From ebd9d68a40769ff358a04de5ec13c08aeb27f342 Mon Sep 17 00:00:00 2001 From: Maximilian Schmeller Date: Tue, 31 May 2022 16:49:47 +0200 Subject: [PATCH] Progress printer --- trace-analysis.ipynb | 445 ++++++++++++------------------------------- utils.py | 42 ++-- 2 files changed, 153 insertions(+), 334 deletions(-) diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb index ab49d27..bf8d31c 100644 --- a/trace-analysis.ipynb +++ b/trace-analysis.ipynb @@ -2,7 +2,7 @@ "cells": [ { "cell_type": "code", - "execution_count": 31, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -26,12 +26,14 @@ "from typing import List, Dict, Set, Union, Tuple\n", "from functools import cached_property\n", "import pickle\n", - "import re" + "import re\n", + "\n", + "from utils import ProgressPrinter" ] }, { "cell_type": "code", - "execution_count": 34, + "execution_count": 2, "metadata": {}, "outputs": [ { @@ -64,7 +66,7 @@ }, { "cell_type": "code", - "execution_count": 35, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -128,7 +130,7 @@ }, { "cell_type": "code", - "execution_count": 36, + "execution_count": 4, "metadata": {}, "outputs": [], "source": [ @@ -391,7 +393,7 @@ }, { "cell_type": "code", - "execution_count": 38, + "execution_count": 5, "metadata": {}, "outputs": [ { @@ -466,6 +468,7 @@ " \"callback_symbols\",\n", " \"publish_instances\",\n", " \"callback_instances\",\n", + " \"topics\"\n", " ]\n", "\n", " pkl_dict = {key: globals()[key] for key in fields_to_pickle}\n", @@ -492,245 +495,18 @@ }, { "cell_type": "code", - "execution_count": 83, + "execution_count": 6, "metadata": {}, "outputs": [ { - "name": "stdout", - "output_type": "stream", - "text": [ - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=system_monitor_container t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1042 Subscription n=robot_state_publisher t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1070 Subscription n=system_error_monitor t=/parameter_events \n", - "void (AutowareErrorMonitor::?)(diagnostic_msgs::msg::DiagnosticArrayconst*) : i=1780 Subscription n=system_error_monitor t=/diagnostics_agg \n", - "void (AutowareErrorMonitor::?)(tier4_control_msgs::msg::GateModeconst*) : i=1626 Subscription n=system_error_monitor t=/control/current_gate_mode \n", - "void (AutowareErrorMonitor::?)(autoware_auto_system_msgs::msg::AutowareStateconst*) : i=1772 Subscription n=system_error_monitor t=/autoware/state \n", - "void (AutowareErrorMonitor::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=system_error_monitor t=/vehicle/status/control_mode \n", - "void (robot_state_publisher::RobotStatePublisher::?)(sensor_msgs::msg::JointState*) : i= 0 Subscription n=robot_state_publisher t=/joint_states \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 950 Subscription n=aggregator_node t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1035 Subscription n=emergency_handler t=/parameter_events \n", - "void (EmergencyHandler::?)(autoware_auto_system_msgs::msg::HazardStatusStampedconst*) : i=1626 Subscription n=emergency_handler t=/system/emergency/hazard_status\n", - "void (EmergencyHandler::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=10468 Subscription n=emergency_handler t=/control/command/control_cmd \n", - "void (EmergencyHandler::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=emergency_handler t=/localization/kinematic_state \n", - "void (EmergencyHandler::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=emergency_handler t=/vehicle/status/control_mode \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=map_container t=/parameter_events \n", - "void (HeaderlessHeartbeatChecker::?)(autowar...: i=1626 Subscription n=emergency_handler t=/system/emergency/hazard_status\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1030 Subscription n=ad_service_state_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i=1026 Subscription n=transform_listener_impl_aaaab90b38b0 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaab90b38b0 t=/tf_static \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 940 Subscription n=mission_planning_container t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=scenario_selector t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 903 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 907 Subscription n=external_velocity_limit_selector t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaad6cbbcb8 t=/tf_static \n", - "void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i=1626 Subscription n=ad_service_state_monitor t=/api/autoware/get/engage \n", - "void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReportconst*) : i=6466 Subscription n=ad_service_state_monitor t=/vehicle/status/control_mode \n", - "void (AutowareStateMonitorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=ad_service_state_monitor t=/planning/mission_planning/route\n", - "void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=ad_service_state_monitor t=/localization/kinematic_state \n", - "void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 978 Subscription n=scenario_selector t=/planning/scenario_planning/lane_driving/trajectory\n", - "void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectoryconst*) : i= 101 Subscription n=scenario_selector t=/planning/scenario_planning/parking/trajectory\n", - "void (ScenarioSelectorNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=scenario_selector t=/map/vector_map \n", - "void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=scenario_selector t=/planning/mission_planning/route\n", - "void (ScenarioSelectorNode::?)(nav_msgs::msg::Odometryconst*) : i=6466 Subscription n=scenario_selector t=/localization/kinematic_state \n", - "void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_default\n", - "void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitconst*) : i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/max_velocity_candidates\n", - "void (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitClearCommandco...: i= 0 Subscription n=external_velocity_limit_selector t=/planning/scenario_planning/clear_velocity_limit\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 934 Subscription n=motion_velocity_smoother t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 930 Subscription n=transform_listener_impl_aaaaf1071f80 t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=behavior_planning_container t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=motion_planning_container t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf1071f80 t=/tf_static \n", - "void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::...: i=1079 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/scenario_selector/trajectory\n", - "void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometryconst*) : i=6267 Subscription n=motion_velocity_smoother t=/localization/kinematic_state \n", - "void (motion_velocity_smoother::MotionVelocitySmootherNode::?)(tier4_planning_msgs::msg::Velocity...: i= 0 Subscription n=motion_velocity_smoother t=/planning/scenario_planning/max_velocity\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 887 Subscription n=parking_container t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 888 Subscription n=control_container t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 896 Subscription n=planning_error_monitor t=/parameter_events \n", - "void (planning_diagnostics::PlanningErrorMonitorNode::?)(autoware_auto_planning_msgs::msg::Trajec...: i=1078 Subscription n=planning_error_monitor t=/planning/scenario_planning/trajectory\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 562 Subscription n=cpu_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 874 Subscription n=hdd_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 873 Subscription n=obstacle_avoidance_planner t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 875 Subscription n=lateral_controller_node_exe t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 863 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 862 Subscription n=transform_listener_impl_aaaaf153e160 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf51e51c0 t=/tf_static \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf153e160 t=/tf_static \n", - "void (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*) : i= 978 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path\n", - "void (ObstacleAvoidancePlanner::?)(nav_msgs::msg::Odometry*) : i=6141 Subscription n=obstacle_avoidance_planner t=/localization/kinematic_state \n", - "void (ObstacleAvoidancePlanner::?)(autoware_auto_perception_msgs::msg::PredictedObjects*) : i=1582 Subscription n=obstacle_avoidance_planner t=/perception/object_recognition/objects\n", - "void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_p...: i=1078 Subscription n=lateral_controller_node_exe t=/planning/scenario_planning/trajectory\n", - "void (ObstacleAvoidancePlanner::?)(tier4_planning_msgs::msg::EnableAvoidance*) : i= 0 Subscription n=obstacle_avoidance_planner t=/planning/scenario_planning/lane_driving/obstacle_avoidance_approval\n", - "void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_v...: i=6285 Subscription n=lateral_controller_node_exe t=/vehicle/status/steering_status\n", - "void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::...: i=6285 Subscription n=lateral_controller_node_exe t=/localization/kinematic_state \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 710 Subscription n=mem_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 703 Subscription n=lanelet2_map_loader t=/parameter_events \n", - "void (diagnostic_aggregator::Aggregator::?)(diagnostic_msgs::msg::DiagnosticArray*) : i=10587 Subscription n=aggregator_node t=/diagnostics \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 695 Subscription n=net_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 683 Subscription n=lanelet2_map_visualization t=/parameter_events \n", - "void (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=lanelet2_map_visualization t=/map/vector_map \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 677 Subscription n=ntp_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 669 Subscription n=mission_planner t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 665 Subscription n=transform_listener_impl_aaab0bafc440 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaab0bafc440 t=/tf_static \n", - "void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 1 Subscription n=mission_planner t=/planning/mission_planning/goal\n", - "void (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStampedconst*) : i= 0 Subscription n=mission_planner t=/planning/mission_planning/checkpoint\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 661 Subscription n=process_monitor t=/parameter_events \n", - "void (mission_planner::MissionPlannerLanelet2::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=mission_planner t=/map/vector_map \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 655 Subscription n=longitudinal_controller_node_exe t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 651 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf52d4c30 t=/tf_static \n", - "void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::...: i=6285 Subscription n=longitudinal_controller_node_exe t=/localization/kinematic_state \n", - "void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(autoware_a...: i=1078 Subscription n=longitudinal_controller_node_exe t=/planning/scenario_planning/trajectory\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 603 Subscription n=gpu_monitor t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 581 Subscription n=goal_pose_visualizer t=/parameter_events \n", - "void (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRouteconst*) : i= 1 Subscription n=goal_pose_visualizer t=/planning/mission_planning/route\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=pointcloud_map_loader t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 569 Subscription n=external_cmd_selector t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 553 Subscription n=behavior_path_planner t=/parameter_events \n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/control\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/shift\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/turn_signal\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 551 Subscription n=transform_listener_impl_ffff200c66b0 t=/parameter_events \n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/local/heartbeat\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/control\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/shift\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStampedconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/turn_signal\n", - "void (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=external_cmd_selector t=/api/external/set/command/remote/heartbeat\n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff200c66b0 t=/tf_static \n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4320 Subscription n=behavior_path_planner t=/localization/kinematic_state \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 518 Subscription n=external_cmd_converter t=/parameter_events \n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::Pred...: i=1049 Subscription n=behavior_path_planner t=/perception/object_recognition/objects\n", - "behavior_path_planner::BehaviorPathPlannerNode::BehaviorPathPlannerNode(rclcpp::NodeOptionsconst&...: i=1577 Subscription n=behavior_path_planner t=/planning/scenario_planning/scenario\n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::Approvalconst*) : i=1171 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval\n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModu...: i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force\n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapB...: i= 1 Subscription n=behavior_path_planner t=/map/vector_map \n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_planning_msgs::msg::HADMap...: i= 1 Subscription n=behavior_path_planner t=/planning/mission_planning/route\n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)(nav_msgs::msg::Odometryconst*) : i=6285 Subscription n=external_cmd_converter t=/localization/kinematic_state \n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::ControlC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/external_control_cmd\n", - "void (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffsetconst*) : i= 0 Subscription n=behavior_path_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset\n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)(autoware_auto_vehicle_msgs::msg::GearC...: i= 0 Subscription n=external_cmd_converter t=/external/selected/gear_cmd \n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_control_msgs::msg::GateModeconst*) : i=1626 Subscription n=external_cmd_converter t=/control/current_gate_mode \n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::Heartbea...: i= 0 Subscription n=external_cmd_converter t=/external/selected/heartbeat \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 469 Subscription n=costmap_generator t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 454 Subscription n=transform_listener_impl_aaaaf521b848 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6466 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf521b848 t=/tf_static \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 364 Subscription n=latlon_muxer_node_exe t=/parameter_events \n", - "void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/lateral/control_cmd\n", - "void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control...: i=5235 Subscription n=latlon_muxer_node_exe t=/control/trajectory_follower/longitudinal/control_cmd\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 358 Subscription n=lane_departure_checker_node t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 354 Subscription n=transform_listener_impl_aaaaf55ae730 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6465 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf55ae730 t=/tf_static \n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6286 Subscription n=lane_departure_checker_node t=/localization/kinematic_state \n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMa...: i= 1 Subscription n=lane_departure_checker_node t=/map/vector_map \n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::HADM...: i= 1 Subscription n=lane_departure_checker_node t=/planning/mission_planning/route\n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=1078 Subscription n=lane_departure_checker_node t=/planning/scenario_planning/trajectory\n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Traj...: i=5235 Subscription n=lane_departure_checker_node t=/control/trajectory_follower/lateral/predicted_trajectory\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 333 Subscription n=map_tf_generator t=/parameter_events \n", - "void (MapTFGeneratorNode::?)(sensor_msgs::msg::PointCloud2const*) : i= 1 Subscription n=map_tf_generator t=/map/pointcloud_map \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 322 Subscription n=surround_obstacle_checker t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 318 Subscription n=transform_listener_impl_ffff5c00c708 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6298 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff5c00c708 t=/tf_static \n", - "void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1574 Subscription n=surround_obstacle_checker t=/perception/obstacle_segmentation/pointcloud\n", - "void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(autoware_auto_perception_msgs::m...: i=1572 Subscription n=surround_obstacle_checker t=/perception/object_recognition/objects\n", - "void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometryconst*) : i=6298 Subscription n=surround_obstacle_checker t=/localization/kinematic_state \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 300 Subscription n=obstacle_stop_planner t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 296 Subscription n=transform_listener_impl_ffff3400eba0 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6294 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff3400eba0 t=/tf_static \n", - "void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2const*) : i=1573 Subscription n=obstacle_stop_planner t=/perception/obstacle_segmentation/pointcloud\n", - "void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectoryco...: i= 978 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory\n", - "void (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6293 Subscription n=obstacle_stop_planner t=/localization/kinematic_state \n", - "void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedO...: i=1571 Subscription n=obstacle_stop_planner t=/perception/object_recognition/objects\n", - "void (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRangeconst*) : i= 0 Subscription n=obstacle_stop_planner t=/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range\n", - "void (CostmapGenerator::?)(autoware_auto_perception_msgs::msg::PredictedObjectsconst*) : i=1228 Subscription n=costmap_generator t=/perception/object_recognition/objects\n", - "void (CostmapGenerator::?)(sensor_msgs::msg::PointCloud2const*) : i=1287 Subscription n=costmap_generator t=/perception/obstacle_segmentation/pointcloud\n", - "void (CostmapGenerator::?)(autoware_auto_mapping_msgs::msg::HADMapBinconst*) : i= 1 Subscription n=costmap_generator t=/map/vector_map \n", - "void (CostmapGenerator::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=costmap_generator t=/planning/scenario_planning/scenario\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 227 Subscription n=freespace_planner t=/parameter_events \n", - "void (freespace_planner::FreespacePlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRouteco...: i= 1 Subscription n=freespace_planner t=/planning/mission_planning/route\n", - "void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::OccupancyGridconst*) : i= 247 Subscription n=freespace_planner t=/planning/scenario_planning/parking/costmap_generator/occupancy_grid\n", - "void (freespace_planner::FreespacePlannerNode::?)(tier4_planning_msgs::msg::Scenarioconst*) : i=1232 Subscription n=freespace_planner t=/planning/scenario_planning/scenario\n", - "void (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=4919 Subscription n=freespace_planner t=/localization/kinematic_state \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 189 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6288 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_aaaaf5695dc0 t=/tf_static \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 188 Subscription n=shift_decider t=/parameter_events \n", - "void (ShiftDecider::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*) : i=10468 Subscription n=shift_decider t=/control/trajectory_follower/control_cmd\n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 183 Subscription n=vehicle_cmd_gate t=/parameter_events \n", - "void (VehicleCmdGate::?)(autoware_auto_system_msgs::msg::EmergencyStateconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/emergency_state\n", - "void (VehicleCmdGate::?)(tier4_external_api_msgs::msg::Heartbeatconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/heartbeat \n", - "void (VehicleCmdGate::?)(tier4_control_msgs::msg::GateModeconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/control/gate_mode_cmd \n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engageconst*) : i= 2 Subscription n=vehicle_cmd_gate t=/autoware/engage \n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::SteeringReportconst*) : i=6282 Subscription n=vehicle_cmd_gate t=/vehicle/status/steering_status\n", - "void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=10468 Subscription n=vehicle_cmd_gate t=/control/trajectory_follower/control_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/turn_indicators_cmd \n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 983 Subscription n=vehicle_cmd_gate t=/planning/hazard_lights_cmd \n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i=1571 Subscription n=vehicle_cmd_gate t=/control/shift_decider/gear_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/control_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/turn_indicators_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/hazard_lights_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/external/selected/gear_cmd \n", - "void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/control_cmd \n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommandconst*) : i=1625 Subscription n=vehicle_cmd_gate t=/system/emergency/hazard_lights_cmd\n", - "void (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommandconst*) : i= 0 Subscription n=vehicle_cmd_gate t=/system/emergency/gear_cmd \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 151 Subscription n=behavior_velocity_planner t=/parameter_events \n", - "void (rclcpp::TimeSource::?)(rcl_interfaces::msg::ParameterEventconst*) : i= 147 Subscription n=transform_listener_impl_ffff24598628 t=/parameter_events \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i=6070 Subscription n=transform_listener_impl_ffff24598628 t=/tf \n", - "void (tf2_ros::TransformListener::?)(tf2_msgs::msg::TFMessage*,bool) : i= 3 Subscription n=transform_listener_impl_ffff24598628 t=/tf_static \n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg...: i= 981 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i=1515 Subscription n=behavior_velocity_planner t=/perception/object_recognition/objects\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2con...: i=1517 Subscription n=behavior_velocity_planner t=/perception/obstacle_segmentation/pointcloud\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometryconst*) : i=6069 Subscription n=behavior_velocity_planner t=/localization/kinematic_state \n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_mapping_msgs::msg:...: i= 1 Subscription n=behavior_velocity_planner t=/map/vector_map \n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/perception/traffic_light_recognition/traffic_signals\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::CrosswalkSt...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::Intersectio...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_planning_msgs::msg::Veloci...: i= 0 Subscription n=behavior_velocity_planner t=/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_velocity_limit_mps\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::m...: i= 0 Subscription n=behavior_velocity_planner t=/external/traffic_light_recognition/traffic_signals\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_v2x_msgs::msg::VirtualTraf...: i= 0 Subscription n=behavior_velocity_planner t=/awapi/tmp/virtual_traffic_light_states\n", - "void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGridconst*): i=1515 Subscription n=behavior_velocity_planner t=/perception/occupancy_grid_map/map\n", - "void (AutowareErrorMonitor::?)() : i=1783 Timer n=system_error_monitor p=100 ms \n", - "void (EmergencyHandler::?)() : i=1782 Timer n=emergency_handler p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 178 Timer n=ad_service_state_monitor p=1000 ms\n", - "void (ScenarioSelectorNode::?)() : i=1672 Timer n=scenario_selector p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 178 Timer n=planning_error_monitor p=1000 ms\n", - "void (planning_diagnostics::PlanningErrorMonitorNode::?)() : i=1781 Timer n=planning_error_monitor p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 174 Timer n=cpu_monitor p=1000 ms\n", - "void (diagnostic_updater::Updater::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n", - "void (autoware::motion::control::trajectory_follower_nodes::LateralController::?)() : i=5433 Timer n=lateral_controller_node_exe p=30 ms \n", - "void (HDDMonitor::?)() : i= 178 Timer n=hdd_monitor p=1000 ms\n", - "void (diagnostic_updater::Updater::?)() : i= 178 Timer n=mem_monitor p=1000 ms\n", - "void (diagnostic_aggregator::Aggregator::?)() : i=1780 Timer n=aggregator_node p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 178 Timer n=net_monitor p=1000 ms\n", - "void (diagnostic_updater::Updater::?)