From c5d59282122926f37c575bbc7e380bde95ab496f Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 25 Feb 2026 15:38:27 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E8=B7=B3=E8=B7=83?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf | Bin 1207076 -> 1207100 bytes MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex | 14535 +++++++++--------- User/module/balance_chassis.c | 4 +- User/module/config.c | 31 +- 4 files changed, 7286 insertions(+), 7284 deletions(-) diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf index b84942448e272ca0bac276ee5e6a087b2e0be3b9..62d5713c317698a5f8a9179cf23ad1e983627327 100644 GIT binary patch delta 77203 zcmZ_030zgh`#*kW&Y8;r0a+E0-BJ+c|Xt0JhSh2+x6Z@uJ=y& zXB(3|q$8_>o3wN9Nz}zEQ62H^9V@AO(ugYk=Wk12qRvW`bbL%NqMls!QOi}?UVgKN zNouH4Lw`VC26_l`9JA`L)~nJLci%olow|^yt3X>o3(Uc!4IMUS)x4(WR1z=G8bi#Z zNuw_b^y(rCl;cE#pw^F*X9WdyZeIF{vWfEd;r|u*k=DX_qWT$z6 z<7;G*`3uKiNZ!78oj!IVt@ago9c84%ywk5anPC3IuLJ38c5m>2v@w@8Xh-&%Tl)7V zPtCLZ`;v$Ie)4ZleG4m_7CQMYFEBVc7CQQ=g{oh6VXTv@o!mEn+_(dRJ>0m90t3sM26?`Dw5F_lj3l_f_xPq#3j6R3GRH;+d-%cQ%vv4;E6v7sgUtzT2iiP$ZB@^sOWA@4am86Ly{@k? z7q;~?r?xV9q*c7?e^~|mZ`b`sqyEim-Go$_x3ms-zh5pajD2b0BlDlFx7gyyY*WwE z*=jd1)@I-Y^Dk|JJ>G!7nYH{4FaM8$Kew&tKI=t|fp)LInG4zmyPqz5)oYG9sNL7L zC?B<}M;@3-`f-B4754q+>p%x7^Rh2HNh({(Cmxb*iJK{|pP0W&Np5Ngj zX=v^r6;9qa&x+~*-+Q9GNuK#kR1?zH{3NOs`OX|1?M<@H9ik&hxp`c4tI!XtrLfzV zLbFknD}5~Of6(i(rCM?dbG)2-Ak64sNjBe!_BCIMb|r#q8tImh zWU$ON*YDVbxS6|k+}ZA>R2I^qkh;H+j7RfQV`BCu_o{ChbwtEq2$TPKfeMq{OFG`a zc$Yb-)3?mKOmLSwjqbi{AY!2O@d+}}8YwMKt7BP#>Shn)Ro|%x;Oqa@^+{p3w zGMeiZ>S+1hyrpw5$8nXy{geOBj&@gP3Bj>$W1atx>(Bbb;h>@Uk`kX@%6#?o2uNTKzz4XDbKeiD$i%l zaI3xLGpFBTa6WwdKn5MTu^fRX|6?xLKCNZH9X>+}Gg#1n%Hu7t23Z<#`W$ z?^?eoIIu){ej+iuFh1VN#o|~F#z}d8I?=@<+xQ&tRb@5!Iq;=6{u1~i8-ES_<1*#> ztwd+b1M`l!4&HJ_c45rf?84qomcl+x*@b=mh^5T@Jg$F(sTIoeD>JSYxH_#V@BoGT zT`Oqp7isdcj5m+&9?hm!`B_eyH+5gknu42cj_7eT{7b9I8du8~_&VeJIldnFa(qSB zT&%3gnqSTCJ)f{Hm424xW@h??Su6Z3@#dALFCwN_Dn+}9Qj|@j5Ys=fE*_Tkb`tTv z1KB~y_EX{d-8`&UaF@TT^o}myRg~8PKg(+5MvPy}`_geq+TY#JvP5^k2e+SPk(uHDaH3!*S0{rLMLVH79-K(Q)^Z~_QM{YV z!}h#DeLR{^my&GD(cGklK;N_KB~Wx)Vnxk}mt~=z0_0>eD~gAEw(e%nugnycg9LY+ zZxS`6uEp>|_lQ~o&{Wq_T`k<~`RZu|JziZ)iS8ElhCSa3tgfY?20;yC&-d!cJ)56X zGemtN!L8x%rcLWwOpW_WH7go#5cR8-$=NcxYQCsqf*oF^8-PmoTftH%XN$=e;c1(@ ztIeHbbGNs-&)M89Z0<`ocVnCTn#~oNvszp7dt{7BlsMOfm5@_vT z;$!}npEQ6w|UY6@hU`GY=votze> znWS*ZVpwF(>GQ_$84B@&f`rAF1I_06qDH6q`d-yF4^MDP1&l$j8|Z&u<0>K$K2 zO_3vFEJn!~_T+LT3@a}kX|6kNN9c1BZxUU29FTx&(XpZzkjm17;O^?&K5$MU!HX+Pcklan{7ytlT^W2>Y>H>WQOxL;}^aax4ztSUu0CB2FH*{?|f zl+4-paN?h?WXisuX1yJNDP{yeO!0ZJKFC0__BmuOrX+pes;!p|R2sBz{EjR~GH{>E zK2L?jn}fAqsWfn3p;oQv-y@ZEp=8cKcTjw`pMRZ71I#7oN8z*YjSJ@-N!h;88yzUw zx$mu;|1)?GXw#!4wlgwX205R2ShsVJ68C+B?lxiGvs(8k>D>k})x{6%h6>Tj`$29l zQLg4BfUa-V?OzgOK3wwgtH{2-rFRYFuDN;jPh|AIr`6{bZ^tpF;>91p53vR2X(}$# zev`>k>R!~^RJ>y@aC&NdNRp}KT|O1Qi8~+UK;9*>{HOyN=`tWzc;0|+t5?Yat%*vm zlKC-J15AlyETsp^`#)MzXQ=5(X@{y|rc59g%7rTuu3WgzK%V9p52Q&|ZN z0$fJnAFj3KLgp)EiI&oA-LD7yCc?F&e76({sZ&)eQzqP7bX^&`4yx(2HBYjXX7B}0 z#M9+zB``qwfYSIDCsKd@-O5%vWC1jze9RoBC`KY7olL4Fyh0dwxpJ7v058uVf2Vv4 zOYGtyNMwG|s-zI!q9TMR(qcYmWAXbT`v=0Bg4)Ki`SLs;c zWEK9MNeukIRSB~)7sBm^Fv1Z=L0JN3>Xy=n{7xMb>e3n3h%mem#${gDnfT5RuMF2S z!Uxc?GLg`9TLPvce&l^+tnS4h^4(=3ff>@)IT5gbjBdYUr3lcd+b>t1wl>tc>Wb6W zF!TsdO3T1C)469A!E;VqBQZc`N)dV%#gqs0ubs)#h(E1+<|HRAMjmx6%bp`uNJZDJ zK18@%mqpImGbgtDbtF-^oAQw^u<0I&$)); z7CzR1H|k-p)Xc6Vni5xj-i?I2msJ}@RK?dGb|tH&C#6N2gFCrH$v^yoCyAgJtIWC4 zURszJX(*E++H3X6aY8=iF23Yfx0Tjj*2YrQp0r?wB>q#*BLhjjy2Yh)tWwysOOZNy zg}e9>U&mWzk$b{SMWxxir6188jMfu-ic8z^0zcA@_-UaHNH0oEd{O{8Pd%4M2A*TI*og_BCALS|Ed*f6;U*hh+M$9XesSl z-M9Fcu{CZ2cl&BqqP8MNu|l?#I&jjO)UQ9=T{3=Rb*v*gKVpn2e%pgU*p|0!O?+Dw z#IX`ns0c5~lo(u4da-O1Ql7nMvZ=u+LD&d{i-+&i8>@5Cq{#1 zP_=MLVb)9iOFF=6VPI?ct?{Ywm2HWy_oLYGEFmZ;t%vooWcekvf5{_$v@MqL62H@y zbRwA?yCrR0oD-lXIb-3`zr>5b)s6(Wn%FuuST;wBNdS#NLfTn3SsO}HShr`H-$j~4 zGzF#4D{2xaIx9v!Tr~d$I{LI?ZNkq#+L=L3#$L&b8%RZZ~=&;)GR_#fXHoUdt zP7!=+u$1m&3N_`I{`^8ja&V91E(xJH))D?cwRsddXy8lR!}x0cZF|z-wFea<4W4JS{fnDva%Zv}GYP(`D;Y;d z@#kI1k4k=N#S867H*(297HG>&WGVCg!s=xCxT0pt^5>G&Le=S$0^;cPVYkPp!AXDV|tdno7lfteZ|AT7n#5pxb-iNd_~{% zA{Tfo7_^Z$A4Yy8Z}OsH#G52>hv8&Myi2taHRpO&Z1JroNKr3`A|FGvDH51eCM3U9 zX@!zs|B}g6DT=h^0!d#`C^=P^I#kQX!qS7*J|)D1ZyQcpxAV8=m(HllFHHw+2c4)= zuv`-1On4#w?|Ko5J+pzPPT(h&4aL};NBC!Nk+&QdmPx@z^lj_--#XV6CBXAO(pAj-Pz>Bx?`rITuJPN_BuF~n`e{JWDI{QKGE8sIpl2z z@|kvMA@Ow~PqeEm$pO?dzIYW-OYegMfh zQ9OgB#WhE-gxaWgJ}l%xX<@l>U!yG~O9h`-9=R{3*vnl=DRBgHhd1ZMmwd{5anjTM z)7A!C>kTsno9>r3=bJd`?Ww-lS=8FWU^*D*ce8(SMsoj>U|z;a5P8CVGe~&Lo7ILM z$KnERW>|apUETxfu$bZnjgU~sq1HymfqR@D8>F3&4P;PK9|Za%pPE5 zls?9aLfGXPBJ2{#-(~5CgSQgoQuNjY(=d1&jg=75x51?2809*K+VDYqz{IwnEz}$G%4l;$L@k!s1FG&xr?oLucX}OgQ%C-Xs3k*&<`?CQ*yP z6JuWK-xU=04+zV?q`Vy2kLJ0>LcXqpiN|-hNlS7_yK@_hDbiQ#eFsjmPn(rXR?6hD=6DY?3o=ow z^A9Pdq)?OdP!-4k-sK@#Oq{hd4@n0?lC>9)NH0Rp@m~4lGm@rV%qPtWDblJ6h%BS+ zlOoikjapC9?HRb7Xwgnv^)Lddh1 zx{-E8eDCN=+^dv$^FyViZl4d!h?-JK)E&I$9Lm3nsMd0#?#ZZeJHq`ITb3#u&I6Xb?N}$`RgN2P^BiyDuJ28Gm%h<}DznloW z`MletJ)d{4dnfhB%YA#r{W@iA>>JJ6#>S9g;wpwdKu#*oM8{@BaPa)E_r^oQZ4e*(j#`eni|q{W_ky?z1|! z`zc@ERG~fGBaCs8!$u4Xdn>+s=V6KO`i$YJ3Jvg#a(gRoM$F1nYma|uzR@-Q-v2CH zc(y`^D@H<99_T=O^2oN-SDVCW*&^@AOrq{ZF2%VXB>wnDBFA(2tR=KlqYNCYIRSFE z!8e{usuy@n=XABaPDIV-Tb5D3rZF#dHWHQA@)L&Oafl}gedMD# zq@E;(zqXV%K(l^#DGg#dvm|vW-?Ei@@hwYf6P6iG)V7>Fp!EZ8fL(-O;#}1g5s1tecQUn{tTLB^Qy!SHN0nKT_GDLEMZ(2sXBd)uU`KELw>R5Y# zizsHgH8#3&_vN$~N#?_r!;gi3xSR$>4~-$})_;}bTv5eEix7#DVu`x#|3{X~&m$C; zR4l3A@Tupi=eiZtnPtJpGTl%X6-U&$Hn#gq_8{1W{PKP3rSuS-NR#hDp=yukGy1Y1 zviPPINLCKNy8=nhc(%SQ+F>M_KK3WXL~XZbp80MwbZjwI#?mHSAut*)il!G z_*7CiqG0WbIicM((-#y~;_f;c6rA*^CJwterr=e#4-e)v2sI~`(~n8K_7kVyF*Y<$ zQg8A-OQ{cEwTW_;_CRFxs`a#iL#kjUi3e?_0o<}4xqWF9Re0)Vs>bJIG`2P*0wI8>TpKqeDp~e|sC6XVzIsP2vk+jCaZf^ajWydoiS6l++EJ z+<>=B+h`a|IxngH^a3Xbx%*dWoj&l9$QOK0>$}{jRa4yffUnR*t$guUG!&Ki+pqMz zJO34JiMe{!SF}Oz8=9nwhGuK}FYBLrNK%{qA9&Oc|2LkkjoD6T5|+1JQvcR_E?)XI zZN;Oqs2j`8LU+dpe1ileWTBE=f|3`%n@Roo@+?@E#`k2=?uLWICDlXbqkg0H(A3;_ zpo=i_<~v~XP)txz5siHL4*I6I&&QJ9^VvIzc%-2pcmD##7V`~NG@ozi5yCQndhjjZ z&>(L42SuKInmY5CY#PZ=e2cu-{|((mhq_BUCDn*rvj>;SPwt`(+*8pY1Z=O0L$!ik zutAu#n@)0fPb0i@Gns~kDPwxUuHHn z@=O@c4}M2`kVLKOJNkeaVm3>vs_+ZfXk+fSm!4)(Ttd%=LiWT;qhK!`P23M|lhn2_ zLf9!vF@}%aPd^~Z{PKPp%7$)`)FXPW;BE(KKlh;-$dOtm`)E@R&@+T&^L85T#v(r# zrBrm5`nkRwbi#nuv?LaZ=ykReb3^&npsn3tLG32t^VO?vxBs{kGWe*2G>|tth(yml zh>X~HkVcXW?fgOdv5d?ea0E3ri7!4v-!fS5O6oM3UnoUq8io$?ER44gk#4sn)v8;| zI~=9IvE+Xw^hTFaryIrN#*Lv?I#b{lBapqrbb~vR4=__trshiOI=1U+o9&Lir0 zna{gI{rIAjwBe8&2BNk=DcNgO!d#-}*Rs=#>3Q>3I z6~bMeg}xZ&V6Veg9(;;6Xq7dAs7Gprkd*Xl&RE6~)vK1b8`_jp^nFnyZvTj(H5X!M zy&q+fCAK2(|FSh@v8ahe9i^9nQ<%M65_#-Tv`Noo#B{n=S~I2)HK&$aeFp<>Eq59$ z71?Od%J|@bcNzbVY@q&H@)??rMJFd`=^W(8M`vjp z_ec!ruC;=W;U~}12r7M|6`rN@2+7r^oTI-J^t3%M(4d}K7?_*YGBo`NQR~%mXTe>& zp86cE$pd@&W(yfIRpP*t}oFyl22Iu$OX(iZ0*+ z28I}*Tltp1kkSzs(auu&@{22CxbB2P8bOKZN5p}l6drv-h z8&wTq7l=BP@D*RtdOZCSZOC#i67?7_f){@65{+bOmr;@VnEjYq23)3pBCpFXV@R_c zM+2y_BjYy_q&|f8yMiE-ccV$_K?agAKI;m!qo9(g2jUjz8fH&u)=7f#gq%cLZk#~% z=j1M?B2hmRRZLv$wI${jQ44vidq~<)Xr=0rVhoABibME#e*P*Q1fznlA&q&w%Qdvo z96s_I4Rz1F@#?fIo3FY?J1|uvY7f4k0{Qdc8ui7t0Qn8D&uNhgJ&$w#BpE4HEX2xluVWm&cAdtMEbjd~ZOJbEfqsL#i`?+JE+&L~ z&?{mV_sQ=Vp(AsH`421xPGHp#STnYya`&4+Vz!`!Y9<-Ee85el zBO6GI8pOyK+@vktlYod~uqPsgpS(#sp^{ZWirUotPpUCv7E#;tsox@}l5eARx!t1v z81b9mqHkd!5j8w^D{bItuk?9*&n;S?s#~K#Owdxzc%PC#3#JzOWlT|2+i`0ZQ-afw&u z(gsvL!~O2k*V~;qK=c-DpCqSb6Ey}2j&oIBCOQ-2hUon4bd18!=6_e-w`#0$DXAP+9g2LrE(ZvS!T2z`EX6KduqZTWrFOp~gjSE?0c{D0gj>{a=}|G1Me5OkDyU;&zKSOKOM z;-9uCkG3V@Y2Fws5q7*-;$lT=FNQGSBWlGN#qU0(g95V0N$MMbu@n|7;!os7ie!Xa zOtO;sfJd|qi^77cHNTsMS;RqXi$sd`M}3y*DQdfD_u;BLQ7zE77hAd)QP&`hfi@HD zxRqBug1XhCW*KaUZy=;VsQ0K@l)oI$Qh1lgw1KZ1Dn&Dh^@%$YBzR$+51;xNO*01K z+H<{hzUMI=?VdGMQoBOao_x#`^3hb|`G9;h+&sQKAG4bqydWQ|-GiJJ&^F%cO7e=A zoE7@mAtv*Q1#~dl;DG`J5yk&0pb_YT+zV+FbiL7q^i4FURfTk%W3nq!jv>1bUm&_J zw42g7DyO*2pAt%{JTQKQ5{ZR#noK48(Iapbz2 zFM6MvzRk!t6=80k!EYC#5y$YVBKjuFs)ty4mtyn-$;GrS8yaBOcT5YyScA-p!)6-- z%`*~Fx$nWYbc{|cB~WPUTO|QcX&sj4FM42off4@{dkj7ZsVl$y3|-pvr_=`>&+@0} zcQZnW>Z7+y?-Z~`j~xY1CE&<}g^%BP4yYK-ZTSnbv4#%CCpbNGN~usoYjeTIp9 zUa*Ky)F+HQd!Erj)Y6Erc#4IC1pHCO+3kfr95S75#~dK_62D6nbuXxyt%qxt z6LP~oN6g}vq3@oJT}P!>CM9#nGQ@ola1VV@aIt%kHW2kj&3xtkGTI6eZYiTHabDi4 z9NS4&KC2x5d~l)ONi6t0d3HH9Vi>wyj%pA!fT-~`SsznD-NX{30u?ofe^h~$MkYT{ zfgHavNm7T~hnAuW3_wy6cdDdK1JWTe!AM&>i*q$fxB^zw*08>=q@GmT!QZK*A;Bqc z5p_RA_QsVu0+S2WvbHw$p?pUr?ckn15_t>Ao;V*~REgY38dbB^WwdE$^6)BH7B&=< zFJ6>EJ;U8b*Ni^)=o8>p(5ztE%fM20US3kJzJxw0J zTqRmrx|r38uFJawtiHi(vqf4Zre0#c=#*eL`yB65jn-PZM)+EF5jE+EwxF6mmV=)a z|2wZehY-r)9*%E3=oa#$Gha^SzGN`}LwttvMzY)=#qyynPr`osU0Dvr4GE^eb&pR~ z79tE)VqhSk=%%Iyg|XC`VTzgQRAI;(lQ z$u|kBDac}Xz&fk7_mGEES5e;8AgVKbvzPpfUL8vKWN!p4YDS56%3JP6n5aBMxuL!s z$nr3lJmcZ@<>f3DRm@F0Twi`hYk0ojPfo>|OS=YgAe}$G6k%r|i6XT`c4zY75+Gl{ zMCvhd-A<*4ULp;cd`}=}Um`{(Cx~!;rhC78flK_hh0&Na0)h0UnB3 zaXJ6HpS+TZZljqt<2Bid*!WLgmmL|I%vTPQUt?~=g{QlNkl_+coS`X$<+C!&oG4+8 zxca6Xqjz4dxzA9rQP^SpR2w-|ZqAsLB&nHv==2i-b<$P$}y-I$>=cMc+6PYn;8e;96}pDR{qd|&#w{n0*ENYH-rock|oK>j=4m@g?mTt_zdiiJ^(~syi~J8HZ>>ZbyRSW^HpC- zO6`e?aKW=B`d zRmlN)6>7cYAkZ}fA(>>C9ITN@t*n6G<44!XEtnf(eO}zjXsithoevlO zg1!OJ6kh!0-jZ}?B8;3!enFT)c@S8&1)s}7gyDe;cD}#bD2MmI54K)w1SwM%KDPt< zV1{6VSL45cM+uQaSyQ@7`W#rqNBGy&F8G8sBO`SWlGI#GU{3IWO|mb``Cd#OI&G2% zGYfPx`I=2~cV@)&q$|I*Nq%3S(>&4=Hp?!=kh}>eoSA&w7xMP`CpHuHI>qRIXx69{9 z8_nTsc@?8d0^hJpUaU{jhw`v*l}1F zr%Dy5lmPb7Ivtj`6MaQ8g5N(Pf4~y3I7#HAj>_YGEMN^H*k|qh(owo7WU*B7<2R4W z#!lA z*&s4<+Q*Vai^yw8DXA;gc^Ule)ADI1mUtH4;wMZis=#&4fPi4=mZ2G!D3p!p7{NjvlrOA%xvvAxw~ z1Y8+#;V&c;KK|xW=jHcUHrVUh&hzpZ!Yqx%)YSc=d>hwho?MhSPQBg()SPE;GKR)yGsg0r=acpU9LmO_nLM?UQ6|j4XjfClv7xHU$G5*;ZJ!# zGx`xVjemAao*Fa|Y&OVafeZtJ zzs6JW#U_ZF2XdH3oV}AFoDI->DVR^dXru3nrAiEZuj6O`mW|Eg!43z#65j{_X`sN( z^K9`=6Npytf1-|v?VQg1z(2^pY_QgK_htWP`@#JTdL^73AqEAmUuX;GmO!