
	  ModelReferenceSymbolNameMessage "warning"
	  ModelReferenceExtraNoncontSigs "error"
	  StrictBusMsg		  "Warning"
  ModelReferenceSimTargetVerbose   off
	}
	Simulink.HardwareCC {
	  $ObjectID		  12
	  Version		  "1.2.0"
	  ProdBitPerChar	  8
	  ProdBitPerShort	  16
	  ProdBitPerInt		  32
	  ProdBitPerLong	  32
	  ProdIntDivRoundTo	  "Undefined"
	  ProdEndianess		  "Unspecified"
	  ProdWordSize		  32
	  ProdShiftRightIntArith  on
	  ProdHWDeviceType	  "32-bit Generic"
	  TargetBitPerChar	  8
	  TargetBitPerShort	  16
	  TargetBitPerInt	  32
	  TargetBitPerLong	  32
	  TargetShiftRightIntArith on
	  TargetIntDivRoundTo	  "Undefined"
	  TargetEndianess	  "Unspecified"
	  TargetWordSize	  32
	  TargetTypeEmulationWarnSuppressLevel 0
	  TargetPreprocMaxBitsSint 32
	  TargetPreprocMaxBitsUint 32
	  TargetHWDeviceType	  "32-bit Generic"
	  TargetUnknown		  off
	  ProdEqTarget		  on
	}
	Simulink.ModelReferenceCC {
	  $ObjectID		  13
	  Version		  "1.2.0"
	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
	  CheckModelReferenceTargetMessage "error"
	  ModelReferenceNumInstancesAllowed "Multi"
	  ModelReferencePassRootInputsByReference on
	  ModelReferenceMinAlgLoopOccurrences off
	}
	Simulink.RTWCC {
	  $BackupClass		  "Simulink.RTWCC"
	  $ObjectID		  15
	  Version		  "1.2.0"
	  Array {
	    Type		    "Cell"
	    Dimension		    15
	    Cell		    "IncludeHyperlinkInReport"
	    Cell		    "GenerateTraceInfo"
	    Cell		    "GenerateTraceReport"
	    Cell		    "GenerateTraceReportSl"
	    Cell		    "GenerateTraceReportSf"
	    Cell		    "GenerateTraceReportEml"
	    Cell		    "PortableWordSizes"
	    Cell		    "GenerateWebview"
	    Cell		    "GenerateCodeMetricsReport"
	    Cell		    "GenerateCodeReplacementReport"
	    Cell		    "GenerateErtSFunction"
	    Cell		    "CreateSILPILBlock"
	    Cell		    "CodeExecutionProfiling"
	    Cell		    "CodeProfilingSaveOptions"
	    Cell		    "CodeProfilingInstrumentation"
	    PropName		    "DisabledProps"
	  }
	  SystemTargetFile	  "grt.tlc"
	  GenCodeOnly		  off
	  MakeCommand		  "make_rtw"
	  GenerateMakefile	  on
	  TemplateMakefile	  "grt_default_tmf"
	  GenerateReport	  off
	  SaveLog		  off
	  RTWVerbose		  on
	  RetainRTWFile		  off
	  ProfileTLC		  off
	  TLCDebug		  off
	  TLCCoverage		  off
	  TLCAssert		  off
	  ProcessScriptMode	  "Default"
	  ConfigurationMode	  "Optimized"
	  ConfigAtBuild		  off
	  IncludeHyperlinkInReport off
	  LaunchReport		  off
	  TargetLang		  "C"
	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
	  IncludeERTFirstTime	  off
	  Array {
	    Type		    "Handle"
	    Dimension		    2
	    Simulink.CodeAppCC {
	      $ObjectID		      16
	      Version		      "1.2.0"
	      Array {
		Type			"Cell"
		Dimension		22
		Cell			"IgnoreCustomStorageClasses"
		Cell			"InsertBlockDesc"
		Cell			"SFDataObjDesc"
		Cell			"SimulinkDataObjDesc"
		Cell			"DefineNamingRule"
		Cell			"SignalNamingRule"
		Cell			"ParamNamingRule"
		Cell			"InlinedPrmAccess"
		Cell			"CustomSymbolStr"
		Cell			"CustomSymbolStrGlobalVar"
		Cell			"CustomSymbolStrType"
		Cell			"CustomSymbolStrField"
		Cell			"CustomSymbolStrFcn"
		Cell			"CustomSymbolStrBlkIO"
		Cell			"CustomSymbolStrTmpVar"
		Cell			"CustomSymbolStrMacro"
		Cell			"IgnoreTestpoints"
		Cell			"InsertPolySpaceComments"
		Cell			"MATLABFcnDesc"
		Cell			"InternalIdentifier"
		Cell			"CustomSymbolStrFcnArg"
		Cell			"ReqsInCode"
		PropName		"DisabledProps"
	      }
	      ForceParamTrailComments off
	      GenerateComments	      on
	      IgnoreCustomStorageClasses on
	      IncHierarchyInIds	      off
	      MaxIdLength	      31
	      PreserveName	      off