() : i= 177 Timer n=ntp_monitor p=1000 ms\n", - "void (diagnostic_updater::Updater::?)() : i= 121 Timer n=process_monitor p=1000 ms\n", - "void (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)() : i=5427 Timer n=longitudinal_controller_node_exe p=30 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 177 Timer n=gpu_monitor p=1000 ms\n", - "void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_selector p=1000 ms\n", - "void (ExternalCmdSelector::?)() : i=1628 Timer n=external_cmd_selector p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 163 Timer n=external_cmd_converter p=1000 ms\n", - "void (external_cmd_converter::ExternalCmdConverterNode::?)() : i=1629 Timer n=external_cmd_converter p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 163 Timer n=lane_departure_checker_node p=1000 ms\n", - "void (AutowareStateMonitorNode::?)() : i=1772 Timer n=ad_service_state_monitor p=100 ms \n", - "void (surround_obstacle_checker::SurroundObstacleCheckerNode::?)() : i=1630 Timer n=surround_obstacle_checker p=100 ms \n", - "void (CostmapGenerator::?)() : i=1339 Timer n=costmap_generator p=100 ms \n", - "void (freespace_planner::FreespacePlannerNode::?)() : i=1332 Timer n=freespace_planner p=100 ms \n", - "void (lane_departure_checker::LaneDepartureCheckerNode::?)() : i=1627 Timer n=lane_departure_checker_node p=100 ms \n", - "void (ShiftDecider::?)() : i=1627 Timer n=shift_decider p=100 ms \n", - "void (diagnostic_updater::Updater::?)() : i= 162 Timer n=vehicle_cmd_gate p=1000 ms\n", - "void (VehicleCmdGate::?)() : i=1626 Timer n=vehicle_cmd_gate p=100 ms \n", - "void (behavior_path_planner::BehaviorPathPlannerNode::?)() : i= 984 Timer n=behavior_path_planner p=100 ms \n" + "ename": "NameError", + "evalue": "name 'util' is not defined", + "output_type": "error", + "traceback": [ + "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m", + "\u001b[0;31mNameError\u001b[0m Traceback (most recent call last)", + "\u001b[0;32m\u001b[0m in \u001b[0;36m\u001b[0;34m\u001b[0m\n\u001b[1;32m 26\u001b[0m \u001b[0;32mfor\u001b[0m \u001b[0msym\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mtype\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minfo\u001b[0m \u001b[0;32min\u001b[0m \u001b[0msym_table\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 27\u001b[0m \u001b[0msym\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mCallbackSymbol\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 28\u001b[0;31m \u001b[0mpretty_sym\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mutil\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_prettify\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0msym\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msymbol\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m 29\u001b[0m \u001b[0mpretty_sym\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mre\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msub\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34mr\"std::shared_ptr<(.*?)>\"\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34mr\"\\1*\"\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mpretty_sym\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m 30\u001b[0m \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n", + "\u001b[0;31mNameError\u001b[0m: name 'util' is not defined" ] } ], @@ -1035,7 +811,7 @@ }, { "cell_type": "code", - "execution_count": 11, + "execution_count": 6, "metadata": {}, "outputs": [ { @@ -1273,15 +1049,14 @@ }, { "cell_type": "code", - "execution_count": 40, + "execution_count": 7, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "[(CallbackObject(id=187650864529200, timestamp=1652795532337451714, callback_object=187650864602416), {(Topic(name='/system/emergency/hazard_status'), 1.0), 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timestamp=1652795532571224945, callback_object=187651234202256), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651234295632, timestamp=1652795532588347765, callback_object=187651234295856), CallbackObject(id=187650226411360, timestamp=1652795532381109590, callback_object=187650226411328), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/system/emergency/control_cmd'), {CallbackObject(id=187650227078416, timestamp=1652795533426825343, callback_object=187650227239936), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187650226411360, timestamp=1652795532381109590, callback_object=187650226411328), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651240046928, timestamp=1652795548012805859, callback_object=187651240047152)}), (Topic(name='/api/autoware/get/engage'), {CallbackObject(id=187650226567200, timestamp=1652795532420470209, callback_object=187650226567424), CallbackObject(id=187650226411360, timestamp=1652795532381109590, callback_object=187650226411328), CallbackObject(id=187650227078416, timestamp=1652795533426825343, callback_object=187650227239936)}), (Topic(name='/planning/scenario_planning/lane_driving/trajectory'), {CallbackObject(id=187650725848512, timestamp=1652795532425613188, callback_object=187650725850128), CallbackObject(id=187650725528480, timestamp=1652795532422494496, callback_object=187650725528704)}), (Topic(name='/planning/scenario_planning/parking/trajectory'), {CallbackObject(id=187650725538176, timestamp=1652795532422934938, callback_object=187650725538400), CallbackObject(id=187650725848512, timestamp=1652795532425613188, callback_object=187650725850128)}), (Topic(name='/planning/scenario_planning/max_velocity_default'), {CallbackObject(id=187651290507760, timestamp=1652795532427101753, callback_object=187651290507984)}), (Topic(name='/planning/scenario_planning/max_velocity_candidates'), {CallbackObject(id=187651290535728, timestamp=1652795532427573915, callback_object=187651290535952)}), (Topic(name='/planning/scenario_planning/clear_velocity_limit'), {CallbackObject(id=187651290617280, timestamp=1652795532428052996, callback_object=187651290617504)}), (Topic(name='/planning/scenario_planning/scenario_selector/trajectory'), {CallbackObject(id=187651165396336, timestamp=1652795532459592148, callback_object=187651165396560)}), (Topic(name='/planning/scenario_planning/max_velocity'), {CallbackObject(id=187651165497712, timestamp=1652795532460958593, callback_object=187651165497936)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/path'), {CallbackObject(id=187651170508848, timestamp=1652795532579426254, callback_object=187651170509072)}), (Topic(name='/planning/scenario_planning/lane_driving/obstacle_avoidance_approval'), {CallbackObject(id=187651170795920, timestamp=1652795532587325042, callback_object=187651170796144)}), (Topic(name='/diagnostics'), {CallbackObject(id=187650717916800, timestamp=1652795532640322030, callback_object=187650717917024), CallbackObject(id=187650717532576, timestamp=1652795532640963472, callback_object=187650717753424)}), (Topic(name='/planning/mission_planning/goal'), {CallbackObject(id=187651612752912, timestamp=1652795532707997110, callback_object=187651612753136)}), (Topic(name='/planning/mission_planning/checkpoint'), {CallbackObject(id=187651612765392, timestamp=1652795532708748753, callback_object=187651612765616)}), (Topic(name='/api/external/set/command/local/control'), {CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651235894224, timestamp=1652795532782967137, callback_object=187651235894448), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/local/shift'), {CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651236009840, timestamp=1652795532783443978, callback_object=187651236010064), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/local/turn_signal'), {CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651236011408, timestamp=1652795532784181021, callback_object=187651236011632), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/local/heartbeat'), {CallbackObject(id=187651236017424, timestamp=1652795532784583022, callback_object=187651236017648), CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/remote/control'), {CallbackObject(id=187651236049552, timestamp=1652795532785299905, callback_object=187651236049776), CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/remote/shift'), {CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651236075584, timestamp=1652795532785742866, callback_object=187651236075808), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/remote/turn_signal'), {CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651236076832, timestamp=1652795532786221508, callback_object=187651236077056), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/api/external/set/command/remote/heartbeat'), {CallbackObject(id=187651236084304, timestamp=1652795532786621950, callback_object=187651236084528), CallbackObject(id=187651236095968, timestamp=1652795532787465153, callback_object=187651235983520), CallbackObject(id=187651235891120, timestamp=1652795532777152956, callback_object=187651235824752)}), (Topic(name='/planning/scenario_planning/scenario'), {CallbackObject(id=281471220223648, timestamp=1652795532811598358, callback_object=281471220223872), CallbackObject(id=187651234424656, timestamp=1652795547843757259, callback_object=187651234738032), CallbackObject(id=187651235281808, timestamp=1652795547888058696, callback_object=187651235282032), CallbackObject(id=281471221778768, timestamp=1652795553042749441, callback_object=281473165106896), CallbackObject(id=187651234516960, timestamp=1652795547840656808, callback_object=187651234517184), CallbackObject(id=187651234961136, timestamp=1652795547893732076, callback_object=187651238518768)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval'), {CallbackObject(id=281471220283472, timestamp=1652795532812145400, callback_object=281471220283696), CallbackObject(id=281471221778768, timestamp=1652795553042749441, callback_object=281473165106896)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force'), {CallbackObject(id=281471220381760, timestamp=1652795532812642442, callback_object=281471220381984), CallbackObject(id=281471221778768, timestamp=1652795553042749441, callback_object=281473165106896)}), (Topic(name='/external/selected/external_control_cmd'), {CallbackObject(id=187651236539712, timestamp=1652795532815699253, callback_object=187651236539936), CallbackObject(id=187651236352592, timestamp=1652795532812970643, callback_object=187651236178928), CallbackObject(id=187651236521888, timestamp=1652795532817545579, callback_object=187651236826624)}), (Topic(name='/external/selected/gear_cmd'), {CallbackObject(id=187651236352592, timestamp=1652795532812970643, callback_object=187651236178928), CallbackObject(id=187651236521888, timestamp=1652795532817545579, callback_object=187651236826624), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651236535728, timestamp=1652795532816179894, callback_object=187651236535952), CallbackObject(id=187651240036592, timestamp=1652795548012323617, callback_object=187651240036816), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/external/selected/heartbeat'), {CallbackObject(id=187651236352592, timestamp=1652795532812970643, callback_object=187651236178928), CallbackObject(id=187651236629808, timestamp=1652795532817044218, callback_object=187651236630032), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651236521888, timestamp=1652795532817545579, callback_object=187651236826624), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651239890784, timestamp=1652795548007124319, callback_object=187651239891008)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/input/lateral_offset'), {CallbackObject(id=281471220598896, timestamp=1652795532815813653, callback_object=281471220599120), CallbackObject(id=281471221778768, timestamp=1652795553042749441, callback_object=281473165106896)}), (Topic(name='/control/trajectory_follower/lateral/control_cmd'), {CallbackObject(id=187651237083504, timestamp=1652795532841120743, callback_object=187651237083728)}), (Topic(name='/control/trajectory_follower/longitudinal/control_cmd'), {CallbackObject(id=187651237165200, timestamp=1652795532841552585, callback_object=187651237165424)}), (Topic(name='/control/trajectory_follower/lateral/predicted_trajectory'), {CallbackObject(id=187651237948160, timestamp=1652795532897086822, callback_object=187651237948384), CallbackObject(id=187651235161760, timestamp=1652795547898579693, callback_object=187651234142864), CallbackObject(id=187651236032816, timestamp=1652795532892080524, callback_object=187651237609216)}), (Topic(name='/perception/obstacle_segmentation/pointcloud'), {CallbackObject(id=187651234424704, timestamp=1652795547837175515, callback_object=187651234424928), CallbackObject(id=187651234424656, timestamp=1652795547843757259, callback_object=187651234738032), CallbackObject(id=281471555072288, timestamp=1652795547761742567, callback_object=281471555072512), CallbackObject(id=281472225878608, timestamp=1652795547641032339, callback_object=281472225878832), CallbackObject(id=281471292201536, timestamp=1652795553354910549, callback_object=281471292201760), CallbackObject(id=281472225931680, timestamp=1652795547642350503, callback_object=281472225979584)}), (Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/trajectory'), {CallbackObject(id=281471555210208, timestamp=1652795547762505370, callback_object=281471555210432)}), (Topic(name='/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range'), {CallbackObject(id=281471555215120, timestamp=1652795547764540417, callback_object=281471555215344)}), (Topic(name='/planning/scenario_planning/parking/costmap_generator/occupancy_grid'), {CallbackObject(id=187651234961136, timestamp=1652795547893732076, callback_object=187651238518768), CallbackObject(id=187651235210912, timestamp=1652795547887567254, callback_object=187651235211136)}), (Topic(name='/system/emergency/emergency_state'), {CallbackObject(id=187651239621024, timestamp=1652795548006270996, callback_object=187651239621248), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/control/gate_mode_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651239912896, timestamp=1652795548007646921, callback_object=187651239913120)}), (Topic(name='/autoware/engage'), {CallbackObject(id=187651239920720, timestamp=1652795548008189643, callback_object=187651239920944), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/planning/turn_indicators_cmd'), {CallbackObject(id=187651239936720, timestamp=1652795548009629168, callback_object=187651239936944), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/planning/hazard_lights_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651239969968, timestamp=1652795548010167010, callback_object=187651239970192)}), (Topic(name='/control/shift_decider/gear_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239979264, timestamp=1652795548010624811, callback_object=187651239979488), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/external/selected/control_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651239991632, timestamp=1652795548011089493, callback_object=187651239991856)}), (Topic(name='/external/selected/turn_indicators_cmd'), {CallbackObject(id=187651239995456, timestamp=1652795548011488534, callback_object=187651239995680), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/external/selected/hazard_lights_cmd'), {CallbackObject(id=187651240027632, timestamp=1652795548011898736, callback_object=187651240027856), CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408)}), (Topic(name='/system/emergency/hazard_lights_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651240076560, timestamp=1652795548013225020, callback_object=187651240076784)}), (Topic(name='/system/emergency/gear_cmd'), {CallbackObject(id=187651240214128, timestamp=1652795548020788847, callback_object=187651240224032), CallbackObject(id=187651239642144, timestamp=1652795547999818893, callback_object=187651238547408), CallbackObject(id=187651240083056, timestamp=1652795548013645782, callback_object=187651240083280)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id'), {CallbackObject(id=281471292182224, timestamp=1652795553353366144, callback_object=281471292182448)}), (Topic(name='/perception/traffic_light_recognition/traffic_signals'), {CallbackObject(id=281471292354688, timestamp=1652795553356545995, callback_object=281471292354912)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states'), {CallbackObject(id=281471292439776, timestamp=1652795553361648653, callback_object=281471292440000)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states'), {CallbackObject(id=281471292458032, timestamp=1652795553362135975, callback_object=281471292458256)}), (Topic(name='/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_velocity_limit_mps'), {CallbackObject(id=281471292694880, timestamp=1652795553362858017, callback_object=281471292695104)}), (Topic(name='/external/traffic_light_recognition/traffic_signals'), {CallbackObject(id=281471292723984, timestamp=1652795553363274419, callback_object=281471292724208)}), (Topic(name='/awapi/tmp/virtual_traffic_light_states'), {CallbackObject(id=281471292758736, timestamp=1652795553364606664, callback_object=281471292758960)}), (Topic(name='/perception/occupancy_grid_map/map'), {CallbackObject(id=281471292814832, timestamp=1652795553365321826, callback_object=281471292815056)})]\n" + "(483/483) Processing done. annerNode*, std::_Placeholder<1>))(std::shared_ptr > const>)>cator > const>)>t>)>::shared_ptr, std::shared_ptr > >, std::shared_ptr > >)#6} > >)#5}d> > >)#4}\n" ] } ], @@ -1305,8 +1080,8 @@ " if not pub_instances:\n", " return np.full(len(cb_instances), np.nan)\n", "\n", - " cb_times =[inst.timestamp.timestamp() for inst in cb_instances].sort()\n", - " pub_times = np.array([pub.timestamp * 1e-9 for pub in pub_instances].sort())\n", + " cb_times = sorted([inst.timestamp.timestamp() for inst in cb_instances])\n", + " pub_times = np.array(sorted([pub.timestamp * 1e-9 for pub in pub_instances]))\n", "\n", " pub_use_lats = np.array([cb_time - np.max(pub_times[pub_times < cb_time], initial=-np.inf) for cb_time in cb_times])\n", " pub_use_lats[np.isposinf(pub_use_lats)] = np.nan\n", @@ -1328,82 +1103,84 @@ "topic_to_cb: Dict[Topic, Set[CallbackObject]] = {}\n", "pub_cb_to_lat_stats: Dict[Tuple[Publisher, CallbackObject], LatencyStats] = {}\n", "\n", - "for cb in callback_objects.values():\n", - " # Find topics the callback depends on (HEURISTICALLY!)\n", - " # - Timer callbacks: assume that the callback depends on every subscribed topic of the node\n", - " # - Subscription callbacks: assume that the callback only depends on the subscribed topic\n", + "with ProgressPrinter(\"Processing\", len(callback_objects)) as p:\n", + " for cb in callback_objects.values():\n", + " p.step(callback_symbols[cb.callback_object].symbol if cb.callback_object in callback_symbols else str(cb.id))\n", + " # Find topics the callback depends on (HEURISTICALLY!)\n", + " # - Timer callbacks: assume that the callback depends on every subscribed topic of the node\n", + " # - Subscription callbacks: assume that the callback only depends on the subscribed topic\n", "\n", - " if type(cb.owner).__name__ == Timer.__name__:\n", - " owner_nodes = cb.owner.nodes\n", - " if len(owner_nodes) != 1:\n", - " raise(ValueError(\"Timer has more than one owner!\"))\n", - " owner_node = owner_nodes[0]\n", - " dep_topics = [sub.topic for sub in owner_node.subscriptions]\n", - " elif type(cb.owner).__name__ == SubscriptionObject.__name__:\n", - " owner_node = cb.owner.subscription.node\n", - " dep_topics = [cb.owner.subscription.topic,]\n", - " elif cb.owner is None:\n", - " continue\n", - " else:\n", - " raise RuntimeError(f\"Callback owners other than timers/subscriptions cannot be handled: {cb.owner} {cb.owner_info}\")\n", - "\n", - " for topic in dep_topics: \n", - " if topic not in topic_to_cb:\n", - " topic_to_cb[topic] = set()\n", - " topic_to_cb[topic].add(cb)\n", - "\n", - " for pub in topic.publishers:\n", - " pub_cb_to_lat_stats[(pub, cb)] = LatencyStats(pub_use_latencies(cb.callback_instances, pub.instances))\n", - "\n", - " # Find topics the callback publishes to (HEURISTICALLY!)\n", - " # For topics published to during the runtime of the callback's instances, \n", - " # assume that they are published by the callback\n", - "\n", - " def inst_runtime_interval(cb_inst):\n", - " inst_t_min = cb_inst.timestamp.timestamp()\n", - " inst_t_max = inst_t_min + cb_inst.duration.total_seconds()\n", - " return (inst_t_min, inst_t_max)\n", - " \n", - " def filter_pub_insts_by_interval(cb_intervals: List[Tuple[float, float]], pub_insts: List[PublishInstance]):\n", - " \"\"\"\n", - " Counts number of publication instancess that lie within one of the cb_intervals.\n", - " \"\"\"\n", - " pub_timestamps = [inst.timestamp * 1e-9 for inst in pub_insts]\n", - " \n", - " # Algorithm: Two-pointer method\n", - " # With both the pub_timestamps and cb_intervals sorted ascending,\n", - " # we can cut down the O(m*n) comparisons to O(m+n).\n", - " pub_timestamps.sort()\n", - " cb_intervals.sort(key=lambda tup: tup[0])\n", - "\n", - " n_overlaps = 0\n", - " cb_iter = iter(cb_intervals)\n", - " pub_iter = iter(pub_timestamps)\n", - " (t_min, t_max) = next(cb_iter, (None, None))\n", - " t_pub = next(pub_iter, None)\n", - "\n", - " while t_pub is not None and t_min is not None:\n", - " if t_min <= t_pub <= t_max: # If publication in interval, increase counter, go to next pub (multiple pubs can be within one interval)\n", - " n_overlaps += 1\n", - " t_pub = next(pub_iter, None)\n", - " elif t_pub < t_min: # If publication before interval, increase pub\n", - " t_pub = next(pub_iter, None)\n", - " else: # If interval before publication, increase interval\n", - " (t_min, t_max) = next(cb_iter, (None, None))\n", - "\n", - " return n_overlaps\n", - "\n", - " cb_runtime_intervals = [inst_runtime_interval(inst) for inst in cb.callback_instances]\n", - " cb_pub_overlap_counts = [filter_pub_insts_by_interval(cb_runtime_intervals, pub.instances) for pub in owner_node.publishers]\n", - "\n", - " for pub, olap_count in zip(owner_node.publishers, cb_pub_overlap_counts):\n", - " if olap_count == 0 or not pub.instances:\n", + " if type(cb.owner).__name__ == Timer.__name__:\n", + " owner_nodes = cb.owner.nodes\n", + " if len(owner_nodes) != 1:\n", + " raise(ValueError(\"Timer has more than one owner!\"))\n", + " owner_node = owner_nodes[0]\n", + " dep_topics = [sub.topic for sub in owner_node.subscriptions]\n", + " elif type(cb.owner).__name__ == SubscriptionObject.__name__:\n", + " owner_node = cb.owner.subscription.node\n", + " dep_topics = [cb.owner.subscription.topic,]\n", + " elif cb.owner is None:\n", " continue\n", - " score = olap_count / len(pub.instances)\n", + " else:\n", + " raise RuntimeError(f\"Callback owners other than timers/subscriptions cannot be handled: {cb.owner} {cb.owner_info}\")\n", "\n", - " if cb not in cb_to_scored_topic: \n", - " cb_to_scored_topic[cb] = set()\n", - " cb_to_scored_topic[cb].add((pub.topic, score))\n", + " for topic in dep_topics: \n", + " if topic not in topic_to_cb:\n", + " topic_to_cb[topic] = set()\n", + " topic_to_cb[topic].add(cb)\n", + "\n", + " for pub in topic.publishers:\n", + " pub_cb_to_lat_stats[(pub, cb)] = LatencyStats(pub_use_latencies(cb.callback_instances, pub.instances))\n", + "\n", + " # Find topics the callback publishes to (HEURISTICALLY!)\n", + " # For topics published to during the runtime of the callback's instances, \n", + " # assume that they are published by the callback\n", + "\n", + " def inst_runtime_interval(cb_inst):\n", + " inst_t_min = cb_inst.timestamp.timestamp()\n", + " inst_t_max = inst_t_min + cb_inst.duration.total_seconds()\n", + " return (inst_t_min, inst_t_max)\n", + " \n", + " def filter_pub_insts_by_interval(cb_intervals: List[Tuple[float, float]], pub_insts: List[PublishInstance]):\n", + " \"\"\"\n", + " Counts number of publication instancess that lie within one of the cb_intervals.\n", + " \"\"\"\n", + " pub_timestamps = [inst.timestamp * 1e-9 for inst in pub_insts]\n", + " \n", + " # Algorithm: Two-pointer method\n", + " # With both the pub_timestamps and cb_intervals sorted ascending,\n", + " # we can cut down the O(m*n) comparisons to O(m+n).\n", + " pub_timestamps.sort()\n", + " cb_intervals.sort(key=lambda tup: tup[0])\n", + "\n", + " n_overlaps = 0\n", + " cb_iter = iter(cb_intervals)\n", + " pub_iter = iter(pub_timestamps)\n", + " (t_min, t_max) = next(cb_iter, (None, None))\n", + " t_pub = next(pub_iter, None)\n", + "\n", + " while t_pub is not None and t_min is not None:\n", + " if t_min <= t_pub <= t_max: # If publication in interval, increase counter, go to next pub (multiple pubs can be within one interval)\n", + " n_overlaps += 1\n", + " t_pub = next(pub_iter, None)\n", + " elif t_pub < t_min: # If publication before interval, increase pub\n", + " t_pub = next(pub_iter, None)\n", + " else: # If interval before publication, increase interval\n", + " (t_min, t_max) = next(cb_iter, (None, None))\n", + "\n", + " return n_overlaps\n", + "\n", + " cb_runtime_intervals = [inst_runtime_interval(inst) for inst in cb.callback_instances]\n", + " cb_pub_overlap_counts = [filter_pub_insts_by_interval(cb_runtime_intervals, pub.instances) for pub in owner_node.publishers]\n", + "\n", + " for pub, olap_count in zip(owner_node.publishers, cb_pub_overlap_counts):\n", + " if olap_count == 0 or not pub.instances:\n", + " continue\n", + " score = olap_count / len(pub.instances)\n", + "\n", + " if cb not in cb_to_scored_topic: \n", + " cb_to_scored_topic[cb] = set()\n", + " cb_to_scored_topic[cb].add((pub.topic, score))\n", "\n", "#################################################\n", "# For each callback, compute pub-use latency \n", @@ -1417,6 +1194,32 @@ "#################################################" ] }, + { + "cell_type": "code", + "execution_count": 8, + "metadata": {}, + "outputs": [ + { + "data": { + "image/png": 