-l`|<=r z#%kFQ-kg;P|16ITm_mtUN520KCi%YGM4Ksy5wJ8$W2-lgDrPKqr-BpULZ>OYXn!n1(0-* zPc)GIBEtH@d1Y;&62~rK$24p0+se-dvE`w?QdP(KF1YEZzZDhKDdW8oqKsHe+&u)8wR3X zaf2c~mHumNB+$;f#Mf*0R!RC-(gSFME@|rZ>noC>K*#eKZzaMY!5-x6RBy%0zbkl? zuy3ZY&lZW~BDR_b@-5ya&AVH_$KR&i8phhOKJppxul#GaA2I915w z<$=mY{j6akzYwG>#qQT|qvFrRc}814$Ed7g;s|3AcMnGH^#MDOn}U_QEDBv-7H<}! zBpGLeT?isw9h~I!Pic+0E@Fl{9Pn6ee~3~}NPzZTLuHo(`B)p#Okoa89LL1*ciJeC zK3-rOf=H-u!0%$vlzheE%tF3fNC$%*FQm<0O2tvlUS1-ki@>e{k#;Yo;^3y3cWn#l zX|UIXwChW$IL7&ge+ns^3wD`yxUDjVl7U)42cr9U-@11P5l{JTy{GbRq7 zPVwAMN^>U8orZId&S1rnQ)}Ksu;R4o5uedn8O<)?WhiFLv4_kL5A%S;@1=JSwgNQ^k?JP0BqC!)MvFv0&ol)I}q?L5stnx;fW`JBNd zCr79}FG9r+BIGPIh{q5pwuj6FqG5!3juJj~crc*xykMFV%aY+UmACmoY1~X4mEHo8 zk&eX(=xdA~zT&vl1R^6t1a_1XUvXmk1OMa$rDF?mV!A<>4ii#5pC%1Nv;t2A(Y1u? z5vIYB!3#c68qOD|suw_H?eY)gog7mJ|{)NbqN%!m!_pCO-Q{9w5hyarKQV3WG*v4F2hNds>H>B_v%al-0!A=(H3!&a71>8KX-E!qk?9Y9T z1u$Q=Lg8!)*cH6_N@W~N0XtV)yHfd_>Ng`5+5sZ75)(Uwp6T=~HBhiw>2K}sM~r3i74;(K23xiZ0XEZBF1;6sLhqF}~C zK4BvQ>Ik;0_Txt74rXk~k!AerFO->{^h=DnAZ5D&0i}b(ZSYLxvw#e+nL=>K;L!eE zZz6R=#v{j*;P)B-4Js@d>~w9+7UdN7{19g%5Bm~BY)7zNwdr3f?>iEA?cOeBE@3Co z)Ti^ecPo9^EwJPH{@qG6YmELVh8OQvVptEbgS8IdDQ75)yp8UI%X^hZ?rp&?1JTDc zYz@Arc=TSSJ<9=mLz})=*-8zfQ=|L1{{f{7y9E9(KI(vSkZs*7v>SY{bY(eUZ}3sy zE5G>P1e*_{&1AJ+Loo}k`wrGK(*ULN?wS(iQwUZ<6Qn(4Lybn*!9Cb|)XbXlmrDN7 zrkzmkD@@#f^57$XQr?ZP2J3bm+r-1D5?~R#0FwU$e69n}1IY>5qxqE21jwnY8$_lql|m=5!iB&Y*A|4Qw_)s!N`TLz#f1a z3iyc~4iCZxW@A7t1YE4hO$D=%FZo4@_YxPl;z4Aj&}t~|Z?)j}e^ENLod|X=NM5f} zTQ8WaGMV}t9a`-zi#kJXO%Y1C&I|t!uB4_mdCm^ z^8kG+;GRtJZ;FV8<9q(=StWwyZbSp;6=#(m%xe?UqV@PynL-W1NZba}&MS>s9(b$v z_jzTI%wm4RUJmbgSvj0U0egY|TcEd~k`MY%fffRig!;b)T2leCAvi7cUpUCVJL2&& zTvQId68JzrjE}s6l}sK=_&vVliZY0eKsA`m|GuI`v78&?fHvr=(mn7I*wcRyH8`_3 zkt!MyN#5c#5ov8|g`gu(y{h=MuLkQ19eIb7Er0w)CWip(XoG#P!@Hizq7I3Ba=ZA2 zt4c$b4fd2)ieRXIPp%*Lx{jrktA;LGOTDfH$ZW-7QRBA$p)6yWKZ+X(ZEh-WvzuV^ z`KFu7e*GfdYW~Kb=wrK{#wvtw{!?k}p8z%yBsX%l*Emr~V*#z;xqqUN#I3u|xIu<) zBOh!fA8|`L#>Cybtvu+qlE}ohyY_t1ZDn#F4^(@jXgKB0iVqo_ivie{n^&N84~X?6h2T61Ib=?SZbVsa${>!n`}$c>lZ zMXJSxza-7{x6%*m*aPB-ga1!iso(g^It8=*k=q~|3_h7Z)p@5PEe89t25a>mI7xiw{KgyRq`hXn;lDm5P>jrLxW3K=v zdA<@lpuYq>!?Skip90FzQtm4)D7mA3ou~Ab+0b86B)s&o63(`P-On54E9>;@twZ^V ze5FU9PtRiM1|o4pt~W%irM&y${{}$21l;izcsHOE0`B?>oCD|vf4x8nGFZW?zw!?X zlzs*e#Q6HJ{M%y1-$C*a7ip*SyaHt&YXPN+d{QBnd>&vM^3{bv#r4`4?)^mB!}7s4 z=DUiO04?u{a+&D&ZU5%Sij-~a0>a7V6N)ifjR(6~sD-c}z@Fn*i(lid>;jR;l-5df1WEp34mCz&ugL}50l=s6xur@A76@@O{#~gOSZ6iROb~H4 z@QKxmpH^I|3_`!MPmC0O%9X$%53q5dMki+x>C3i6BA=+^#N@VhAD}7xvvQ?B6E~Do z`Jd&=XKj{%-2fs-<=Tel0kR7Cm>q8Gj7gyh&~U!CLYd2w!KP~UDwTFbzu^2SPpDF6 zw4HqkLner*ucY`MO6(bk;7UrZvMB+CySL?4O5>h>@YPoMG%^-M25N zLzdiwuvjR}WhxZ*1FCld|7xT{B3;(ru2u#U{f6~)e(Z%Z(?0}x-C7iZYqfvnZ0M6ovLx`5r(zUsvOa&5hN4w1&` zwG%fOa0E+bGhF=;DJ_zj9A!mkc*c$t1Bu}W`mk$EymmOpSM+70n0W0lkr(x4fnnmI zLq`x9`3Dx^G+3-yNkYzeo$oGIr0(MF!&t3DKNhGm@$jJqA3m71WtZS9k(&pzSu6(Z zCCz;Z8%%>777^*aDWdUUm4wY{x)~0AlbZg+WFKwOn=G;pi>VeHw1>vBUQ9f2N#blA zGa7QHVRAo<)p#9sx?%p<8fv<|z|c zqlmrpaa%xmxOT(tVGW%50-E;H!!tMs^PCCnD}#7|V^H}ANi42oQwJ>JKmnI=*Go6N z1*&(`HeZ(W*W!}a|U^{*U4~Oj@2D<4%N#Wv2 zkCnguE^8Jv5bSnPK)_$NU>nzH1q!r;XTQtpG4bRlf&U8q`MbbYg8~lQ^%a}GKwn3k z0i||{gFQa+M93Mzk&#`{UDDfiakV93p(vKybw^`45SRpoAB3%4@7S#Pr*2KM1?nX1 zo2^US;U}*~B>9M!M$`Fc6VY;=m|!nXgt6k$Q7V4~bkG}Mvq1r)@7jVrW-IJRK;vdZ z^0{5|KbvGC&=W%PyIu0YCOHQ*kf%;U-Zn*A=ZakD|FX`zj}?~O;0GqL?#5{- zSo~g#8W8b6o7PTyk%=czQ+XE}&z8YU=+wIP>1-2dA(p>;}c@ z7jOC=iUpT6Fc?mIk3~mZ0&7&@DfR)8cGeSS2u)j?2>Ud zi9na|J2RO#TLbnUFPq6i{bDNcauyV}9I2r}!cHk%ylTtm?Niu5{Z(6QZFvgoChL#c z*73`8*t+P3laO7YfMyb{=^Gk()Yv~8=xHJOz%B{5Ng7WPQRpR?%Ug-D{TQVgf852iPKpM5_r@Ge|vK^>J zNG{qXi)@mC=%{yt0{)S0e%9I~fm3n84ir$wF4;E3~58CzD*g_KMWFdKGmvEb;5@-VQD_}By2~v+e%O+U|NuKZ% zX_xG;kx1d;@Tn{5(5 zpp%8<8@pt?y&Dnl8@GYT$b%oDDxPyCzV{s{@0!ZKCnoKAD)VwMB;Aly*PFa<8jEAw z!GF)+NMl7zyn>y``z>ZWnRol8p9U~R?U^L82Nq$bYp;;_zQt1fKAcbtYpD5vtl-q#D}eBY0QGS zi~0T4>>Gm>al7{A>&)y0`BYoChQ&Ivj6LEm(ydLHDx3y;RtwwAp1CsPPDx#@1%Jy% z%J^la`Pn#J&eJw#vj!>?ubSiek%O#1o1BSBh~{>PwZ{26mvF4m>o7|;s@)i#yE@;Q>G3iR*qw{`uhH zazm}x&&)+-*=r@Wvo`Dk6W5o4chojrWLQ9p$IVT7;U(B29yhn(^tIlRfh9Z@boMG z=2aHWEKn)d)?Q`l2GUP!e3LCkR^b`>BECP5rTOYF%Hbp<&z?pV=_L*lEO=)e7!pYWjZU1BTy-ap%lb*0~j!b{X&aYZAqjg692l6s2rs0`*#a_+# zl(7kHFW4V=KskGZiMQ>UJf)oVWkbQHYB_=>*$2D~<&25<^lLOvgJCx=k%0e3``OVz zu-Ir!r9K!S#hY1Mt$-oqgoo26_zzznUPv!N}1 zqhYC-CiizY9LJkJ;Agp~r{P_ey9yVU`2tVF7>1vPM43MDG>l+FQ$-fXdl}9$`X`=mA&u~Z8e{bL{KNV!S&n_XaZt`!9hOYV#4m{!(qv4GH zTLbs_kzm6eQlM=NF`P3n>v0L2oKwOLqgYNaF^jttZb)F3c(KH3)YPz$B^?&`5_UB; ztnu1^L{cw+*w0ShQho7j3F;v}IKuD|6TgtqmS2xB%wyt55ytaj&A?_uyi4n3NMzzy9+vUtoeXQ3_<@I}ym4p4IF<*tny=_= z=%WA3!+w6LvmtWGLHy!__>BiLawU3MR>1UIv?Oqgqa^(RnF1MliaP%Fv#68}5C=R$ zU&KL1ZWDf9)b`^Cd^{i0#n7I)!F!UH-o=0;)&#A%n}NBpblf6e%`5vG0$B#w4Lm5p z5ZG7zvc*;q8JX-(CBp{{m*Yr+58l6kpB9KXn`c4%jjpmrs4T3dve2fI2JsRtEy1wR zN&h{JBwqI|!;Hjyz!s2Ufn(#Kabn}T=@9%EP_cj)I;u@O0&tyz2?WTn!Lg1G2!~f~ zzywFU0Cw6mgrlGK&s&DRDjBA=8gFoN(trBn2#8HfK%059W>-ZzA|yax8B&M@YRdfEb^{2)RJVNQ}Hz*E|__YJok^&ccT#ShFfd^101 zI@%1#VUnYW)mt2|=mF6WQT`x@G{?Fx1DcJgW(vUBLhz%bh#^hPK0_SfZyvx@AvmoI zYJw6`&zk`O$f3~D9X>n(Ng?@eXz4RLqCpDDXeXCO@&4F5{Ifi`7l29T&c(Zwi6>J&U75w--L)Q+{d*~`b z4rA)T-a-H7hyV>jFt$!h2x`pQSRdP|0Hb)@`G$yq6tHuJ&c-@*Bcvh-rI6q8Utsh2 z-1&wewi)bpo;lxOj6VqW2cex=2YEK=A1FqUe?1+6=-B@yZd#=W?Byd#=ODkv)l`F# z-3Ob;o2MH5*dws{ykDvz$WRWJzR#zEZ|LT9M1*+bAd46jH6mg_WmrUR zB4!aGDr!W;$Rb8WL}cBFi0|igXCTS?d;jx1-#JyMPMx|}S66qPzV=I4#QP4?{y+S6 ziG+7{^L7ex;vnacZzR*_dRxRe&V_Tmp_s|JIw|~XE>q8zyR<~+Ja1}#yT9_90Py|W z4BDMqJ)LV9ZNEd?bUd?_5p6YS|A(exvy*7>&cOG(S)2U^l6zJ9`v}|CIv-Y{vPmW? zaZ-w#Zqd|*)x=Hnyf=AWx)6tG$O}Y~w{aygu!HB1Y{NZI<^-y?4fJI~`?w6dt_Jd$vJL?lEoeA=|y_ zF>1PKnmn`}b!xR}h^$s;0`U^%gYD$(ojPF>p;7rK|^Gl@_u; z16&hsQr1(j)O6J>;F>T~S-dJURu0~~ZPvHS;*&4ik$N3@N3tpmzkJzo~-vD^HDb-33_JDQ}_j^6<}> zhfaC>49-T!bX!l8nFPP9!3pHEot@Vd<$bI?HQ?3L<_%Qd*UBrV->#8API=q&T2%X= zz26uKWtXw5U^j8q{ak{1E2nAY2JMb*&w4M8=@RDEq421)-nZTE=(uphKfJd#$XAnT zJ%?xp|INF=-VXZu4c<3w)=$bBsjN$30oQ~-lts~+t0}d9r01H@_z74q!%D}y!)A3< z)+f9mqqfz0+7bIJi+sCUl(5IByBDqrnNP^CvA#a7y8Xc(1Zc@i-0v?zZm_F`ZgI9! z<|rA_z}G1zIZ7XB&BocPk&BiC=f#_1wn4>}*<0RG@fC=d%1;e^@wb-Z+y%~ypQ_Ow zAQMU8e87t}0m|%GJD{W{U>OOlsh#rNngC_)4$p}5SsvGz@O_PahXXOWgY>lI)+BotW-L+92PD-593&h(zD?E+W~h^=W0I z^2XKXPjdLmn_ioLlfzfuoZ9>;4qtgiwfQ&O{1$4(f;7XGLwplGu3y4~hWZK`49f0D zzXz@f-+n?~lKE7eT5?S5udH8`l?f|^_c@yt^C_$X=8TNzsLoY#?mA!J{2jRW11-{H zpCj0e~-iO{5)%2pyx4c`IasxK$%&!1Cnb3mcv{N&ZqFR6G3^q!W+i; zOi%FDcAlsoNL`Ipjt}o0>*G3TyJhesU*F)}?LASOj<}=LtmXdjLz6VvcFUO@Utd>R zxaY0D4sqV}5W5(CCHr1q=a@J|m&@XNeJyR{n8~v4UdDlU7DG+GzSq|{CK+d1_}6=V zg|605bn--TUY&BY(5J55evhZ-1^-?#o{VtueZFq)Ar;H%n1F2_pC`&Q%;gHE6!T~b zxF&q6tZQ6b=!-6^g!-zvm;qBu|IidEB{TO@9duTOAeXHV4KSXNburQy+Ye1o{v zRktjC(3g63;s6eggGSWw#>Sqg=(L$U(~62$-jLe-zc_s5jjqk_>F|{|Rhm5HTfpnJ z#Si(8#0*udrHAe8o=)^cd561x=dR1uXa*%80DC6zW_ubl0PyyS`;|rq&=l#{lhC$`jg6W}v*FJJ-nV0HC2Mf6m-dT%sqss>fIeqmL{)ne zHI8~beCr~g$LnexzWqtx7JU!5%Mu^Um$Ttj;uFm9h6gM7bA;(AM`k99~$2L03biz_+YdlTw00yyn0pUc}wPa=D& zIi4I7XzUI|xp=AK{_VccJlH6{?pA=lgxnWB=p+Pkc);o6+=B z9wVL%|Kn3e1*R|CRcKyv!&#sEQr#`|=&0ujujZvVra||ZnBjJgqGH@3dHxIEYt-De z2eqn7!aWLuJBL+pB(e`abYPjcw8^G8R5hqIV(tO3_a<4j#l{Yr0+Kj%zX0`{Tib%xj*}w z)3OVG_O)sM41%dKa82Px&y z-+X^}k?@|g%pn|C^Pcm~av?SM4Dhclh7=7KC$T@2n*d>?rpb^4!&Ama+0cX?uJx8Nl zF=pVZnBnZBc;>Oq&!U)(9Cs-EdXQHj=ylB+7?1eT^n8NxsvGNbBU>1MM`QT2mb?W- zo2+kbJWK>4J7vr>)86j0vk zVLVF}-jHVWa2pN7i_(lAv~gzl&5-MreZ zbg1z~G!3=mDx)iTIjJNht%gJ5WVn(tnKj&)LT!CD+?eJg`@=>XV?7u|TXnrLmL7Rd zNwQ>R8DoR`#=WP6A;tlU*QNA&qpN(MWh7&o!y0Rhb+cW4%UI(`10oNj*--g?aYsj#7x-qz! zzHaV$&7%sMxTi!E6wAcv+{jgiS54QBRv7L+!x*I? z8T&c2c1@nKS^Kdy%NVZ7jlB;c`gg%>a-k#Ue)_SoGVGdTTpdjdTrWZdL7!r}K`GQ3_Uvc0eB_)d_R*Nj3Y<3+Dw(U1~`OO5tw ziK>*lgre|*bw)e2Zv5KoMgmn@_PTKqpgC$0QRrK9XvGc z^#lFy>eZ}ex_`G$+f{@8ZoO`OKg9pLoAueTOZ_jW^l|=bFX`Pp$^V4Qr%wbuWzD6>t^Rmve3Sn=LTj2HY*>$GXSE-CRpKx=L< z@v~!=9iFw?f0WDmD>C^tI#sbe`kMc4I-a}KKa4uLy40T@!;H1)P5-QDpFWK9yc?9F zu)kTj!zTaxT5YE``{zcZ@b2yY8>!v!{&)TDbun<}J^xHM>EF5AKc9&s{L2Ua1TX#u z`~CTPxm)}N-GJ-=u7mz!*M3UrFaa z{JnpKn?Bg%guhZ34UJCuE4}(8%rjR$|JmP4n*Qv6n-<^yv%iwId-JrP?;fUxgAH{jz&-JZdOeF6)U=(0zz4ZO}|zif2C>tUu@d41sG zmbww`IT>Fss_sd9{)o4SPx$xi1G9CtGiz*Md^6pS#(Y*i`O@$YV*^xqad^P^z!=NT z)A%QI0&mlfqizkfb#ZaLXIdaLfnl_3UclpOrn}Id&ue#Z&2YL@J`iZ))6HlPpYO59 zZruDpL!a(Rd!Fj%WM{zqfZIoB8}vvZFPAm40=!LvyeraCs12ep7@^+u!K`p@7kfYDk?!HJx}k_EnN=-qi(s1!;d~6 zxSFe|e6cE!#z>BRA;45oBJaHzxW=nHvz`y-_Ll-z(Q|TM3S=^L{`pd1oL9GAJ)g*y zmjc(px}$`UlJK^YK>ujgA7|GD7Bcxf{Ayq;{q@SVfxFyMd`NU{;10%o*Vh8K(3_un zEil~8mErKZz@@ZzhxGwH1UqAWpi~!Mt=|kxrn}91Gtk}b)qN#TvfQvS&_TWo2ip5| zSIJWzrJUh%-NwL3`q4`p1D*BC`q8GqdvxGsZw036?Sbp}o1LH$}N$fw+6bf=1ATa_>~DPaeLsux@c_lPT*z= zllM;G8?rlbXCRTQ@Vz?&eN6&i-xuiUuF8`9r_4n8*HdOtJmrCote`F~59D##U!}fG z*;5|q0QtE*&>qtK!$5b)l}hsD-VYJMeA|bF<;i;=22vr_9|j&_3Y-5CVL7tqBNEM# z_dY_TSbk7uu{8PE_Vxdm2*on}V?>JNp^pipyE(qyDv}^4m6;$3`)%LA{X|HRJN6Ty zKo;x|bWBnMa{8dX8n~jy@^AnC;8!3YXtXT(89_*kPi)`dPXeiaH8!VjK95`SQJ|&B zCxI!{|JhHd5iU#ZKMn9+$IEi{r-61#|N3d5yI(EMX^a89CKYV#nkJb!!36mX5sGm3 zQ@UlbbpMP;NfmO>XMszS)PAO(vDD1DqB8lnf10rh+4~tK2+4P!1%|0v&0ZCnP>$SC z5zx&JSybbHqax5#{l{u(^5+4z^mF7AC{;D~^S~d}!`K6XVeE*kIuKynAtV)FP|T2= zb4a^`WGN)m4icCwD-JRelI8TlKu<`gFKy<8F9Yq9)UMqQa<~`N%Wj#h_>y`rlYKT> za)?-E((_QD6J+8cN>V2GI=<(fu+JP~eq~Dz`icyd$;}RV#9?mzN~4Fr`zjF4wv3!O z9LRw5`8Q)YS04Cxpg&~mziGEz`S#z$$I|7IKoX=g#IFY87P_LMmP^AiW_&=sMR+&6 zWaZBR-8`A=2(NI+TMns!*s@vdHxBhkk5hrhtu$`7?Z-GrRM8@w&QDt^SGs>=r#k$b zK&Or>y6uAKBXvayOkw{ozjbfY?}ky6*c;9NC#d5z!`!ZXD1Km zS;#0kbTZJst0R|nK`!fpT$ajpp#!?2vid9|`-<&i-AMH*!|Ud<7e@~AtK zC)=aBs+81Ifdubrgw}GQnQF%OBhEs+8-Ob+bq7Q@hlw%Q9gCwz*CVxcJ>phf<77Fy zF4xHGoyba550U4&Rg>4zG|#P$8chpoYg%AyDvh>_;#E}#_yR(5P4U;-`s{4_$tGL+ zQODeNt@UL~H=?kxw!