	      PreserveNameWithParent  off
	      ShowEliminatedStatement off
	      IncAutoGenComments      off
	      SimulinkDataObjDesc     off
	      SFDataObjDesc	      off
	      IncDataTypeInIds	      off
	      MangleLength	      1
	      CustomSymbolStrGlobalVar "$R$N$M"
	      CustomSymbolStrType     "$N$R$M"
	      CustomSymbolStrField    "$N$M"
	      CustomSymbolStrFcn      "$R$N$M$F"
	      CustomSymbolStrBlkIO    "rtb_$N$M"
	      CustomSymbolStrTmpVar   "$N$M"
	      CustomSymbolStrMacro    "$R$N$M"
	      DefineNamingRule	      "None"
	      ParamNamingRule	      "None"
	      SignalNamingRule	      "None"
	      InsertBlockDesc	      off
	      SimulinkBlockComments   on
	      EnableCustomComments    off
	      InlinedPrmAccess	      "Literals"
	      ReqsInCode	      off
	    }
	    Simulink.GRTTargetCC {
	      $BackupClass	      "Simulink.TargetCC"
	      $ObjectID		      17
	      Version		      "1.2.0"
	      Array {
		Type			"Cell"
		Dimension		16
		Cell			"IncludeMdlTerminateFcn"
		Cell			"CombineOutputUpdateFcns"
		Cell			"SuppressErrorStatus"
		Cell			"ERTCustomFileBanners"
		Cell			"GenerateSampleERTMain"
		Cell			"GenerateTestInterfaces"
		Cell			"MultiInstanceERTCode"
		Cell			"PurelyIntegerCode"
		Cell			"SupportNonInlinedSFcns"
		Cell			"SupportComplex"
		Cell			"SupportAbsoluteTime"
		Cell			"SupportContinuousTime"
		Cell			"GeneratePreprocessorConditionals"
		Cell			"ModelStepFunctionPrototypeControlCompliant"
		Cell			"CPPClassGenCompliant"
		Cell			"SupportNonFinite"
		PropName		"DisabledProps"
	      }
	      TargetFcnLib	      "ansi_tfl_tmw.mat"
	      TargetLibSuffix	      ""
	      TargetPreCompLibLocation ""
	      GenFloatMathFcnCalls  "ANSI_C"
	      UtilityFuncGeneration   "Auto"
	      GenerateFullHeader      on
	      GenerateSampleERTMain   off
	      GenerateTestInterfaces  off
	      IsPILTarget	      off
	      ModelReferenceCompliant on
	      IncludeMdlTerminateFcn  on
	      CombineOutputUpdateFcns off
	      SuppressErrorStatus     off
	      IncludeFileDelimiter    "Auto"
	      ERTCustomFileBanners    off
	      SupportAbsoluteTime     on
	      LogVarNameModifier      "rt_"
	      MatFileLogging	      on
	      MultiInstanceERTCode    off
	      SupportNonFinite	      on
	      SupportComplex	      on
	      PurelyIntegerCode	      off
	      SupportContinuousTime   on
	      SupportNonInlinedSFcns  on
	      EnableShiftOperators    on
	      ParenthesesLevel	      "Nominal"
	      ExtMode		      off
	      ExtModeStaticAlloc      off
	      ExtModeTesting	      off
	      ExtModeStaticAllocSize  1000000
	      ExtModeTransport	      0
	      ExtModeMexFile	      "ext_comm"
	      ExtModeIntrfLevel	      "Level1"
	      RTWCAPISignals	      off
	      RTWCAPIParams	      off
	      RTWCAPIStates	      off
	      GenerateASAP2	      off
	    }
	    PropName		    "Components"
	  }
	}
	SSC.SimscapeCC {
	  $ObjectID		  18
	  Version		  "1.2.0"
	  Array {
	    Type		    "Cell"
	    Dimension		    1
	    Cell		    "Name"
	    PropName		    "DisabledProps"
	  }
	  Array {
	    Type		    "Handle"
	    Dimension		    2
	    MECH.SimMechanicsCC {
	      $ObjectID		      19
	      Version		      "1.2.0"
	      Name		      "SimMechanics"
	      WarnOnRedundantConstraints on
	      WarnOnSingularInitialAssembly off
	      ShowCutJoints	      off
	      VisOnUpdateDiagram      off
	      VisDuringSimulation     off
	      EnableVisSimulationTime on
	      VisSampleTime	      "0"
	      DisableBodyVisControl   off
	      ShowCG		      on
	      ShowCS		      on
	      ShowOnlyPortCS	      off
	      HighlightModel	      on
	      FramesToBeSkipped	      "0"