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OUOZNwpHeA8/HxZTHDJZ3G4rHuZX7v3cbTQ3xb34khBBCnCrSYcTBOSoJx8gkTFp+OqugYiraca4SnzVw/AT0cBORmnTwNPHKG+vjznntDy7H4kymXHfhMgI4IiEs0Qj73VlsXL2kNc5q1bDZx1MZSSBFCUDMyp8ffqGdzEKI08msmcP4y6M/JLKrmm0hHXtaFtaNzcTqy3g3dxwuRzH/+NWNVBxo7OxShRBCiHZJ0xaHXglr6J2wrrVpw1Qw5PHIL2TQ6FEo9mrU6hQ8ORWsXl8ed86sHAeOWpNidwaZsTKcoZYJ5XJXCpXFh7fxHjMiA4vdTlU0CW9Yw26vZeniTXGPL4TofIMH5TP39Tugxs/60jCWxETUXTa8JVt4rccUbPY65v71ZnZtLOvsUoUQQojjkqYtDhY1hK6GQDk002aqIBuRfG6qpnNuL5VoTEGJadg8NUQi8a0pcThsFBUeIFgVJqjbSLX6SKhoolF3UHRwP+ZndhmYMSWP5iRry3UhF3abHKQrxJdBVlYySxf8AT1msmJtFbrDjlqeRXbhSl7pMQ3TGmbVG3ez7B15HFoIIcTpQTqMk8Bs3T1Sw1Bkpu3zyu45ABcmwaYkTEzeWrQo7py3/PxaVLuN2mDL70O6rRFHXQP7vNksXfR+m9gLZ/WnXnNhIYo9ZGPd5nVxjy+E6Fwul52PF96HJ9HFkjf2YPO6Uf19yN+ykFcLJtNstXBg01957bHFx08mhBBCdBHStMVB+fSfivmZV+SWfl5Dp07CEmpZz6Z4mpjzdvzr2S77+rlYLEmU2rwkxJqwhSLoRpT97iy2rl3WGudyWQhFR1AeTiKVAKah88c/PRf3+EKIzqNpKgvfvpuc3lmsfHoz9txkdOtA8tcv5t3sUVTaEwlWP8M/73i5s0sVQgghvhDpME6CwzNtKqbMtH1uA0aMhEPr2bw5lWz+pDrunEkpJvbKCAdd6WSaZbgDLRvDVDkTqSs/fP7b5HHdsHp16mMePGELbmcl27bsj3t8IUTnefGpGxg5dSDbntuC1jsTa8Igsld9zPKknuz1dsNmvMODP/67HOshhBDitCNNWzwUs+WEtkMzbaaJNG2fk6rpzOyutJzPFtOIaGVxH2qblpbE/t3lNNVEiWgWUqw+vOUN1Ng87NjedoORc6bm0ZxoB8AedKGosp5NiNPZH35zFZd+Zyql7+7Cl5uGPb0fqau2UWj1sjG1L27bSu77wb2EgvGdAymEEEJ0BmnaTgLz0EYkpqliSs/2ueT0GYgTk2Bjy3q21xfMjzvn7275ObrdQXVUQzFN0vRG7A0+9nuyWb5kQZvYWecOpg4XdiWMPWJn4bIlx8gqhOjqrvnmVG757ZX415VQ7EzAkd4d19py6kIBFmaPwOPcyZ9+fAsNNYHOLlUIIYQ4IdK0xUEBMJXWpi0WMTDkln4uw6dPwXLofDbF28TceVvizjnjvNFYVS+l9kRSDB/WCGimwX53Fjs2rGiNS0m242scQGk4mVQzhGnCn/4sa1yEOB1NmTSQx//9C2JF9XzSrGFLTsOyOYJWvZ+38ifgcpTw1J03UrK3rrNLFUIIIU6YdBhx+fR5vpY1baEYMtP2OfU9a0TLeraqFBJyKtm9tz7unC57AFtFmFJXGumU4W0EA6hzuGiqO7xe7uyJOehJFpoNJ66gDa+7nJID8nikEKeb3r2zee+du1EbQqza04TmcqPu85BSvJ45PaZisTXy7r9uZevHxZ1dqhBCCBEXadpOAvPQmjZd1Vtn3cSxqZrOjFyz5Xw2Q6M2WBR3zl49c9m3txpfbRRDUUm1NOIpr6PSkcyG1SvaxJ43vTuNHhsAzrCTSLQi7vGFEB0rNdXLykWzsaoqy1eUYXU4UWpyydmxjJd7TCNqNdn04b18NGdjZ5cqhBBCxE2atji1bETS0qhZNI2oIU3b8eT1H4zTNFrPZ3vtww/jzvmHO36JxeOiyrSgmgbJug9bUxP7PFmsWNZ2PduUicOpNTy4lSCWiIPX3v0g7vGFEB3HbreycsF9JKV5WTJnF7YkD1q0LwWbFvJ6/gQabQ4qdz3KC3+Sv9tCCCG+HKRpOwk+nV0LB/3EYqFOrqbrGzljKnqkuXU925vvfxJ3ztET++MwvBx0pJIeq8Ma0lAxKXJnsmfLmta4nGw3db4CSsMpJBtRIMIjD78W9/hCiI6hKArvv34HPQblsvqZLdhzU9DtA8lds4T3M8+izJlKzPcCf/vVs51dqhBCCHHSSNN2EpiqAaZJQqiEYEgWux9P76HDUOxVrevZysqb485phuvQy0NUOJNJUytJaDCIodBgsRJsbmyNmz4lFzVFI2RacQbteN3lNDbEP74QomP8++8/YdJ5wyh8eSv0yMSWOoisVetY681lV0I+DuUD7r/+LxgxOYtNCCHEl4c0bXFQFBNQQDFRTYVe9gB7dx887nVnMk23MC3bIBLTUAyNgzU74845dtQQyiobqa1v2RAmzeLDU1FLiSuNlYvbHiVwwcwCfC4HAM6QA1+T/H4Jcbq47cZL+M4Pz6X2o33UZqZiz+hN0qpC9qtW1qQPxGNfx+xr7ybQHOnsUoUQQoiTSpq2eJmAYqCYYDEjvLVwdWdX1KX1PGt4y3q2xiTA5OX34l/P9tvbfo7FlUAVVixGlASasAb87Pdks2rFR21ihwwcTXXUQ4LiR4s6eOalt+IeXwhx6l1+8XjueeAagpvLKcSBPS0X+7oa/M11zO82CrdjD3/7xa+orZCZcyGEEF8+0rTFyaRl90jVBNU02bippLNL6tJGzZyGHmkmWpMO3ibmfRT/TNvA4Tk4AzaKXelkGNXYwjoKUOxOp2j74Z3j+vVJwh/KpCySQlLMQNOC/OepeXGPL4Q4tUaP6sNzL9yEWdbIploDa0oy+jYVR3khcwsmY3dU8fwfbmLf9urjJxNCCCFOQ9K0xeXQ45GqiWKCiUp5RfznjX2Z9Rx4Foq9GrU6GW92JfUN8W/c0lRdjlkeps7uJU2vJrEuTETRaIhFiYYP5582KZdIsk7U1HEGnXhc5YRD8hiVEF1Zfn46H73/OzR/lJVbG9BdbtQDqaTvXc0rPc9Gs/pZ+N87WLdoT2eXKoQQQpwy0rTF4dNztE3FQDEUDFRiRqxTa+rKrHYHk9IaicZUFENjV8nWuHNefP4M6hrC1Da17OCZZmnEVVVHkSeTJQveaxN74aweNNocKJg4Qg7Kq+RLnhBdWWKii48XzcZht7J4wUFsHgeqr4DcTxbzSo8phKwqO5bfz7xnV3V2qUIIIcQpJU3bSfDp45ExtM4upUsbMHY8LkMjcGg924vvxH+G0o2//B5WbxKVmgO7EcaFH2soyH53Fms+XtQap6oKWdljqIx6SVb8KDE7jz05J+7xhRCnhtWqs/T9e0nPTWHp89twpXvQzP7kb1jEm7ljqbN5aCj+F0//XtalCiGE+PKTpu1kUE0wFWJyO9s1fPpU9EgD0Zp0FG8jC5bvjjtnz95J2Bs0ilwZZMbKcQYtAJS40igtPHz+27AhacRIpiKSTEIUbBYfc+csiXt8IcSp8cYLtzBwdC/W/2cz9h4ZWFyDyV2znEWpAzjgzkQJvsqff/FkZ5cphBBCdAjpMuJiYpotM22KqWCYMtPWnj59+8Oh9WyurEoCgWhc+TRNpaK0jGhFmCark1RLPYmVfgKalUpfHcZnHlWdPjmXUJKOgYoj4MLlqMSUY5yE6JIe+eP3OfeSMex/fRvRggxsqf1JX72RTc4MPknugVNfxOxrHyAaMTq7VCGEEKJDSNMWN6WlaTNaZtreXPT3zi6oS3J6kxjnrSES01EMjU2F69qNv2v21by34Un6jhh8zJgfXvMNgmGTmkDLrzOsPhw1dez3ZLF4/rttYr92fi/0+nLOrXkDzR+i6MBm/nnvDPrkJRyRV1Hg3fseYNWjf2P84LO++IcVQpywn//wfH5800U0LC+mLDEVe0ZPvGuKKIvBiswheByb+eN1t9PsC3d4bX3yElj19k/5yqTpHT62EEKIM5s0bXFQDu1EYqqHZtpQsScc2QQIOGvKZHRTJ9CQBorB88dZz/bdyy+lnyeTq88/9pej7//gUizOZCp0Fy4jgC0awhKNsN+dxaY1S1vjrFYNm30cngyw903BGiqlrmEns647l0u+M/6IvGMHDCCSn0VJmodv/eiKE//QQogv5ILzRvDQI9cT3lnNjogVR1oG1o1NRBrKmZc7FrejiMd+dROVJY0dXluK18YL835M/pgcbnj46x0+vhBCiDOb3tkFnN5MTADFRK+cxjaslFhlC/mjGTJ5MlajnuaqPLQkH8vXFB8zNjsnlcrKPBQ1ysq1hceMy+zmoH57kGJ3Bt1ipbhjLX+cy1wpVBYfXi83dmQmqs1KqtuHW62mytObIXl55GoH2bLxwBF5L7v8Ily7swlnVLNi+fo4PrUQ4vMaMrg7r716G1T72VAewZKQhLbLhqdkNf/tfS42ey2v/vlmCjeVd3htNovGO/N+RL8MDRtVNNfE92i3EEII8UXJTFu8TBNDgbSRDpLG6PTeU9HZFXVJg/vkY9pqUWqTcKaVEY0eey3KDTdcTHOTg5glwLz57x81xum0U1x4gFBVmKBuI9XaQEJ5Ez6Lk+ID+zA/s2BtxpRcorZGvGojDVE3DmeMzFQ7EdPCu+8ceexAQffeABiY/Pc52WFSiFMtOzuZpQv+gB41+XhdFZrdgVqeQVbhSl7pOQ2sYVa+djcr5m3v8NoUBd566bv065OMgya21XTna+fc2eF1CCGEOLNJ0xavqAKKSYo9hsdmsK9HTmdX1OUkpGYyxF5HOGxHQWHZxpXtxp8zfRoAlVUhopGj/0T71l9cj2KzUh1qeUY13daIva6efZ4sli5q2+hdOKs/TlsEixKmrtnNnsK1JOjNVDVZj9iMxKKp2MMuDJcf0yGbHAhxqrndDj5eOBu318GSd/Zi9bjR/L3J37KYOQWTCVgsFG34M3P/1Tm7vT790KUMndiDBLWGsmgfRg35ZZsfCgkhhBAdQZq2OCgARstMm6aYGCaoyBf9/zVy5jS0iIK/IR20KM+/Pb/deKuWjabFKNyy7Zgxl1w+A6s1mTJrAomxJqzhMLoRo8idxda1y1rj3G4L4chwPAktzV1dVSIxtRKbEmD56iMfs5oxZgyWGi8xt58IoRP8xEKIz0PXNRa981u69cpkxTOf4OiWjGYZSN76hbzTbSRV9kT8lU/zrztf6ZT6fvPTyUy5agzpWgV1FHDWkNsJheQReCGEEB1Pmra4mISaI5iKiaaAYSio8hPYIwwcNxFdrYaKdLSUejZuPfYjpP0G5OFrSMLpaWLunJePGZeYDPbKKAfc6WSYZXj8LevZqpyJ1FWUtMZNGtsNzaPisUYJGE4UI5XBZ7XMhj740MIj8n7la+ejRCyYpsnf/vPEiX5kIcTn8PLTv2T45P5s+e9mtN6ZWDyD6LZ6JcuTe7PP0w1r9C0e/MljnXI8x5Wz+nPVbReQbymhUcliwtSHqaqs6/hChBBCCKRpi1tVfctMmyozbcc0ukca2BpRfV5Ub0m7X8Bu+tVlBAI2wkqIZatXHDUmLS2Zot1lNNVEiKo6KVYf3rIGamxetm/b1CZ25tl5mKoPr9pAfcSNVW8mLVEjZNhYvWrfEblzMvMBiCmwcMHyE//QQoh2zb77W1z0zcmUvLOTYF469tQ+pK3eyg5rIptS+uC2ruC+a39POBQ7frKTbPyQTG77x7fobS3DTzJfv+ZNtm/Z2+F1CCGEEJ+Spi1OkUgCpgqaAqYBKjLT9lnp+T3pYa0nGHABMH/lonbjx42aAEBZWTOmcfQG+N5b/w/d6aA6qqKYJml6Iw6fj32eLJYv+bBN7KxzB+Nyx9CUGHXNbrZvW4FXbaSs/siD0J1WK9ZmJzFvI7jk91GIU+X735nOzXd9nea1Byl2JmJNK8C9toyaUJDF2cPxOLfz0I9/ja822OG15We6eXTOdfRz1RHGya33f8K8N4/+AyQhhBCio0jTFifDtLesaVNNDENBkZm2NsacOx0lCIG6DLCEeeHt9jcTMKMZWCxRdmw49lb7084bjVVJoNSeTIrhwxI2UU2D/cO2uO8AACAASURBVO4sdm44vMlJaoqDet9A3B4F0wRfZTKe5BAWJcyHC4uOyPu1GdPQa70YziBN4Y4/B0qIM8G0KYP55xM/I7qvjm1+DUdqGtYtIdSaIt7On4DLUcJTd9xE6b6GDq/N67Tw6ns/oX9yGBOVZ+eFePiBYz+mLYQQQnQUOactHoqJYqgMdejozVswjRHMOFDMw7+/hnv+9jYP/Pv3PP7gv1mx4GMAPCnJfOuB38HeOob5M9lu30xeZQ6p3gC3PvtHDlY3t0l/yUXfZtzYsyktO8Cf/3oXadluzrtqIAte3cHlmb0Ym5tNr265PFQaYPCQKK+//jFr1xbyjUlXcvHwKQzWP2GnI5XKPinsaXiTv978EaFA++cLfW3M17j67GvQPQ4+GZRAhj9G+Y7ZXHR+AW+ujvH3v71I8a7a1vh5yx9l8IBUfvvPBSx9ezP5Qwbx/t8PrwXrMXgAml6BUjEUa3oNu/fVH3Ps8ZMG0NCQiMPdxIsvPn/MOKctQLTCoNSVRz9jFwlNLa1yncNFU31Na9zZE3PQEgy81jB+041FSWDA4GyglgceOHIzlBnnTkNp0DANuOehP7Z7n4QQX1zfvt145+3foDSEWLUviD3Bi7rHQ1LxCp7tfS4Wm4+3/3ELW1cdeX7iqWbRVd5954f0y7Gh08TS3Vlc9+1fdXgdQgghxNHITFscFEDVINOqokSqMGPgXHOQWVOGYLVbGTxyIInJCa3x7pQkeo0eQcHYEfRI6sFlV17C4PyRdE8fTmaS44j858+6nF49+5Of1xOA5AwXV/x4OBk5Xq4bOZSzC/IYkujk3HMu5tbbrmDIkO4ATOw/kZSU3uR4E5mQ7KZP1jlMuqAnNvvxe/TRvUbjdXpxxCyEcWFJSOL86bn076UyecIYcnomtokfNzyX7EQnEy4YTq/RI5ly9VVt3p9S4MSwBFH9TgLq/nbHvuEXVxAOW/AbIbZsO/L8NIDePfPYt7eGhtoYhqKSamnEU15HhSOZ9avaPsJ07vR8oAG30kBd2I1JPckuE3/Mwe7dlUfkTkvMxlQMDM1k2yfHPtRbCPHFpaUlsGLhbKyKyrKVZdjsNtTqHLrtXMorPc8mZo2x8b17WPTapuMnOwVe+8+3GTAoHScN7G3uyfTxv+6UOoQQQoijkaYtTopqcGjzf0xD1kH9r3SbTtDvBeDtxQvajR3UbzgAJcXHfizqD7+5EavHRbWpo5oGiXoj9qYm9nuyWLm8bf6pE0bh9Zqoikldo5vt25fhVX0cqDryEdYUtxurz0kssRHDKb+PQpxMDoeNlR/dR2KqhyWv7sKW4EGL9qX7pkW83n0SjVY7FTsf4cW/tn8cyKny2L1fYcQ5/UlSq6k0+zBswI0Yx1hTK4QQQnQGeTwyTgomm1b3RbUoqL1h46zBKDWNfPPyGTRsKORn3/oq777SctjzOWOHMergdiJWKwmTTcIVJgmTQFE1zi6ZxNrC19vk7j/wIKpSRmbfFADOn3YOacWTueQ8k8Ypo2iMGhQ5rPSNlrB+kcqM0eN46qkPGXWlF1Up4ROzB0rIj2b5iIQDo+nZ4yM2rNvZ7ueZdk0uul5CKBjl/Mxa/MEAsabBrF8FuquZK86/jBXzHmiN37OiHBTopWh8f3R/kmv3t8lnCYRprklHswd5Zd6qY46raRqRUBo2e5jNHx570f+oCX1prAhz0OElPVaLPayiYFLkzmTvljWtcbndPNT6cuiWXY9hKjRWJJOVb0dTYsx9a88ReS//6iy0ei/RjGoqGo6chRNCnBhVVflg7p0UDMhhzVObcPbMRHcMIm/pIt7POosyRwqxhmd55ObnOqW+X14zhnN/MJksrYR68hkx/Lc0N3f8BihCCCFEe2SmLS4mmCaq6sQw7WCaeKMRDJuNWedMxOXW8CYefjzy2m9Px5rix+X044j5UbUAzmgzutHMJRefd0R2w0gmFvVgqW/prS/+6hSiboWpk0fjUcClKXijEWKxJAwMevbpBoDdDGCPBSAaBl1HidkIRQx+fO2lx/1ENj2IM9pMLObH3xBCC8QAJ4rqJBqyMmrYwDbxMcUgqhgY4QhZeTq2ZH+b9xVbBWplOs7MKsor2r73WdNnDqGhIQGbq4n/Pv88Nofr6Hc8VIdWHqTCmUyaWklCvUEMhQaLlWDz4c1Dpk/JRUmM4tWDNBleHE4vvfqkYprwl78uRFFVNN3SGj9h0kQUU8E04I7f3Yvdbj3uvRJCHN/Tj/2ECTOHsuvFLZg9s7CkDCR71RpWJ+RTmJCHXXmfB67/C0as42e4L5zakx/cezEFlhKayGD6rH9RckB+aCOEEKLrkaYtDi0PRRpsys+iPNdLLKryRtlQiLqw2jR69NiDKzHQGu/sZmfIsO4485w05fXDgk5zv0EELUloetMR+QdsKKZXYS1JWw8CYIY1AvMTiDWaLD3Qi+0lOcwrHciAjQcIMQUtuTsAfm8OzVl90HUNBScOw4pWZpKRnn7czxTVPDT3G4TVZWd44wrcDT7Kc9xsys8Cp41IXaTtPUgYgeIag25zkNQnlQHDurd5P4yCErJR1tj+DN+13/8a0aiGPxqi+GARd/7zPzz65hLG5Wa3xowffRallY3UNbQ8tpRm8eGpqOWgK52Vi9pu9X/BzO6oRhMuxUd9yIm/qZRm+lBoTGTyyHGcNflsfjNnNePP/yoAiY5UTC1KzGISDPrxNb3MlqLZjD/7rOPeMyHE0d35q8v41nUzqZq/j7rsdOwZvUletYu9qp21aQPw2Ndy/w/uJuhvf4OkU2FYnzTu/fc19LVX4CeR7/5sPutX72j3moEjBvDWtnnM/O5V7cYJIYQQJ5s0bXEyFYOvdo/QL11HiUX5ifUp7EYjYVXn2arzqMLbGmtEnKxb3oNwcwKDEz/E4QgyzPEmWSklRJvsR+R+LWMUC129+ShlEACqw0bCN91oHicXOt/hLNtavmt/gdfTRzJ8xXMkFpcB0CPtEwamLMZmCWEz/DQbFqy9MlD14z8Nm5pcyTDHm9g0P8v7GjSn1NI33cJXu0ewu1S0BE+b+Lx1K+mxagF61KCpPJ0tH3dvfU/VdCK+lo1LXn3//XbHHTJwCAClxfUoioLF253sqI++3Q/fv7tu+xlWVwJVihWLESUBP9aAnyJPFh+vXNgm3+ABY/AmmSgK1DYkULh7BSWksd6XSbcsJxMvvBQUjZgZJC81FWuDi1hiI6bd5KqrJ6FrGoYjlz49Co57z4QQR/rGpRO4e/Z3CG4qY49mx56ei2NdFU3+BuZ3G4XHuZu//t/N1FYeewb+VMlKcfLkm9fTz+Mjgp3ZjxUx5/mP2r8mN5MHXn6UUhIYNmRMB1UqhBBCtJA1bXHYFe4DZgMV+1KJ6UH8Wohd3WKYtUFsNic/6FvLvpLDhzhb/GGyti2lQfOy3NaPJMXP/PphJBICa+yI/ENtmzENnVStCgC7NUSBYw1F9gTKMvyYIWh0hhlyYDPvZY8ky2iZBSsMpxOOqniVZtAi6JEwaQn1NNYef2F9FW521g8j0fTB6lFEPT78tQmEKuwQC+B2tt0kZLM9m6gVEk0fScUlpBdvb33Pk5SI0ewCe4C3Fh59N8hPGbFUNC3GsgUfMnTsOIKKlfymEraUVbfGDBqWQ/3+IMWuFDKMamxhHQUodqdTvH1ja1y/Pkn4Q+lkOWuImRqB2mR69k9lT8BOxDCZv3gtV1xwI1hj7N66nR9cehGaz0Mko4qdB3ZxxTfPxjAhHEti3er2ZwiFEEcaO6Yvzz53E2apj411CrbkFPRPwFZRyKu9z8XpqODZe26iaGf18ZOdZC67zhvv/Yj+qQYKJq8tU7nnjqfbvcbtdfP3d59kT8CGGlXZtuTY63OFEEKIU0Fm2uLQsN6NqRjUVbkJNTuIVKRRkqhhaAaKAh6LgaYqrfFaJEZ6VSGWQIjdwW5EFI1tgQIaTCeKrh2Rv7tWTLpWgV1pWRRv0SOkKEVY9TC1XgO/K0JFAuRpB9ia3JNGWmbrKmKJ7AtlEEPFVAx0YrjtjajK8deMNOJgW6CAGBr63u6YzU5CTQ7qqtwYpobNEmoTf9CWzH5HOgYqzrp6Uqv2tr6XkpmKGbGAJUJjY/iYY44e1/fQ+WzNPPfiS8y6sOWRxVxlP+v3HP5S11BThlEeos7mJU2vJrEuRETRqI9FiIYP1zV9ci4xd5AE3Y8v5sXhcODNGUh9RCHDHmDH/ioMxYNqCVFz4CDDRo4AwDDhrt/O5qyBPWmK6Fj8dWzZsu2490wIcVj37hnMf+93qP4IH29rwOp2ohQnk7ZvDa/0nIZmbWbBM7ezYcne4yc7yTRV4d2519KvwI2VAOtLunHVRb9v9xrdovP3t/9JmZaEYShseuoN3nr92OdICiGEEKeCNG1x2BlKBWRb6GPJ6Z4J0ZamrT033HAJAb+NsBGgtq6a3J5nkRKsp7xkL+ahPvPSr86koSFKbdOn69kacVXWUeTJZMn899rku/C8nlhoxqE0Ux9yUlO9hyY1DcNUSIxWMW7WBWAq+Cr3AeDWEjEtEQybQVKKkwSnHV/YRK/znfybIsSXWFKSm1WLZuOwWVj80UGsLhdKfQG525fwSsFUwhaF7Uvv573n1hw/2Snw0j+vZMCIHDxKPcXB3kwYcdNxr7n/2QcIpxcQjCpUv7+Rxx++rwMqFUIIIdqSpi0OJi1r2g7/Ws73+qzLLxiHGbaiWNrfZGDE0NEAFO+vRNN16q0Z5AcqeGXd4QOub/zFd7F4kqjUHNiNMC7TjzUcZL87i7UfL26NU1WFrOwxeJJaZjhraxI4WLaB6pgHMNm7aC2jzvsaYLJm3hsMys/DWuduWc9mM/n2tVMBaAjD8lXFJ/V+CPFlZrXqLPvg96R2S2bpC9txpnrRzH7kb1zIm7njqLe5qS/6F/+57+1Oqe/BW2Yy9sKhpKqVVNOboQN/RTR65GPpn/XL+35J2ogxNEQU2FzO7Fv/r4OqFUIIIdqSpi0uCp+daTNl1q2NQQUFELGiaO1/MYqEUtH1KO/OfY3xM6YTUXQKtApeWL67NaagVyKOeo1idwaZsXKcwZbt+ktcaZTu/qQ1btiQNKJGAh6HQcS0EPKlMuCsXKpDVpKsMe64898kZvdBtRmsfW8+V1xxMWqzE0ONsWTtci6+dDJRQyEQMrnnvmdPzY0R4ktGURTeeulW+o/swfr/bMJakI7VNYjctcv4KG0QB10ZEJjDX254qlPqu/7ys7jo5zPoppfiI4cxY+7D19Dc7jWXXXsZY79+KVVBFefBAHde/x2i0fafGhBCCCFOFWna4mCaYH5mnVibmTblKBecYayYELaCfuymbeyEAfgOrWd79a03mHHe+SimQVZsH4WlLY8nappKeWkZ0cogTRYnqdZ6Eqv8BDQrFb5aDONw/umTc4m6mkjQmvDFvDhdGpakfvgikG7zUx8wMUwHiubHV1XNgP4tO3Oahsmf//pPBvbOoymiYW+s5uDBg6f2BgnxJfH3h37AOReNZu9r24gUZGNP7U/G6g1scmayPakAp/4R91/7R6KRjv/B1swx+fzfn75OD0sJzaTylcueY+/uknavGT9jHN++/RccaFbx1JvcffW3aP7MOZBCCCFER5OmLR4KmBxuGGSmrS3TiKFEdRTt2Pflxl9eTjBoJRzz429uJjVnEBmBWgqLDm9S8KPvXUkobFITaOmEMyyNOGrq2OfJYsn8eW3yXfSVPji0EFYlSK3fRcnBrTRqKZgoeIPlTP7aJYBCzYEdKAo4DC+GPYjhgD79MnFaLTSETcy69n8KL4RoccNPvsL1N1xI/dIiqpKTcGT2IGH1fkoMlRWZQ/A4NvHAtXfQ3M5mRKdK3/xEHnj+e/R1VBFUvPz41hUsXbix3Wt6DezF7Y/PZnejhjug8uD3r6OisrSDKhZCCCGOTpq2OJimAspnG5LP/veRU21KnGvePsfmj8e4sOVfpvF5mspDweoXnCo8Wvih8RT92IUPGTgcgD2FJdgcTmr1FLqHKnl+9a7WmO9/71IszmQqdBduI4AtGsQSjVDkzmLjmqWtcVarhkUbhTuxpZiGmkR8jbuoirpQMVk9ZwlDz54FisnyN15l/IBBWGo8xLzNGJYoV183HQBfWOGtD2TXSCGO56vnj+LBv15LeEcVO2JWbGndsG3wEfZV8l7uGNyO/fz9phupKm3q8NpSE2w8/+6P6Z/QTAwLjzxfxTP/mtf+NRkp/GXuPyhssuCIqDxz0+3s2tX+cSVCCCFER5CmLU6f3YjEME/FTNtRmr/P3bx92q21XPBFej5TOUoXZh6tMzMPjXSUz/5pk3jkaQatIqFULJYIL/33eWZceAGGotJdK2POx/taYzK7WXHUmIfWs5XhPrSercyVQmXR4c1Kxo3KRHM68NhjhEw70UAqfYf3pjpkIcUW5bez/4srtTuaPcbmj5ZwyeUXooZsoBi8/M5cLvjKOCKGQiQY5YE//fe490iIM9lZQwuYM+cWzKpmNlRGsSYmoe204i7dxusFU7Dba3jloZvZvbmyw2uzWzXenvcj+mWoqMT4YIObm3/2j3avcboc/OO9p9gXdqIaKgv++C+WL5nfQRULIYQQ7ZOmLV5tOqjP7JL4RSaqzNZ/HOvNz1nLZ69Q/vflL9a1tV7zPx/kiBzKMVObsU9n2o6+pm3shAE01CfgcDfx3kfvM3nqTDQjRkpoH6U1fgCcTgdFu0sJVYUJ6jZSrD4SKhrxWZwUHWh7ztOMKXlEbI141UYaIm4cjiimszdNUUi3NmH1pmIYNkyzkWBjEz269wYgBjz3/Kv0ysvCF9awNVbhq6//IndJiDNKt24pLJ7/e/SIycr1Neg2B0ppJlmFK3il59lgDbF8zl18/P6ODq9NUeCtl79Hv95J2GliW3U+F878TbvXaJrG3+Y+RrU9jVhMofCF+bz6wpMdVLEQQghxfNK0xUP5dKbt08blaDNt8TZjCuYJ7Gry2Ucxzf/594k7egaFo/eoptnyxysQazjqdb/+9VWEwxZC0WaikSjOjD5081exfu+e1pjbf3EdqsVCdfjQejabD0ddPfs8WSxd+EGbfF89rz8uexiLEqbW72ZP4Vp8WiKg4PQdZOollwNQWrgRi6ZiC7kwXM2YTpOxE3pj0zUawgbBGlnPJsSxeDwOPl44G7fHweJ392JPcKH6e5G/dSFzCqYSsFjYv+5PvPHEsk6p75m/Xs6Q8QUkqLWUR/owasgvMc32/+93zxP3ouT1wR9R8C3ZwSP339lB1QohhBCfjzRtJ0hRPt098jNb/pvtn0d2CqvpwCG+wFixlti3P1hy1LcH9DkLgO1b9uJNSqJWTSQ/Usmzy3e2xlx8+Qys9mTKrAkkxpqwhiNoRowidxafrDv8pdDtthAOD8PjbRmzvioJQ6+kKuJEU