%VNp*9kkD0D}v-}X2SQ2cWsA*mJ7#{pV0yGBz@QtCOq= zvT7tORr5@8vh%MMx&XvQ#l7?W^Z)TY5gnn*T?FdNAB0m0VzfG+h*sxW5OBQI(i73@ zkD@w*QE?wU{rU-1Dmy<~d0Z=^VlVLRj3_S|)YhT?b|C2JjVMxYX{V)}VGdUnICY?malnX*aMV`?DCHxF9isNN1$-*7P>YBsRYLy>BsH#} zv?l-!Qoxg2EsEWs`TbxzEs}YmMKZO%R{-X=RgiMWS$nK&pC1U@i97N_+>si$(2g)N z(m1ZDk;~z1bhw)!WsWoIvRc!Js*JQ0LqZ!!b4r%y)@0cpDv?UJi=uU!E`xswG>tE% zv=xBb(88bOu|tB~_DdkC=^lip6XM0lTS56V(b^%08uH6BC@>E3NF$9*J2}C!kJfBB$PrtXb zAPfH+Xwg`MHj{k{{HVJoYfQ$?yc&=hBla{Ejerqjw`t=z+~b`H^Xv%ehOGN8(72`6 z@N5Fq9;RJ=>R1B2sFvh2f%v}v6RbT-gEdoUaqFxa@ekFhwZ?BpPhNq{L9{&( zF3`x@JrB#iYD)ARPL;CrpfZP@oHy-4qiqI}mU0rP)l#(t?3St#xX@Cy1nico5xCG& zwFK;zsu8%*Qndu^mZ}jr-%=OCopEW0OY<|7E0wID1(a){yC&Y(M*@xgTJaiKEUsgL zc-uP~Z)+Cx=kRUtHr;4J~%I*I|z9iaA?4vOZYPAulFF{ZO?6!XrB#VgbA$u7~UDBtlRX>@#*yo%BnjL4abENH2%n5TJ@mNZN8MeL2z z+acpEa(4@f2z|;dhHQo2&oISd%-S zWimU~iT`{}_`hoCkI1#8oAL|{vjleUtW!uHkhX7N{)3OOPLUlA(G9JFayuJrWL^ik zsgc=@o505#nRh_kjcsyQV=|v5%N(-9A;%h<`tgTAyiGdCn=SASb$l9T8<~AjPBb?8 zw$c=RSw9w;8fUk7vssOE*afc2qGUyrn%IjjL|G&ng}^xk*2qA%G_iAb)FH7=&5mA8 zt2#=4Y(^){k}*xq)@>bDRFr;0joC`yXSRPj+H1u3Azm-)h-PMMo0Z^_8=9JlEmbrD z6@RKmx*<-28VfSRA&VTcwwYb9-F3nO33lGo95T)!=MrklzEI{guc@wua;~{u_Co}s zTV)`vn%iWcLna~(bC%=NFuQ&?%L*spfD>>gqIB~G{f>++ei_G^Yf`;TMqF^tNUCYC z%j86h^8zZXWo=QD*zgNchKoiaa0G!hGLS`%Z>>Z2q6+3Q$ERU-CdS*DAYfRM9d}wJ zALB11?#Q^4FP887nLXvVB$MX{(x4?{E?Ig(G^n7z$u0ZE&O}y9le?no3}oNVdX%Ip9c(TWKvTb^pgxX6~Btw zxpTPH6i%;;xTa;uofk1XYk= z%nZoRb|g_C|7mAl1sU94N%+zBW&&@`wq@cQxtYzH-2;La+cSGR5T!zzbtKCbatXv; z(ax??ybC%~M-}n{T-$!}G0ANnZ0719-*z-F=N$>@mZCFP2N|8BGgb$AD8=FLt>K?e zF;kS^s*@vkStpatqz*E@hCW$CH+OR6j@Hn)&W>D!W_M<0EK89Odzt-|278+~D4o{Z z9L8?SjTe(`ya#)m*DCGN$L!7qpxMRLXV^D&G1HRN@NpNave@n)b+*PzWnC8kS=ZZYBA50sJ4F|_q0^i^ z9cmAfigvM;u;lV9{^ z;Z!B5eHcl3ynSL`3wg5-!#hvD>cd#clb8_6^Q1jw_V?=-p>~mcg?!k=j89T;CElaJ z6;-DX6-sf)97LunLt3yTX9z=e2und0nNO`YoA99PvA$-Oi;dW0{mcw^Tyw3v_A-{a z4qkqLvqO@8;OhUVw>a6Zg30o2e{!BI{Rh~-Ndw4ovJ~QTCnw6_UaZjG9l!*hEME?w zPLrj209UJINxsA;84k&XB&mJr4%DABF6ykslBN4Vdb&#J7Tj$4aj@B}<#{hGF2@#i zVgGa_F^3a_gft@L8i(BBki`ROwq$wbLYVx}z%(T8i0KVi4>TXpr{A;F8Qe={f4Z4w zo3idA=XP36TdGy-G}1{2q-v+Af12u28910hq#{#c4JBi)sEH8~TjKvGNEQ>B6ju*s zs4tcG29xup@-5^N)%YNK#{5Z9YlqqQz1tRZU+?^!OsS?;Dz*ad4#2(LgRFR+pCeN+ z#7^{?A$Arv4l!HXB|V4CpC&3QLiX$k>C*jD^LpF9cA|_NYBuF5%X62~71G21y41|( z$*Xj}!n{7Zq$%S(b140R@0wp>wrHmeok=o5y_(V>WzUowZ?@P3ITZ}Zwi9NIwD<=X zm*yGf0iGG3&Y&BmOVX9}zHAwyglAG$a>WVBx+^J4NcLPwK0|Wc@%e_CU$_${O66l_ ztFZejb6pHsc_WiazC`}WG_QbMG143WnLiR=rR*7LUS}J{ZYr6T6s%G%8AU3Ua?>bt zU$ol0mi%kYG|9QvT+e#G#c0ybl_{f<$(048%~W?NR(^`MlEM|EO&;l0OWE~=Rm+L% z&5I$4S*+x%Wq1}NzglKynOz{yJH8Jfel=IEPc{bFBR>%FrbJ13b)c#3*J@fCCAw2U zGdmPvAkaWMnjyL=UyS}D7 zzK0$1;tgakB;^h{194|87OM-li36{)Oc^nr)kB6%9#3;*$b#|c&5-i(CT{^rs|l=p zs^sPg=3S7A3FbqP?1|>RkOLFVd5{S=l5~~Kg80?a_HYWcR|bzT8@I%_N_~J{JHJk^ zt&)9C#N#(o)+%Y4O|hzEQnsyajzj(d38>PZjEYdSedlfa2jX85Ej>C~&7~l0n&O^B zAu6QlB$QRi6_co{3Yj+vof~DBGB?V9Cz*5g-NadwStda@O=ejF{Q=4{q4iBn8AbB9 zo6L)Ci{H_*eII?MNVeQWOR5d<1j^CVZb^xrVwTd+-kd@|D3PzHkm(XRr=(h1+-zR# zSL5J1sr7T@Q>QRPkFhTx~uaz44P9|O#Knv7; z43i-HZXv@7a@-;Q94cF5+=cWom)#}(>Ys^!mR$~nvyp<_pJVp614{`U>RdGwPNqokl8^Z(jl`P^2+TD zkX$)+J9inmlcVhKspe88^)BqW@|PK`Byy!_hP^4ZM@dMGJ51dO8+Qk(hGf|t)XhfO zb_czH*H;~1Y_8ccTCI7@)&FGfEtHYDOn5AFa+%@^}BKO}(loWaQP8umiepF^ith>xB{A%x86{JaHVWhy(tUH*xq35urilKrg?QC6p6R;LXEbmMtX z(%=c<*Pk>+U+r!4G^)3~Aj!+yxr%5o^;pWzGa~*E7!%eQ?COg~&S%?PowqC|I zn7$PpB|pswHf3Ma4#;r=)cUp^(2OheqfeV1Y-8JwsHFbGj1HG9Gxs+n2luZb2is)n z8njl*HheLaTd+YU>l!d|70NGb=$n{neU(mDD2rc3`aF5}Rr*??eD5&5Ynk5*<=(aC z%aDs+v%{`*$Q`fQVTaXME=DQ6uUxJzrT>=8;!gxH{tz;@rmTfhQAQx}5$>we5_xMV-Q+sjp<92k%Ns}Em z>A!;_#>vth=HDQ3@4&2*-tSQ0Dw+5W3kHlVld}Oz_rAmJF0{!`n;*Vnr@7Y8!2aa} z65S{r_nIT4^#j#1aw`jBbtN+dQ-GV#XhH0sPWT(8bg$VyT1_v@me+zw@}IqCE7nZ$ z`$(VfKkXx@*)rGhy|ho)EiX6~^xu65^3r}eNrvQ#a^yqd+wt*ErmXnXoCRtA8EsH4 zvp*xSTAusNyaf`dU{knS23Bx$ua=slWaZ~(6S=>_ypk#Py$X6kku>_8f)`1@&rwh$ z&wNf57s=P)KR|aYlEMSDLXLcRfVRw$PG8U%Idbb4#LJP#zA&>Pr@kO_IdaiK z63z)fa?tGT_F&>!3K;P6$szVdLK6Fx79c$6D|5TSOEs=46y!=LC8;v9ikzp)->SHd zr^?F?`J&3~;8%OiT8n(wI6KHEho^IgxKTQPN7gpV<=+u)qul0@$G$VKNK*MF$QOfp zGx$b1{T=1oD5=M6GTk914monn))n~PCaDe?Md z{$@wmYKMit`Hgig7s#C75lsm%`kl>kSLmtE7GvkBOsjpg+QgP?PMB@+FSofn?EflD z2U&9$o)Q`4veF=Y(nx(v9kRt`B}S{6Y)OBSg;BN3%3;wl$!&GCjc2>%54Y6@&TDRB zRmdj}`OP71JXZT8jjZdjd3M3;JP)am$w=6W)-HLI>q@#j?;%U+vfpD3g|vva5|h+g zwyxQB*$V2cD>>>AZKWk;k%TVQC)*OK{M$e6T3PZeI@p!n1hH*q50KPJ_MO$qXe-0E zgB>kfNAproFvjx9gcz$CbN@Xt6sJ=D;gIb%34a@7CF*$!x8GW$=P6z@tpN^cE-{wX z7xy5`>H)david__wb0^_Xtkg%BP^>ejMhQwMH#y083*bum(wLXXmL9$4xqm zEn#c1TFKz6xM!-8lR>JgO4`Ii%4AfmH8M%wA!`gsEeVC|8zU`EX}O`v>6cD($H!iQjzuWFl=$MKIrmJ7fpdnIDMV zpixciLx@y?dh?Acz7WKLRp(ceb~dp!oA))cczP6;l{Nm&HT1I@{_l}g7Lke0bg6m` zqp1`VwChjvIHIxD+^&Q@1n>V-k@=0Sc5PJ4WR&aIad_jaZeB5G=9YcEgH1G_m1tD@ z8_|@uiFf=1pmtprqDJ3;s`pl(roc(@sLggzodJQCM{Bf{#5-E|Mzmcq&w!+S#CKV^#I$1?jdbpD{6Vk1-H6HRvXY!UHAL)fK zL8{fqq2h}vd`O;f$hQ|$_>lDNVuuxUK{6yScCk7__I4rFQ2387mXB{XzOQv!)SWuL zxI1;4C7InRa+WNF*rwarB0Cps!KbjSc=@fnHJyEtoKzICb>fhXsWpdvJ**d(@2H!K%dPrGiDYLRpq)srh_I>}MQp6p+3?8)<%blKCB z`bn4Hk+nmoiK~~@w3bu09kvX~HG>UgK`(ub@gHuD@9Skf$xTvRZ@OE7jOdMy0?AiW zC8fRX;{Dp2nyr#veXK_y+xuAAkhUS4IWa^_Rmlq>yM*sMuZNi>}yLd>&wzb zEx*f8ORc6${>?@1^d(k;{Lvlj>nHot%`)Yjie^f`epY|KiYC%Q+sViWgDq*6<^8OQ zwvqTKxpNeQxN(1L6zr+}>EmiU-jL#cbceV4TU}v)*Pk5aNrM6OcMa9g4!vPt1nP{K zym00KYcTIJye>}+w0g8u+wb-^ojo+_JS#)w>w&B=)!ciOv`Hte)`P4oS?Jw5h-|0G z3l90(AuZD>eTqzR$SV#xl}^Q`$VG$6T#8)jkUJdm)L;z@?;33F)Z-VATxv~>F2ka` zth?L_Ij$crx7x_C%dE=@FS?AOQYMElBUV|s@#WSHoTHRGuCOLUKDvS&6-sP|O@=w- z!3=U#C?8}HqcD6f!z%N#NB`b679U1DxmEt?!Fd1MwHC(+<@Zs@@IBdUZE~ZM1Sz`K z>X@Wv*}YVbGtbq1MkpU6!E)udYwcA_)6v#lEJ7b14YMM=ZZvCE0u#sBGDF5#Pjmk1 z;23MSOZH^ZG1q2Ut?0iWWKlQi@^h9o3^H)6#kTL?W#?FnN4tNQ<72I4rLp6zV=dM0 zy6%y7u&-rx)+n6pY;uG3W{?9c@8?+m)suSf%p&2`@b|MUj<09QHM1#H7Uzhqk1V#J zu6>vRkRgvbWS>KV3zQkYYJv5kJ6bKA%cMuFBpL9imCU{Egh%PoYV6$E7rbQ=^H8}g zTtqVEQb{0W-=f;22fk>viC!y4x)Xy#QW_)OiE*B2j3pDP9lcWur!BUg_8_z8aq?9t zfhS0+OwyjPwn9!hWc`!WUzt=qX?Ks#Pg!e{)Oz|suFln<-qM6Q7yMRWc@RCSj96$td{r{wy)m` z+c(o8>m72!CgIM{T3>TuRjifP9gx{8DN=>3T1n$@|FV*Z71HoINTyu<9Je281ib@o zuIp-7RGpP&raa&XZhg)gnxw|h_0h=?Td>ZckCQgfqcKh;;c~O^I_eyaMJy=5%UUK-Op;YDKm#C3y+4d5; ztL5jH$X2yjCQu5ATu4idU=_viE@1N&0=k z2v}Um2*6aFrmA+i?Nt5hvQw2FWt?Fw8fBW{qA#o|9uM}q#dUy1w)qt+$!aP7%C5a# zUs>am)RwpALffX^)XLUyB^{?)##UM*qt(2(6we5@i%}P+iT034@d&HWlCQ}PZ&rMb z(xo!xYi5F_@|olN{cEcezK)0Ou&W*N*TdA}((peHTWM|C(%%~$)HhCki4G3Z4gMJ0 zH!&ut+x_z$vN|R>6yHxV!Mh++yum`q58mJ74Jotu}OGKFgV#@ zKe$a(xal&fX;3XkeCUwD%_w%d+}g~}(_)9b>5wlR;!3c?Iy&TPNRnDSUr&M?K)u`j z^zfpDU@N`%eYHg}47oWecsu0dBvQ|n#w~;Ts4}-DRgo(zTT+L)vRQpu@vDFx)y{FXnP#uyUJaS}?@J?ZrSg_d!oQ^ju`ZP= z{$AuNRr>WJkEwE9FS3)$J&{dTI?T-w+j4t`OgzcXxf*dFMm}@xdZ}|gNafYRU}7JY z(0Axg|L^^V2I)3>EQ6`urbDVsj7087=yY46u6iO5hn-^w)fxJ!@*0uJ`)-JxMLinO z%@(XPAEqwpW6QPZ6P#w-fA1}=Zx3=1sZVe{^X#>uV47|0Jyuq5_XuZYDELXVntazM zM+vf^AGcmQ{H3^%=Q$@&n2p1q_YHpHRx1*v1A;tlWSkh{I&C&mryR{=mwp0X{}QM1+pJ?wrzQC z&i1fi$&zLRNhd2jXkhR!o@liz&!V4)UqA44K%N;KY!aiqZt~N6bhq;MbeNMZI7s@% z;NU8?byIM;-C@^V&h(Ha)t56pWXWwqZRT=^d@z(uscrcx)&|x8dl!-=o-6DQ-pL`? zTw%v9aL76(h2g_j1oPYs-5Z9{K{v`jhS5GXq*6W{7R+GhJMk*QDrKBQmMKY=16QFt zdC71ljAR)wJlNj0TpuL`Yl6+>{^7ytl>ON7AVwaN<(3gDE02yqxkHkYAHZ6yk6sGu zP0q=3XoRgb@ft>Qa`?Wm0`3#VwOib}-eplV2;;eKJFSy)igYY2WN%cdqjZlY);yR!<7@G*B8% zMsto_I+?_CB=#nX!&f?QBD)px*i9s-M)kW$n-}S174qIq!A_8$ZVDzrVy6Th$(hIg%6Hir}hS zgQ>P)4nodOW<9}^NFdl|nmz0XOtXErtFJ@~r_p>R@|HtRz)ULH&5&T)aLx_YnL6^M z-EEA8Jh|;Q>Mu_ogV-Mu7-3H#a6Y(AUUQI-L_p=|s%S4_?gty(&NW z5c>vQ3WAvMDwF5tqNhyC<_2{$BypbYONS(t&E&8-l~VM-wZ~1_JW?!^M?ONZk4l{5I-!fMdQUwx zC=d2-JE+b!e2#QmM4wiP9rE>~oUyW<2=26n>!p;x$j;IW4td`pKcT^u6SfuyCpM>` zx0UD|Do;4%trENRUzbpNHG%HzV|0Bv*p9{=^)eH%a^2E!oE0B_{N-SQH(G6;OZQ#D zel*_5Qk0d-y`{lwru4hk1qbmYyM z61>E=gT7R@_uwkR6tyLo*jg>4&!nE_gL;#gT1uDVH-j(n_;~BqV9#h}gbOwVhs8+c z=HM~ew!mr}9=I#mt)V-Y?{!qL8TsI6biG_D{w&x&pw`uOcPY;$AFkt4m%NF~M$rfQ zI?)rRKYaGH;5yTTDRrk`fAH_%r7YGP9trM%>^~Ch3Gsi!c*&5=Z|DyhGS?yNzhP>{ z03u;YYKeUzYxO7XotZjqNwlL>c81J!$nvAMk`Imshx#?z5nA-PxK^5trTe$G;B^kU z?^|1N&9^oBQ@JjM>}yj!{jpVcw4M$b=a2%2yy%cU4mstJgzxMK106EOAqyN*>X1(z za@Ho{w#R~tny`jg_Xk-jl*50}LDbGX78MHVoa)p$Yc{CYc$H73$6oC!d2>-te7(CP5vDa|_w8*RYsss*l)MQpub~D|&d4k68(x$jHx3?#S=GYHOb|(PXbztZ0mH!_5aAb3<9j8y zv6=*Fn34*C2SF4v8de1VQxK8wb}gTj1{=XUY}m$?|KQck!k`SC0p~zy#D&yC*YLRlkOB6C=Q#4bw&vKg z=16&!pb8uZkz6j#WLZ4Yk=;~FUU?}X74#e#HS&Cfk}IN&sl%cSwW)G?%mqc6gE2@> zn4Z->jUqjBJp-9YLU;AxJLX^xSOv6llk?X;gQ0owDL4R5fZ}KQo+&s4BC%(sx{N|_ z68r)p{GETHXZ7Oko8IvHT;P}VHG0cdzceim{CU_L19?aDV6;#dnJ0()wd87P}r zOW{V*@4Tr|YyAr51^F%i;LDF-2RI5MdPXnfsVJBQuNZij)9pbdJVX`br1hgjZ=zrW z-3sXUXd?mM0a@8X92^NTo3`XpEj)`Klz2iOhvf&<_Xh-BnN+^fMRpt8Gw z%6tE}o&S=Fhss`K!asC?rDj#D5Kq07y5KX4hy0GVJk$OcoubdU=o z@&jPR5lB!Yz|P_yFo-=WmUJzX5LJ9Rbf@G!m2zE%m$GN8*y(2dq6p;0F~e* zI1SiZF*vPrUS49mHcZIZkZNEN5?3o!HS7nf;RvV#s!3&4Q#?qhB|i}N5ReU~fV)8+ zC8v35Z0|Rk_M81#3Vlh{&s~ z>Q-6Rt(j2WDyx}!18khi=S(6I3>sHYELRb5?v@MgNO+fv`DQYB1MCJ7zVe2EJ)pc6 zzg;&vJ4gk`yYm@GPz}z2bHI+T4;6bN&>IW~*&w2LHSW!zGr~EM2n4R`N+!T2unX(~ z72ptHv(=Ef!y4x1Pw&Eb0`tLP5Yf6E_Zmh-{9S^Sv zZHdSf5Mv?k5d6zPBpVTWq#aW+n9`nE4n+9MI|F9JE2zbP1NY|kOu1Wd?5GtG-I3Q^ z!D_H7<$|Ie_;-N{a1a~^r-6ZtRZH%&4qWKLcrXp*f;nJ5sI6}gaVk>s*=?s}v0xw= z0)~QNAX0)82)gmN1--#Ua2JS#A0XVo9|s12;UEu0!lN&88Sx+ybO5Pf02l%?^ZAPi z&c|H{mV#oi29$y_P!8NwqZh=31dsx{fJpquky!#(0gby6Yy%p%0wg2b4)g>ekOA_C z^A}N|iE3nxv=eBgN^l&U1{zrt)yM-tCKwGO@m2Onjchg4AdKhMMk3(zHAX7X#4iJy zIPvoBxJMB_2F?I2Wh`g}v~(IN9cZL1Fdjq_)J$lY7D6)<;cKQMvJ-Jn29MVYPvXRJ z7m(JL;XV+@Wgrub0aHOl(TkiKUJcfOQlLXUFMlZ#dT3dXq^r9E)hD$J)5Uhu8_K{O zdVtF8C#;H?cj4B9#)m;fdxUD-v$cjmgg>PvD|v7nxLci%mmj6fSs)rF2UpK4EN@MN zfurCQs0Pu=baC(zh$udeyBc&RGu^;MFd0k*(?CQn7I#}P1dIW5z~gQ5F9@7LNeawV zFdj??OF=}zd@@%ER)96NGFpne9DE8okjaRACH|A(G>C$4fOwDq&dc>j`u|d}If?lh zd;|`GBj6&$hv+8fb9SfO>@cGcM5f9pe4xl#} z2!?@CU^18nBJ$mEr-310C{USkErvKkGw{p;b3i153ae5TR;A;BD!mKL1S&fZIM=+` z1nLQN0NubqFcjPcW`YO70ua&O6n9&ovS~nNhk-d@9(Wuq0TKD$xK-ywFd3+f>QtF! z3AO5R1dK6Y3YZRN0adyPsM1xS1Vj|8>^PvZnpw@H$}R`RAR?y+)%7&ELOVr-uV+<}0H?p_|72qH^0;<7Tz(%5Bfkq$_yLT-F_2qBum_Y6j0$({+wfOc_QF_Z2XHu!