Add a configuration example to manpage

add configuration example of sending to UDP via IPv6 at
port 9999 while excluding some domains

also fix a typo in manpage

dnstap-sensor.8

@@ -108,7 +108,7 @@ Output additional logging to standard error for debugging.
 .TP
 .B --udp_output udp:\fIaddress\fB:\fIport\fB
 Send output NMSG data via UDP to \fIaddress\fR:\fIport\fR. The prefix \fBudp\fR
-may be replaced with \fBudp4\fR or \fBudp6\fR to force IPv4 of IPv6 transport.
+may be replaced with \fBudp4\fR or \fBudp6\fR to force IPv4 or IPv6 transport.
 
 A \fB--udp_output\fR may be specified instead of or in addition to server URIs.
 If both are specified, data will be sent to both the UDP output and one of the
@@ -230,3 +230,15 @@ Same as above, using config file, apikey file:
 
 	% dnstap-sensor -config /etc/dnstap-sensor/dnstap-sensor.conf
 .fi
+
+The following is a configuration example of sending to UDP via IPv6 at
+port 9999 while excluding some domains:
+
+.nf
+dnstap_input: /var/run/dnstap.sock
+udp_output: udp:[2001:0db8:1234:5678:90ab:cdef:1234:5678]:9999
+filter_qnames:
+   - host.example
+   - foo.invalid
+   - abcd.example.net
+.fi