0ze+Oe79B8/HVSTpXNeZsbYMVhqvMTcfiKEuPr6cwDwhVSefXHV5/+MQpxBdF1j8bu/I7tnBiv++wmurGRUdSD56xbxTrfRVNu9NFf8m8fvmtMp9d39sylMvmIU6VoFtfRg6NDbCIfb///yD+/4EfmTJlMXVtB21nLPDdcft8kTQgghOpo0bSdIt2gtnVubw7U7q2nrmkyjpYFatnzTEe8pikIokIzVFuapJ/7NxOlTQVHItlbx9rrDh1onJhnYKqIccKeTYZbh9usAVDkTqas4vG335HHd0BNUvLYIAcOJEkuh79B+1IR00uwR/vb4W9g83dDsUXZ+vJavXng+StSCacLD/36cc6aPJBRTMYIh/vn4K6f2xghxmprzzI2cNbEfW57djN4jA907iG5rVrA0pQ/7Pdno0Td56Kf/oDN6nm9/ZSBX3no+eZYSGpVsxk/+M9WV7T/m/JWrvsI53/8W5QEVV3mEO7//LSKRjt/lUgghhDgeadpOkG5VW2ba1MPfTpRTshFJPDrwm9NRhjKiGiYm+w4euRHB+IkDaGhoWc+2YvVKxo+ZAIA7eJC6ppYvTenpyezbU05TTYSoqpNibcRb1kCNzcv2bW237Z55dj6G4sOj+KiPuLFamglauxOIKaTrDWR0741h6MQitUSCIbpl5gMQU0yWLl5JXmYKvrCK3VdFKBQ6yTdHiNPfH+/5NhdeOYnit3cSzE3HntaX9FVb2G5LZnNKb9zW5cz+wX2EQ8c+l/FUGT80i5sfvYre1jKaSeayb7/Ozk/2t3vNiAnDuf6+X7O/ScXTqPC7q7+Fz1fXMQULIYQQX5A0bSfIZrMcWsx1uFFTlI7/stJVWWwOzJgOlggNvuAR799y2zVEIzqhcBOmaZLWfSApwXrWf3J4q/17b/sFFqeTmqiGYpqkWXw4fD72ebJZtvjDNvlmzRyCyx1DU2LUNnnYtm0FDWpCSy0V+5h66dcB2L9lNU6rFWuzk5i3EVwwY9YQdFWlIWxQVybr2YT4X9dePYMb77iC5tUHKXUmYsvsgXttKVWRMEuyhuFxbufBH92Cr+7Iv+unWvdMN4/OuY5+rlpCuLj1vi188M7H7V/TK4/fPftnCn0arpDKw9f9hNLS4navEUIIITqTNG0naNCAXpim0mZNG6Y0bZ9KSk/BjOoo1shR3+/TfSAA61dvQ9V0aiwZ5AUqeWLpJ60x02aOxKYkcNCeRIrRgC1oopoG+92Z7NywsjUuNcVBva8/bo+CaYKvKonElDCVYSdW1eSf98+hx/AJKJrB4pdf5qJzpqHXejEcQZrCDVx9bct6tsaQxiOPt20GhTjTTT97CI89/lMiu2vZGtCxpaVj2RxEqTnAO3njcTkO8sStv6Rs/9E3HDqVElxW5rz/U/onhTDRePrtAH97sP31dEmpiTz89uMU+i3Yohov3/p7tm5d10EVCyGEECfmuE3bk08+SUVFBVu2bGl97a677uLgwYNs2LCBDRs2MGvWrNb3brnlFgoLC9mxYwczZ848NVV3AeeeM44xlrXwmccj1aPuHnlYpy9t78CnN5MzUzCjFrAc2bQpikLQn4zdEeLvj/6L0VMnE1F0uqsVzN9U2hpntwWwVoQpc6WSTgXe5pbT4OocLpobalvjzp6Yg5YQw2sN02x6sCoJ5PUfQG1IJd0e4qW5y9DtaWj2KPs3bWX6zOkohoZpwm8f/COTJwwhENUg0Mwrc9o/fFeIM0n//jm88+ZvUOqDrCsOYPF4Ufe4SCzeyJyeU7HaGnjr0V+zbW3J8ZOdZBZd5d13f0i/blZ0wizdlcKPrvlTu9fYHDYee/cJ/p+9+w6QokgfPv6t7p6evDmTFpAsCigqKkgw65nTcfczZ733Tk/PO+PpmT31DGc4s56ngjlgloxEA5Ikh2VznJmdndDd9f4xuLCCC6wwgNbnD3WHquqnmwHnmap6aq0dRNgaXz76X7749N00RawoiqIoHbfVpO3555/n6KOP3uz1Bx98kMGDBzN48GA+/DD1Qbdfv36cddZZDBgwgKOPPprHHnsMTftlTub17N6VAq0G2eactp0707a9pf83Hkaw4eft2nO3fSnmj8/i3m/fXsikiTA2T9qGjxxIU1MGHn+Ehd8v5NjjfgNAZssKovFUMZc+e5WyemUtTfUWjtDIc4UIVDZQ5c3hq5nT24x3zOHdgDAB0URjwo+UjbQYnUk4gjy9gd6Dh+I4OoloNY5lk59VjBQOji5ZvXIthTmZhBICd6gWx9nd9iUqyq5RUJDF9C/uwoVg+swqDJ8XraYTnb+fxvieo3FcNl9N+AeT3/lu64PtBO+8dDb9+ufjI8TycE+OOPRv7bbXNI0Hxz1MU7CEpC0oe3sa/33mkTRFqyiKoig/z1YzqqlTp1JfX7+1ZgCceOKJvPrqqyQSCVavXs3y5cs54IADfnaQu6Pc7ExAttnTpm1j0rbl1GtHlO1vm2gJmfpHh2b4xE/0+nGYrYfAtb3OWccOh4QLjM0rat5wwwXYtk4sHgKgoOveFLTU8+X8jR/+7rz5KtzBILXSQJc22a4wnkiEVcESvpz+eZvxhh8ylGCGgyYkDeEgi5dMo0FkAGCtWM6Ik88A4PtZk8kNBDBDPuysMI5PcvKZB6ALQVPCYd2q0DY/HkX5JfP53Hz5xV1k5gSZ8uZSzKwAerwP3b6dyBulI4iYbioWP8Jrj3y+9cF2gifv/A2Dx/QhW6ulyunFkAFXb/ULl+sfugFfn4FEkoL47NXcf+tf0hStoiiKovx8HZ4Gu/LKK/n222955plnyMrKAqBTp06sW7eutU1ZWRmdOnX6+VHuhkyfCfCTM21bTMG2M3sSP9Fhs8Oy2x13k0h2Rh1uscm/Nxk+2++HhInQN/8g1a2kDwBTv5iL4TKpM/LoFqvi8ckbk7b9D+6Dx/KzzpdHvt2AO6YhkKwJFLHiuzmt7bp2DlIf6kwgIHCkIFyZTXGph+q4B6/ucPdNL9Kp//4Il8OU8W9wxgnHojdmIN0Jqpqq+N05hyMlhBM69zzw5o5/Poqyh9E0jU/fuYXS/p2Y9fx8PF3ycJl703XeZD4qHkKVN5tk48v8+6//2yXxXXP+MI48fzhFeiWNlDJk8C1Eo+1XfD33qnMZcOzR1MUFnlVh/n7l+WpWXVEURdmjdChpe/zxx+nZsyeDBg2ioqKC+++/H0jtVfqxnzqk9KKLLmLOnDnMmTOHvLy8joSxS7l0I5WntNnTlkraNn0KP5Um/fx5NbnZOD8eU/zo2Xd4xm2rHTdp8MN7QFqQMMFoO/sohKAlmo3PF+PhR59k+FFHYAmdbno1M5ZsPBrAjjegVcap9uZQoFWT1eRgIwgbBvFopLXd6BFdEJkWma4YEScDry+Doh4DaEhoFHpiTJ61BGFkoZtJKpat4ODhhyKkQDpww613cMB+/Wi2dIxoE5Mmf4mi/Nq9+OQfGHb4QJa+PB96FeHO2Zvi2bOZlVnK8swuePiYey99GMdO/y7dk0f37VvqSQAAIABJREFU4oLbTqLUtZ4wRYw66gkq1te222fMSWM48f9dSHlUI1hrc+O5Y4nFWtIUsaIoiqLsGB1K2qqrq3EcByklTz31VOsSyLKyMrp06dLarnPnzpSXl29xjKeeeoqhQ4cydOhQamvb/5/u7sjQHUC2mWkTsmOHawvoUEa1PYlf2j9eOTZCagi97ZUPP2Z/Qk0ZuP0RysrXcdTRxyKkg69pKUkr9c33IQcOpqIqQkMo9XOeK0Sgqp4yfwHTJ3/WZrzjj+yO7kTwEaIx7ifavJ6wVowlBbmijiEjRiGlRrSxDCklWd5cpG5huyTxeJTcoI9QAszG9g/hVZRfg1v+ejpjLzyc6k9W0tCpEG9hH3JmL2Gl4WNefj8CnjncfeGtxKId+7vu59ivbz63PnM2vT2VRMni7Ms/5pu537fbZ8B+A7jqX39nZUQn2Cy449xzaWjY8/5/oyiKoigdStqKiopa//vkk09mwYIFALz77rucddZZmKZJaWkpvXr1Yvbs2Tsm0t1M66zipklbOssz7u42LD0SRtuk7abrL8RxNJqbU0lSVkk/iqL1fPzV/NY2t1x/JWYgk1ph4nIsMonibomyOljMrC8nthlvYN+hZGSnJvjqmoIsX/El9TIAQP3XCxl24qmAZP7kj+mal4/Z6MfOCiM9krHnDkcIQVNcsnBR1U58GIqy+/vdGcO5+Y7/o+WbClaaXjyFXfHOrSEcDfN5yf4Efct46A/X0lATTXtsJXk+nnr7UvoGQyTxcPu/V/P2a5Pa79O1mHvHPcqysI4vofHkldewZs3y9ASsKIqiKDuYsbUG//vf/xg5ciR5eXmsW7eOW265hZEjRzJo0CCklKxevZpLLrkEgEWLFjFu3DgWLVqEZVlcccUVv9h9A0LfsI1rk+kujfR/+7y7kvaG3/cfzbQV5HSnYr1kwruTcXt91Gg5HJBYzHWTNu5nGzCoM42rY6z151Lk1OBJpt6m6wIFrF38TWu7fn1yCCeK6OyrxZY6LXW59OiXz4q4m6DL5ua/PsOZ970GpsOMt97jotNPRA8FSRbW8P2a7zlj7CgcCdGE4La7Xtn5D0VRdlMHD+vL8y9djVwfYn6TwJ2Th2uBg1m9nNd7HYnPW8WLt13D2qXbVpRqRwp4Dd756Ar65aWWWo+fLLjr5hfa7RPMDPLYhKdZ3uLGZWu8d9uDzJs7LR3hKoqiKMpOsdWkbezYsZu99uyzz/5k+zvvvJM777zz50W1B9CQIJ02e9qESto2+iFXNzYWCDBcBtFINv5AC4/952lGH3c0jtDoqlXx7arUh0EhBI11FTiVXho8GXRjLVk1MRKaQYOdxEpsHG/MiC44wRYyjCghOwOfz4vI70djRNDDH2XpmjocAhiuFurK1jNoyH5QAY6EW/5xD+v/9BKRpIErWs+CBYvT+XQUZbfRo0cRn354K1okycwlYczsTMSabPJWT+XFXkdhmM18+tz1fDN1Vdpj0zXBB29fQp9SHyYhZq/ryv+delW7fVymi8c+eJJyLRuSgq+ffosJ77yapogVRVEUZef4ZR6ilgaalirQsemeNk3u3HPa9iTSTk1Bltdv3NP427PHEAoFMD0RGhrqOeKIY9Gkg1a7uLWw5anHH0m4yaYhknqhwBXGV9PAmkARUz5te/D1b47qgUkzXtFMY9xPbe0KIlohjhRkWdUcfOxxgCBUvRKAgJ6FdCVw3A7ZuT4yvR6aEhKjQZX6V36dcnKCzJx4Nx6Xi8mTynD5vWgN3ei6eArje4zEcsGiyXfzyatzd0l8454ey4AhxQRoZE2sF8OHXrPVPvf89z5ieaXELEH1R1/xzKP3pCFSRVEURdm5VNLWQULIVGHFTZZHtplp2xHHrm2mo+VEUv1+qpLnFnvI7b+BNlUzndRPr43/tPW1P17+W6TUaGhMzap58veipLmGN2dvXPJ49Z/OxQhmUaV78TgJAjKKmYizJlDEvFlTWttpmqCoeBjB7NR16usyWV/+FbV2AJCsmDiP/Y46AZDM+fBd9u7WDbM+gJ0VQbol51w8CoBQAqbNXLPd96ooezq328X0T+8gtySbKa8uxp8bRHf6UfrNJN7ucjCNpp/61U/w4j0f7JL4HrjhSA48bh9ytRpq6cWgAddiWe1/MXbNPdeQN3gooaRAflvB3df/MU3RKoqiKMrOpZK2DtKEg+XYOFtM2tpPjuQWyvVvud1P2MLRCu2PkWrvyG3fX7i9R7o5PwpJ2qm31neLNy6pCng6g5C88uK7+DMyqdWy6Zas5pkpG5cmdu+VhbdRZ22gkCK7Em/MBUCZP4/y5Qtb2w3ZtwCbIEGvQ1K6iIdzGTC4K7Vxk2zT5sabniOrU280j8OcDz/lzDNPRov6cDSLSXOmcdKpw7EcQUtccvvd/92+m1WUPZwQgg/G/40+Q7rz1YvzcXfPx+UfSJc5U/iscCDr/QUQfZ2Hrn5+l8R32VmDOeHKw+lklNMkunDAgXcQamput8+Zl5zJAaefTE1Mw7suys2XnI1tqyXriqIoyi+DSto6SAhosH9U8r81zRLbP9HW4Zm5nz6pTf74v35u3f+fziLbNBKahrR1pGZTXpWaVfMFvDRHsgkEorz06iscddLxSCHoolWyvDy1PFHXNSrLyrGqY0RcPnLNRrJqorToJtVNDTjOxm/Zx4zoguULk6lHCFlBfD4dPbsvoSQUuJtpikkcx4vQooRr6+jXd0AqOgceevg/9N+rK5GkjidcS1lZ2c98MIqyZ3nywYsZ/ZuhrHh9EcnuRXjyBlA4+2u+CZSwJKsUn/4591z8T6xk+gtJHTWsG1fedwY9XOuJkM+xp7zI6hUV7fY59MhDGPu3P7CuWSPYILnlnN/RvMl5joqiKIqyp1NJWwdpmiTmzt9khkkitvI0tzcv2+yw7J8zWFqksjpvIIi0DDCTxGKpROsPV51EKOzHcIdpaYky6rAjMRyLePnGqpGXnz+WeALqWlI3V+QK461rYFWwhMmfTWhzpZOO641XT2CKGPUtAcrKFhDWc5AIMloqOeykUwFB7drFCAFeJwPHE8PxQu++RfhMF00JB9mgPtgpvy5//sMJXPjH42mcspravBy8hXuRNXslZVLjy8KBBL3fcO/FN9EcTqQ9tgE9srnn5fPp460hJjK4/K/TmTFpfrt9eu/di7/95y6WhzUCLRr3XnAhNTWVaYpYURRFUdJDJW0dpAmQRhCnI09wO5Y3bsmPly62P4Em2BEZXvsjbDqnJ8gtykNaLoQr2fr67884AaSgsrwmNV5ODzo31/Df6Rv3s51/wSm4/LlUuvwEnBY8dhyXlWR1sIhv50xtbed267j0oQSyUlE11GYTjiyl1gqgIZn1xhT2GXUMCMmMd97k4AF746oLYmdEcFwW5156OABNcY13P9645FJRfulO+s0B3PvgBcQXVrPEcuPO74T7qybioRo+7nwgAe8qHvvzNdSUp//LjPxMDy++fxn9MpqxMXnopWpeeurDdvsUFOfzwFtPsDRs4E3qvHD1DSxftihNESuKoihK+qikrYOEJkE3kLvnlNcuVdCpAGm5wNiYtLm0QoRweOqJ/5KVl0+dlklXq5qXpn/f2qawxMRXZ7POX0iRXYG/JXUiRaUvl+q1Gw/FPWj/IoTPQ9BjE5cenFgufQf3oTbuItdtcdvdLxPI7YbusZk/cQqnnn4CWtyNFJJX3n+D444bRtIRWHGL+x58OX0PRlF2oSGDezDutb8iq5v5usbGnZONvsTAX7mIN7sfhsdTx2v3Xcvy76rTHpvH1Hnv48voV6ChYfPhPC9/+9OT7fbxB3w8/tEzrEx4MRyNz+55ghnTPktTxIqiKIqSXipp6yBNSLQNe7f2GD93T9s2OmH0/siEiTBSRQDyCrIIh7LxB6O8+9H7HHvqSQB0Zj0V9S0A+Hxe1ixfT0tNkpjhJtcMkVkVJuTysWbtyjbjH3FYV2x3iEwtRFMyiM9r4fh6ELEEBWYEMyMP23EjZZhYOEL3br2A1NFxr77yNj27FBFK6LjDNYQam9LzUBRlF+rcOY9Jn96BnrCZ8XUdLp8Psb6QohUzGd9jNJoZY+q4m5n96dK0x6Zpgvdfv4C+PbNwE2FBbTdOOuqWdvvohs7D7zxGtSsPxxYs+e/HvPnac2mKWFEURVHSTyVtHaQJCZpAczy7OpTdzoj9BkDShA1J2/U3/Y5IxItmhLGSFocePBrTTlK/euN+tpuuvgTdNKlLpGYuC9whvA2NrAqWMGXSx23GP/6YfvjdSQyRpD7qZ9myOYT0bAC8oXWMOvVMAMqXfYNL13DH/Tj+ZqTP4aBDe+M2dJoSkpba9qvRKcovQUaGj1mT7sbv9zB5wmo8GX605p50WziJ10sPI2bqrJh7P+89O32XxPfSQ6exz0GlZGr1lCd7c+A+V2+1z+3P3gmde9NiCZomLeaxf/595weqKIqiKLuQSto6SNMkQtiAe1eHstsxdQEJE2GkKs8de/hIQLB6ZapKo5XZlc7NVfxnyrzWPieeNgaXO4dyM5MsO4I7nkR3bFYHi1g4d+OHyWDQJB4fTCBzw362miwwaqhJ+tCF5J0nJtB32CjQJJPHjePIYQfhqsvADkRJygTnXXIEAKG44MVXv0zPA1GUXcQwdKZ8+A+KSvOZ/vJCfCU56PoAus2byHudD6TOk0Gk4jme+fubuyS+2/44kkPP2J98vYo6erDvwL+SSLRfpv+Km6+gy7BDaUwI9CV13P7nS7frDEpFURRF2ROppK2DhJCAg86WZ9p+zXvdpHQQSRdCTyVt0s5H0xz+9cDjFHbqTIMIUurU8Masjcses7IcvFUWZYECCmU5gWhqP1utN4vG6vWt7UYM64SRpZPhTtLi+NDsPPrs24e6uEGBJ8mjT7+PO9gJ3WOxdNZcjj/hWITlQkp46NknGDNmP2K2hhOL89TTb6T3wShKmr3532vZ5+DezH/pO8zuhbgyBtB59gym5PVlTaAYI/kO91/55Hafy7gjnHPC3px53TF0NcoJiU4cfOgD1NeG2u1zwu9PYNR5Y6mKaQQqEtx0we9JJtNf5VJRFEVR0k0lbR2kaRKQ6HLjTFub09l2ac624eI/qlJpb6Hlj3X4s9umHX84T82QlPYoJtSUjT8YYdrMGfzmtFMAKLLLaGxOfdgqKMhh1coqwnVJLM0gzwyTWdlEnTuDRQu+aXOZI0Z2RcomgiJEYzKAaTTTYnanxRbkG00UlfbCcQzsZD1WPE5JYVckEkeTTJs6m66FuYQTGp5QLfF4vKN3qyi7vQfuOIfjzzyENe8uIVZaiLugLwWz5rPQk8N3OXvhd03lrgvvIpnYlr8Zdqzhg0q45pHf0susoJlcTvn96yxdvKbdPvsP358Lb7+WNRGNYAj+fvbvCIUb0xSxoiiKouxaKmnrIE2TCBwQri3++rYlP9uZ2W2x+ZauJLfYfnuWEG2pqdzqXW24oJVqJ3TJ7XddQDTqQYowUkqGHjAcjxVn3dKvWnvdccNVGB4vtZaOkJI8VwhPKMSqYAnTp37a5grHHLkPgQwbXdjUR4IsWjydJi0LAKNqFSNPS+1nWz1/Fn63G7PZh5MRQfokRx63L4am0ZRwaKgIb/OzUJQ9zSXnH8mfrj+NyMwyygNZuAu6E5hTRnXSYmrxYILehdx/2d8IN6b/i4seJUEeGX8Rff31xPFz7e3f8PmE2e32Ke3VjVtfvJ/lYR1/XOOhSy6norIsTREriqIoyq6nkrYOEkIihYMuXGTWrcPb2IATd6Gt7YST1CGpsW4KyPqNjzgpNb7P7ErUcdElYKHrgr0y4vhNga5vvo+jyW8T9SUpN00AEugsbelMHAMqC3EasxBlJYT8Fn1YjodUYY0sD5T4HTQE0taQwqbe9iG3IUf0ulIxGRq4umsIn4m3qYHMujK0pEULbZPUPK2GEq0CpEO95mNZsBNSppZFotsM3Xd/AOZ/tRiAFn9nujZX8ejEjUnbqCP3wyMyWe/JJtdpwh0HTTqsDhbx/dcb953l53lpCvXFHxRICaHqbDJzLaoTXkxN8uSd4+k++BCE7jBp3DhOPHI0Rn0Gti9GOBHi7AtS57OF4xoPP/nJ1h+GouyBjhwziH8/eTnJ5XV8F9Pw5BdhftuCbFjPhK7D8HvX8dT111Cxpv2liDtDlt9k3EeX0zc7jkTn2bcjPP5g+/vpcvKzeeT9p1jW7MJt6bz213+wcMHXaYpYURRFUXYPKmnrIE1IJA5IF99oDXzf0EAy0JmMPoeS9GRjtoSIaO/jrVvW2seO2ZjdvViJOO7FNo7lw7ugGac2SFKYm12j0h5Mo+xOJLcHAEK6EUtL0B0P7u4jECXD8PceTq2zD32GLsPXeS0AxhoPxvfgCC+2EcCSDrIhE8Pc/BqbaczEuyAKtsHeo9fSrT9831jP11o94WYL3fa1ad5p8DK67L8C3RXHcicwu7mRG1Zb2XoLyVguhmFxzz0P0aVnT5qEn26ymg+/Wds6htsVw6xOUOHPo4AqghGBAzR4/DQ31be2G3VoZ7QMhwxXnGYZxNQz6davH/VxjUJPnHHvTUf35KN7LNZ8u5DDjxiNcHRw4Nb77mX4IfsQtXRoaeb1Nz7a1t9qRdlj9O/fhXffuRHqY3y1LoY7Mwt9hY+sdfN5o8dITHcj7z76VxbPXb/VsXY009D48MPL6FtiYpBg8pIcrrjwoXb7uL1uHvvgadZYATRbY9pDLzLxs/fTFLGiKIqi7D5U0tZBmuYAqZm2wmVBvA0aniw3hxSFMfwmaAlWdtJIuDeWlZe6l/DB/XA8GQxNfoCwYoyRb5AZXoUnsvm+kmUlxawvzqPcmwdAS1jnlfBAwk0Gexe20LnQZmhhM8tKihnkLic7M9WvU/M89kl8irAsNLeB4xYsL89MJTBb4YusZ4x8HdOJMX/RQbQkSvDWaxQuzUAmHRrr2iZ+pRkWewVSZ60lC4uJHNAX6aSm9L5ZtJikZeLxJli6ciknnX4qAPnJtbTEU/fbt1cpa1bV0FRv4QiNPFcTGRUNVHpzmTdzWptrHTOmFEE4tZ8t4cdxGoganUk4gjy9gd5DhiIdnURzFY5tk5dZjBQOji5Zs2odhTmZhBICd6heVZtTfnEKC7OY/vlduByYMbsSzetDVHWi5PvpjO85CulKMveD25jy7ndbH2wneOflc+jbLxcfYZY29eSoEde3217TNP71+iM0BYtJ2oI1b03llef/naZoFUVRFGX3opK2DvpheaQQxq4OZfdjp95Wb70zEcsyWpd+7jPoYHzJFhYtmNva9I6br8YdDFIjDXRpk2tEcDdHWB0s5stpn7cZ9tCDhxLIdBBC0hDKYNHiaTSIDACSy5cy4pTUfrbvZ08hLxDADPmws8I4PjjlrAPRhaAp4bBulSpeoPyy+HxuZk68m4ycAFPeXo47M4AR7023+RN5s3Q4EdNN+cKHGf/oxF0S39P3nMigUb3J0uqosnux395X4zhOu31ufORmPL32JpIUxGau5MHbrktTtIqiKIqy+1FJWwdpWmp5pBDqEf6YtFMzektXlmFvkrSFPCV0a67i4c837mfb/+DeeG0/Zb48Cux6XHENgWRNoIiVmyR3XTsHaYx0JhAAR2qEq7Lo3N1LTdyLV3e466aX6NRvP4TLYcr4NzjjxOPQGzOQZoLKxnJ+d87hSAmRuMbd9++aM6kUZWfQNI3P37uFrn1KmPXCfNxdczHMgXSbO4mPSvajyptNov6/PPa3V3dJfNddOIwx5xxCkV5JI6UMHnwLLS3tF0A578/n0+/oI6iPC9wrm/j7Hy7YapKnKIqiKL9kKuPoILFhT5uuZtrasJ1U0iaNJHUN0daZtr0GDCAiPHSjmsmLKja2jzWgVcSp9uaQr9WQ1eRgC40mwyAejbS2GzOiCzIjSaYrRsQJ4vNlUNhzbxoSgkJPjCmzv0foWehmgoplKxh26CEImSpYcuPf72Tofn1ptnSMlhCTp8zcFY9GUXaKl5/+IweOHsiSl+dDzyI8WXtTMnsWX2b1YEVGZzx8yL2XPYLjpH9J8GljenPurSdS6lpPmCJGHvk4leW17fY58pQj+M2V51Me1QjUWNx07u+Ix2NpilhRFEVRdk8qaesgTTgg1EzbjyWSDo5lIMwEUgqSlo7QLE49/TQAsmOrsOzUh8fhB+1PZXWEhlDqG/R8V5hAVT1l/nxmTGpb6v/4o7pjyAg+wjTGfTQ3ryesFWJJQS51DDlsNFJqNDeWIaUky5OH1C1slyRhxcgN+AglwGxsSO8DUZSd6Nbrz+TM80ZT+dEyGjsX4i3sTe6sxSw3AnyV35eAZzZ3XXAb8ZbNq9PubEP7FXLTM2fT211FlCx+f+mHfDtvabt99hk6kP/34M2siugEmzVuP/dcGhrr0hSxoiiKouy+VMbRQaI1adtycQ+xO9a52K5v2jt2AwnbRiZdYFj06tMVpABh0av/UIKJZmbOm9Xa9ubrL8cVyKRauDGdJBk0426JsjpQzOwv2+69GdDnAIJZqfPC65syWLbiS+qdIAB1Xy/g4BNOASTzJ31Mt/x8zKbUfjbpkYw9dzhCCJrikgULqzt0X4qyu/n9WSO48R+/o+XrclZ5gngLu+KbV0NTS4QvOu1P0LeUf135FxprW9IeW+cCP0++fTH9A00k8XLrwyt4d/yUdvt06lbCXa89zNKQji+h8fgVf2Ld2hVpilhRFEVRdm8qaesgTThIYaNpmz7C3TFT20huz56QLRzq1t4xbz80T4SaIGkiXElGjT4AAMe2aDAL6Rat5F+fbTxfqf+gTviiJmv9+RQ6NXiSqaWmawOFrF38zcZ2fXKIJAsI+iS21InW5rNXv3yq426CLpubrnua/O4D0UyHL99+n7Gnn4QeCiJdFotXL+GMsaNwJEQTGrfe+d9tfwaKsps69JB+PPfCVThlIb4L67hz8jEW2BjVK3m39FB8ngpeuPUa1i2r3/pgO1jQ6+KtDy+nX66FBMZNlNx7a/t/7jKygvx7wtMsj7oxbZ13bv4nX8/7st0+iqIoivJropK2DtI0Bykk4uc8wk0So/Skez/vKtvS21Vd0zrTNmRwfwAa45KocNOVGr5elVrqJISgsaYCWRmn0Z1BnlFPVl2MhGbQYMWxkonWMUeP6IITiJFhRAnZGfj8HjI6DaApISh0t7B8XQMOATRXnLqy9ew7eEgqXgduue0eBg3oSSRp4IrWs2hR+8uzFGV317NnMZ98cCtaOMHspWF0nw99dRb5q+fxes9RGGaET575G99OW5322AxdMOHdi+nbzYdJjDlrijj79Lva7WO6TR774CnWiyywBfOeHM9HH4xPU8SKoiiKsmdQSVsHCSFBOGhsujyyvbmo9pOe9ntuT6NdyyMEJEyEYdOtcxEADZHU2ywQXs4Px6OddsKRhEM2dZHUC/lGGF9NA2sCRUz9rO3B1ycc3QO3jOIVzTTE/NTVLiOk5eMgyLKqOfi44wFBU1VqKVVAy0K6EtimQ35hgAyvm6aERG8IpechKMpOkpubwcyJd+N2GUyduh6X34PW0I3OS6YwrscoLJdkwcS7+HTcV1sfbCcY/8xY+g8qxk8jq6O9GHHAte22F0Jw7//+SUtuV+KWoGrCXJ57/J9pilZRFEVR9hwqaesgDWfDOW0aOyub2jzJkz