(GMchC4R<=MHuKw zc!VFJdKOt_BK`=?MK-!2mjmbwpk+;tbF&SS1d>4pP;N@To-QuI7lNJ!5gkhwQ|X`> ztOBKAJ=hGkfQVd|1xzxaCs+-RgOeZTsiLjpaL8O8de34gOeZ%ozb=Qo`zQq40zU}e7Xycq*?;W zxI2K(U`{Q52BqF#tK@pZxU5!q1!295$aEnYAS{wWK0#s(1uE;V72gj33;&y_{yktX zI0!1i5fD+Jr-=80?Dljn;54T;+EJiqhSO*`r$e6{$^{1e0{EWuc^z+DPECS6pd3VW z>w#h3Uozsr0H7y#?}n%6a7TfN+?sg009X$;fK6Zv*a3Ed-5|M1t$`m8BLO6WR-i5D z06K$iAPp3PNCL%;x#$2r##`Np(+sx(OtMX&_-0uMmJ7upVG4 zz!)a?UEc7C{G9i=+?H{X1qC3Yb{Ou-U_Mw{i@)tnMiR&?rJ$hrDn=qmK+g)~O13cS zKl&z=t4dLhC<{0qQRunI&J6~0bl zWTYHL$~VYBJkZ+C&fhkgnGzJNWEKLESn0TPKqW|ijxG#6RO8OUACXg;yc*1bM)(n0 z@Dg)G$pwBM{@I`=T&lY@?3k;sKFFveayFC1Y<#lgD^B~`@~heQ>cVJ%Wl z!p2qfNMdF~H-HfCc|b!$3DsnN;qwd=5F%6ya~f!9vdz(W>dVZ}+)Qr=xnLoPWZ($x zxnv!)?s|q5i14G~bpYMK5HJ(`nOqwDo*)Dwatm-r^wh)|Y#dPKv|l9PG(x|qApFEy z38&!h2GT%p5CX%2U8uO!FX?JPyP+Fx;u_nqFn=4J?QS>`-7kK^o&Y!p;y%5=PscwQ zJO~zni2Tv*Xxl;SgF+DDE3Xmg33}J!4@Z6)$OZGZyU2!aGK3cFqFaIk;0TC%kE;%d zsGAAzMNk5cf-0b0Sc{gEKjvLlJzzXo0+xa0;2?-cGNNS){uzMJ+}7b|z%rKYS^?NW$ta0RxD0As+Xd zYhZ2wn?M4A$siT<1|bkpaI_}8Lrr*uKL-C)FdfVUd0;ju0BQfc5Pu^6|B=gw8BwGW zmVmZIsvU6|yj7qCoC5~o37{2729fytYr(kPRk-sbCt&Puz4t!7vzq zCKyqq5$1pZacak#2X7%L0!P6~5QU5v7`60ot_lC8CLF!ay?!f%+JbhVCkTObFa!(* z!@+S7$;f2fJHQ@r5F7?aKqP!AZVmqkXn2Hw0{1C!8brTE=H6lvmVhG>B!Ohmig~IF zNUb$rDL(`(cp4s2H~?M-7!InyNr0((!wUknh-93z6$Cb6G<#W_0($@!gN(MgM=geGBUR3b1u!$HJ}vi0Fm$r)pLKtYt?Hp#g3=C zBH;Ml7amn3I{01_(%SnpC46QctEWPm*HLkUIeSbCQu0? z3Wwp&0(o zNO&vUT|hsO4zylF`7iDzYoHQTfis}PK3Wi@f=KKY@axMBBYYH?2xfvj5RuP8emYQ@ z5kO@ogK1y}P}$l0^twzovQy&95eJJv2^jDpJELGCm<(osyMRh(=4`@s4qQf&hl8nL z8i*wR#{VN+PbJv;qxsO z$wO3B0Y%&as)*B;s?bAoI+XOp+X(0dNynwf+vb53WHoM0c=M<-JP(rPNQ6S%ch_Vu zD<_>*`N>)eVc8>w$Z8DoHI&M~rZ z9oWEIKn*7~Om$^e{lfD*U~sE80z?#M!OI4DU<-)wGq@+)19Fg^2K0k~{XjPE$v_iH zNzij*-QeoUFb&c3UiK-mJF^-V*B*&pgX(G{5u66pR58`QFu(1vI<1B96u6eM1RAk zA4mq;+R26z3UyDFW~%up^Nx(}eIJ4OIK%At4BdSD|R zsN@PXsCy{TLl^eJ4;>b9dYD2}({CW20#5pRULqDb^`*w8tmla{C5g(rtN@WBFI`7pQ8o5>G4uq)tDPcrNTWk9zebf}iZZDd2@IM9;@-6ApLatR;9SpYo`@c%V-?r~LB z*#kcpA6?9fL*{@#A7Ex^If6MQmI;m;_7aT@%omOon3|Nok|w>r#=x)g|Xhbl!(~(7p(z{MNFc2AzOhlx83tMr(<)BO4{qKmRme1lWpT%jOU!v$|BSPi8 zFrI5)LNr8H`jD3>4+)#)_}e179>4H;Q31IjOOchxW~57@<9`~_exIN_k3^x1Lta2u zBa(Y+s)XKGL3zBmZ`DAPN~hk8Ztq}P5})a`e9YhJT9c?h5=k_>_LER}$t!rA0utxm z+_LuM2&N(F$UsD=IzcDeYwQfE@vL4xu=yYnE;Yi%NOqCK!9`P~L=qE&) z;7AO(zdg49O5kMSvjN$RMBytUX|$i@AwF_4TNXCAqkDCnyqNP}h`fq(J|ZvQT#U%; zHdi8f$P7ddXq=xIa=!#Z2PysQXK5Rx{&QR|MszVX=#C>%=$cvj<$PX&tVY&bdjEL3 z3DOdYL!|W!0?&@4lOhw5=|~Q!23e2j4E)cK7>PkzBhn~c8c4MKHgD@V_tp4x zYWXgh!uDQ7-a`5=lFH})h|Wk_v?nZ+L$NO+{R9=L6V0 zFtnxMI3(Vxz|+`PBln`4giJwZAksF&q9ih2-n%L?A6d(aI4(UjmB;ucFkarLDlIh6 zFA?!sh@^~)kf`@)J)uBHnnO#HH=5eV489$7J zI?TH@;IH>SReY{u3Zoh-Ixd8;$l+p*pGPME|Jm?JAkR6hTLIOM++slJ;%$49zHq&~`_ z>v*9omR8XVk+sMcL}%RNOICu&gGf4}^$}$FEHWOcLLx}hn1!si>uteX^jl;BvJ}z! zdEMAS$wZcp?Kc>Mc98eC?ndObt)1?qWst>)tQQ+E^`=dBdjvW?&&m$D8%aTQ+FgA9 z1UZ0IS^A_dtb-G&EV2OE!x>Aad!0^ir8j%&0djgR-@g0cr^LkBj6XN1= zIEqwbkngNIlX-N=#YiQC=#&~r(VI3;aSzrH?0Y~L>T`-oP-*dUxZpu!Uj-LiydF+V zHTKQ$2#a^X+xi>(E?B=QOCF)%xyXRCZ-8-lMjR}j3fDaHUv`VfW1p99?DB-W++AkF zpU;WrfAb85&zS>9G0Md%_MvhC*{sBT!AIm}6{a0J@SzPYr@0d!B!WV-6j1)SVX;f_ zskRU0!|aiUr2_IGgtp%(9l!A`qxck#u=pT+akH^k!LpuW!=KNo=KnTZ3?GMOoyCSf zpL2@;)3zEu2g~|QtYQybWD~W`D1L|ASS&vVIKtva@K}o@;1w1(g*RB-9B#hdsZ%p-44~;G2fhEtVhqn{BbY%e2_y8>w)!a#Mh`V2s6bi1I9M2^U=EfX^9$;+M+` zpOXzcJ57dTz)==UCmm<8bi%JKo&eWaESoN0^(p zC&1$@mdEYle>CbONY7ZVmAXB^^SiF#$jpU;tDmUKBv+!y>o5s4@dnpFi;I~bMbI?Cz6$pwg+2apy6OIw^;1M9=*~Ye10*QL1>i446^O?e|g~2E)GP(a zgOQr003MRO%wm@ZDs8(wT&Y>?@*t*WNiPp&YMvwGFJh=sh(n6Sl7T$osS}93OQvDz zr1D)u+hr8J{EXo^c!9;TpgC@FK$cABEk!LEwjXCQkP}T8i{%hySuA~IoW;^d@+?k) zXIm_NWQE~C@KqlhjKaAChdmabp@4%H%deCiw^+vUd5dKjH~e3-1JXiGES6#1_A)d7 zUr&LZFDrbGjN{%G%Q#N6SjO=di+_Rdde#)^@TBtqiyOj~7B_~S=aj$9|1u7fv;v-r zy(Zse7(A6)EXR2E%f>Fpc%H>_jMrM6ME)k+Gc*eJ%?hQb|M?s_#u5WcI{rcqdtNat zo$w=zgS~k6mG)mPmN&r4Gl0SD$WK~mg~ifB^2{K1>Hj`Qnn)fX)CuHWvB8H2g9@J` zt5$iCP}^nEnzq2OR8YPtX}heb7A-QIL@^mPz3SwZ_G*j8 z-X(DAN{6u)i^G}ISK8yw7!FpzVyQs6#bV!UvDhmu7P~jobCUws{$O$yuO=3YSL)d- z?O7I!{dbEcy}!=*i+#MsVt>J6?B0FzTsNWm+?9z=SuBapTTEwj#%>xt&%G|ptzbzb z-zvlC#e3^HPM!DCe0OMUKHu}(D0OE2E5GK;Z&;Lh*SzY!sKXPD%nir@{Z!I@Z`S}RH67IIC%oM))jvRmp(yoyy7}IJIhqFK0lOH_csEZ7`d_= zk?;|?vGTw9Dtf3*Fbk!r$`lUgZ8cHfJ@hr&4XiuiYD5O;y$W6t3O$ z(js@3&n;U^xQx=zYQ(p4uS2ohk>AT3TA^$st0`}#7x4zIi219fkkqj{6-I2D}GrC@3N z+u@vrTu@fK+Z!%r&Xh0fV($yDV~V8b202~)=fbKPhr(sp_bB`0u#YJ-P38BL>v-S4 z?z(~JFA*I?BH7z#aH{@=tI#A8o&ewRAD{m=#V^7m;pU19;ps4&p#Q6U@Zdp;m%%^6 zS&G-dCx7+%=}#~&%@~! zhf&NRizDD+7Po}`bRFI8I$iHXI#HIQHx6;$11srE!@LPA>3P0VE^|{k=?tr|j>0=8 zSXtIj^u*h|!z8}moK|k4e$yNLhTGANUdeq3OP%K}6m<#e>6W^uclZsryPHc{ zGc9$5*I^aov6dgcl{4%7(FZc8_frf6pA)4apwbb}i2nw``+ z&g-z#U6Y*Z3-d>)*54A#kc7#DtbERg@E{lr@?m%wznri6H2l@37Vo-Cq60J0Muz#E zn^|UG;)aEcGvV9eoQJq$#|cdM0kLy`qN}n$0w;1mLZ)D`j}|+;R`Eo*l=~5PE1m&I zvo2vO3;MqXx69z}pUlaU!6p=mIB5P9?ql(HaE8Tyz}Xi6iIQ?H?g;N6%$-A(ey z%iu%srm0%6*%i_i?yDWRW11{kf&PnCJ7cP8~CIQl%!!4TqDK-)_2!sDRJl?9qf6upX2G zYvDfQOo3s^EJrPlN)FJeP>fW2cnb~{&(bFpcY$~2nhY|;4$EbJDIgn;<=*A(%)-LY z!5Nddd8^Xr!O>Gglcm^;#2@aWM%}7_B={%s2CBwo@R33SCDgFn3+K-vUV%N7COZhP zgJ-He{t-@|>-f(oc6)H))-x6E3@5_c|30_^?xOqyStxw-hz?MSNpL?n43+{H!5J{K zd~gr9!a4A9Ux*KgeZDyldI00@H+QER+9Yr#sfU=;FCVCL= zvzQ=6RlqRVC3sI~@DDf|))jsY&bGJ=E`vL(3Rl2&R{C1_(q-l%*wsC0fn}zE_Hekx zDX?qtNI2T!0yq}d6%M31sR4)@tajD+F|a1pFKZ85wKZmaBN@F6(f$M}~F z526S!<6NyO@B^I4y=2Xe?xB-yWf;{D`QHRzdWTR(j)A1_4wvpFo<~*iA=v$x^MopJ zq@;&+1t-E~@G!~`X7CD%=uc26=9l1{T)2sAzdts-Pq@twk7u~M%Ws^EQacr_6|%03h> zIbsTU7Ot?k5UztMFW3o7;Y;w-D!(mo&N1fy@hZblQPdtc86JmS;?DFQ`1){2EN%v8 z!g`c+fpcM9U_W@W#o2Ja#Z%zI@0kC0t0pQ&k#T}p6~(*Z#9DJmD&Znn7jPObf%ho? zdYk~VPa1nmI0u$%1ky(m;JWXbZ58)|lLMzsg2zzwfp@4*7J$RgnFrm(nTA{cE->wSi3Mc$z><`0<7C!?g z!v)H}5Z-U`8aVT3ll~Jp+u{@VG5&K<^L$0+khA+#m~TH7SFn$@plPDwQ^X7!=Z*e2&OXJ0*Cue z1_$6i7N3FhVQE3Bfb#&I3TEXNWIwzgu2kFvE)C}aIyDNK2T&Yo%(V(t;LUL2wK%8* z@o)}2n-Zjeu5h?Zh?(;54_}H5eeV_f5V+)ell}?#5ZqGbmm~i0Y{h|TC<>bx#ca6U z4Wa8AlHp1?A6}&ryaOjTB??gSzu{6?XLt-w{u9sCEBnuI5v+%~ECyZf&dYZf@((!8 zP{cOl!in0$_Hcf4E{drP?t-IRm?nJy&VW@0&QLhJW$4AC0oE1R4HvZzT`7_R4#MkTxlJJaJ$#7U`%$WZ-{88N zOobZvWj1WfwM6CL9Il8{6_EMABZ|rGNT4$41{bzB73d4c-ogb1WzU2Yx&7Z*Rd_7i z2iEqfa3;6^52^xR5&w9e-Btd}g%h|yKz_mbe?5xqPCRd>94g>Cc&*}Z;F8;T?oIXD zlW=U8(3ezcfnVTc_!H%SRVv4r$iA71o4_S-XT`DbA(+W3H2-%%k=d1tbIRc^xB?!j z_&zxCPQwG?QaDN3pM-1SwW@{2!$sZbbjqF&yLX%X=fb)0aLNxJ!zCz=pwKm52j_GT zU67VN+yQ4KnPK)J>`Nx9Qx#ANm%=*zaX7ID*N2t;JX~gRct7la#jfZ77AVS4=tGbI zC-*em3$B3mnQRao-pibL#=x${&%@F1Ak`vM;oRP4n9dY`?j8hgRW+Q8A{m8VGOd6! z;StKd368$kbh;1V60YpGQTET^3V0L?5^1p`aAH3qMO6h(!IS$FEv)>1g<~J$CRl-T zaQic?(n43QC4<)RPFSD0I>ATa6DosVaK*zssjfH`E*W4dmmVmM(?=qi*{uv9XDFDm<1xNtDBw2D81vxk`c zzk=PNrqkBK{Q@ZJt8rR~A|ulbtFVWt0Nhw*cs-mCS1WD@XAkGnsH$)`xZ-JIpVjPn zKOCM*3#j~u!Mlnhi*es0DI;XjdG%w;>Ka-~@QRs=z&PEgYk` zFC1P%AhzN`a55aHcr=_1M<|{G=fZS}U<=NLC&TR(2TD<_L-A*&*a#nilN9fQV;4&x zeJF#^;A~j$!7=y}JX_g+h6|Svt*tnmg+Ss`Q^6K+Cal&60q0gem7&n5$~z>%GH!mU z40^-)@HEAb!0vL+-KtMy!?~}AT2T7PbMRzXf0>;M$F49dqB(H>TeN8KkTU--Mp62< zncvIdo$#%yz|Y}B8%>ja3x{vwd2@B9BWl~}w=FbkNlE)}a`#93F$Cw}JsJo1gLR9%2$#V6kQKrE;e#su61a3nXu6dOY=e)$ zy4QaRC%+S#-h=c14=CzT=yUzG>70nld7?vQ7!4nSKT_NdF5OAMz2d*Xh3}fVqrceU za%CSR_V>)V9}SnlC*^>!GB=o8fk!n8{~9Jo!`BoO=F0iJ}6<4pqa8aQ=R?$JY#`zyti+nzF~j z{SKO8*%dB=7pWcS3n%_NbUR5Z@Tl0~=aqdl9R0ccijB%}k|g+oVWN0GoKtCCxeh8OX_QUWxI8xbvf-7LTNh|*0kJ7@2LN|ehqv4V&=KmQgK>~_|FZs0!#l7JQ zm`)PRU?`mY72ov~j}iaF=8MTR_!t~7c5Zvjfp7Sl->*>oI@}FDsdyv&@HYX@%~C@W zypLjXH5E|&8JuyHXQ>n)g=1^@kqbGd_@9G6KCagNu)N~5#R;BRSN_+*$7=cM4OL(Z z_{d4s2k^fI&XFLPuF9b+iZ|gNDuWcb-5J#>NiYB|f`cax_(}LRizmaSa3htU2k*3a z4SdM*-vtN0u@qG(j#&xL!WS&QYOv!p_`wv=3cdlpOI0`?&gMSfwR(r(=iuOEM1{M< zFTzpE-g7YH?==*6E5*Gy9EO9ZUJ|6k;dSa<4nGbrgM*7ococl$Tqt%%4oR+J-9l60 z|5)}}is_rdLs&GJ@%QkLYQ;kai*XnYV-Gr%{TEllW0XCDj`J-%>3nFt;FA6v>|6-# zv5UPP=iKpdXVk*saE--{11O??3N?v1{0|%t%d%SdMmWu4ewWl4Z*ezxfyKSya*Na9 z8jG`G|Ia4>$8u5JYAL3|sTLQ&<1C&Br(84{tbyazy+&z~_awc=mGIzAr+;=|AKRds zm2SCLlofdoclM8DMc&A(g&Jf>-ptMH4x!D%vU$Oq5ZWwb(_qe=tDLFc{_Myb!=m2z ue#(w)>)YnF7>QqZua|7NrOPJF`PG{{65|WrcG1rBj)~UKtHhp+Z2EsJZ)ZIK delta 77204 zcmZ_034Be*`#*kW&Y7E&NFw{bhe*T{d+bSY#nOtUZKx%d5{jl;OHo3#pP&dALu&~| zRaNaLY714=zLiv|P}NZ4CMCI9{oix$y&C;}|9QQhoM+z8Gc(WZ`#p5M$ENE&vV+*X zbPs9M((neYNH?N>q!P8fD^YtSO6rCzqDueyTiT1LW78xZ@7tZIyOw_3w2A*fNsR%u z1@!<81dRnnDpvX#9v*^z1(l~Q{k{3pY{lKNCsBvbCF&f|QqcRRaMFVI7`}8?LsKS6 zmd6e!reUQ1S7t)I`$BFH%yGD+`h%95nB1O))etGc)J;CzH1EaQLRpf`*)_zRVNoP0 zObQP%e^iqYl$I8H*lnNNVPZa5;ck3UR`|l->}zVKbY`nz(1AUZm7_B8Ftt*@CDe3R zeUE%)>g)I#nQ2<@_%q4hGuG)7ClbEriPvF9icH@IG$zALzXr4+T}u@Z?UEwmj4{S8Mql$t)8$xCa?JE+>{!y<)TdElYWS&rMMPDw|D$`saWfGMSAKbz-H&3rssmCyMrsbuR* zuS+XUMJ)qNnavCynU$~lpH~V0TXer|QU5+_-hljL+R!}4{r3uCVd6^*@0osUzQGnp zP75DT#bP%w(PrQ<)6Xr!Jzj^uskQv|tN4$BCtLcszyHE&pxx_v)039r?uW`>^_pi2 zZS}P+%15ny$Q=`DJ(b)yeboBT@Mq=82V4u{QH%N+tIOt8CL1lj3^0g_vtvA_fYST8Bl$b`gZ5BD9 zMvA_DDRL)@a*3b0$q#xxHrGf_(ToJM(hcShO}_0K5XscJ-M6h?N@XEUh1Btd6n3~UGa+GjMt5KHn}_O4gV{+keMg$_011{je@;`XL5N|IQ=*EOFBOtUBh;P~Gfdyy`o1AAJ2k`khQ4 zbg1umv78ooMLL=Y#urgO<~UQ`j)BBzitQNF{%*Mx zm9aZRZ_EDX{rb1@Lvx~!IjBN0`kTM2e!axcq0h7F(=L=q4!M=jo+*`5X~%SbbB<|A z$E%M0DiU^Q9(FbxP49M^?YOSe>T)vu)2Y9I`XHpq$*Dj(`l5dN?!%9r79z+0*Qex~ zX;|l8BxTRHo$FGv*K{zk!R*o(1?h%37jp@|&iEGL>w)hheEsml#<>lZszQYIHQ|+QHAn+UYeVEKG4AlZst$nHo-jy?rU&=40m{ji}|)i zdEOP@UoGpO>|3Bb&r91`l$`A3VkQ+}oRsG$(p=1yDKRb|bZA5HGvp0ZX|0p?Fl%=jrYR|c39OiPUGW5-u1#oLKeypzTwrrVVwZDv>} z;vEWEE@XSDa9uPF>>l3ndbQrsJ$4o4H7CHlK%^(2=>zGgB<<}IV4kbHC&C?Io~iS1 zpcm`uJhxK-+J)AA!tA~%E*JB}n!E$nVjWwv3Y;j|Q8gLhM9~hbNd_lU@I^%!I8nSS zDx!D2Kz%&?m@Xtc&4&xp>j52Y(MzNFgv5#)5ij#}Jq5_g3|5>B_axoTo?n?NDhCN~ zH`^#`NL_PHjqVY(1fa35xm0(v=gTG$^muj6MOHcL4ST*3SY7jV5ca+V2$>t8Rxv$yWJ~jUoxuS-NdYg~>=UOA`A$7%|N+YExXS0u` zPpNA9zDK-VVwr4u)FX-bnHu*DjyYawEtn(tiemWzUr{Lg@fAffvD{i9<4hm)?Bzt~ zWf`Ry$z1b^>2%LGdtRzS`X*m{IE|ct=tQE8ZIRNGRm-1rLXC1ZS63{5GQ}wxoTcKL zWvgt+US&b|*I?BX>U7Pr-BXTsjE;PwApsXn^VOk?)a%rng7=hyGL*Hf=+eQ$$r+ z9=N+YcMzOYMELxwvi*BZqrRn7sW2ssspnaY;j83Q*vt(JCK#p2hQ_M0LetbS!QQ{> zIB5_z^X^N@MbkH90)vmeluR&&FSPp6%D3(cJy>0K)^vAFXBU%IBP=YVx@@zlaeAxp z1r^sGN|BiXs}udqBdVn$H>dSactB(t|1aWKa3H-(1P$ zJ->YPPB5mF?fF59Puc2F16j4lH)lS@XT!