	      AnimationDelay	      "3"
	      RecordAVI		      off
	      CompressAVI	      on
	      AutoFitVis	      "off"
	      EnableSelection	      on
	      LastVizWinPosition      "[701 171 895 724]"
	      CamPosition	      "[1.35818;1.35387;12.1006;]"
	      CamTarget		      "[1.35818;1.35387;0;]"
	      CamUpVector	      "[0;1;0;]"
	      CamHeight		      "8.53894"
	      CamViewAngle	      "0"
	      VisBackgroundColor      "[0.9;0.9;0.95;]"
	      DefaultBodyColor	      "[1;0;0;]"
	      MDLBodyVisualizationType "Convex hull from body CS locations"
	      OVRRIDBodyVisualizationType "NONE"
	    }
	    simmechanics.ConfigurationSet {
	      $ObjectID		      20
	      Version		      "1.2.0"
	      Description	      "SimMechanics 2G"
	      Array {
		Type			"Handle"
		Dimension		2
		simmechanics.DiagnosticsConfigSet {
		  $ObjectID		  21
		  Version		  "1.12.1"
		  Description		  "Diagnostics"
		  Name			  "DiagnosticsConfigSet"
		  SimMechanicsInvalidVisualProperty "warning"
		  SimMechanicsCrossSectionNullEdge "warning"
		  SimMechanicsUnconnectedFramePorts "warning"
		  SimMechanicsRedundantBlock "warning"
		  SimMechanicsConflictingReferenceFrames "warning"
		  SimMechanicsRigidlyBoundBlock	"error"
		  SimMechanicsUnsatisfiedHighPriorityTargets "warning"
		  SimMechanicsJointTargetOverSpecification "error"
		}
		simmechanics.ExplorerConfigSet {
		  $ObjectID		  22
		  Version		  "1.12.1"
		  Description		  "Explorer"
		  Name			  "ExplorerConfigSet"
		  SimMechanicsOpenEditorOnUpdate on
		}
		PropName		"Components"
	      }
	      Name		      "SimMechanics2G"
	    }
	    PropName		    "Components"
	  }
	  Name			  "Simscape"
	  EditingMode		  "Full"
	  ExplicitSolverDiagnosticOptions "warning"
	  GlobalZcOffDiagnosticOptions "warning"
	  SimscapeLogType	  "none"
	  SimscapeLogSimulationStatistics off
	  SimscapeLogName	  "simlog"
	  SimscapeLogDecimation	  1
	  SimscapeLogLimitData	  on
	  SimscapeLogDataHistory  5000
	}
	PropName		"Components"
      }
      Name		      "Configuration"
      ExtraOptions	      "-aGenerateTraceInfo=0 -aIgnoreTestpoints=0 "
      CurrentDlgPage	      "Solver"
  SimulationMode	  "normal"
    }
    PropName		    "ConfigurationSets"
  }
  Simulink.ConfigSet {
    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    7
  }
  BlockDefaults {
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
    Orientation		    "right"
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Arial"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Arial"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  BlockParameterDefaults {
    Block {
      BlockType		      Scope
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Array"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      SignalViewerScope
      Floating		      off
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Array"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
      Disabled		      off
      ScrollMode	      on
    }
  }
  System {
    Name		    "xy_2006a"
    Location		    [646, 351, 1251, 642]
    Open		    off
    ModelBrowserVisibility  on
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "a4letter"
    PaperUnits		    "centimeters"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Reference
      Name		      "Body"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [320, 30, 380, 70]
      SourceBlock	      "mblibv1/Bodies/Body"
      SourceType	      "Body"
      LConnTagsString	      "CS1"
      RConnTagsString	      "CS2"
      UpdateFromCAD	      "off"
      ClassName		      "Body"
      DialogClass	      "MechanicalBodyBlock"
      Mass		      "1"
