<?xml version="1.0" encoding="UTF-8"?>
<configurations>
	<!-- Videoray config parameters --> 
   	<UUVApp id="vr3">
   		<!-- Serial config parameters -->
   		<param name="PortName" value="/dev/ttyUSB0"/>
	 	<param name="BaudRate" value="115200"/>
	 	<param name="FlowControl" value="none"/>
	 	<param name="Parity" value="none"/>
	 	<param name="StopBits" value="1"/>
 	 	<param name="DataBits" value="8"/>
 	 	
 	 	<!-- Revolution limits -->
 	 	<revLimit min="-220" max="220" />
 	 	<lightLimit min="0" max="200" />
 	 	
 	 	<!-- Thruster mappings -->
 	 	<thruster-param an="0.0003" bn="0.0001389" />
 	 	
 	 	<!-- Depth mappings -->
 	 	<depth-map low="116" high="291" psiHigh="50" psiLow="0" />
 	 	
 	 	<!-- Enable Vr4 protocol -->
 	 	<vr4>1</vr4>
 	 	
   </UUVApp> 
</configurations>