$J25RoI=fiKdI+8(qg7J+^t*(zY!CQ(gS9Zln;ce-P^C676bA2k82C-9Dvp zrn9A=yo&63yX>xkTsC#A`H76#BfmJWc$fDzmVER9{197Up2m{9+MhC6NZs!?HaZgxn3b$@o*KubrJF`$7CQ)t9uy3MwrV^R;0icE&Ri^wnE6l zg)GfnmaF>>fZsH@c2(?<;vn^?Zf4AZ`x{-i4s;z<;|WWlWG>6$OPz?POJx->K#u`s z^IcBFclN`oW;$dBG^=9x45c_hA`$J4syU`o82D?|K%)U(ocOd^6` zUzG`7A@Rm$Msrz;F`0sco; z!K|FQaJwOl7=-b>JOwjzb6GKeT8BisbcHn{3@?Q7D-U%h{Nk zZ7K2Lx7|pLJ9!Z%qAI!euoGD(JuNHOeBH?%N}ljCPZCRSRGSLgdTH@qq@GNMXhVF- zQ9?fE!T#i|8@F_~L`m_xvcegX_@sg-gb<&)C1syjr08dt;&k*T4-O#yj`z#sc10VD z%W`?=0HQfWTk>|5ly&6Q0i+d)&{_nN?v%XFX9Sadbw8-79qP}#a|rQ|8-@w>vrEjF zlNBAlH8U(dI*k>puy&^OYtYD>b%R6?Is@R`9Rh}VlCxlUs-A`oO1snH%pkOD%M^HcT6-59On zUxSLuT&kO7L`|bje$c1dVhRx&U7nv7R$TTKzg(aAl4ty3eG=$cT^X;Z_%e5iB6mn* z{v?Y0;d!;<)I)`=7QC)54#W z-6&s+l<(X%-e~m{W_(h{tLN@Un33Ty+LzC7PTnD2{AqLY37N}3XhC900$<;PjPWi? z)GZ+n5hPNo_dkncFLT-JJg_BcK-%#xElJbH5!D=q#2=83k}#~%YlKURwp{8{+5lDy z1DnII)u%IG-;(%y-%O0zDg;l;La-i|%s*%LDZRhcVPpQJ+ZAHSH4QielE}P=SB!I>uAssDiE%hWRy7RM~@8gUjnkQw|mDa?Gj_hN8 zxD|=@bnZ*T{%7gtB%);zA_uZ~Wh>Iw<)BShbXe_qVr$Z%#s8W+ek+2{441O~jFHC2 zWfxwENOE^MZkG^>V;$jtvCX5%L0A4|YZza|54R?PuRX04c@TF%-?HQMYp#1nHW z%@j`t%4|bIpVD|<+@5&5_{-Q4>WwtYeM*8f&kke}W)gfuCo+emTTYiBd6Hx#Ed>Aqb9)uN#wK?u9(-o=u&#kt4~SS z5wNYR6%9-4R;t$_Nii>ekp|cM34Ka-j;QT#?u#7Yb5gMUd6?&$Q#MtHDRbZzgH)g+-iUnb$2NCGqg3v0aMF`^Vh}Q%#vejT}}~mS^c%T1@%gL8N)BdX~p!v#KALtpe=;ovv1}ToU2D_d@*N`yvi| zWc`fo!A~kr#n}D0tRD}2o6I05IDebG?YN*^3J*iywvJc6jk>yl2M;E#9NJX~Yz!Yb zm_(9a`NxCFCu~M_&(a>84Iy1fEblRdoF$IjdnoyZEaiU>C4Z5z+SOs?HX(u9uHodh zI%K%^VmygubbiXp3FNf)Y!WF@(2#$bicw}NuQQFj3)j?Xs1&Lue?(kJ-TC^qOX3&@ zv}|MPd>%TTOs?DaeH1H69Mf6{hx4zdlVPMUmuKJ;qm7(F-fx5dpJ4947~fSY|vvNHOVx^u@>B$Sl#m{laE>Af05*CR>6H&A-}NIrWiH$5c!GuztIo{x(S8{%s)r(|aP&vwY4f!h87Z*~75Q`d8UMSWpPN93zBX z0(n%PeK33@K`yo3m|`3VZ)30!BKoeEbQFVJyGR@UHXptkI)J~R`Wl2D?t z*M~2}$a{QA5*zsUMa@p|HAq}&06hHeV>EftX zNa1td_^WI*_gzC81e#GTkGKI zKDTlf(r(9I-}s>HBVKKe)V~ zEFzwK>3$N~<0b~lc@_uTXk1uUUg=)2++wJcu}l1~vq8qtP2%T)Ct-zUk18qb?;E}I zlJat3KV0aRP*}EFtKLsub9P86k2c;fYs~xpNb38RR^2c2t9FgPkss@qhi&w*2tNqT z+M*wE?m>Rlj{QV_b|BOF!t-PdF>3#uCo(~sFS|hACM&i67f~0f;f40$C9;tqJ-%1S z*L5)OIC`5jCEsXIZ(}V*`fCI4z)22j^9#rlnf#;q-^av)Owt1XBxRJ8YMzCt3S=OE z?ID>@ytEq+NgG0@X?6c5-3htI-+D~`N3yj$k4a-f$~BiFBFkv|?!~A_o3y6IB$1K* z{QXjNGDX(UVe99B_;|UwNs=EXXZF7voRpzJ_LdQEe!i5{B^Imp{g>Ktc2#^YT7`Rb zPd(o$Cu({XQCD;8F_d#PQ41@Gx?z>oT@G0<(D0Q+CGhP7`9Zk9vB^W={v7V&)jYyN zMw6M^d<(guhKq1pfxh|98cqtO;y9~b0c=-gNxh`aA=E-<4|{&5`;TA$`EHj%J)Rve z>NPHJ<0s2H7p`i2ROZUD0ZTU@X|w&|vA`eYq_Tg6bM#pH_y6nsYm!plxw^}&W0PSHR zuf*90GP|5IE%!okF{M^a@LIPHdN#75;W| zmktBd+z%x1B?=ApOm%xZX-dM9<13C%HsyCpzW+!19DY=xgA_MHRo>KrcI62zslPUZ z(eioTVL3$IjciJC%_Twj#v#iu@%amA`}$cpMRNk=Y=cifmsBtCn9b>G`R$3ilkfVR z1~g1~sk4Ttw3Z(~1dlU2N%#{%ui}jtQeT!cfT*tg{Wa8+#PJ~uX&{>QM+<2v%l$}F zQ~9oq)Qj(0NE@*1wnS~o-T$J#!KcB_Loi9M>SFRgn&gUdwFjHR-9JaLx$THLjyGF~ zV54~=5E9P^eootoD$ggwA{6cb&mjS>%EM7xtTK6VlO z6!1?M(a^TZ2}IrauX2(rD!6D7B2i|@HvRv|F7ew4g{78A>NY;-JoV&mi>WhPm555L zTgsx7h&t28c6rHe1v}S@#^K!7%KC2=y7rj)HNtudlGhP#U}cKqE-~I zq@m%dk6z8AxF@f=Ro;x#P*k42oPI*$wO=^>p0VUYNxjLBp#_jkzF{rpJbfK%`p(tV z*(>9(S3^jLo10hDFkY~hDm;4~Rax#7NqxrMkJ3=>&^lU3Sn`JwDtuoHtWL{hw$dQYWdoHd%t-tS8KZthqcNoR{fd6Ya>h$)F7JB>RW;`}b>l&s zXeu@hCT~LXTy;iL)A>>u;GKQ}y#X@FUI>{NCG`vLo)2#Yn`kskJuj)f^)kkMC44hl zrwSiweCe0e*CoGJ<&gOB&1j;9eD!7;i7I?}vz~FcH`AshmAh=Afjv%Zk}4XSt?9q4 za+X|4ZS;TO(Lem(c#ih|7CM!%{4J7tPw%<7!&cgiQqh}-uSYB?+o+;NZ=;6@%L3}bcWtAgD<7boGfz-wp0bn1@k`$!^Ywq} z+i9x185KVa*=7$dn_u2e1Kl%hu)UrpYt`Ffg0N@@eb?QLlm*nv>;isZ2kphCt&r4c zt10I15l!AU{L9{le>>0NUxsj=JMqfDojXw#cfxLd`g_`yq-ZWX>0iVUw@y-3h5vqy zM)9!S^aP9M5_&e2vM0&as&~_2#C_`~No@%ug!!Tv$HM!Ic4RviUvMo!yol8HFk$b}rp-!gq)raWYhQhm& zI!Wfgm(dV!KlFNMV4Zyslx|6?MK_0cKTLmNX@5%SZSHQSf%W5Yr^Zk#A?a|7F~;68 zNpQ#U;U?(pb#aCzmUw(|%d*if$s7+7|_9~MwlcOwU52EY-Q2oh&og+0;gzuv83?6KhXx= z(h$*!T1m~CK-AN<+?IDRp4M_tgP|f9?Kv6$i=@uuyAGl>Q_EhhKGDLGT4_oVa^7r@ z7~xOSH1|TxmRdt@&x$-g=OlWHIPvl1J5SONS@K>91AB1++$pQ5^U4EgTo`avZ;WhQ?C!Jgw#ookhqc?c;Ow20>T) z#swPMZ50OFMzsvhJVaEVTJBYF*RH1OVQU`Pi#G@I5&F2!Q_85~B1T_(qLTUT3n-xU zGpK;P*&VR?KZ}XY@LOQ>P7^hQ-@SmYKMv?dzUz0Sbo@mcM>6=@i$eJU5F$p8WGoR5kcrAZjY%>o!v#o^y%TW4RZJdW4fp=uq!p zqH%26WmIJT{$32JjW5&Rkk^h^FlZGVMFX(fk@brRQXixSUqO&*JJ2NcAVY{BpD(nd zp^~Nt;+EtZZBOW`V+13H`!S^DbRMcdcfX6NM)XOdiiwH6y2RZgY7tMokEA6-D^rgY zV?^JpI8~45x3ALvFsj)#q%ohrb`5PbmruAxBi*y}U!6okbp zzfKddQ(6B8ZOZa~MZdwrMQ*6q#Vqd_dPU6AR@}fC9L8Ppk^Ze(<9xb@U}k>zS4{VJ zVqFko9Xv94_)Q>j8&E>lX~ZQy{3gb072w&m%B8OT2AtYcj@b`cJ3p36Shx+({~az0SQiW zRbD1K8{>xP{p@v7<=@?!o3 zwcIJV7di@VdlqG*eK*kyYs4kQGPIWJ&dt&*L8bl2?e-rxmQSzfr~b!n=Gy*y*yUj= z2KD`Veb%nsr|G0y{sT#ks1*?ycRVxPh0x{HPdKuK(ACQ z$awWtcRG93z4brtG>io8B;Mo+nr-|OOrpd;ZFwPWNn)mXW2{8j$zlIT9pzVV%n7{Eem=2XXDmTqZyEHy!4_DpgWDLDQam%o84?smAl+ zkI``R`P#>r-JIstkFiqP%Dtb^7T%V{v5zU`Jp|R+K z!i#7FbiF-_=v!z`8;a;i$23=@oJvwpzEpHwVNa<_qP3W(^dMn*LnJjx&oFdNq*(Mk z7&k+#%{+xC7Ng-u4;9O=Imf}GwxdI9_9gXF{L%SXyEZreU9p%%@+ZY;!*SfDgucaA z`5;pMS_!&=%o5s?B?sH}9jAq2s6k#OVPgzo=7$kcx9`KW91Kn@Jw#~gdm)Ygp>^1_ zAkhKq>xa~Tu!o=`q)z%cZZ|7}sD660^iBsGhHSR?38(7`5xQYd z?)(ffnCoMDB$ji&Jnk8W;Az+e>{d` z<`#=do1So%(wL~%_%5WHXFbQ#DZY^qZQzLK&~vC}HWVTCT}1u(-RJrkQ2iX1T2Q-F ztYc(8?@@}Flljo zjn%|!7L>RfpKL)u7-jG=WVb-Ct?;6+sjpjC*R4*-3;PUl6~7C8_ncMM4JvyUrE&jq zM7i~GD(XqiTlthK8WEoUHc|IN)!wo)24iM{I@S`HXqU_(QSD@0IToc+DtLSeNNAQ zrxd%@hxltXXsM5v3tt;9qO;hpEv=z{%i;G+{+-mGLkN%H9)xc)=oYe}5noH?UZg93 zC_c%&l`Qu`seCHS?~+5jSe7G+Gxt{Dy2j@yax8k1?-cnx6nZd&Y%xz1pEcS$_{g{s zF<*r6VjPd#;@rvmI?A4nMJ2RDSw;VvDa=}IbBk;d?kRkZ zqwLF+--#N#9bWR!dUbff zXL=)GQ8ONBSG?uUgo(nQ;tvo*wAZOy3yIY_f zLT8UEL)fd3M3Gt|yE7Tr;#B(eOT>rCI|Xv!B@)QwYXUj*5(#5+f(YlvOQb%N(}m8x zmqHRN;65F)!MOf;LW+%H1TVms2%>uZ}MsNG8=8ty#3(-+_rXi{7WH+<|3p!_rPW(^O7!WTJ&9aQC)= zRluKX{o2ZdJelYZ()q65fRiyJe#A?9%S)K(HG;IyUXz`OjbHJ)?8wMqzP`Ww8j}VI zPsRO_;bwRmt$7WQ&&Vu$oP>4AA8*MCdfyenqf@~~WB+i9HX&7R%$RwMq-OK=L*y@* z=)+EGorcPeGRx>EMz-F=<#09=>;*n)xV%E|Br~}42vm$T^p_G(86kT!xBf)U(Z-FC zCp)lQF~{Zi$I5XmzBf?^aQ|^~ui5)wL-Pj_h4@F1H$w4R$jOem#KMJ3Meg_{^}+lW zL|(j9vqLsDr)LNz?RE5+SN$a^vl}YP)!vT6e}DWx0>J|ixhMP&2jV24MmO=Vjss@( z6NIWYE}{2W=>G9CE*;`^-<4z8Ojxm;cYasy5pzEUfr4fsmM_D;fh4D<1ALHXMM&7Pk*cUiAHQf4=sHI=>24BiCiCw?I zaSw>hCQ%WS>Pk{*KN}J`8!r5XegPl=UV`Kvl5}buY#c{^Mwp@b5EN=lzm!7>i*6={ zw|#5mm_FCR8k!?WnX;IfZ6xV4hG4>%;lF@i7b1nShIFa)C9v3!@h`wG_>?swLv#<4 z)L2YjcJjt+Wq+2tAG=Px*IIc1D}Zh`-?Ucl!rU-7X~G|`mEY6nGdH!gb+QXFq^-qt zeLeqRy}V`i&UHjR2@2YY$?}fzu>Jzw4C|#(f#wUzS-a#mJ+4axdS6H$K=SNe_$jpc z5va5t64Kcg+G%PQ`4k!tw6~Ci*d?WO922hrL-ztc!gF$D@7Y_y3TMy)yOx=b#@H`~ z3csU-q%9=9L@wW>D0xT(`k{~vu=}}cvs0k+gycQDB;P7Q5A7CD)P^83WUWYmmrRgq z-f{ynFggxiv_%`_L4=9f-G}_~M!8-4y=LkNAsCq$z59(fX!+})HXx9O49y1D1H&l>p%obej+XrwnEkgjarM%gJ)mK zF`?_gJ_3;&#Id2gbd%%DIF0cA` z1*%IvW%kIW_*I->{=8?CJR;Pv3UW}pv)yd<{EVpPk`yl{xSM#(&2oE|wo+__eYjbk zuFr2X_&=NFek=g3D~0#mBA+7-HQ%r0rHoeg;oG*$^YsaOGLQdGZpQLQqYK~@zmwas z#pu*=lKP!Io+XcxFeeV#A;+^pU?1?ecgRm!5!erTpYOrWdPkfccG(Hm4fdY@F0i7Q32;fU+z5@ zuBxWo@t_0lS|jYs6jb{4Qv@EF-K4I{*K*yw=bg}!%7pl=Gve7hvbDv|0% z!?c##izBidA(5I}p4>wT66?Ag5E(M*6G@`Q&IEI#>!e1eJPT>6Q~A0p@)R~P7)LzZ|EgTg#0ov12VRp~`pyNr3FNRl%5RhC^}M&i zb)1jBCO1fS!qWXXD1a_iy3I!!AKZW!>7*5947WBTk|?D%G(C9HCeKlk9SeF6JPG{szkF)NWuXW&+6+XjpAD z3&`gJ4X=$Z2eL|_5w+1AAe#glSsUF8`eNvv0*?P=@Ngh9UCR-Ur9@#3A&`A*V$Jj z$v_A26mKQgUg|-bzQGp=%_m^jl$^B&A~s zN5ww)Nv`-P|6^hwypU)6C@oolyYTU|kJ84;2zE3G*Wh#flsGmH`~u$DS83(680-!q zdR-Se?FN5ExclgC!*%euO_F;#Plk1q^UmNId6 z@gWZnNA9%)o5bG?SMIWC^mwayhX^G-Y#i80AkxXfNzVR^TFrG46V#r7`)Ma4lnT*c zkJeMR~mXLl3b{>eddMOnrHuw1JLb@012_fzDQYy}GzThh%W#hrl)Xuh4hEvi*YurZZ zK#89=uC3CC8pO#{#RGn{z0!z@Q>WeB++JzS#DP;!9?=1;e%8bX2v!_3-Q=HjP=>KQ z+$p%HJ?fyGaKw|I?~O_j_7Tq+l?N(GO zvPT>7mJ&lrq4xPeWxi?<2W=IbdEf}8Q?TH#gNO$SjNn(%RP~8zh&X)P#;1%>ItL5( zGocay6?*NZia3uO#IFby!L}AE5m1@%uZlRL>&KgngosC4<|WkhCk;= zcESAq15xg-;+S(UUo=UHk5^A&j&oY5JTFGY4<+ObG>FF=P>h1CH3-+*sOM1OQ-`|( z8o;Y3DTyo%J~Mci50t1z;*9hhhzxNoK|o()@bDMsq^&_@NQA%+Q{pda6sz*2tjx1jNfl_a_I8HqRB16UtKbzo3SJ@8i5QuJh zY3fNTNm~GI6Yw@72TK=$;M#>ag53)uLuQFE@S2ANh-26zdNwQ)SfSmPWxzIqFt$>U zlQc+@a^X585DTI9AOpnFZ4-XzL#0KK87y9jVbG;YtxO95)R5PitR$0(+JMQ*S;D66 z5skavRAo3@2lf$PFja|bHhwQUD-h)dzbzuqeb(ataUfR&dcwhm?gmOx)Nk^?rz#En z??G516d0ja4Jj}WDPPWGrzu^6Yrwj}GTeWVt>OR?>|?-Hhxx*33hqgq#3_V!YMRo3 z`22KBlD;hyxrO|SKt$rmeUPS1SAIfo2Y#k@VTRJMu720x0$6SZ!Ol((=s_citt_=d#_XVbyX;vJVLBUw7w@!IAk%9m8X`e5YU zmML#BkF6r`4a=0nhH0B&_hvrIq>N^tgU{v{P0C^0U5KU270t`A1uJ5Z5-Y>R{2YwL zIehR6rM0KvZ-JB#g~S3bj&ELp@TKX*p5Ns3e>Kf$^CTz%&nOs}1O!X`QTMAOP7!XkA zSK^9AVvh2^;4HA&Amxt1q4ijAB6UW_Bga#re4qab6_y5el=l7xd0#2-VHT`C+pf$cY$uxfC_Z_I(vzJ7JAj|qp|oW_=#S!XkylAzEx~rxx__^n zqAcvTIGOU?t<-m~2X-ci{!OFj;k%pn*sZi?xnNIg^L8s6sX=sVCA)c}eM(1`2mS(| zxKGJt%XSOx*!@Z;mJ9YYpSWN7Ip_@7TOisU?Tm)9Sjy>XmR0%eVJpd`_FMLh{ z&j-mVRJP(ed=t=P0r$1TQi!-VmBm9&D#w}Mw_>3E^Q00HJQQp{%o*hF3iDqOPoyz0 z6$^cFqbiHnJEdG_;u_U-{^FF8%+nypo5`vM7UV$kfF9AQb!!e=Qzw`kVBH$85ZYY>Z{EMHJWG``ZD;`9K2(5bJ z;#LSR{aI<#auC?@AbGV)ZP_pt zff|I7xCV6Uyb{Io!53;J=av34i~9*XIlSj(1^jP; zS}Q;fz`a87!a?@`CK+$OMdi>dfr{Y$_=GE1$>gJihw?A3DE(P)RD;31e}Y6Nd%#;m zkbwQK!@Hizq7I1*a%=eSSCx7!2kdUm;hN${^$T(xc)jabO4aN~7p-MqSAu0W>!7G{ zyMI+aXW2g@b9k4V$~)`~*jxO&o627O2Hjjf`Zx5kO-^7H!gu_pL)O##XEo$WPF z6jDDxv$**;6q2}Z*9cd~&~4lT`^DbFlFMd-grK~0C^y; z>3z;u2v*$C+s%&@px%fZdI8+wuF^ej6WF~V+0)IQ!6FJ3%6=f(%MMFXSx8<(KI^WM z5p)aeW03(P>|(w2ivUU7=^j!oZu+HaZ{AaSV;#FsoN#>ohq6S!>X*&i-$yxEP=1~G z*Y}ZI;?`dTzj0srr27c4lSHTUz{60hb2$R&f`FfUuv&03pi}|x^RN{JdXXEV-fj3( z`KoI>u&;yUPM$%!fy?07D1di8UkM%11p!a-tR4CkKv`PW1EmQi*EOwB=_Rw|v*N0W z!(%0eEeE@aw|cCs)bF(>^GlDFu05xm!O{&xl8Ef{hFD8^_s0JPfYu1O-7D}qKsyE8 z=@mE^&}lyOi4tlk1Zz3NKY60`Hc-Ua=`257q69fe9^wY=C~kS8%wi!