/1C1t8XbTzaz99zR9dY7N+bV8QP3pVSAcSJugOWZnZANQ3u8mKh/hs5saqjVf/8TyMYBbVuhevE8cvo5iJOGsCRcydNbm1na4LCosPIpCbukJDfSbrK76hzg4AkmWfz2H/o04AJLM/fJd9SksxGwJYWRGkx+H/LhoJQCgBU2es3raHoCi7IbfbxfRP7yCnOIvJry3Gk5uJbvej9JuJvN31YJpMH7Urn+C/9324S+L7101HccAxA8nRaqiVvRi097XYdvtLsq+591py9tmPUEJgf72ee268Kk3RKoqiKMqeRSVtHaAb2oZCJBKxhYRty2nNj4ltaPPDr/1oxE2ayzZX/NGYgg0zWwIhOro4cmMv0U6Y8oelno6FcHSELvF4vEgpqbAzKI1W8dDnG/ezle6Via9RY02gkCK7Cl/CBUCZP5+K5Yta2w3ZtwBbBgl6JElpEg/n0n9wV2riJtmmzc23vEBmSW80j8O8Dz/ljDNORov6kJrFpDnTOfnUEViOoCXmcMe9L3XoCSjKriaE4KM3bqT34FLmvjAfT/d8XN696TpnKp8W7kO5rwDZPI6H//zCLonvyt/ux/GXj6HEqKBJdGH/A24nHGput89vL/st+59yIjUxDe+6KLdcdg62nf4ql4qiKIqyJ1BJWwe4TA0hbFXyf0s2FDsRhkTT3YQdh4Rw0Y1KlleEATAMnYqycpLVCZpdPnLNBrKqm2nRTaob63Acu3W4MSO6YPnCZOoRmqwgPp+OntWHcBIK3c2E4uA4HoTWTLiunr59U/vokPDQw/+hX88uhJM6nkgd68vK0/44FGVHeOqhSznsuCEsH78Au0cxnpwBFM+ay7xAJ77PKsWrfcY9lzyAbaX/AOpjDunO5fedRg/XeiIUcPSJL7B2VWW7fUYcM4Iz/3IFZVGNYIPDzeeMJRptP8lTFEVRlF8zlXF0gMvU0ZBI4aBtocrir9qGM9jQJQIXkUSq3Lhet7i1yRUXjCWRgLpo6udCM4SvrpFVwRImfz6hzXAnHdMbj2FhihgNLX7K1s4npOcgEWS0VHLYSacCgtq1i9GEwOtk4Hhi2B5Jn37F+EwXTQkHp0F9IFT2TH/544mc/4djaZi8mtqCfDyFPcmavYK1uJhVuDdB79fce/FNRMOJrQ+2g+3dM5e7XzqPPp4aYiKDi6+dwsyp37Xbp88+fbju8dtZEdEJtGjce/4F1NZWpSliRVEURdkzqaStAzp1ykMIG6lJNn2EmywkRMMkd1WmAAAgAElEQVTZ7NUfr0/8yW1jP0FsYcj2yA3LJQUSkGhy2xdIyi0ko7K9C29YOyk3nAUnXBbSMYgnY+TEmnhl0ozWpueedzKmP5dKM0DAacFrJTCsJKuDRXw7Z1prO7dbx3ANJZiV+rmhNptQ83LqrAAaki9fn8w+I48GIZn21hscPHBvzLogdkYEx2Vz3qWHAxCKa7zzUfsfJBVld3TKiQdx1wPnE1tQxfeOG09eCd6vGolF6vik8wEEfKt49KprqK1I/5cShdkeXnzvUvplREhi8sBzFbzy7Mft9ykp4IE3H2Np2MCb1HjuT39l+fIlaYpYURRFUfZcKmnrgCMOOyiVlAkHgcDdx8Qs8GBbLtauzsZxDJy4gfnFocTrs1r7GXqSQpbgNlsoz3FwtCQrcnXinmZi0rXZdfbKsinJgMFFqUTIdGIME3PxOFHqKjKINvqoWJdFj0yHOeG+NDk+AMKBFqqzkljYWNJANyBP1GBswzltCTPKylwdS3fotP5b3PVNmPlu3H1MhKHhdSJt2q+KFbK0pROagKCvHumkkreoVYfjGNi2jU/GeXrqxn1qhZ1MvHUOawOFFNkV+KKpe6/05VK9dnlru2FDi9F8boJum7j04MRy6TekD7VxF7lui9vueRlfbim6x2bB5GmcetqJiLgbKSSvvDeeY449iIQtsOIW9//rf9v626sou4X99+vJq6/+BVnZzLe1End2DvpiHV/FEt4qHYHHU8tr91zLyoU1aY/N69Z596PL6VsAAocJc9zceM3T7fbxB/089uHTrIh7MRyNT+76NzNnTExTxIqiKIqyZ1NJWwcMGjIAwQ/ntAm8+7hxF3txkm5WLc9HOi5wNPTyIpyEu7Wfy0zSWfsOnzfK2jwHW0vwfaFBzBvZYtLWP9ehW5ZGrjf1s1vGGaNNwyubqV6fRbQ+QNmqHPrlOkwND6LBCQIQymimIjeJo1lIqWO6NIpE+Sazfz8t6Y6wpNAgrjuUrpmNp64Rd4kP7z4ehEvHL9smbctaOrGwuRQEZAZqkBu2o73/yXRs2yAhNDwiSXVjDIBAwMea5WVEaxLEdZM8M0RmVYgml4/Va1e2GfuIw7pgucJkaiGakgG8PgvH14OIJSgwI3gyC3AcEylDxMIRSrv2BMABXn31XXp2KSKc1HGHqwk1Nm3Lb62i7Ba6dMln4id3oMdsZnxbj+HzIdbnU7hyFuN6jkIzY0x59SZmf5b+cwc1TfD+GxfQt2cGbqLMr+rCKcfc2m4f3dB55J3HqXbl4diCRS9+yNvjX0xTxIqiKIqy51NJWwcU5OcicEDbcvXIn6wGmZ4TtNtIrVpMxePIn1ekoN3wNyy9lE7q3Lqp0+djWQZxzcAjk63NbrjqUnTTTV0i9dYrcIfxNjaxKljC1Iltz2c7/pj++D1JDJGkPhpg+dLZhPTUMQLe0DpGnnIGAOVLv8Gla7jjfhx/M9IrGTa8D25Dpynh0FIT/Vn3rSjplJnpZ9aku/H53Ez+dDWeDD8i0p2uCybzeveRxE2d5bP/yfvPf7lL4nv50TMYeEA3MkQD6xO9OWjQn7fa587n7kJ22osWS9D4xUIev7/9JE9RFEVRlLZU0tYBPp8by9FbZ9q2aBvqk+zwHG6za4otv7wTSFJ5m7R1pHBYva4K2zKIaS7cbCyQcNKpozBd2VS4M8iyw5jxOLpjsyZYxMJ501vbBYMm8eQgApmp6BursxFGLdVJH4aQvPnYB/Q9eDRoksnjx3PUwQfjqsvADrSQEDHOvWTjfrYXXpmBouwJXC6DKR/9g8JueUx7eRG+gmx00Z/uX03ivS4HUu8OEi5/hmdve2uXxHfnn0dzyKlDyNerqacngwZeRzLZfpn+P9z6BzoddAiNCYG2qIY7rr0sTdEqiqIoyi+HSto6wG0aWJaRqgyySea1aXK05aIdPy992t4kbzvqjuwQCUdHWga4koTCCeJJnaTmwi3jrW0ysxw81TZl/gKKZAXBqAlArTeLxuqNJflHDOuEHtTIcCdpcXxo5NBnUF/q4wb5niSPP/sB7kAJusdi6ay5HPeboxGWCyklD/7nCQ4fvR8xW8OJxXn62TfT+yAUpYPeevkvDDyoF9+++B1mjwLM4AA6z5nOpLx+rA0Uoyfe5oE/PJX2P9sA5520D6f/+Si6GOWERScOOuR+6utC7fY56eyTOOz/zqIqpuEvj3PTRf9HMplst4+iKIqiKJtTSVsH6JogYZlIAWKLJf9/umLkDy9uOPOajf/6qYRu8wFkO623cYitExuqQG760lYu2mIbSMtAmAl8fi/xZOrtZWxI2ooK81i1vJJwXRJLM8g1w2RUNlLrzmThgq/bjHXkqK5IwgRFiMZkAFNrptlVSostyDcaKe7eO1XoJFmPFY9TUtgVicTRJF/OmEOXwlzCCQ1PqIZ4PL5ZrIqyu/nX3edx7OnDWPPOEmI9CnHn9SN/1nwWePJYkNMTv2sKd190N8mEvfXBdrARQzrz54fPoqdZQTO5nPjb8SxbsqbdPgeMPIDzb7uGNc0awRD8/ZzfEw6rvaWKoiiK0hEqaesAISBpuTaU/P8hk+n4V9971lFvP32f4STIpAsMi/0O6I+0U9+o61ZqT9ntN/wJl89LraUjpCTfFcITCrEqWMz0KZ+2GevoI/YlELTQhU19JMCiRdMIiUwAjMrVHHbqmQCsmj+TgMeN2ezDyYggfZKjjt8XQ9NoSjjUV7QtnKIou6MrLjqa/3fdKYS/XEdFMAtvfncy5q6lyrKZVjyIoG8B913yN8KN6f8CYq9OmTw07kL6+uqI4+fPt33FxI/ntNune+9SbnnuPpaHNQIxjQcvuozKyrI0RawoiqIovzwqaesAoUPCcqX2tO1ZGddOFWqykEkT4Uoy8rD9cazUXjY7ljpDatQRQ3CLLNZ7s8lzmjAToEmH1cFiln4zs3Wc/DwvTaE++IMCKSFUnUNmvkN10oepSZ64cxzdBx+C0B0mvzaeE48Yg1Gfge2NEY6HOPvCIwAIxzUefuKT9D8IRdkORx8xmIceu4zksjoWxk3cBcWY30ZxGsqZ0PVg/N51/Oe6a6haF057bNkBk9c+uoz+WS3Y6PznzTBPPvR2u31yC3J4+L2nWNbswm3p/O+6W1m86Js0RawoiqIov0wqaesADYltp5K2XVERcndlJN2QNMGw6d+3J46dKlAQizQCYBpRzOo45b48CqkkGEqV5290+2huqm8dZ/TwLmiZkgxXnGYZxDSy6NKvH/VxjUJPnPHvz0D35KN7LNbMX8iYI0YjHB0k3PrPezn04H2IWjq0NPPGmx9tKVRF2S0MGNCVt9+6AepbmLc+jpmZgb7UQ0bZd7zRYyRuTwNvP/wXlnxVvtWxdjTT0Jjw0WX0LTbQsZi0KIs/Xvxwu308Pg+PTXiaNZYfzdaY+uDzTP5iQpoiVhRFUZRfLpW0dYCmSaxEqnrk7lTef1dz2TokTIRuU1RYgOOkkrbGhnr69enB6rW1NNbbSKG17mer9OYyb+bUNuMcPbobQoZS+9kSfmy7nha9MwlHkKs30GfIAUhHI95chWPb5GUUITUHx3BYu7qMouwMQgmBO1SP3BUVGxRlGxQVZTPt87twOTB9TjWGx4uoKqZk2QzG9xiNdCWZ/e5tTHt/YdpjEwLefeUc+vbJxUuE7xu7c/RhN7TbR9M0HnrjURr9RSRtwarxk3j1xcfTFLGiKIqi/LKppK0DNCGxkhpSA5xtXx65venD5iNvHKFDuci29GlTHGX7CGlBwgW6QzAYxHZSBRPWV5Rzx01X4fFnUCtd6NImWwvjbo6wOljMl9O/aDPOoYcMJZDpIISkPhRk8ZKpNGzYz2YtW8rwDeezLZk1ifxgEDPsw84MI72CU846EE0ImhIOa1c2dOAuFGXn8/s9zJx4NxnZfqa8sxxvhg8t3ovS+RN5s3Q4zaZJ2fx/8cZjE3dJfE/fexKDDutNllZHld2b/fa+eqtfgNzy+N8xe/YnkhREZyznoTuvT1O0iqIoivLLp5K2DhACnKSeqh7ZgfRm4/yc2PjCtl257b+3dmmxYfANB2w7dkcO105d5IcQtxiq2HBGm7QRCIQhcbs82E6q9ZKVa9lvWC88tp8yXy4Fdj1mQiCQrAkUsvK7jUUNunUJ0hjpTDAAjtSI1OTQpbufmrgHn+5w+40v0Lnf/giXw9TX3+SME49Hb8hAmgkqGsoZe84YpIRIXOOuf6pS/8ruR9c1vnj/73TpXcysF+bj6ZKHbg6kdO5kJpQMpcqbTbzuJZ64cdwuie/6Sw9lzP8dTKFeSQOlDNr3RmKxRLt9LvzLhfQaM4b6uMBc3shtf7wIx+nI3zeKoiiKomyJSto6QNMkTeEEjpDI3bkQyQ5eGbjVO92QFApdogkXFhLTTrBgTSV2Sz1aRZxqbw75Wg3ZjQ620GgyDOItza1DjBnRFYJJMlxxIk4QrydAQfcBNCQEhZ4Y0+cuAz0T3UxQsXQFww4ZhkAgpeCGW+/ggCF9abZ0XNEQU6fN2rEPQFF2gP898yeGjhzA4pfnw16FuDMHUDJ7JjOye7IyoxNuZwL3XfYojpP+pb1nHt2Xs286nm6u9YRFEYcd/hhVlfXt9jnq9KM49rJzqWjRCFRb3HT+74jHY2mKWFEURVF+HVTS1gGa5hCPiVSp/jafqzamNWILn7dEO1nUtn08+7kf4n5e/631lj8cH2VIwEUS8NgJ8rr1oKq6mYamVFKX7wrhr2pgnb+AGZPalvo//qhSdNmMjxANcT/NkXLCeiGWFORQy34jRyOlRnNjqnx4picPqVvYLgfLTpAT8NGUAKNJLY1Udj933PRbTj9nFOUTvqepcwHe/L7kzlrEMiODr/P6EHDP5O6L/kE8ZqU9tgMHFHLDE7+nl7uKKNmMvfADvvt6Wbt99j1wH66870ZWRXSCEcHt555DY2P7SZ6iKIqiKNtPJW0dIITEMDyp7Wyb7mnbTSfd5IYMcvsWK22+ILL92xOwYWZAuuI4joElBB6Z5KqrLsYIZlKjuXE5SYIigjsWZU2giNlfTmozSr8+BxLMchACGpoyWL7iS+qcIAB1Xy1g2AmnApL5Ez+iNL8As8mPnRVGeh3GnjccIQShOCxYULVdd6soO9s5Y0fyt9vGEv1qPWt9mXgLS/HPq6IxHmVip/0I+r7nwSuuo7G2Je2xdSnw8/ibl9Av0EgCLzc/uIz335zWbp/O3Ttx5ysPsyys409o/PuyP7Ju3co0RawoiqIovy4qaesATQBCSyVBW1oe2YEJLbETEr7UlrZNk67tuMiWmm7lvpwNCWxF/Xps2yCBhlcm6LtvCb6oyVp/AYVODd6ECcDaQCFrF288v6l/nxxaknkEfWBLnWhdHr0G5FMTdxN02dx43TPkl+6NZjrMeOd9fnv6SeihANJlsXDFIs747SgcCdGE4Na7Xt72e1WUneyw4QN4+vk/Ya9pZEFYx52Tj2uBhVG7ive6HYLPW87zN/+ZshXpnyEOel289dEV9M9NIhG8+pnN/be3/+cnMzuDf3/wNMujJqat8+ZN9/LtN2o5sqIoiqLsLCpp6wBNSHRDIKW+5aStA34Rlemd1Nvpf69+im25SAgdj0zQUFWBrIzT6A6Sb9STVRcjoRk0WHGs5MYCB2MO64Llj5NpRAnZGfj8HgIlA2hKCArdLaxY34hDAM0Vo76snH2HDAFAOnDr7f9k3/49iCQNzOZ6Fi9auksegaL82F57FfPh+7egheLMWh7BCATQVmWSu3oe43uMwnBH+OipvzH/y7Vpj83QBR++ezF9unpwEWPWqkLOO+uedvuYbpPHJjxFmcwEW2PO46/xyYQ30hSxoiiKovw6qaStA4Qm0ZAI243cjpL/u9xOTgylnXo7LVi0Ass2iGsuCjMh3GxTF0ldvMAVwlfTwJpAEVM+/bBN/xOO6YmbKB7RTEPMT23NUsJaPg6CbKuag489DhA0VaWWYAVEJtJMYLsd8gsDZHjdNCUkWmNo596oomyjvLwMZk66B7euM31qBabPi6jrSuclUxnXYxSWKfnuszv4fPzXuyS+15/7Pf0GFeOniZXNezHyoL+0214IwT9feYDm7C7EbUHFB7N44ckH0hStoiiKovx6qaStAzRNomkCDTe7oMDbbsmRAmkZSN2isqYJy9KJaS6KC124fFlU6V68Thyf04KZiLM6WMy8WZNb++u6oKDwIAI5qQfaUJ9JRcU31NkBQPL957PZ/+gTAcmsCe+wb/fumA0B7MwI0pScffFoAEIJmDpj1S54AorSlsdjMuOzO8kuyGDKuCW4c4LoVl9Kv/2Ct7odQtjto2bZY7x8/8e7JL5H/n4MQ48aQI5WQ43sxeAB12Bv5ViQv/zzOjL3HkI4IbC+KuPeG69OU7SKoiiK8uumkrYO0IQEHDTpxnG2/Ai34xzrbZbeOb3tq2eZlDrSNhCuJPG4QzyhY2s62XkOvpDG2kAhRXYlvrgLgHJfHhUrFreOM2TfAmyCBD2SpDSJh3PpP7gbNXGTbNPmppueJ7O4F5rH4auPPuOMM05Ci/pwNJuJs6dw8imHYjmClpjD7fe8tKMfhqJsFyEEH715Iz0HdmXuS9/h6Z6P4R1A17lT+KRwEBW+POzQqzxy7a55r/6/3+/PsZeMosSooImu7D/0diKR9gugjL1iLENO+g21cYF3bTO3XHYujmO320dRFEVRlB1DJW0dkErabAQblke2l01tqU5JuydV/6jt1pr9xLXFFvbaWdtRP3JLRxa0JyEETtIAM0FRcR5JCzQcytetJ1GVoNnlI8/VSFZ1M1HdTUVDbZsPfGNGdMHyhsjUIzRZQXw+HS27L+EkFLqbiSQ1HMeD0JoJ19XTt++AVEcp+dfD/6Fvz66EkzqeSB3l6yu2L3hF2cGe/ffljDhmMMvHL8ApLcKdszfFs+YxN9iFpVnd8Gqfcs+lD2Jb6T+A+rjhPbj07lPp7lpPhAKOPPE51q2ubLfPYccexhnXXk5ZVCNY73DzOWNp2eR8RUVRFEVRdi6VtHWA0CQSiSZ2zPJIwc6aRRMbMr4NpfjtbQ9W/rgySuuPW440nrDAMsGwGD5yP6SVoE8wTsyC+g1f4OebIXz1jawOFjPli7b72U46pjdePYkpYjS0+Fm/dj4hLQeJICNawWEnnwYIatcuRhMCjxXE8bZge6D/wM74TIOmhINTrz5IKrvW364+mXMuO5r6SauoK8rDXdSL7NnLWKOZzC4YQNDzFfdcdAstkWTaYxvYM5c7XjyXPp5qYiKTC6+axOxpC9rt029QX/7y2D9YEdYJRjXuOf8Cauuq0xSxoiiKoiigkrYO0bTUTJuG0VrmflO70zY3maZFlaZlIxMuhGEx7KCBSDtJ3/wYHn8ulWaAoBPFaycwrCSrg8V8O3tqa1+3W8dlDiWQnYq1vjaLUHQFtZYfDcn0cZPYZ+RRICTT3nqDQwYOxKwPYgejOIbFuZeMASAUF7w94bu03K+ibMlpJw/j9vvOI/ZdFculB09eF7zz6olGGvi001AC3hU88qdrqatM/5cLhf+fvfuOj6pKGzj+O/feudMz6QVCCUhHKVawINhde19d+1p333VX17WtfVHsa+9rW8sCoihiQQURpIoUld5LeiYzk0mm3XvePwYRFAIJOEE83z82yXCfe58zn7ifeXLOeU6Oi5fHXUlvfwNJnNz/wnr+9+qE5mPaF/HA6KdYEjHwJDVeuOYfLF++KEMZK4qiKIryA1W0tYIQEikkQpjIbexp22rptjtVc7uYTzchaSIMi65lHbGsJPnZDbhqbNb4iiiyKvA2GgBUeHOpXrt8U+zgA0rA7cTvtIhLF1Ysn94Du1MTd5DnTHH3A2/iye2M7rL4dtKXnHbGSYi4EylsXn9vFMcfP4iEJUjFLR5+TJ3PprSNA/bvzhtvXo8sjzCv1sKRm4fxvYa7YjHvdj4Ul7uaN0dcz8qF1RnPzeM0eP+jq+lVIBHYvD/DyR03vNhsjNfv5ekPX2BFzIVhaXw0/AlmTv+i2RhFURRFUX4ZqmhrhR/2tKVn2jb7h+1NaomffrOLq7jt3E7uyEa1H5ZFbvwqYVO6zUVrUkLcBMMiPzcXSLJ66VqaqpLEdZN8Z4hAZYSQw8uq1cu3iD1qSEcsR4SAFqY+6cfrTpFydyGaEhQ6I3hyirFtEynDxBqidO7UFQBbwMiR79G1tIhIUscZqSIcUu3+lczr2LGAzz++C73JYtqCehweL9rafApXzGRU12FoZhOTXv8nsz9flvHcNE3wwZg/0qNrFk6amFdRypm/u7PZGMNh8OT7z1Bp5GHbgu9eHcfYt1WDH0VRFEVpK6poawVNs5HYCIydPKdtFyxdbLYO20VF4Q7VehbCMhC6jcftIS9bojtd1Gw8O7vQjOCuD7HSX8KXE7dscX7Csb3wupIYIkmw0ceyJTMJ67kAuOvXMfT0MwFYv2QuDl3DGfNi+aJIt83BQ3pgGjqhhE1TdeOuGa+itEAg4GXGpPtwu51M/nQtTr8HEelCh+++YFSXIcRNjSXTHmD8qzPaJL83nzqbvgd0IEsEWRfvzqABf99uzD0vjyBV0pWmlCD42QKeefhfGchUURRFUZRtUUVbK/ywPFLXDOytdGlsxR13wT1+bodm1naVjec7CUNiGC4Kiy1MRzblrmyyrQiOeBLdtljtL+G7r6duCvP7TWLJfvgC6fegvjqAcNRSlXRjCMnbT42jx0FDQZNMHjWSYw8+GEdtFra3kYSMc9HlRwEQjuu89MbUn+elKL8gh8Ngysf/orBjHl++8T2eQj+66E3nORN5r8NBBJ1+wuue56V/jW2T/EZcfwSDTx1AvlZFDV3pv/cNJJOpZmP+cvc1lBwwiFBCIL6tZPj1f8pQtoqiKIqibIsq2lrhh0YkoG+1EclvkfxhnagOQjhweyO4qizWeQsolhUEmtLns1W7A9RXbdgUN2Rwe3S/TpYzSaPtRZP5dO/fk7q4QYEryVMvfoDpa4fuSrFkxtccf+KxiJQDKeGRZ59h2NCBxCwNOxbjxf+80xZDV37Dxr55A30O3ItvXp2Pq3MhDt/elM6cwsSC3qz1FaPFxvDwNS+0SW6XnrYPp/3tGEqNDYRFKYMGPUCwrvnlw6ddfBqHnncWVTENz/oYt15+AalU5rtcKoqiKIqyJVW0tYIQNgiJJrSdXB65B9l49oEwLKStsXJpJeHaJCnNIM8M498QpMYZ4LsFc7YIO3poR6SM4BdhQkkvDq2BJkcnmixBgVFP+716YtsGVqKWVDxOu8IOSCS2Lpk2fRYdivIIJzRckWoSiXhbjFz5jXr8/ks59vSDWP3uQpJlxZiFvSicMZcFnkK+y+2K1/EF9152H6lE5s9iG7Z/B/726DnsZW4gSj4nn/UWy5asbTbmwKEHctHt17ImquEPwR0X/oGGBrVHVFEURVF2B6poawVN2Ehho2k/mWnbzmrETJd3wvrJC7/gZ0e58VmaqwkHOg6vh9qUjpA2BY4wrkiElf52fDX50y3ijj2yH96sFLqwqIv4Wfj9FOpFAACjfCWHn3E2ACvmTcfncmJGPdiBBqQbjj2xP4amEYrb1G5o+OUGpyg/8X9XHM+frj+F0NQ1bAjk4irsQtbMNVRYkqnF/fB7vuWBy28mGk5kPLduHQI89Oal9HTXEsPHX2+fxaRPv242pmvPMm576X6WRTR8MY2HL7uSysr1GcpYURRFUZTtUUVbK2hCpos2oW9jT9sv1RVy82eJn70kfvJc+ZNvkvaOL3PatB9OiO1WmwK5acYxLy+K12fhIsA6dy75dhhnHDRps8pfzJJ50zfFFRZ4qI/0wOcXSAmh6hwCBRbVCQ+mJnnqnv9R1n8wQreZPHI0pxx9JEZdFpYrRjhWzwWXpvezNSR0Hn3qox0em6LsjOOPGcgjT15BckkNi5ImroJinHOjWPXljO8wCK97Dc9cfy2V6yIZzy3X7+StD6+md3YTFgbPjKrnhSfeazYmryiPf7/3HEsbHDhTOq//4w4WLZyXoYwVRVEURdkR2y3aXnzxRSorK1mw4MdDi++//34WLlzIvHnzGDNmDIFAemakU6dONDY28s033/DNN9/w9NNP/3KZtyEhbNJ72kQz57S1dF6t9YXetiIFYuO/bsylJTNtPytGm89PWjoA7QtDSLsOR1Wcck8ehaICfyT96Hqnh2ioblPM0ENKEVk2AUecqPTjNLLp2KsPdQmNIlectz+YjuYsQHelWL3gO4YdOQxh6yDh9vvv45DBe9OY0qGxgXfe/aQFg1OU1tln7868M+YWqGnkm/IEZiCAvsSJf/0CxnQZgtMV5J1HrmfJ3IqM5+Z06Iz/6Cp6FuvopPhsQYBrr3qi2Ri3180zH77AqqQXzdL44uEXmTzxwwxlrCiKoijKjtpu0fbyyy9z7LHHbvHahAkT6Nu3L/369WPJkiXcdNNNm/5t+fLlDBgwgAEDBnDVVVft+ox3A+nlkRJN270nKsVOpNeSElJKkJaGRCIcLlavqaG+zkIKjXwjgr+ingpPHrOnTd4i7rgjO6HJCD4Rpj7uxbJqaNRLSdiCPD1Iz/0OQtoa8WgFtmWRHyhCajaWYbN+7QaKcrIIJwTOSC1S7sEnlyu7hZKSXCZ/OhwjJZk2uwrd5UZUlFCydBojuwxDmgmmv3M7Uz9cmPHchID3/ncRPbvn4qaBRcHO/G7YLc3G6LrOY2OeoNZdRMoSLB/5OSNfey5DGSuKoiiK0hLb/Vj/5ZdfUldXt8VrEyZMwLLSm5imT59OaWnpL5PdbirdiMRGSH3L1zf/urV2++InX1uqpXXJDzlseV52qx+1rbSlFEjLAEeS+lBfTF8WNdKBLi2yjQjOaAMr/e2Y9tXnW8QdctAB+AM2Qsj0fraFUwkKPwDJpYs59NQzAFg4feLNtV0AACAASURBVBKFWVmYYS9WIAJuOO2cA9GEIJSwWb0itOMDU5RW8PncTJ84An/Aw+T3l2Nm+dEau9Pp20mMKTuMRtPB2rn/5p1nJ2//Zr+Alx46lf6HdCWg1VJhdWffvtdu9w8Ztz9zB3rnXkSTgsapS3nsnuaLPEVRFEVR2s5OTxVdcsklfPjhj8tpysrKmDNnDpMmTeKQQw7Z2dvvljTNQgobsa2prO0VRzs5KdTy8I2dHVv1jO0/zbYkMmUgzCSGL4A76WWtJ59Cqw5XQkMgWeMtYuWC2ZtiOnfMIhgtxesDW2pEq3Pp0MVLVdyNR7f51y2v0L7nfgiHzZTR73DWyb9DD/qxnQnKazdw3kVHIiU0xHVGPDi6BSNTlJbRdY2JH9xBabdipr36Ha7SXAxHHzrNmcQH7fajypVNrOZVnr11VJvkd+vVh3H4uYMo1CsJUkb/fW4hHm9+/+plN17OXkOHEUwIzKVB7rzmMjVbrSiKoii7sZ0q2m6++WZSqRSvv/46AOXl5XTs2JGBAwdy7bXX8sYbb+D3+7cae9lllzFr1ixmzZpFfn7+zqSRcbpIITUbbRf1g5SwU60lM9mVcmvPspMpZNIER5Km+mq0ijjV7hzyjBqygxaW0AjpOvGm6KaYYYd2QPoTBBwxIrYft9tPYVkf6hOCIleMaXOWgZ6NbiYoX7qcgwYPRiCQtuCmu4az/4AeRFM6RmOIL6fMzNwboPzm/O+la9n3sN58//oCtG5FmIG+tJ85jam5e7HS3x7THseDVz+FbWe+6Dnn2J6cd8vv6ORYT0SUcMiwx6mqDDYbc9zZx3HcFRdS3qThq0rxz0vOU8dlKIqiKMpurtVF2wUXXMAJJ5zAeeedt+m1RCKxaSnlnDlzWL58Od27d99q/PPPP8/+++/P/vvvT01NTWvTaBOC9Dlt25xp+41xROqRSQfuPKioiRIMpTueBEQj3soga72FTJ00YYuYE47pjEM24BUR6uNeIpF