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Rev 1588 Rev 1590
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        <parameter name="gyroATTFilterConstant" value="1" />
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        <parameter name="gyroATTFilterConstant" value="1" />
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        <parameter name="gyroDFilterConstant" value="1" />
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        <parameter name="gyroDFilterConstant" value="1" />
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        <parameter name="accFilterConstant" value="15" />
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        <parameter name="accFilterConstant" value="15" />
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        <parameter name="zerothOrderCorrection" value="10" />
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        <parameter name="zerothOrderCorrection" value="10" />
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        <parameter name="zerothOrderCorrectionAccTolerance" value="50" />
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        <parameter name="zerothOrderCorrectionAccTolerance" value="20" />
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        <parameter name="zerothOrderCorrectionControlTolerance" value="50" />
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        <parameter name="zerothOrderCorrectionControlTolerance" value="60" />
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        <parameter name="maxControlActivity" value="0" />
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        <parameter name="maxControlActivity" value="0" />
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        <parameter name="maxAccVector" value="0" />
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        <parameter name="maxAccVector" value="0" />
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        <parameter name="driftCompDivider" value="2" />
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        <parameter name="driftCompDivider" value="2" />
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        <parameter name="driftCompLimit" value="0" />
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        <parameter name="driftCompLimit" value="0" />
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        <parameter name="levelCorrectionPitch" value="var1" />
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        <parameter name="levelCorrectionPitch" value="var1" />
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        <parameter name="levelCorrectionRoll" value="var2" />
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        <parameter name="levelCorrectionRoll" value="var2" />
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        <parameter name="airpressureFilterConstant" value="8" />
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        <parameter name="airpressureFilterConstant" value="8" />
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        <parameter name="airpressureWindowLength" value="0" />
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        <parameter name="airpressureWindowLength" value="0" />
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        <parameter name="airpressureDWindowLength" value="32" />
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        <parameter name="airpressureDWindowLength" value="32" />
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        <parameter name="airpressureAccZCorrection" value="184" />
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        <parameter name="airpressureAccZCorrection" value="184" />
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        <parameter name="heightP" value="120" />
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        <parameter name="heightP" value="110" />
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        <parameter name="heightI" value="100" />
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        <parameter name="heightI" value="90" />
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        <parameter name="heightD" value="25" /> <!-- 30 -->
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        <parameter name="heightD" value="25" /> <!-- 30 -->
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        <parameter name="heightSetting" value="var0" />
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        <parameter name="heightSetting" value="var0" />
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        <parameter name="heightControlMaxIntegralIn" value="125" />
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        <parameter name="heightControlMaxIntegralIn" value="125" />
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        <parameter name="heightControlMaxIntegralOut" value="75" />
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        <parameter name="heightControlMaxIntegralOut" value="75" />
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                <bit name="UNUSED" value="0" />
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                <bit name="UNUSED" value="0" />
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        </parameter>
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        </parameter>
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        <parameter name="naviMode" value="var0" />
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        <parameter name="naviMode" value="var0" />
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        <parameter name="naviStickThreshold" value="50" />
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        <parameter name="naviStickThreshold" value="50" />
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        <parameter name="naviStickLimit" value="50" />
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        <parameter name="naviStickLimit" value="25" />
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        <parameter name="GPSMinimumSatellites" value="6" />
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        <parameter name="GPSMinimumSatellites" value="6" />
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        <parameter name="naviP" value="30" />
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        <parameter name="naviP" value="30" />
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        <parameter name="naviI" value="60" />
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        <parameter name="naviI" value="60" />
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        <parameter name="naviD" value="40" />
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        <parameter name="naviD" value="60" />
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        <parameter name="userparam0" value="0" />
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        <parameter name="userparam0" value="0" />
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        <parameter name="userparam1" value="0" />
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        <parameter name="userparam1" value="0" />