>8pLN5VaZ3q zdhv}#K*hb%$L~D8ZWLsd5=xT=0B_Uno{Ku_ItF@u?*ktp{ zHn4~IA0VnAQ zS6~U6ZbJJht(`+2fa>x0o?}9F2<$n2?78B@5>U^x_^sy{=|_S6kjIxQBUt(sQFqpt zDpOia1DgdRt6A;17XVr#;1#dH+W`H*lgpF_!9`cmwSdT<%)x3jwwhe9)dXw=|GZ3T z!dww!5IPRuUZQc%OI_DKiA11CQXYju(l>fDu4t4>E9F}Vvo)4%{z(?$GOJ__9TLbFJH&-e% zSsK_3EviasMf97^Q+QgnGNt9XOBgaiM13X2*HB{jLBxgC&g}<)EEl;`jS|((3BKwH zpJ9xJk^yVHa2`kA*ou$XeM6R9gYceEn8{Qq>;>eLhksV7keDxNlWUX#nDAc~mGZ(1 zWonQI@;X8kf#hIIpq`R!XlzReOZ{)y&n7EFW_54MMiYwsuc&mOEknW{bYVBrRqGgnNvy!}}h zb`NY0AL7pf*$?;QT@Fe`7 z3veF)I)MGa%=1K*8Xd^S#4h+0RSINyleh$t6bFnT^@%6`2a^;r*^t65@GCS{aZ4Zz zXY0Ve&O?G&1RL}jX53o0Aoi1iT|$sWTHQ!C(*?f;^LZTm6gOY+V!){RG-sm?xJ&YJ zJZpij3)mTLUwihuYx5N|h%{2Kow&Y$6Id#n;OdP?X|c@YXbU>SQ+A{TNF4vEC%eYP zJBLGjT`xA2iFXdTh1Q#eM2ja54MAkcuULfBaIs<~DW^y2d>64Ibr-K5`f1&vtupcA zA%u?`z*;i=h8U*TUkzX%u{f}KTKF4m01d7Agh&%7h{l7V2z%3X9US@|HT{#xs!R`K8fT+6q6m_q{gMYUL8)elB5$FS+HmSCh0fj?2V=!+qYPdFw7>Bq zv}aK8u)DTkkJt+PCeY^7A^FlS`NJj|1azm6+^|djvPljBb>-RbB5wnb*6|`2`rNYx ze8s9H`4uuTn*a1J>k>8s1)B#7j{U=?^{u_g#M`FnhvdfcCFE_*0c+> zpO6&WC1b4;DMq}N8p^ZBvk?aIOzPP?+%lf^om~SycND^_ab-AB8;cX45P^*V7X9o# zk){BVLWFa-fZG2_qNZFYCwYltrP813h52^ zI^Jk1YuI+E1veBx!B@*{#j(NBn$fvHrE*9DEH=p|o5UIDV7_E3YtS|eY`#!hW>*?v zQxa&y3P>*4B_nMTfllX7r!sFg59~GWIE_UH#8pb_0#NiKq=tqHJEa)$ob47jPGkL8 z7&^xYZS6GHS=OJiea7$3U@O~ty^HJu1viqYwQs2JVYPo8(7i(Pfn5?~llV*!QRD?yk;hvRmyu}Ug-ZZTQDIZ0~1G3 za2B=cXS!PrSqZd2NG{qX^K6nNbkyrW!GFp&KPzk!*Y|O|4isF+F44H^BiV?5*>hW%~n2{|9d!J{+L)-gcn~#NuZ*dV>Pt!A7Ka~g6YaAp^ zm`%cL@ePJ#JO6zaQY)SWrttDvtlh*Pz&cNaey&}Axh*7t4i=JUb_ush9s^B4h6Rr| z*y7k~lY9nAzVH)gm+ZAlq!{t+@I$^~Hfu85X*5Cx1^;c=T5anS1iC{=8aUWO{=y~^ zXpNAJv`g06Bu?mI27`jP*(F=-{fKzlxEw@=gF zFJfJpc=py9|d-+=j zS%x7OEFK)4Kgeb%*u<37TiR=REE;?REm;Qjcq4wQHh9$IkxE#Q1F2NY_a5;ka zyUdPa3syWO^|=C6LiCi6yTY(>ibEMEzDTeVSju+_R=jFX;#aS*MywFJkGOJ`H8NPh zR&3&}uQHsVf-l*`$6RG?SpoQa+UBb)+d#T#t#7jV$g6L}ZLJf9EX!ZK7I%V^3^{{W zvv}2jV~qk}kNGwWbM6^x0e^7FJv zgJFlPKal@IyY6Tp)Teh8m3m@`6n~cPm_SY&h@WZTPwEJ(?}bNk=tQfcV}*xuD4 z1KXu+6u>Mk%GuBozrL_gOq7SY8;%kt-thmxBRvgc*`=kpugsTv8iq5s8KO|jJPm_c za;C`QR4>CB=JtuCCTk764Y+bB-t;^3&wLDHNQhSCW4NR0KPK=4zY=PAp#P4*8Gbm- z(1~3_w%uGAZaAg?j=(j3F5GYj_i49B7|t13;ZX^@oFB&+hO*r5Vj5QvV@P2I$zqMu zs-a;nOFby=B^+vKSnjpykfa^~v6D{TlCStB1WPU-6>IpIiC;gc#~;KRW-;-D2Lt%n zMqqQGaZ-ES$S~7DI%s2C7+x4y*dYbX-xcr!%V)my=_6> zMV%nutyJ0x5Sw{IU&KL%Y!ZH6)b`^9d;ou^qoFmE;5Ajt>1eNxav z+&RS%!m_|F;7!5y$_Bd(M22LzQ_1iFBcu^Y@$=OANg;@{@hXVF&{dWTmASQ4<}$0w zG>E5bt5OVeo%G+jNadk#8>Xb)0$czx%yEng9VvFM8@_@60=g&QxsGbXb^vPNkR|~5 z!m*AH2!~P|Xbnfa0KTPX zpAio5HxXcl5S-8j)}Tbx6Ok1eAcrDHclhuGBt<-S!~L$w?a&^DWSEmn{R$vB;}ySl z(hfw1gv3(GVS^JPn9Kfc<$o5N*HPjJPg@;dthyJ$# z!QVrC>OaT7Ms|5ait8!xeRiu zy1MIhlRxvG0Py_N3|O67J&9pPn}4Bg9G>aQi1IgV`@5!MvHdi7BJliX)@H9la+^wj z9bsEqXTi!>Hpw^=Cj?zAQsSMw?Xhca%p~mpg}Oc(Gqtg0!l#WqvovN@bRn0(!J+S$ z#!PcX=i}x`{_>cC(Rny$%8SeCa%#h8T4>kum<=xHtDy&1#+1fH2eCX!oHa2=qAjaL*}Og-^Hj7NBw8zTI zE|l_*m|tTtCzo_6W@{iipKE^;Ir0_PztuRm$bg!d-GP7j+>YqmT@E$9G$_>UUoq^+ zS#FtkCgyUd$j&n{Z3-M$bM*qeFfq&JaE);~qw)>5E`jrwuFA@Vb@nQ5@`3Y~3}yWV zR^~unm;ugPMk?!JSfxd5&;aKxla%!|tlS)`5;$+UM_If*5v6viQi1c9M`pPS9IkSB zLHs=|-f|Ut7gjpnt1MPXS^HsS;vHqN_A2WOSlM_dTdc2?#n*|Va`DcxSidXlJmwQC z$-#ar7tQX575l%2Oj+O@Q;3 zJC%2p@^a=YAv;R&)@Cp;ZTDqybVAi4_gVpp@I)6 zPi<^X1T5>6w?KKh_-BcHAJcmv2DglHmY$~f5d4k?8|1TzmDiy1K2lx+{#1+CUwNM^ zub6(jR2u#e)0UCa^M{x(jf8TV_j{{}YaZYd%xgLERhzUsc0U)>DLN^{yF;Og=VG?H zT)#F9wf;Tk_J##&4J~z$X7Hc93>?!=-@n1T%3^(|tP#q(5*BdY^1HGqT649M*3n9< z@l&u~f~D5d)?2Lh%KDf$WYlU}sui)XvdFiyMG2dXx_#liCF?2iHuUsPPX3)u2+)#u zxOXo`ZlJS;?r|n7bC8U0=;;t0>(D1!3ved$k`VT1@Z60+IjKK@RN}X0jt9S%IsJ>pe!6Pj~Gj9r#vSdpv=vo2V*^cxAXeY z{KlRye9<`r^sMB}WKW;yV_)ko%j?OWt_7*5c*zUsxrxTlQ`VcDJvH+!l{vI_Kz29) zd+A0jbH;@jcZUOZ5>Q<`#=vmEJeaF%2XwLn90{3G8T!u9#8#e8(P}$ykvyr+s{Zst zc?)NOn#*%Baq$6x73A)Fr!#r#6>dkWX7&5Gc+0=#TqKIYh5W>YlRX9VeC>dwaKQU8 z57Z8b2?uO~iJ4TRd89Ia4NXt+oS-j-ZfN7_+OV^Oj7B+kv|*)>q29 zj$YCDz9|&T;6gz?zw>6MPYo(5i^gS7|k`jMdI%6Y2PyHQ*I`~1(A)mi1NCJ zuIcV+>1MGwrKjg*fBT{nrMRyH6k3G+Vb`7x29YdHNJI*uV$_ zh(t|#2a%jL`nWPtc|&URC)j-DjjPR{Wb>6bqc(rC%~xJwZT=LC-$LzIkY?!2AkTQW z^PAA{!Jfi~1G4(i?}77{uRbO(DSY)!tu(gjtE``tl?5w^_eqNteE?P=b4L0~s`Ghi zFxqo@!Ft>~ffnhBg9!ZNJ}pvnUMlX>S~B`Xz0io57$AUK}N*qF3*b}`Z=?_N*GXa}MTWcj_GmX_g5%t+kJIQZ#ay^a3v zUQgrb*x9;2=$-8;a<-b+!R;m&RJMW?@n`c@O3OsC2o>vT3yvz)I=%7dQXf!8{^9kVc- zsuD$^$q#x4aHp$oDSOzHcD=8k(?|i0sNwR)Zbwx2dw8hjXrjFCwfUFXeC1tLo8QCc zD{r*4eZ(`5_iNWZ;yE5YSS^z7v$FeRqT3NO)cG5CUCu@`D0yetQ$b9QyDmsV!o2uc{!=ZZ@dfYM2_|OB3JlmWY8tAv!!}8@+Xrp+<>D&?;`i$obr|V2{ zDD7F#&n|2=2bXy^$LP6r_tWxs@pKO*F86S0OW}nzPb-X^Oepny%!p3DI=X?|$En{K z_rtTNMz@M_{}eqWI&D~VviqK{(P?hqve0!OcuJyqwfXoyPryZD-|zQ4&-UHok3A)r z%DD7^=OO2@(8dD{24{BYifYY5PUxAolX*Qhjd{5o3{>pO=CIUmJPkMSgnWNjC(hF{S=(2A)FG!2rdd9PomT-ON z`4#gr=f9(G_twLEZWfi%eqUO2bj)Tece*R$((`-n#e{f$O`>_j)mUrg#|oH4aw2}kXEtG{l#;by1DgN&)=Nn@XK>dI9Pvf zb>1`EiPVzciIn@s)kZV8atp%)dtLD^<1Xs4$YrpgaD*C18LUWSLqnpC!!8bJwl@qG zU1_0vy~YHmvn2GX&*1AQ71A_dTp5$X;Ba@5;qg51y+2?yO-@tB5eJ8LeAnF;?YTDE zdB?>fX31*-P8|nB?+18wg3g-O(3tN<=avNH6&LR)PHSQO4c(zLEsaCkrn_4ikJ14` zH?}eU%)9RLk5pp{{o&HK#wXYa^0YISu${ZIoiWc%&+XFDn2sH>B^@yi=Q_Jke(Ypq zQBhZSHY#Y0m@beKd9RCcIX%nS)tI4UEbmf-hr%)_4MT`V=&m$lB1M(`-Hhc_=B(~U zH`m$N(2L!TZ?rw1?qNJmCffEi9)oP?X}pOM{X2UZY&Vq3?A{b9Cv>E@!ER|#+Fecw z%EZ~nc!ipNt&gz+yK*D?l4>wi(bp*Oxz2iI;9!#F5}+hkmJc>ACCXkUIicSN8=pqe zWS?GVbRjR^p^%{TR^pH;O3LM_p~hrt>+DctnuqL98fA=eV?k}}O~x1ulr+nR#L8Vt z4B4$DTiT8>#<G)e>qF5h{|$?=S{nw{Pzq#&ELRYPvDdnI#jZ8%^>3WjZH>szO_* zYY)p0WzH~0Y7crg&p3@~v(Wszj599sa{nx&HREO3EMqo}(EM&{rAjjICh<}!z1z5! z!koO@*hDE-++(yO*Om7eyNK}AUyS{nXv@tvwrIy~JKGql$;`YDAv*Lk_mjE~kq79w z*l|mI(6~N|iq4&Dl#$1{zZ&<_DD(enq`7Ir#46iM+kk*h>$7>N(?Mn71!8)IQ|jmKn#fNHcA@ zv6#wpmKrHKxwLuSh~e`B(%}VT4~07W0-dp39$syHnyBwax(gfW+>#LOT4`sFTXt8e z-1nj}$#r&9=-7)!Obm12SFh+GHzfHrqloGI#n-TYNU5vV8EwhyPwR}e%=yp1Zlt;r z^=(7<9IPV*(CRL|s1=h&8;naRar8#xZ?y9KjmBSz-0%%!E<^gsH;iT4X}X1sUuo+u z<;Fp}sORs7q4gQN*;wPIaBprk9;G3#-e!D8VJ_KjyoT&Y+l@z~k_Be!9=db*2|;1GaTWC;Jkk8*PeC>~(##v&Y3o)K`w&{W;^v++3S)$bI{bzVyP- zetK|aXwb*ZVkCC!0d35Z(1}mzu}sDj4jQkysF1kBOoy?DjcDm{*mzbAa(;N&Xxku0 z-{f(xkk3vU%|lJUHdZ%wri8YfH&(frswX(T>2XX3OB#6}Y^LwtxS!-g>hv|Yv!_=G zCcehrrXGFO#=XuZ6Z(3agl=u@J?Ny{Uf$GuHC0#8)Vq{YC&hcep!D*4qIV9{&zu(C zNo4oS7GA?mr#_wRy)%kQaQr3SJ6v?TU2VOasM$H~ymOgbqS_NDPabaXy%P;TwfD}T ze@zK`^IT{1L!Sh_9W^;uNAD{%?z)cNF^T$Og8R25XLLVb<7ju!i&w2Jx(gD zQ)llWlM0&A+xs^+gZjrl-aeH5(!SmdH@zXRzxN%zfcDDp?$T-BImpXhb&*6}>HW=h zc8a*K^1eWuzI2tB5tbclGuZn$nFy`F#(RKcSn}u)?=6h;uZDO%eqw(+nk-Y3N1r&l zE1S#fle|r&^Ca($gv_1fWs|5VG-ZnSTw~^%iT8SWypk3=THtLE!_YnbH}86Cdd0)u zw{(h`Jm1@s&?WP|`(5Ph&V}Afw5^{i_TB)MubyNB-3XaadAkItoy$wTOkgRYpH_IU z(sK1(j@74u?m1oS1?q!A_Xdlbc(E_( zGeY;f^||`E(0#Bz_slBEd%+veD0<`t?=w2Zwtms;V>MESscdhMmD%Vr?_X)4LuFp} z-m*eZt?{1VYlds&zSrn3#j^S}?<~4hi*CUOtJK5?c4G_j9*SZ@+6t$d$XD zzSB&clU=^2xGtS_`G(W%nQq@Cva{ChdrU7teWHDB;}FV;_cgs%A7ik}>a5B0hF5X(K+tS76_t=vzVlICap?~C^h^O3*St$iKb^t|g*ec#4XHGO;fjyRj? zgAwjf4)aO>q zooMf(o5Su+^#gT#*uAqp7t4byeepLJ&L!~k`hmJD?EbbsSGR@TzggVwf4x}X%n1lD zaBD`pS6^JP=SrLBeFMAb#<2SxE3{T6>DI9Oqx#$gDSn=2FAlAK-giA0N%?V=uRCM6 z{R=+kh7vipnjsRDv=@C@kU2`qWZ#Rvu}sKa${=M@R0gvobg<0VH;Q#^(^q^8m}6GH z;@eKoocOA5rt3_G9C+1tCu4i?YrN``9eVXO-%uBm?6FXWJ=#I3$X z=zVRgZ#ttZX`AnDu4i&=yRT_8-A-}ux2b_+Z__uz)^UIcF`-oO7F(09%Sh{{>`9^)j>PQXD z8EkF&J3B|=W9Sf=M#kwv1ESYyP7s!_=)cd%UoR}aUSx=C#luVbh3SwRe-G8 z1qh0(+BZb4a1N{11a6aA)jr)Gkr%`M52}4V)bBp%>)};ncgbw6b(hv1%qEt17~YAN zm-?D{(Dys#n|a7LgdLTwhkWc`VCVN!3K*1Thb?l&VKNz%zaAzqRzin;H$noRVZSO? z27P8R@A(YLSXufRwN);m�Jksj*4(BZ!pC^+$XilGIqjDl}qCFeWxQ^4}}e~owf6sJA`+hC`2!-%#w1}7Zu$R z|3aDboi73NaX6jw-EC%LpNjUk{bzpmHH#jJd+fz%m-wlGpZ=&WG-4V74cwCRi?3Nq zKiryaD(x{>B;%GxvtEViTcl!^AhpaTBW^Yu_frk`<6jM&jA5a-gjLO}t!kd7s#M~Bph{HJE|+|FYq(05 z;a_d%)2sP>7ylt^_*k{s$45!SN{ebMEwYqqgOZUVSEQ*dkKI`E+8JN7f(FDN0%-QE zu&QvssIa;9n=>;U!LMqcOG&Z+wVr2#SV!#JUqAnE_ft_3s@w-bU3s-zRs{;8wUVET zQuis~v%OT^Q&H+a0|JiN51!d@8l4tfS>J;O7ui-ulov~z)K;PXCLmy|jp$L9cKd*% z0Glb~HLPEov@@u!Lj7sL4Cl;BOBsD^rpCAHKp8`T;fQe5R}CoSe8l$98rmWr6LMYXxw}&?ubYeIUOSwz$vr2Yar#e(;@Lc`5G2f;nPN;mn+dslG{1q z+*eQM-zJ4z%r5Y*$HKP@AjOQ5!PfM(tnFpi3{1!Nk#t|XL5nEVT^<0$p z;a+@}sJR(mpoLU{aQLp0q95IMxFv7-|43n2p2j~}Ti){jFY>P!ulrYR`2vgazeM=y z!!zI4j$rxg%U4|}05!t6x>x|)|3~s`sSr00eIIjK((=tOY)q-54EgqFCX*j=o{hTL zjrvjFj-gg0hLXlf1GLp#W)=IVR~N0%=}67BB@12Zcvy1I`dVD}UwrM*F*?xG0Z0(6FQh&DcAg&IxA#lC2H@M<$YUei|7qAF^2A{E>xPn_{J zu|`6C5?y62h;)Q-8W%c3t#GU1?Ql!}4?99Fd8^@T$^T(Ts3mW;doB5!|F9#}ieNQ- ztq6bE5iZKx(~2!Gd4CDlP6~xT1*n|`E-O%OrQKtcUmRm!-LAr&8B?p_vtTT>Bh9rU z_4}V1Uh8(JEm`PNN0Qa8;;L}&1GL{+QBm zLEG(Asum;R|5wk`u+?^$Mfcclr_x_+w@ayZG~zP}UF^APN>_b;!2Bo&e)XlYNB8Tm zzUwTLwu5EI2!9{>+c{rjmXyz&^JQ4(XC31FJnH<4=^>38pFQfAf99O~btNtO>Ja-Fc+5<#U@f`rYzf`MYlwORk#VbrJY_(@XuNS z5_CUo_9?Zbb%G>0%1lB>-zYON$ugdc5I0u;r9K54bQK(m(5OEUBq$s9`2P-y zOi!FVi58IS%rKhl&YG$R?k8s1dbq+f~~GaJi~oYz@*S{p3FglCFlC zXc@=dD8*HQcA0~@E+pWiPD>={Bl9IP%qFvZ=q-_@J_=hRA0X07P1VjI>O)q3>s%rA zQLH>M%%4izbTX~pF~TN)F}43lnQ8Wbd}jL^_(`!$I{1++li@bG+fRyR@|@r72H6Xf z=eP2c-{h|C8A%G*bWp$?ss6);IjhsR5SiG(_iXFqsK#DX(JnX!* znb|BNaUo_{8vU0fSh>2+CV#fcvk6wBZ`$P31S^j}+rDsE@8*`sO%N-gjdC=>Y!-HI zw_}85h9`z)w#d!R!};1`iIe`N1VU5>a;Hrmx5;aXR>He4hFSWD%C~kvrxsSE>so}B z4wbzG)RM8Bqb%{T^U{dyC>h=&oZnFwquH`#WP4IL&*S7mlyO!R0+$mQmSJW)nq+3W zVmrz8ea*HqtR=$$&jamkTG5wHs!htw>LSj5CZFm}HXA4D_h33Ro)%eSig%UlpHAgj zl96n-V>j-$WTu!bc{Q27o+Y0pGn});-O3^zS~2jmWUTEgw8`pLW(Sy6Hu=RSsVNq7 zSc=)!vKn0@pSLm-Ld7ZO6Z$NuO&fDEK6bTEU; z@7=+cyQKp~!T+}~eI-mk4$J)>rXxDqa!On3hlDDb>Z+{iuFfP{9+ZeOB$sDELA-&B@U8QZL|2Q*QuIx;kmCF5{&F+xbIx}6A%C64z zol^O(GmTOzUAkDz%r53Md>gu$_bRh1%YjlE0`aOTYRnTlQmw5O%ljkV40(N;*#w~# zUFqqivcryYq$}54jiO79rB+EsB5nP&>;7*+a_Oa3UWV92RiU`h_B{)+5?_nbEwaNf z8_S3A+|{k^p2VErIgLS7-C9yErz2F$y=i7&S8;2J4f>nP?ld}iv2^N&(qf6VNC@AR z`Y`d%%c#rDmO4ID@gBJhJ$S7V3T1>ghdsCl?EF?bM*B)x57VEdrmc01mH?-t&KS*? zsvgvHzWm&SF`6&^dy;UzjOl51ZK=_|Aj%Mm;&P;=;Iw{PLHV+(C!IQ9-tS2pRLj45 zQi$plsp@Fn9Hn2kvKpR%J-xKBDYCqic>~^Sdz)#l++?