      MassUnits		      "kg"
      InertiaUnits	      "kg*m^2"
      Inertia		      "eye(3)"
      Shape		      "Cylinder"
      ShapeDims		      "[1 1]"
      ShapeUnits	      "m"
      ShapeUse		      "false"
      Density		      "1"
      DensityUnits	      "kg/m^3"
      DensityUse	      "false"
      GraphicsMode	      "MACHINE_DEFAULT"
      BodyColorSelMode	      "MACHINE_DEFAULT"
      BodyColor		      "[1 0 0]"
      AttachedToCS	      "CG"
      CG		      "Left$CG$[0 0 0]$WORLD$WORLD$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$false$none"
      WorkingFrames	      "Left$CS1$[0 0 0]$CG$CG$m$[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none#Right$CS2$[0 0 0]$CG$CG$m$"
      "[0 0 0]$Euler X-Y-Z$deg$WORLD$true$none"
      CGPos		      "[0 0 0]"
      CGRot		      "[0 0 0]"
      CS0Pos		      "[]"
      CS0Rot		      "[]"
      CS1Pos		      "[0 0 0]"
      CS1Rot		      "[0 0 0]"
      CS2Pos		      "[0 0 0]"
      CS2Rot		      "[0 0 0]"
      CS3Pos		      "[]"
      CS3Rot		      "[]"
      CS4Pos		      "[]"
      CS4Rot		      "[]"
      CS5Pos		      "[]"
      CS5Rot		      "[]"
      CS6Pos		      "[]"
      CS6Rot		      "[]"
      CS7Pos		      "[]"
      CS7Rot		      "[]"
      CS8Pos		      "[]"
      CS8Rot		      "[]"
      CS9Pos		      "[]"
      CS9Rot		      "[]"
      CS10Pos		      "[]"
      CS10Rot		      "[]"
      CS11Pos		      "[]"
      CS11Rot		      "[]"
      CS12Pos		      "[]"
      CS12Rot		      "[]"
      CS13Pos		      "[]"
      CS13Rot		      "[]"
      CS14Pos		      "[]"
      CS14Rot		      "[]"
      CS15Pos		      "[]"
      CS15Rot		      "[]"
      CS16Pos		      "[]"
      CS16Rot		      "[]"
      CS17Pos		      "[]"
      CS17Rot		      "[]"
      CS18Pos		      "[]"
      CS18Rot		      "[]"
      CS19Pos		      "[]"
      CS19Rot		      "[]"
      CS20Pos		      "[]"
      CS20Rot		      "[]"
    }
    Block {
      BlockType		      Reference
      Name		      "Ground"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [105, 30, 145, 70]
      UserDataPersistent      on
      UserData		      "DataTag0"
      SourceBlock	      "mblibv1/Bodies/Ground"
      SourceType	      "Ground"
      UpdateFromCAD	      "off"
      LeftPortType	      "env"
      RightPortType	      "workingframe"
      PhysicalDomain	      "Mechanical"
      DialogClass	      "GroundBlock"
      ClassName		      "Ground"
      CoordPosition	      "[0 0 0]"
      CoordPositionUnits      "m"
      StateVectorMgrId	      "-1"
      MachineId		      "[0 0]"
      ShowEnvPort	      on
    }
    Block {
      BlockType		      Reference
      Name		      "Machine\nEnvironment"
      Tag		      "Factory ground"
      Ports		      [0, 0, 0, 0, 0, 0, 1]
      Position		      [35, 35, 65, 65]
      SourceBlock	      "mblibv1/Bodies/Machine\nEnvironment"
      SourceType	      "Machine Environment"
      PortType		      "env"
      PhysicalDomain	      "Mechanical"
      ClassName		      "Environment"
      DialogTemplateClass     "MECH.MachineEnvironment"
      SyncWhenCopied	      "off"
      Gravity		      "[0 -gerd 0]"
      GravityUnits	      "m/s^2"
      GravityAsSignal	      off
      Dimensionality	      "Auto-detect"
      AnalysisType	      "Forward dynamics"
      LinearAssemblyTolerance "1e-3"
      LinearAssemblyToleranceUnits "m"
      AngularAssemblyTolerance "1e-3"
      AngularAssemblyToleranceUnits "rad"
      ConstraintSolverType    "Stabilizing"
      ConstraintRelTolerance  "1e-4"
      ConstraintAbsTolerance  "1e-4"
      UseRobustSingularityHandling off
      RedundancyAnalysisToleranceType "Automatically select tolerance"