}_2D6zw*_*b_l|8*FbFQ52 zO?Bi-ayt3peSvf~b06R!?NIo8nR#`%cfl+t1T zrY@tU9GhS^4OLuj4syC2%_Z+LlSc+Jl-W(aM=xU(K(+c{Z)bjk93s>iySN{@jm4g) zdSrG#vJ@*TY~OqR%&tjlA-kH|=wq#v>TIgVO57DxO{`pQlLI-%Fu_l$ai*xu+Iuhlgum4n|N$fs*-8)=9SFwYVEt1@{X$iW>G#A%7i#-n&J9T5%dCrGr^dm4v>zh79v~IdCm4nI=82 zHQPpI@kmELALefy>vYtaEO^Fst(j?=?KY%%1J5~v^5wN=t0eu1+#s6CUK!T8%?V1% z5c5->AfFpzRz>U5Im;XZNf<#NEs>lNWZ_73N0>LpsIl&Nhdgo4-xSv9k@U;$d*2v@8W@pG2+jqhyv14c+K6*KZ3aOFnZQnE{L3v~h7rmgAk73Ra$`51A zDq+H7V8s<(#~7)4;Fe0!JK zT(;j#=7RDsn=~GWFI}z}XI=rhZye2&F3*o6k#zajIFq-Cr1ve%WYzNEE#^$fcej|2 zK<*vS6{A{y7;nz)s|LP@lGGl+?S0)R5Rt&?cHn%*xBb&DQZ4IlrPo!Rla7C2%bA_h5~V`i`#xO4(4DkWzE zl~*axPC!$c993qS#7;El=-ZA@O*H!}{b(YWcWBHcvs;uJAeZxBnn^NdA|ty{iYL*u zg|cN587-7gCQ)C7;+)Jqc!}(pOjwEhGTBT@R@3D16iqJ-)I!~zvKr|z#p)qBQ|MB; z^3oJ?k}HR%(0g(hPbDZkRbzdsX;@= zK`cf06Znga7|g_D$l_eH7vuw5=47tfAz2k1L1r*R673Jw(ayJeZzt=;a@XyqJ`oiN zZ-&aY+qKeT<^1jD4KZq0ysJZAon|&uUfwj554Xn3V_~`m>Q$Ldq`=-DkHhMDorR0< zAeBPNxWjDkDr_RB?l7CXY8s344w8Wmyn{wP^_`|ZDF5@FWG*Nh?qs@Cli+;lmwR>Iam_A0}4{=aT(g zshCUt%4}bm<#S`_Tke`;UST<2pF>?1|JB^2e>aB)KV-Iya#f#@yB=jR0j(-x9aSuO zk5XDJ#; zBAU(!y}!s5w`<)C61Rl(p?jXO>4YVuloRGdEk4xZ$AZ+iYS7Rgyc zWn|mTY@3-a%5xU(xr1`_B`S2CyuQ|KpHj7r=l8T&BB*z{*Pui> zR!&3ZOT$;J73Anw%n`lSX!IcD^Q<^^ZW8{tAUX1i*)~Zfw2O?gBG`ufzSkK96`|W+r;fN^ zdwjk52ABD(Hy~3b_b4fq7dH?wHuTR8CNIV3$<=R|6Cq`9z|E86Z?LG!lRlg1ym>Nr z6HAOdIkd?Niw`LYjSQL3yQB15)RK09`MK$vChrqUhd0SxtPFqC(mwx9lNZSHrTJFI zGzHme4v1E3%~8^FtC=G2Ze=-=FGseTck|BEsBLB!-ZqoD+sU9qHf%SGAy-vcDyWH9tFK3>+8 z&;fHcr28kdKn>p%C$L7|{KUKsa!EBit2J^{HOxYJpc;`vIaW>67fPptG;g8YaL}9> zt@fj%WKK1Ex_b|rZD4Nd6*1mOTWWpCOfq1u*n-n-0U79Mo`)x)zXBrkD5CSUf4;jA!d#YQj#Lm zYRGYl6xXl>OOdy1@?#Ctf0?xSm)YK{)}vF&Ry&#C<1TXizu5OsUT0Z;(rk^?ntz$s zBq?VxQl(Y_>I{}L37n*pmC3a>`I}94*yOj9q+ceNd~K0yZE~kgp0>%GUt7_C{+fc9 zN$*n(Y)uYx!H$Wb-p;)SWnBoWmy_+MtU37*#LDtT!8-R&EOx%J1Ur3WWov}(n+~y( z))z-~^P%3}jVAp+1<6)hN42Ffbp9JN$H&xm>se+Rwf)_QirZ*a-p%}5KV9mrlTsuQ zeAgzYAYPT%B}n1ocg>cq)R&9zAyDtdDh-m9|1fyh$&CL{q9S?pKkV%m$$$Q1-FS8W z#Ui&tl8Qd&8itPkmYzDhKSlD&FZ75U+5Zcf$&p`dlJYCDbL56!E#|$ynk`zYoo?;K zL2Ae4ctAUj_0zKO65+3wmTD_P==`tdTzz+P&Tn)nwd!p>J{lVO`8V@Ay6@9h`Wbys z-){Xs?r$3vB!jZ>G@~Z?^ry-dr_-;aw!0HwiDWzd-68XB-|G;|`u9|+deV%Ks;nUP znAOaHaV~!@tJ~Qwe|yXNw@VV-{?>3RUFfNl(>7`1wtRhTlH>L#5_X^MTcN%*+2SVs zH2KEu9~`X)y;sTJ`?zAI$?zz`IZ+Wsjxyyrd?}fv-<7)1eLr3Sv8%;?ZB2vHm~@Dm zDW^4Rm3X85nU;m_C<#RSQ{2z%qsdg2Y_!QCi)@PVC+dNX7GD2aJ+M(}`ujnm z{r-`VY`?!-l-ll=R(^jvj8lG8*u>`F=J&UOksh%4;{#UF?hW|c!7PPoOIh6rgIfW= zz8L6jK*_7655%&>9V0oL%_j2K2L8+0UfbHhpJ=g%$+j!}@s`tW1_B#2q+!&0_glP_ zX+0|%-jF0qWg5h?wH+%1PH-tmOZGRE^$q=*oF|cU#8P@mte?A%O)@&x_CFBoAEo|} zV*NXmE{^l_d}EVriSsv4Kf4KQVAOPmHCF3vS8C9Df_hj%b*2eo2O9aCdm|!W$cUHN zVkUwv+iO6*H!g@Uo(L^9LO%LBvZUvwEd;Hf_I*SaHS(ugInqgMu9a+^mlrj*zQAV3 zuCwt$>@&o+5-3F^(Mq7sWdf0Ijs4BF=tH4aLhmEG-%2R0ZeB2od?BdLs)*RnH4Y~< zkwhAC@A%&(IYI(fUi5*bEmE%}(xgeauzK^PM~LfP)wHnpT!>w-WhAeOU6T1wD{p^b881RLl`nB4!X}GFJAu`U2U9UbchkYS-{cO%4 zww1kNL`wcBwybLE@1t#UtZBGb6S(`1=belHst;)$Zx^~B)M~!83!?S95+x!i%F;5n zZeiuIc)R~^i1!ynsVRDSY(I0}XG!cw-qMUsn_~HMGyjc{e>7vf7t6OcX_~-*E)ES& z@Nd%NTE8{->kaf3iEs^>k?7BX>`i2xVmB(0h%E41K+2_83nqke8Q+4i^3c64m;kuG zY)JC2fsAkI?+aPd644^5ut?}cOMkJx(W%2eN$tw(1w*eqPQF_b{%O;t$SbXx1l8Pp zl)T=WNieYulVFN;Z{xp>oG)qPzX5W(jbEP}_q@bEf;1kv#D4|kolE=!qSelPl+3?` zm>p96e%QTIt&EIIC9@^+msDbw$hK56$#z64bD3J3?;&TrOvNQKxGmBpGQBPHk_If2 zxHarurkrM5Z)02kSUvgCFo;Zr^t8#%HklJdRmDL*_#nkWf9oW5_Mv1CT7|5$)Todj z>^RLkporas4*p_DRR{k)kZU^n$3a$gB%_9W-O&<>>x3^T*_|kUP}W*xac4>&l#!jS zpl3QG7?kauX_}yX)tN>Nh7!8?J-U6La;ZNPa{Hx}I#XUyk}IEI>R%3-lST~oS#0uQ zniUr4#)O@_ivcUQbmKyqD`Vh53T*O%O?KPlJ0;c9tUIYxOO8!m>hABGq-N&TyjHAL z3w6d>_2SE{SdU#s!&J*a+jm^{xnzhZhc15Og_g$UK{nMlB#7`Z~uJAq27#?YU!J9G5?ZIb5zT=bgOX3ZQ{G! z@}*sFh5hAnt(o1}7G*}ZxAE)D>lw1=a!QjS&HA7+LvFCi<9)a;tMPh?+svwbcOPVO zrAc4^G;No@d!}?M7+|cd)`~!I(V7;vEuh-M{a6Jmj6667!?6iqFkSrxg zzk%c>K_=Ry$R@8^VWFb~{X1myzMc4QzLcYF+{N+pgOp8pi$?{C{moFzWiIE>_ zcC8;9*=eC;!~Ici%TT;S?!Up`nKzW;Z$RRhTw{}bNR--#ms=~?jWXoJ8>q=rIdy}- zeNrjsIb*1_iB`ppl8Iyf%QVSR0veotY4=+!$GY4R6Ts*eFV> ze)mPm-i@Xw^us77VANkWnh{wlH;?u|!wIKHe~fA_Lik?U`x z`DrY9clw*_n23^s>-;gH0k`{?#*zHt+5Yz4l#N)-QFXH7oG)H-D$RznXfwM@Djynl zpT9YV0VMZ+DlwCz(f)mYHpizw%JiHrYiv?ulXmm`S462ncp34Gzm=4B2{e)CV)?81 zgpVX7Ei%2Kt@Hf(t|+zlzW8l_lHB;1KP5?hx^>*ks?s{oH7ewZ$Ed#w`S3BSuR=ap zXiXEB)*;D{Tho9gnPy9-*^(^ARWd?CNWSaF`{k45K3^_*3Z><8-BbSU5Oa}5b}yo9 zm&WqW+|!HNaN=$a`|&i2Q@O+CcACsch3=nM<~lI zksFp-zQ=8{+a{jn$_!n(-2b^AK5Dzde<$SW6%@BpwyvNhxjR~cOr>;O>F*n@#^D>u z`4nbVPW7&&tQoSD07&&pMwvreJrC0%eV&Kukb9ozMoA66HzMK!1PhOyhLw^s`_N(tqZPv z`FoiDJ50O1X!HLBr54Iwq%bvd@I`djh`)?ZA*RGXXQD>DEK4w&> zxim;J-ex)~kp?gM2S@3_WVx%zpK7~WZwNG#Gu!=*Wz9>hxQ}7nFa>L71MWx(}&t2(q%KL}>Eo9%z zOoWwk?q#YNrco-(UZ#rq_{&-=(h`e=4y^U>;s~&;*zErj^2nQX*HSt7rvCxROPft;w;@?njnf z@*c6X_@KE(?tG8+pvsT3?rsTq;XRVfl2h+l`ht}fnOx~_>qbnz+3Ig6>nr_@5qZ}R zbNvI69O?fLx?hgm^$#-6YoaitbLdJB$+$KCL2w%Gvc#@a!qRpZ(%5&{g>;d8Y%}9_ zTVdDRYo-ds~Ky$VX z{=lE+Rm0pvsE<+dd2*m}3w(p{>3(>8%<)aV$lNdz3_u#9MTlSEz8hK`q zHO_X~%rmyH^N(?l^F*S&5^DLDN&A$K1hsoiTl*wK1!{Giw@1GTy-ru%vC&BemltKiQ_t_ z#2)oGk*4*3%~zc1qs>CMzpnS028jndtR{8uwSS?bh~xUEhP_S@<*EOq)k zr*Y_|PyLhC%twQx+zHjl-;a{78aaBD1$~Y5JI1Y#+8ozyzoAy8rtxq6bkR^FGmrU4 zMAZyI^U-euskUpyyg)}D;P_kG3sziB=?FJ{j^-kH;B&?sn?e%bt4MA+d6+C-4A*pLqheP+fhEfUd)*8)#0GC-Eg&Cec|uoV7+< zoz1Yc&=DiR_p#JGxbemefU# zY;H-^9Qjy%nG%ysb~5Fj;u)i0MvU|3Tp(d0?#<3)bP7}m>5Wq z-3K|dn<*cr1QMgv2D~`S0;z6XGNPeBL8=M^jb-tTfu@r7Da*@sC(NkO_|}1*am?zA zx(5bWw&ERfx)E2cZ@ULl!~Vi%y45V3h?IC z1tO78a0QLGBG;85@=1d1$aS_zQsg|5Q&oLCB6hVR*V+Elpp~#U%M_XNX zbg{C$ci??y%<1WY?vUl_lqp{}rw2a9C`Iw*f!=O6rs?I`sVs+oo$L3jiHh&~1)3}M zUlB-UzoOd}^txghW0N^oprKfnLQ>RxeLC%~n^pC8iZv)(wsDe&MbkG#wXE7ZB=!q9 znUdB&(B7-Y?TP7#l?jiTZ9{+SABbUhSQZSVAEt-i9~gLF?cqFgwbk`@UCjW`l(@kR z@JxAVu*G}>lBBllk5CP#ts1Jc{>c>QHDotalCGf-WXd3$@>A(xj$KVhW(hd>jT4`2o?^rqU{()I#@Tf$zhxPJj~K{*>Hv;A8s5T z*y4^d{>pf<&H_}+-8TfadeJwTPli=W`^ka!YKtUma)2uyi|#3O zR_GIxZMt@HAgKNoQv$qeQZC!31lqZRn=N@~P%@?jcsqd+qvB8%hg~`a<-yR_DS>T)E;7hC{AAbO)7|D{E|0 zbq6`f<>tnnD*7a&Wuy`fn@zDpf61f{}V|$Leu^f@HC1l#r(?R%bDNTWw15yL_wev6ZY1E zz$0t~TwNHzTv)lhIfoR=7C%Ds@JMPtiZaE!0PP$wSYUOtoCSd)bhDQi1n!3fAEURb zjr)Ab;w_jYbz+H86JF|Kebv60Yye>r9>3QIkB;S_ijOo?I6=%j7=) zb%t(nX!q-Z1j{;2mvw=Dk~faaOWL+TGiIyIZ2>jDuxuNVW99HRimNu*S5iaeRxQ<; zg*8Zb3LdfsL!BmFCtbD&*6`4`dV8P;_DBL1f&6ByHy-|kA(A71|AdlY2IrH&S7wx& zWw$%+o~KQZeDlvhKdu%Xj|bj@d~=-m9BTNIVUaGke@V+@ILs!yzhpMWHsT2@Y}g6v z5Rnt8PM61R^2P}(!U)Pillv-;;rbO}S+6`kmzS<=5W>?UU3Ny^c%! zx?88N^PleDfTyxgk7;ndv*e8z8{B}UH~H1s;1PP~UtJA`bIXb56M&qT$oPAN!XTR#(2XJfS;kgWB4>sCJ62~L3^rg9?u z4E$H&&wYsxvVjO+t*X=jHIowm@ls*6Yw7Nl%Q^(~16x2uNAWbiJb(=owPVtTIVuS50cwpz!wTWQ3nKE#H}J`6 zPzKh5SHU(A4li*09|Dg2p`4Hag`fy50BbXv(#Dg9nlJMfNTuMFusbRdQ zJ)AFtf%}J#ycl5%j0&(5ybr3tX)rj8Z>EA_U?dm~W`RgThr)6>VZMCcAuhqlLvt+U zw0s4@5qvr@%u%byYAhucUPQ+|H(*A86klop#o+(q*OuK`Oa6c0hfcSTYwaw!=X$Z&cO_@2uQcI zxRioroS@wd-UYkB5m3CG@124@AQF388c*oKF>nGz_!}>yXZ2)Pt{1}qMEE5=*hmAb zfrdx;(~!vnvp{|?XMu4)j%6SsuqCYQEWBa8FY?PoKLe*WuNk)>BLC{MPGcQd4-S9` z|EeW?nE_0LR}6jvF-tFo2dRSW?tLiH8z|UBw*vZ9A)+8c^`y0)tBv@x@gD+K=e*iF z#Y{cvdE$;BNZll%T4T)Wt>2C1!B7cx0ak&W#rkzjhBWTHXQ(r9l`QHM*SDaM)0Pi` zWnd+E6|4uF!8Wi9>;aLCEXKVAtN|*!38?J5KxGerLm(o*8n?=-PL)-iDyus8O?DI* zM{s-rA`z0N(EUIUkPb4yRUiwD0^>jqh{$)wod#64A5hs$pt9LOWhaA(yvnL>mCcwk z))rRfDy+(L!E_LbP=SyisGs#`Omx>Z&)vkH^}TfTs`_ay3=2CjyA znrlwP9Z{Ini8rmlDzF(u_{!@Jwt$LS{3cjrP68?5@TEM71vTI#I1M84QweW(9e@2m z7Kj8a!MzqFBAi_-!lEu@0;~a>z!p#m_JDK9$(+mL@(RXvW;}seU>}HRU4VNjC)(AxOZtRE-unQdM=uP!0|Q z&30NrEH#*ldOdlYT5BrRv#mqnac0%PWTKHrjQep1;r9R$?Gd`4XQ?N^DBgaU1|odr zodnb2<<;V^!o9XFQ|_xc*4GO7u^orLc;$QvSQNadXg&T-pc1?f4uj+1EI0=u3HBiV zU@#Pn1vy{_m<4L<+k)=OU;$qh!f_sSrG(u6dob$d(a48J1`7PtQEeCu(QAc zuQTWea%+YE*oG%imr#o!9;ATIpgYJY;4hNUEZq5^2o!^*pcIsY3h+Jn2}Dty21o!& zAQFErVGn~vK;xEybwJ}*f>>mmfK(6!>7bw=e-Q375WRL;Cm3}7dVtT4g3hsUJP(lw4%Yl0q_N=0Y8FYz*{L76gUp!t^tW;CK(I^ zBf)4e7DO^|9+^h?yMw`C2AJEr;G)1u1QKATfT3U0D*VU5ac~Bl1yO_>;DTIVr2i)cYm=Ct!CPPt*bk0@6W}LcPkNcuSvIQmOtKy? zRxBjjxnUk>gAG@$dNptluI1OblR+fg5z6yRBN;3LYe0mryf$DhSl66MFA|WLNCc1u z`hf`lIPO#63>ZRYB78>+>I3lYWg{N616@HMFbIqUV?jhd8Fw4d9rOY!Go-~JTWCC< zXs=}&t2vDUH!Bn8KGl6~0JKv0YN+2sB8FU4`z(g<=+yiEVi1rxVjeyFw z0V>-E%m6dNT<|c6$hX6-I){OgKxI^?%FIisRge8)3a z0V=DR)l91F0#FPhat<0yk4P)DQ$+ZBGTG6bA+2YHA68GjpC1414BuLpPnmfui(60$ z-Us_Z4LAkPf^)#df#8Ueid*n=+&2YYS}nf1hk-0G73h)RB&Y#x6Y6|Pb*Nn|mBYbUgexRSSy2B2Wreg0+U<;@M`$0sm0{2c(3El@9Rt*k=W8e(< z5k%yVT0SFYylM@!p}wKoXTB8j|T=}lkunF9t0wCOPkQ{U?o@$)__;Rdawy> z2C+?Rjp-;Dd??S*)42^mBM=V~0pH3q+5n7qUr3<1G1n8IM`mjpv2rD>NmJbL?#HdX zdARii>4ezB^8*sC53Q_rqegGhuvjO{^SESLwZ5s{EjQmOd# zNa`#Q#BCV?(47tW%YeAd;8_ndG4-#Q+T0)V?dWQ2H zi1;ti)m*+%qUSF4u%$vXtVPOAC|gC3Bvux5H3;IK2{bf4p@z)g|2)G41PRr`90yi! zwm2G3WwQ$OJ2qoM4!9pg(%(;eKKwdU?Rth4i12@e9}hnnbO%$xAIY_Wp9+E?A~zd% zL{B)*Kw}rm&(uobI6^1D8Q`nMPr#iF+JJT-2>Jp0qLuO)T@7eA{9d`O$HWyC=;^x2 za3YB={+Qc+a2hxcT;!+W9|`UO4{BKWcVGwFK<-=2Mz)#>85RqGkdl%RT zRIUc7oTFJ-V)feyfFr=QGd%AkEZ)z84g3URnK_a`GO&hj>=EXM6QB)o1_9-!6&(5m zEg-6zqJg0x3ycP1K_p8>=y5Si>4{yvbm{@zl?==vd<`pMmYI!qJvX}ucaX^-9q2jN zWadIWw5nlMOX>R0UC=A(X>rX9R8Z%bNMaGH=TMX2>#Ascty!U*jBPo{r5U;ul!Emj z5-&pa*kHd}?V<ch z%^}I@AP+16dh~2PC_cpM5vm8uI#L8Z43k5K-6%cP7|Yk3STD?RXLS+PqcB*nA$fcl?0a2uuXC!4j|q zL?Z6oM~T6-k7!nK0-Oht@CLME66grhfR2Flg2j8t8mI!*;3SCOOACS&5Q)7Ieto$< zgbxD4z*LY6BJ$bDj{_>xAE?YoFcyplDm#5|__{oyeHGH+K~MrZf5@IE7zRdy@n9m* zJZI&u!F3w+ptSwKXfPH;(q8p{glpXIK}X_r1*#(h3<1M{>KYHM)Cw}`Rr`S+>QlF# z%$tn6f}WCwTe0s#Lq+m{9TiHr9_V?sM$|+Gb*>{x52E#lUX-+5dY)|N2IdxIHEuY( zxkC?h-9vUG5%O_Q4rebrH;qO4v04jrbzj9)6Ok@t23QRAD|*X-p2|uErMO*Ceg649 zh{%`U$hv0qMSlr9A3K3oMs|AXTo&dJT?~!HN-3f$K^j;JB78kYm4x3~1R8o^>NJoE zW8zR4%E2@jy@L{5XX$7kdn~sv(>^NgES) zZ;GCDNh8a8X5}!5WIcrzXalT0|IFYtR&{^k8hj@;N@4VXM=HFcFz+nM%p&=Gun0u7 z96s(aegv*Bxw{7T?Uf$OIDZhIzG0G3!wvjc!V-qCt^tn2^sb|J&&W#8Aw;(U^x#8( zpvNBcCYsX@MjBAbg=kQBFQDfbtfLV+EMoO^f~KY)C;S4~>FbGv^FaGvT5Q64o+X1) zum)&HU*?oE9pZc$DK8TSdVzG%4`hJBVAv}>A_n=O2rLAVau>Z$hY9OSW7&iFTv%3u z38NNMU@#uc0Be9xBAK&J6|4*wKUNPAYy{;%w;^=Amc^E_DRCI25i?o2df|`FDIsIL za<8x5NAdo*HMC;&4g0Y`->Gk+T*i2%QTjA*(GuHgf)ssQyyG&O0GbFQ#YjPS8`V!k zH6PB-iL2I5ih~Tefbjy^2M*u@`US;7poXxM;4JtBoB`j1W8e#5w?!=PtIYy-5zdsM z3*Ry5DPU#K$S1R!VJ%Rek;TT(WS|A9DOk3KJsMB}c7jS!1@?n#a2R|6YQQNFDcTy` z|37ge@_ES51owc2Ak2?*{J*Zw1+J|9Vjz=CgvnMDPn0@WSW$oo z)$qP}Zh#4KnmHMFKTm?l*#&G6UD%qSbBfOkiiizaguH~TMq-Mc&~b>)@HTYEkWh4y z$V6lbBC!t}CJW>1psAUxWnj674yBK)(QO$`QQ|X&q7VNIb!#U1M?zR_uKmLKEO7-c zlwa1NceJeixP&Q48ge_LLmi|VZLzq9&vnQ?I$FnVJV8zK zC5FmU^APDn)L+J16ar4NXuNrIP`2w%)hRyjU{$g4G`i9k9dU63C6PJF9l28xl$7-SiuBWQk{z)#Q`kO)KyC83=xOJD0X zOm<(6OCy&XKzWns0Hm@2M&#w8gApB(lxROVcwr*=9oLg&p^+<1$2Nq|5_4R4d6noi zL@G_TF%gYK!ba_9JRwE4sn$;(zpeGKQ@Afg(a) zJcBQ?2icG4IQHO^a+-^cPtPW{8zH?BZND8`4Kf&AKJqv+#j@97yNIw0(A6OCB6Uqp za%%*gF^)jK!qAz7Ba!Y_2F77qf($^Hk35b{L!^MRB4a4Bc}kw+Sk44FGJ}y_2E@=J zH1dK}DW=lUW$F(FeiPeYnh_)>_ZCDSt^<@304 zf#fiw&qE^VmwRS<1O0Aq|1P)zIfMn)o9-@{>Ii(H2!AX}iXM$DC!D=ME)Ax+3464`ePXO53lj}YrB z2g1wUy+wzqg-AKF2GJ4s{fs#wato4%XuU&(6ObIF4si(ci)~kqGyh2+jLb(CAv*lL zfrKHP%pv=BdD9rQ!>|F&>54o-ElW*qie`kk8ljl&b-VDW6Y;er3LTRau}ybNQngXLK> z2mX9c6#tve5BI8SYSH5|9!Mw^%OGRExX9Gh5m33%sA| zRI9@0gaG}HVYCcHG$sfww8K1bSV!u!TS+G&!-{Az-;#A5jw zk`)$@fJ1kh@ELHp#j=NRvc==!=|PtI?{o4{9I+ho;gc3iGn%;9BoG73Je>o7zQFI_ zWH8ofewy&(EtVZ`-G4Op=ir_Jmh_3B2*otZLH3Kzv{+uXGKHQ~C$J2jZZSQXb0k9d zxIRZRD62rUzf{8f%M43DAj>$^<1C*ewK%e~agbUn>pD2_7p$a2j)Y7c3#z8V5ixfHV7tFxqZic0&lSPdIGj>T}cXz`B zVOi{`?b3=$dm5Hz%4$}dJ-87ot$9}e-;Sb@C z{SDW{vNcBgOEV4k%N!u^7cAmYLkvp-vgS$KrH(XP92hJ3Hm>bb$zm*)Yb(wef^uw+oaDQUaRs1__SoJ0mHEtVNor&q-;>63wS{!a)ff-F<2CW~b- zk*{E46@Te!&8}*nBVDoVoEEFtr4p}QXIN%bvieJ`I{g0ia3FmG$Y}PtC<1@M;Z$~K zYL+@6J2f@S86<2qESFH$FKT;NO3*Ag@Hzj*AWIjtU0RW>s|cn~24t|16&u=tSByC~ zeqy*ce6z(eW6Jx~*k#6)Z?V)7Splcx`#m2TEDnb|e`$^X;*j#C2_Ozbju;kuzQtk> z`RYP@n#E$@_w|ML@MDI>KJJ9yC?tWmPZ$=5hHnguz2iy4Vqey1SnLfJi@omDh4y_G zi#^8w-GvTW7K_8bzQ52OdD?Iw0~SjLDlHcK7K_Ec%VM#+|FRU~aLjwsbBFqqnoK&P z&aha*owiu)%@&J2=gfuSCt57_-DfYf@3R=YcWbHZy2mUf)yv7Mnp^5#65>`fiIMM- zA=KNtHjZ=DTltbZHo8FW<0*AEKb&KKv7ZlDc)ebB-*HRN@hF(seEeJ9j#;XA{$=<2 z>?rQ)$zUjvHlj{s;&YK=A0Kkz7{!;tJ~&Qs4>;cPPlS^#|2yGEZ|-9EdVlhC_S>jn zD`Y)_Pn7gHjgLP6q+~;!eRJh+^JN2Kb%d3J5(t?3>Wg)d6(j+;1(V~%RBre{NLaL zZ|*B@H#er4o0+5|rFs~3oVW26_tlV=4c`4r-0PyV-=OqVs7?4qz0L{?mCe2Ip{kWj z+=V{3qLL*jO24p!R1QB|@D%^E`xwk2$D>2ofo@4Prc%H>4V7b?+ z{m;Q^7Kf0`ofe0~!z}I!H(S-N@1;%zj}=Tk9D+ln_s|;Z(lD=N4K?q~YSuiFIk}i? zv5vyKdmyvSn5cQbEH!UD6Lm4_zgp^k-uc(v zL2hmZ_n|Gdo#tfNh2c>OEgp>7dYu1>(a8f#HiNu~Q`n?N_8rSwlzd5?K>-=q}!cpKkzyZKVQ z19C|7&dVX(yKEzex4r%xlJ#&b>CYg>6{HZSV)~RSE-cMW@^b=y)8g~+4zEOFYw$M8 zVV`$^gR6&NiF6_py#-#oO;{IK_1ff)ZRajxBpXI+60_uXkyr8-<}uzz4%vE!BGwK} z>L#dhQRna=IVe>*bg>I}S2>J?n=S4JM>1GR3CkJuf|I=dZ@b;%=c!R!qJ04M0*fDm zOD%pDuJq;-%s0hbDTlV+`y2-Axqw6x(T$s!R-oQ+gT;g4V-`OMpF8bcwbkv)4-2Ml zb-P8k{UJD{>r)S-gRAI5wO93`Fc{^*|u5Jpa-o?_Vc;{=V z1`S@X?c_PqOWp3SOHT5Igodlq-x5uego%SBe9njPoiG^SFW_MzhQEh*SM`6_T^{A1 zj#os8&$*h3bt8``q@4-h2xs5JGdemj;k(4n6Nv%J{s0`y69^fC#r}xc;Y!6b;4+>- z+@kn7IE;A-Ls`K8RX8e>=X^3IO9WLYVsX&C7f!VJ8#vwK-{4G(|3FH)7GDoS zTDT1Eqx`GkTDbKD;X{5)aU4aX#s7g@EOrNR2H7TptKle%2g0#%Uv)zF!`b7w1d1oY zOaH{L*{KXY5BpnC$cP|k^a_eY6F6fPU>$tsVIDwo%3|LJ7xU2Ol=82GXZ@MA1BwsA zweU#Ar{P$Za>%U?3I7{h080t>fV(9zCeE@HgOeyii}T=OixN5dV0C+K$up@?T0 zpiC$v!n@(bWvr`H31q=OR_^Ht=E7mH&hV>nrp4881>8?%xE4NYg>Qr#TbbKlze}M6 zS{39FZm~EG_N_D-$b-WyE`nWHXQ&d+w)kUsy~Sr>-zpWKpEJHBl?YL6QaQc~-VVzI zLP}&1d;(tF}zlo)X%02;3tYZC#;-}$4SXbI|cqx39 zvRA{kaGa0!FA+ANXxU6(tupWf9Lv*V%^hx|lD$PUY8&+L1vkFKVjix6gdYT#)v-oO zW$+%@_YwVsN-$5t!#aaA;0id4^aByRfFf)U3dQ`$o0AK7QW>g&XYru#C1u|aNAF{~ zOuOJUJq9NpV7ONH^YC`KhvMI*kzqJrWw0xpdC&>Gi{j7;6X6Ni z$8s}$2EKGIiN#&u;jnHc32-i~6C4gtvN#tmu=p8x);Em*J5>>tqewr=T2RG1;aC=P zWhp)g7s5J$@8M#2m$J8^1IRpO>|Nn(Snd(X3C6=mzh$&loC?SLzc&FMLXik>QmEa0EjAyetLpxy?UaS&02(Ld!D^T1B*Pb^e*8UFK|4|e=f^H}p z;Tu%~1K{YNjQu`1*5W7Nc(_RU7sJ~vUI!2V*@WK%XIgyn4%&Y(QTAxK43_u1Ns;!2Ygu|Fk4A)VgR9%}qY29YK{&S^`;HVp0asYO@J`xa zBZ?!+VI>Z=7qM7OMYsiSX>TIf4=08iJ`ESZQi75J=PoK0%*-vop)jwG4Lzv16I>R? zrUBIoF88CT@5sFhmEhHI?8P{!0C8|OyoeMefdOz!IE%=X{|LB|=j+Rq{}{OVQWO4R zxEAiJ?32VFUZmJR2gR&TMzIKvx-58KLlRsA7r<*(fOp{7&aCfKd;l(kb%e*^_&=}> zOWA*h3t`>NWisfC;@fEO1pH1H6mA!8oTxMG4HsO_O)(Y0&2ZQirbzFC(_s~XGZxP5 z8oakB8GaPbg|&SaT+oe$hpNPi;X~b7$QFp7@qY!1;%GLnsRZ8?2UurdCtTPgc&A7b zXn>c(@?b#tTey}7`jIMuU*V&@OoloRWi*6$DF4gh>KK&)8UL?GF)5Y+DuRLVtllOA zLt*zCZYU^wHXO?X|Bfod`EVkv?X%(GJn(N&3BDlyacs*`{;P!Jxj{gDf$@I>ip;)j z6jTni@KLx@@t1J%4Q&2Zwe}S3CIr8vN(uZMj)(Us|MtVU#)-lEC}Qsf7sLIOJsPfs z8LWci|FtNFv#4-_a=00;hVvBP0mt5CcqCi~Cn@`%;X`nxDxs-x;Xo>#vKPX>TTJ{f z!nyD`(hpq2BkZw!!I1rkQ;RpMh5>|ATN@vI&0zjvdVXVP!uD zS6Cc29Q&=<_4t1UiV76^62!ytDTY(wYFPJVqu>^pOB^_XM`2&8;c0LfJW7?wY&ds_ zX{PhVpQi`@J}QD2QN*LrQ>NAMaCp43SHWSon@aZqT+E&Qp343)Tn$fTLLw!06pkIv z3Rsna@8C%zSg)!4e}Ub5c0u~(6b;IAlrBk72gLkXPwAU}Mf?B#IusNh{F z$zX*<05>c9Tkx#WYz0-k8_pbK;{P1>jWv~)yDd(#A4OZ$PS2o7X9+_W6+y^7WB}If z{8G38KBDZgaOOB}jj9X}gsUHC2df%A?}S^XQUWUead6`dE~#q9GhqMlXG{XcD6(Ol zf#vWl%f1mVw)g{hDJ(AqkP>Nt>*ttDb^<;F_fZL+g`?-0OWgim+Fv}1iRz5H+)IS8 zuGQDV6|nSFl0Y(isE`t98{`pi^#ao>CcrJQ9)6#O6Bn9h$uB%RweT2~o_8Fd6y+{(g}O|2_PV5>sb>gKHNDPe{IcU2z{J1nYk0 z8b6At^5C-#aTp9o!y8lvZi5fO-4zdoTi^u6qu}_ZrcyovXTssi{tTQ8QzZf=_#!+B z?ycBgfnq6&>y%;>Tn{HH-T}MIXvc~_hBIM(2FKw>c#*RI49{B5>UhOrOax+Am<(P4 z4~NzK!0+_oQw0j$RsK-|tmNUBieLy_0MAkU0PI^u->vFIE}Z*Xumq)!JOxjJ^_SV% zu)EsKh)Upse^R1>OUn4a3`N;SGrqG9+gT6yQ3-wm*KRUJ_BGrBr>LH;8BTsX*lOew zc7A|X1Yb^g;r{R}xU-5c6)uAVmqf<@OcYB|j8hH|!C_m25y%-$hLd4kBG1Cbu)btv z@OHRCgRG+9c&~~0hYss@G`|8!13<~ zpBGDsd^xz2a_dZ2`~sZ*p|P(Le^}nbBpKceN9{3#Pdz+oFLO>k{+~iojbfY1 zVKZD%Z_fDlBS~;SKLVrd(QtBuX_f=vLU@VF;7~aB0JC1j4~iY0ruY#!>=VZSE-J#A z65vysiQ<>w?1QEV--IW@Qmf^RK7@-c`xo$1I6~Qff~#S9NGtwf4^qO1f)9a(qu}Dh zjQ`K60P!fIKVw6Q;vsM~OeG0KFcyygobP&y9~J*E%ome6@BuhZ>^$};f!qCy-zri3 z8hkB$O7SK*^-Di}v*eHf@1vM>gbXPD7*79+?dFQVg56{M1ch8v{LjK$PpEl6?2K}p z-=F076_o!a@PS5l*Q*4tfa_1GI)MK*aJDRa8K4{npm+rytRhH*qfV)=|;e+TT}Ybg$+IA8^6f{$C=ezfD9x40YJ?gu6uD#LMb zW|L~?WN-ldFdP_+;6dA#z1&VbE&4$0V>_n<&0hIZRm4z&Ih|x((2+y~82wZ7#2HaqAF5GOfzW~MMJdW21&W4jLE`rBfTnZ;N8~=51clE4MO5{BW zZ}CC+F2zzpN8q-sGo{LKf+1Din%(E~+wEfxT>`C5x%S z!y|H-=#>NyTRF6wThiW{<~8Ochassis_state.target_x, .d_x = c->chassis_state.target_velocity_x, diff --git a/User/module/config.c b/User/module/config.c index 65a6ba6..110ec78 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -214,9 +214,9 @@ Config_RobotParam_t robot_config = { .leg_length={ .k = 40.0f, - .p = 30.0f, - .i = 0.0f, - .d = 1.5f, + .p = 20.0f, + .i = 0.01f, + .d = 2.0f, .i_limit = 0.0f, .out_limit = 200.0f, .d_cutoff_freq = -1.0f, @@ -329,20 +329,21 @@ Config_RobotParam_t robot_config = { }, .lqr_gains = { - .k11_coeff = { -1.997928012118380e+02f, 2.358970856133577e+02f, -1.221432656066952e+02f, -3.660884265594530e+00f }, // theta - .k12_coeff = { 1.144642140244768e+00f, -6.781143989723293e-01f, -8.286867905694857e+00f, -3.233743818654922e-01f }, // d_theta - .k13_coeff = { -2.920908857554099e+01f, 3.294053235814564e+01f, -1.331127106026891e+01f, -2.036633181450379e+00f }, // x - .k14_coeff = { -2.202395151966686e+01f, 2.624258394298977e+01f, -1.238392622003398e+01f, -2.516594294742349e+00f }, // d_x - .k15_coeff = { -5.531234648285231e+01f, 7.666196018790744e+01f, -4.254301644877548e+01f, 1.191958597928930e+01f }, // phi - .k16_coeff = { -8.603393557876432e+00f, 1.181868681749069e+01f, -6.519358011847959e+00f, 2.002836931783026e+00f }, // d_phi - .k21_coeff = { 3.121841964126664e+02f, -2.644789946321499e+02f, 5.653973783920610e+01f, 1.306067415926613e+01f }, // theta - .k22_coeff = { 9.751578045310433e+00f, -8.174866581419979e+00f, 1.060040492386880e+00f, 1.945460420856203e+00f }, // d_theta - .k23_coeff = { -1.589159892148102e+01f, 3.771040781828523e+01f, -2.789168930865428e+01f, 8.354369470743295e+00f }, // x - .k24_coeff = { -3.304075197263637e+01f, 5.411818719230526e+01f, -3.342861600971858e+01f, 9.256855471266778e+00f }, // d_x - .k25_coeff = { 2.574491871362636e+02f, -2.771545105998671e+02f, 1.074894289176479e+02f, 3.130550754680395e+00f }, // phi - .k26_coeff = { 4.162978395880715e+01f, -4.533986766238992e+01f, 1.794589550749570e+01f, 2.032213740678163e-01f }, // d_phi + .k11_coeff = { -2.110325959941390e+02f, 2.474876302869424e+02f, -1.259312069344584e+02f, -3.555067587081389e+00f }, // theta + .k12_coeff = { 1.729035713826111e+00f, -1.094205267383853e+00f, -8.235618497594484e+00f, -2.949091603597677e-01f }, // d_theta + .k13_coeff = { -3.661055595462458e+01f, 4.066046385752247e+01f, -1.618786894025212e+01f, -1.618742454043447e+00f }, // x + .k14_coeff = { -2.988926501197955e+01f, 3.445642428071118e+01f, -1.547117906530474e+01f, -2.039186188549067e+00f }, // d_x + .k15_coeff = { -4.094585161782607e+01f, 6.119228618474273e+01f, -3.603009625243965e+01f, 1.037078067693317e+01f }, // phi + .k16_coeff = { -7.625020535837323e+00f, 1.097226354374976e+01f, -6.302244199082423e+00f, 1.920720114282383e+00f }, // d_phi + .k21_coeff = { 3.113860878856309e+02f, -2.577426343951217e+02f, 4.982404130107013e+01f, 1.415180465415879e+01f }, // theta + .k22_coeff = { 1.126082466887103e+01f, -9.812804977178935e+00f, 1.814407629267238e+00f, 1.941377111901043e+00f }, // d_theta + .k23_coeff = { -1.771607516002724e+01f, 4.047388400543465e+01f, -2.962942748901807e+01f, 8.971209797230671e+00f }, // x + .k24_coeff = { -3.391460592939657e+01f, 5.575858169617614e+01f, -3.466996436706782e+01f, 9.833893476570065e+00f }, // d_x + .k25_coeff = { 2.392778926806863e+02f, -2.574664846375947e+02f, 9.953632837845201e+01f, 2.579297039170335e+00f }, // phi + .k26_coeff = { 4.297556375859175e+01f, -4.657509218314731e+01f, 1.826212630358702e+01f, 1.257410509642398e-01f }, // d_phi }, + .jump_params = { .crouch_time_ms = 100, .launch_time_ms = 120,