      RedundancyAnalysisTolerance "1e-14"
      StatePerturbationType   "Fixed"
      PerturbationSize	      "1e-5"
      VisualizeMachine	      on
      BodyVisualizationType   "Use model default body geometries"
      BodyColorSelMode	      "Use model default"
      DefaultBodyColor	      "[1 0 0]"
    }
    Block {
      BlockType		      Reference
      Name		      "Revolute"
      Ports		      [0, 0, 0, 0, 0, 1, 1]
      Position		      [210, 25, 260, 75]
      SourceBlock	      "mblibv1/Joints/Revolute"
      SourceType	      "Revolute"
      LConnTagsString	      "__newl0"
      RConnTagsString	      "__newr0"
      UpdateFromCAD	      "off"
      NumSAPorts	      "0"
      CutJoint		      "off"
      MarkAsCut		      "off"
      Primitives	      "prismatic"
      PrimitiveProps	      "R1$WORLD$[0 0 1]$revolute"
      ClassName		      "Joint"
      DialogClass	      "JointBlock"
      R1Axis		      "[0 0 1]"
    }
    Block {
      BlockType		      Scope
      Name		      "Floating\nScope1"
      Ports		      []
      Position		      [185, 14, 215, 46]
      IOType		      "viewer"
      Floating		      on
      Location		      [376, 294, 700, 533]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData6"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Scope
      Name		      "Floating\nScope2"
      Ports		      []
      Position		      [185, 14, 215, 46]
      IOType		      "viewer"
      Floating		      on
      Location		      [376, 294, 700, 533]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      SaveName		      "ScopeData7"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      SignalViewerScope
      Name		      "Scope1"
      Ports		      []
      Position		      [20, 15, 60, 55]
      IOType		      "viewer"
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      ShowDataMarkers	      off
      ShowLegends	      off
      MaxDataPoints	      "7500"
      RefreshTime	      
    Block {
      BlockType		      Reference
      Name		      "XY Graph1"
      Ports		      [2]
      Position		      [110, 15, 140, 50]
      IOType		      "viewer"
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "-1"
      xmax		      "1"
      ymin		      "-1"
      ymax		      "1"
      st		      "-1"
    }0.035000
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Machine\nEnvironment"
      SrcPort		      RConn1
      DstBlock		      "Ground"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute"
      SrcPort		      RConn1
      DstBlock		      "Body"
      DstPort		      LConn1
    }
    Line {
      LineType		      "Connection"
      SrcBlock		      "Revolute"
      SrcPort		      LConn1
      DstBlock		      "Ground"
      DstPort		      RConn1
    }
  }
}
MatData {
  NumRecords		  1
  DataRecord {
    Tag			    DataTag0
    Data		    "  %)30     .    :     8    (    !          %    \"     $    T     0         0    -    '1P8C X.#0S-3A?93"
    "AC-U\\T.#4V7V%F939?9F8S.#(W93(V,F1B7W-A=F5A<R]'<F]U;F0     "
  }
}
Stateflow {
  machine {
    id			    1
    name		    "tpb0884358_e8c7_4856_afe6_ff3827e262db_saveas"
    created		    "14-Nov-2007 21:08:38"
    isLibrary		    0
    firstTarget		    2
    sfVersion		    64014000.000000
  }
  target {
    id			    2
    name		    "sfun"
    codeFlags		    " debug=1 overflow=1 echo=1"
    machine		    1
    linkNode		    [1 0 3]
  }
  target {
    id			    3
    name		    "rtw"
    codeFlags		    " comments=1 statebitsets=1 databitsets=1 emitlogicalops=1 elseifdetection=1 constantfolding=1 redu"
    "ndantloadelimination=0 preservenames=0 preservenameswithparent=0 exportcharts=0"
    machine		    1
    linkNode		    [1 2 0]
  }
}