1RPQiUlKQSw0DDz8CKQXRYPpsqWxXHtJIYTsspEyR6/MQSoCjvvkPqIqyM+69/TxOO38IG8YvJtKhAFd+DwpmfMdiM8DcvO74nNMY8cfhxGOpjOd20N7F3PzsH+jmLCdKLudcMo7v5y1vNqb/oP786b6bWdmg4W8Q3H3B+YRC6r8hRVEURdndtarqOOaYY7jhhhs46aSTaGpq2vR6fn7+puYcZWVldOvWjRUrVuyaTHcj6T1rNkKqog2gpDEBSZPcMg9mVjbVmhOHnaQg2YAz1sgqfwkzpk3cIqZXjwPwZae/rwtlsXz5DGrt9KxszdcLGHTS6YBk3qSPKCsswlH/w342ybkXH4oQgnAcFizIfJc+5bfhkvOHccMd59A4ez2r3dm4C8vwzS6nLh5jUrt98XsW8fDVNxKqbdr+zXaxTsU+nn77cnp560ng4dYHFjL+3SnNxnToUsrwN/7NkoiON6HxxJXXsG79qswkrCiKoijKTtlu1fHGG28wbdo0evTowdq1a7nkkkt44okn8Pv9TJgwYYvW/ocddhjz589n7ty5jB49miuvvJJgcE/8K65ECrmxpf7mtnKO2havtGz51M/v0NLlV61frrXjSy4FLg1ImGS31/FETdZ4Cym2qvFa6dmHtd5C1i368dynPj3zaEoW4vdILKnTWJtPt775VMedZDksbr3xPxR06oNm2kx7dxznnHkKesSHdKRYsOw7zjzncGwJjQm4c8QbrR6jomzL4Yf15bkX/0JqVT3fNum48gsw5sfRa1fzfqeD8brX859b/876FZn//7csj4O3P7qaXrkJJILXP0nyyIi3mo0J5AZ44oMXWBY1cVo6Y24Zwfx5MzKUsaIoiqIoO8vY3gXnnnvuz177z3/+s9Vrx4wZw5gxY3Y+q92cQIK2taLthws2L5aaKZx2pKZqSd211XR+fNGSO35Qm9zKg7d5HpxMQcKgpno9osJDvdtPsVaOJxgnoRkEkzFSycSm6484rAOWt4mA0UjYysLrdSHy+hBqEHT1RVmxoR4bH4ajkbr15fQf0B82gLThruEPUfH314kkDcxoLYsWLtnhMSnKjujRoz0fjrsdEYozc0UUZ1YAbYWf3DVf8Vq3Y3A4w3zw7E18O31NxnMzdMH4cVfSs9SFQQNTl5fwx3OvbzbG6TJ5ZvzzrLOzwNKY8dSbfPLROxnKWFEURVGUXUGt72sViRT2T19qhVa2ENkUln7otpq+SSm2eETS2vEkt9nef2sv2hb+9joNDRa10fQVQS0LTzjEKl8xkz/d8rDek47rgkkTLhGlLuahpmoJEa0AG0G2VcXg408EBPUV6aW1XpGNbSawnDaFxX6y3E7CCYlWH9nh8SjKjigoCPDV5/diahpTvirHdLvRajvSftEURnUZimXazPtkOBPfntsm+Y155Xx67V2IhxAro3sxbPANzV4vhODBtx4hEiglYQk2vD+dV5/7d4ayVRRFURRlV1FFWyvYtkg3IpGZ7Nu4md2tM7dtkdtDYHpyqNQ9uO04Nclc3A0xVvtL+HrGj2dX6bogv/AgfLnpn+vrcthQOZda2wdIFk+Yyb7HnAhIZo4fS7+yMsygHzsQQTolF14+FIBwAr6YujLzY1X2WC6XyVef3UN2QRaT316CM8ePnuxB5/kTebfTwUScLqoWP8Gbj3zSJvk9dffv2O/oXuRqNVTJ7vTvfS2W1fzs+Y2P3IS/9wAiSUFy9hoeuO26DGWrKIqiKMqupIq2VkhZGrK55ZFstkJys0t2t1prV5EpSaA0iTusscZXRLFVgStlIVKC9d58Niz/ftO1+/YvxBZe/C6bpDSJNeTRZ0AZ1XGTHNPi1tteJrukG5rL5uuPJ3D22aeiNbqxNZtPp33BKacdSsoWNMVs/jXilTYctbIn0TSNT969lS59OjDzlQW4OubjcPWh4+wv+KS4P+WefFKhN3n8H/9tk/z+dsEBHHvZEEr0CkJ0Yr997yQajTUb84e/nE+/E39HbVzgWt3AbVdfjG1bGcpYURRFUZRdSRVtLSQEJFIOpJD8dBHhThVlOxS8ozN78idfW/SQZp609Xhbwvq1a0hUJog63HhcMVx2gkbhoqKuGmn/OBtwxGEdSbmiBPQIoZQfr1tDy+5OJAlFzihRy4FluxBalIbaID169N706MefeJ4eXToQSeq4GmqoKK/c4fEoSnNeevJqDjmmP0tGfgtdSnDm9qHdjNnMyurEkkBH3OIT7r/yUewWLDHeVU4a0pXL7jmVzsZ6GijkyBNeYN2aqmZjhp4wlDOuvYL1jRr+WpvbLjqPWKwxQxkriqIoirKrqaKthYQQJJPOdPfIbSyPlNv8YeM9tv1PO5ZDBiIQW4nZxm38/gLilk7txj/8N1keXDLBSl87vvjJfrZTjuuO20hgijjBJi/rVs0jouUiEfgbyxlyyumAoHr192hC4Er5sd1NWC5Jn71L8ZgGoYSNVRf9eSKK0gq3/P10zr/yGGo+W0ldcQHO4m7kzFjCSs3FrMLe+F1fM+KPt9MUTWY8t/7d87n75Yvo4aqiSWRz8V8+Z/a075uN6T2wF9c9cSfLIzr+Ro17L7mY2trmizxFURRFUXZvqmhrKQHJlL7d5ZEtumUbbY1r3o6XlIHCbFyeHCocPvx2I+FEFi6SrPKXMH/2l5uuc7l0NGM/fDnpAQdrsonEV1Cd8qIhmfK/z9l7yDEgJFPeGc3B++yNWefH8kexjRQXXXEkAOG4xjvjF+za4Sq/SWeffjB33XchsfkVLNfcuAtL8XxdQzQaYkL7/fF5lvHYNddTV5X5WariXA//ee8KevnDJHFx/3NrGf36Z83HlBbxwKgnWRox8CQ0nv/L9axcoTqsKoqiKMqvnSraWshhGKQsM71pra0akexmPDk2rhqbtb4iiqwKEsKBWyao9OZSvfbHw9UH7V+C7jXJclrEpQsrnk/vgT2oiTvId6UY/uD/8OR2QndZfPfFVE4/42REPD2r+drYtzjudweRsASpeJJHHn29DUes7AkOPKA7/33978gNEebV2jhy8zC+EzgrlzC27FDc7ipe/9ffWbWoJuO5eV0G7318Fb3yJQLJ2K8M7rxp60et/MCX5eOpD19keZMLh6UxfvhjzNqsCZCiKIqiKL9eqmhrocKiXKyUji3YczuLbMf9l+zPk1cPAkCzJauXrqGxOkVcN8nyS2KaA5dIsmLVsi3ijhrSkZQRJUsLU5/043GlSLm6EE0JCswwnpxibNtEyjCxhiidOnQBwAbeHj2erqVFRJI6zkg1kbBq96+0XufORXz28d1ojUmmfxfC4fOhr8mlYMVMRnUdhmY28vlrtzDnixXbv9kupmuCD965jJ5lfkyamLuhlLNPurvZGMNh8NS4Z6nQc7FtwfyX3uf9MeoPG4qiKIqyp1BFWwvl52dhJfVm97QBu6aga4uJvO09U0rOPKSM/CwXACVNOprTS+3Gs7NdRj4J3YGLJFMmfrxF6AnH9cHnimOIJHWNPpYumUFYzwHAHVzHsDPOAmD94m8wdR1n3IfliyI9ksGH9cDUdUIJm8YqtZ9Nab3sbC/TJ43A7XTwxefrcPrdiFAZHb7/gtFdhpJwCBZPuY+P/juzTfJ765mz6bNfKX4RZG2sO4MGbr9N/32v3U+isIxYSlD7yTyee3R4BjJVFEVRFCVTVNHWQrnZvo1FGz8WZlstdLZdtUk2OxKgFWTzt9/MD0mmL06lmj/TacvQH1qDbzk4Bwk6FvqYOK8cgGKvicORTbkrmxwrgp1KH8DmFEm++3rqprgsv0kssQ++QPpXLlSdje6soyrpxhCS0U+No/uBQ0GTfDHyfxx78GActVnY3kYSMsZFl/+4n+3l16eiKK1hmgZTPhlOQftcvnxjId78LDR60WnuRN7rOJig00f96ud4+Z732yS/+288kkEnDyBfq6KWvei/9z9IpZpv0//X4X+jcN8DCSUFLKjk3hv/L0PZKoqiKIqSKapoayGfN4vGqJVu+b/ZTNsO1VDbuqjFBVzLp+AkpHvztyjg5z97ZQOzxBAu/uutAPicUdyVSdZ5CyiSFUgr/QHTIEWounxT+JCD26Nn6fidSRptL7qdT7d+vaiNGxS4Ejz9n/GYvhIMV4qlM+dw/InHIlIGEnjo2Sc5Yti+xCwNOxbnxZffbfH4FQXgvbdupPf+XZnz6jzMskIcvr50mDmViQV9Westgqa3+fffmt879ku5/Iz+nHrNUbQ3NhAWpRxw4Ajqg80vAz7j0jM4+PdnUBXT8K6Lcevl55NKZb7LpaIoiqIovyxVtLVQdsBNuCGFrYGUzWxs+yWWNrZ0eq71x7Rt834eGSax3kN8hZvS0mJWLq8kUpsipRnkZDUhN35gFKktD/49emhHbBnCL8KEkj50PUKT0YmYJSgwQrTv1hvbNkglakklEpQUdkAisTXJjOlzKC3MJZzQcIWrSSTiOzkQ5bfoqYcu4+hTD2TVmO9JlrXDVdCLwhlzmecp4vucMjzGJO67/H5SyRbMSO8iRx3YiWseOZuujg1EyefEM15nxbL1zcYMPnIQ59/6V9ZENfwhye0Xnkc0qvZ6KoqiKMqeSBVtLeTx+tA0N1KQ3tO2WSG1eZ221Vd/1tt/J4uwHbDFE+VOVm1SUq7lkajzkjAjPPLg7Tg8XqotHSFt8nM1bCtdtDVG6rcIPebI/vj8FrqwqI34WPT9VOpFAAC9fCWHn57ez7Zi3nT8Lidm1IsdaEC6JcedNABD0wjFbWrLG3ZuDMpv0jVX/Y4rrz2J0JTVVOTk4irqQmDWKjbY8FXxPvjd83ng8luIhhMZz617xwAPvHExPdzVxMjiz/+cweTP5zYbs1fvrtzy/AiWRTR8MY2HLr2CyqoNGcpYURRFUZRMU0VbC/l9JpqW7h4pJQjt54XQjkyISWj9bNw248TPf9wsF9miqm/za9P39coGQlY7SDihJp999+2KiZ/17lzy7TAepwvbTgFQXfHjLEFhgYdgqBs+v0BKiFRnk11oU51w49QkT9z9JmX9ByF0my/+N4pTjzkKoy4Lyx0jFAtxwaXp/WwNCZ1HntzysG5F2Z4TjtuPhx+/nMSiahamnLgKSnDOjZAMVfJRh4PwuVfz9PV/p2p95mep8gNO3vzwanoFGrFw8ORbtbz89LjmY4ry+PfYZ1na4MCd1HntultZvFidW6goiqIoezJVtLWQx+PCMER6aaQt2qbDYxvJtuuwQ+kBuw8zcFCPWZmg3JNHgVaJEA4sO720bN36dZvihh1aihaQBBxxotKP6cijQ89e1CU0Cl1x3v1oJpqzAN2VYs233zP0yKEIWwMb7rj/Pg4evDeNKR0aI4wdO6FNxq78OvXbp4y3R9+ErG7km6oUZnY2+hIn/vXfMaZsCE5XHaMfvp6l8yoynpvL1Bn34VX0LNLRsZgw18/1f36q2Ri3183TH77IyoQHzdaY+OALTJn8SYYyVhRFURSlraiirYVcLhNNA2k5kFIgdqYN5EaZOO5tV9SWvlQNyVo/wgfr68tZvTpIfZ2FFBo5jihgkNpYtC1ZvnpT3HFHdkbIMD4Rpj7uJZWsotEoJWEL8rUgvfYbhLQ1YtFybMsiL6sIqdlYhs36tRsoys4inBC4wnXInV3iqfxmtGuXy+TPhmOkJNO/qUF3utDKiyhZOo1RXYeCmWDamNuZ9tGijOcmBLw/8hJ6dsvBTQPf13bmxKNubTZG13Uee+dJat2FpCzBsrc+ZdQbz2coY0VRFEVR2pIq2lrI4XQhNImGG2mLnevd/ysipM1airEjWTg6aBTmZGP6/dRgoEuLIhFESoOUlDisJHNX/bi/5uCDDiArIBFCUhfOYvGiKQTxAxBfuohDTjsTgEXTJlGYlYUZ9mIFIuCB039/EJoQhBI2q1bUbzU3Rfkpv9/NjIn34fO7+eKDlZg+L3pjdzoumMTosiE0ORysnvMw7z73ZZvk98rDp7PP4DICWh0bUt3Yf59rt/sHiTufuwu9U08ak4Lol0t4fETzRZ6iKIqiKHsOVbS1kMt0IaSNZjuxf0NFm7ephpSVB5aO0V6jU7EXd9LDWk8BRVYdjoSOLQ1SAlxWgqVV6QKrc8cs6qPt8PnAlhrRmhxKu/qoirvx6DbDb3mV9j0GIhw2X45+h7NOPgE96Mc2E6yvXsd5Fx6JlNAQ17n3odFt/C4ovwaGoTPpg7tot1cRX732Hd52OehGHzrOmcj49gdQ7QrQWPUyz93WNr9Pt/95CEN+fwCFeiVButB/n1uIx5tv03/FLVdQNuRwggmBsbiOu/52uZp1VhRFUZTfEFW0tZDLqQMSDSe23IFFh2Kr37ZIs2d4b+eZm6+9tFryGe8nD/NHy0kG078uIjuFHa5Cq0hQ7c4hz6ghUG9h2wZJBG6ZIBhNd+E74rAO2N4kWY4YEduP2+2jsHMfgglBkSvGtG+WgZ6NbiaoWLaCQQcPQiCQtuCWu+9lv4E9iKZ0jMZ6pkyZ1YIBKL9Vo165jgGH9uTb/87H6FqCkdWX9rOmMTW3Oyv97XCk3ufBPz29081UW+Pc3/Xm3JuPp6NjAxHRjoMPf5SaquZnkH/3+xM4+o8XUNGk4atI8s9L/6COvVAURVGU3xhVtLWQbhiAjSbMnVoeKTb73+Zs7+5b3mHLq4WU6Qs25phMtqCd+cZbSZF+iDuygWRtAC1HsHLZKiqrogRD6f1reY4ovsoglmWQFBoumcTeeJD3CceUYdKAV0Soj3uJRNYT0YuwpCCPGvYdehRSCqLBtQAEnHlII4Vt2kCKXK+bUALMerU0Utm+++/8Ayefeyjrxi2mqUMhroJuFMxYwCIzm3l53fCZUxlx2XAScSvjuQ3uV8JNT51HN7OcRnI564J3WbhgRbMxAw8ewJX33sCqBg1/RHDXRecTDgczlLGiKIqiKLsLVbS1kOnQkMJGYGLbArkzyyM3hYqdahSyIxnInXiCZqdYluiAbPDj6KDRubQIRyCbas2JaSfJsYM4Y42kUgYJoeOSPxaH3bsdgDc7/X1dfYDlK2ZQa6f3s1XNXsCgE08DJHM//5AuRUU46jfuZ3PbnHvxoQghCMdh3oLyVuev/DZcduGR/P22s4nOWs86bzbOojK8s8upTST4ot1A/O6FPHjVjYTrYtu/2S7WudjHk6Mvo6c3SBwvN474lo/GTWs2plPXjtz930dYGtHxxjUev+LPrF+/utkYRVEURVH2TKpoayHdoYO00KQjvadtGyWT2JGlkxmwRbHWyvrSn6iGhAekwGgvKM1z4Ik6WeMtpMiqxpU0AbBSBnHNwEV6f07fXnnEk/n4PRJLGjTWFdC9TwHVcSdZDotbbnyR/E590Jw208aO45wzTkGP+JBGivnLvuXMcw7HltCYgLvufXNn3wplDzbs8L15+vk/k1pex/eNOq78Qhzz42i1qxnXaTBe93pe/OffKV8VynhuAa/J6I//TK+cBBKNV8fHePyBUc3GZOdl8/gHz7M0auK0dEbfci8LFszOUMaKoiiKouxuVNHWQg5dRwqJ0Iz0WW0tqM1+XjO1soraVthWX5f8kKSU9o7ffLMNP9mJShJBHQRo/hSh6nLsihj1Tj+5ZpDsmjgJzSCVMohpDpykZ9qGHdoB2xcjYEQJW368XhNPcR9CCUGRs5HV5SFsvGhGjOCGCvoNGJB+tA13D3+YfXp3IZI0MKN1LFq0ZIfeGuW3p2fPUj54/zZEKM6sNU3ovizEch85a+YyustQTGeY95/8B9/NXJvx3ByGxvhxV9KzvYlBgqlL87nigoeajXG6TJ4e/zxrLD/C0pj2+Ot8+vG7GcpYURRFUZTdkSraWsjQN+5pw9ih7pG/xHybaNFNd2bPXZoZqyJVF0AvEIhYnIZIitpo+r6FRgOe6iAr/UXEkxopzcCU6SYJJx3fBYdowiUaqYt5qa5cQoOWj40gO1XFwcefCAjqK5YD4BXZSDOB5bIpapdFlstJOCHRguFWjUHZ8xUWZjP183sx0ZjyVQUOlwetpj2li79kZNdhWKbFnA/v5ouxC9okv3dfu4BefQvwEGJ5Q1eOOPjGZq8XQvDwyMeIZLUnaQnWvfcV/33xsQxlqyiKoijK7koVbS2k6ek9bZpofnnknkKQYmWqGzLqxSjVcLlMTF8OVboHtx3Hb0Uwk3E2FBQTT6VLPcOOoeuCvPzB+HPS9wnWBqiomket7QMkiz6ewb7HngRIZo4fS/+uXTDrfFiBBnBKLvjjUABCCfhiysq2GbyyW3O7nUz77B6y8/1MHrMEd44PPdmdTvMmMabzoTSYTioWPcH/Hvu0TfJ7ZvgJDDyiBzlaDVV2dwb2uQ7bbn62++ZHb8Hbcx8iSUFi1moeuv36DGWrKIqiKMruTBVtLaQbGmAjhL7LDtcWsFP32dGJt9Y8wRRh7IQDEBjtBHneFO56jTW+IoqtCjyJ9H62ZEkAUum9bCLRyH4DikC48blsktIk0ZBP7wGdqY6b5JoWt97xClnFe6G5bL7+6FPOOutUtCY3tmbxyVcTOeW0Q0jZgljM5u77Xm1F5sqeTNM0Jrx7K517lzLr5QV4OuSju/rScfYXfFwygAp3Hsn6N3jyhtfbJL/rLj6Ioy89jGK9gno6MXDgHUSjzTdAueCvF7D3746jNi5wrYxw+58uwbYz3+VSURRFUZTdjyraWkhoP8y06elz2vbww7VNESJZa4IGwp2kfNVaElVxog432c4wgaoojbqTbH8KO5Xey5aKN3DEYR1IuRsJ6BFCKT8+r46W3Z1wEgqdURptB7btQmhRGuqC9Ojea9Mzn3jyRXp27UAkqeNqqKGyorKthq/spl595s8MProfS95agL1XMY68vrSbMZMZgc4sDXTAxUfcf+Wj2C06nHDXOGXoXlx69ymUOdbTIIo44rjn2LCuutmYI04exqnXXM76Rg1frc2tF59HLNaYoYwVRVEURdndqaKthbYo2mwBbGu5088/LIoWznX9fAYt8x9AoyJJKpiNXiIgZZOSBrWxdGbFjgie2npW+kvwuSxsKwVAU7iek47rjtuIYYo4wSYvq1fNJazlAoKs6AYOP/UMQFC96js0IXCl/NjuJiyXTd99OuB2GIQSNlZdNONjVnZvt91wJudedhTVE1YSbFeIu6g7uTMWs0Jz83VBL/yu2Yz4453EGlMZz21gjwLu+s+F9HBV0kg2F149gTkzFzUb02ff3vzt0TtY0aDjjwruvegi6uqaL/IURVEURfltUUVbC2laulATmtb88kjxk6+bf9/a2mtrcVs8/ycXyC2/plI70j0yzcIGh81yvSfE3DhKNXxOHdOdTYXDh99uxJuKYlhJVvlLMDVt01Ku+mANur4f3pz0r1ewJptobAU1KR8akslvfU7fIceAkEx5920O7rcPZp0fyx/F0i0uuvJIAMJxjXfGt00DCWX3dO6Zh3D7PefTNK+cFYYLV0EH3LOriTSG+LT9/vg9y3j0L/8gWJ35Wap2+R5eGHsFPf1hkri496nVjHlrYrMxJR2KuX/kkyyNGHgSGs/93/WsWrU0QxkriqIoivJroYq2FtI1sXGmTWynEcnGNvsZy2wrGfykoEzZOz7zkNJA+JOIhvSviF4MOZ4Y7hqbtb4iiqxyvE1OACq9eWhCx9pYtKXsMIbXSZYzRVy6sOIF9BzYg5q4Qb4rxT0Pj8ST0xHdZfHtpCmcfvpJiLgTKSSvvvMWxx13EAlLkIoneeTRttmTpOx+Bh3Uk1deuw65Psz8eoGZm4/jO4mzahljOx+Kx13Ja3f/ndWLazKem9dlMPajq+mVn/7DyJgpGv+69eVmY/wBP0+Nf5HlTU4clsa4ux5h9qwvM5CtoiiKoii/NqpoayGhCaSQgA4IED80CtiB8uxnl7T2QADZzE+7kD9JotYNDsCZYs2S1TRWJ4nrJtmui7fX8QAAIABJREFUKFkVYUIOL9IjAYOUlCAlWTkxknqELC1CfdKPx5XAcnUhmhIUmGG8OcXYtom0Q8SjjXTq2BUAW0jeGTOeLqWFRJI6znA1kXDklxqd8itSVlbEpx/diRZNMn1hBMPrQazJJX/VbEZ1HYphRvn0lVv4ZvKKjOema4Lx715Gj85eTJqYs66Ec08Z3myMw3Tw5LhnKddzsG3B3Bff5YOxb2UoY0VRFEVRfm1U0dZCOgKEjSbSb90Ws1mbH6Amt7qWsUXP+ukd5HbDt7xACm2Ll+RWc9rWw23WF+RghbIx2mvotobm9FGbTI+7xBHGXR9iRVY7tFwbKdNFm8tK0PuAYrzuBIZIUtfoZeniGYT0dO9/d91ahp5xNgDrFn+Dqes4Y14sXxTplhw8pCemrhNK2DS2wRI3ZfeTk+Nj+qQRuEwHX0xah+lzo9WX0XHhZEaVHU7SIVj45X18/MasNslv5HO/p8++7fFRz5pYNw7Zb/tt+ke8dj/xgs7EUoKaj7/hhcdHZCBTRVEURVF+rVTR1kJCgBQ2YuNbJ/h5S265o3NfO1zDtW5mLWX9cHE6oiVFm8dOsk7rBgkTR3tBlmljOrLZ4AyQY0Uw43F022K1rxgzK4ltG6QEuOwEEXtv/IH0+xOqykFzBalOeDCEZOQT79P9oKGgSSaPGslxhxyCozYL29tI3I5x0eU/7md76fUpO5yvsmcyTYOpE4aT3y6XL99ciCcvC93uRae5ExnbYRD1Th/BVc/yyr3j2iS/h246mgNP3Ic8rZpasRf9+lxPKtV8m/7rRlxHwcADCCcFcn45I266JkPZKoqiKIrya6WKthYSIj3TJja9dTve3GM7d95F9/mR3Il75qYaIZz+Xi8S+I0GXJUJ1nkLKaKCrKgBQK03gMNhYVsOkghcdgItW8fvTNJoezFkPt379aI2oVPoSvDsKx9heosxXCmWzpzDcScejUgZSCl46OknGTZsX2KWht0U48WX3tkVb4PyKyWE4INRN9Nz3y7MeWU+ZucCHN6+dJj9JZ8X9GWdtwiaRvHva19qk/yuPKs/J//lCNob5YRFBw448F7Coea7nZ552ZkceNZpVMc0POuauO2KC0ltPN9QURRFURRlW1TR1lJCIDW5qWjTdtE5bbvbaW/ZySiJGi/CBbaWZPXyChpqU1iaTsAZJauinmpXAOFJzypYlk5C03GRxCaCX4SpT/rQ9DBNRidiliDfCFHavXd6Vi5RSyqRoKSgAxKJrdvMmj2X0oJcwgkNV6SGZDLRxu+C0paeefgyjjhpf1a8/T3JLsW4CvpQPPMb5npLWJhThkf/nPsue5BUclf94WTHHX1QJ/7vobPo4thAlAKOP/01Vi7b0GzMwUcP5g+3XMPaqIa/XnL7BecRjao9m4qiKIqibJ8q2lpKkJ5p27h/TdvK8shfPSmpF8XYoWyMDhoOKTC8fqotHSFtivUgrkiYlf526PnpctNKOUgIHTdJ/H4LXVjURXws/H4q9SIAgLZhBYefnt7PtnzuNPwuF2aDFzvQgHRLjj2pP4YmCMVtqtc3tNnwlbZ37Z9P4LK/nkj9l6uozs3FXdSVwMyVrJMa04r2xu+ex/2X/5NoJPOFfa/OOdz/+iX0cNcQE1lcfdNUpk6c12xMt757cfNzI1gW0fE1aTx46eVUVZdnKGNFURRFUX7tVNHWQtrGPW3axq4goiXNPX4l/HFJONUeUgZGe41sj8Qpfax355Jvh3DGQZOS1b4SXL44AKmUTkxz4CKB1y+QEiJV2eQUSaoSbpya5Mm736Rzv0EIw2byyFGcduxRGMEsbHeMUCzEhZcelY5LaDzy5Pg2fheUtnLyCQfwwL8vI76wmkWWE7OgPc5vwiTCVXxceiA+9yqeuu46qjdkvrAvCLj47wdX0SsQxcLksderefW5D5uPKc7nkXeeYUnEwJ3UePW6W1iy5NsMZawoiqIoyp5AFW0tpCFg8+WRsvmlWWKbP2zfrjkQ4Ef2DtaX+VEbO5T+Xi+wcabqMCsSlHvyKBBVZEXARlDvdKEb6fEnkzpxzYFXhAk44kSlH9OZR8cevQkmNIpcMd79eBaaMx/dmWLNtws5/IjDEbaGlHD7iPsYPGhvmiwd0djA++9/2srRK79mAwd0YdTIG5FVUeZWpzCzczAWO/Bt+J53yobgctUy8sHrWbagKuO5uUyd9z+6il5FAg2Lj+d4ufEvzzQb4/G6efqjF1mZ8GDYGp898BxTv1S/24qiKIqitIwq2lpKpA/X/qGk0sTWi7ZNBdfOTsRtNX7r5dwWr27sGik2u0GqaceWcmY3SJK1foQPjESMtavrqQ9aSKGRazbgrwhS7slj1leTAdCwiad0bKGR0349PhEmGPeSSlQRNdqTsAV5WpBeBwxG2hqxaDm2ZZHnL0JqFrYuKd9QTlG2n3BC4IzUtex4AmWPUFqaz6QJw9ETFlO/qcHhcqOtL6J4+TRGdh0GZpwpo25nxieLM56bEDBu1CX03CsbJ1G+q+nEycfc1myMbug8PvZpqp0FWJZg8Ruf8PabL2YoY0VRFEVR9iSqaGshTQOERLDZ8sit1lC7vhvk5poracRPvvvhWnsHKkghJeVNPbAjARwdNHTdwOH3U40DXVoUiiDOaAOr/CVM/+pzADzCIplKF6++IhshJHXhAAu/n0IQPwCxJYs59JQzAFg4bRJFgQBm2IsViCA9kjPOG4QmBKGEzeplwRa+G8qvnd/vZvrEEXh9Lr74cCWugA8R3YtO301idOchxEydlbMf4r0X2+YYiNceO5N9BpUR0OooT3bngH2u3e4fFu5+4V/QoTtNSUF48iKevP/2DGWrKIqiKMqeRhVtLSQRSCE3nXQtttk9cmuvb+ta0cy//fS6nbH9Z/iScZJWHlgaRqlGjl/gSXhY58mnyKrFkXAggDW+IlZ8OxuAbGEjN7Yt93nBlhqN1dl06u6jKu7Go9vcfdMrtOsxEOGw+XLUGM465QT0ej+2M8n6qnX8/vxhSAkNcY3hD4zeyXEqvyaGoTP5w7spKSvgq/9+j6ckD0PrTaevJzKu/QHUurKIlr/EC3e83Sb53fmXIRx61n4U6JXU0YV++9xEIpFqNuaqW6+m0yGHUZ8QGItquftvV6jZY0VRFEVRWk0VbS2Wbvn/wxsntranbbu1VUuKr9Z80EvHCLlluL2d/XcA2YkmUkEdAC3HwgpVIiriVLtzyNNryQ4mSQmNkKaRaGpEAF4psK0kuUYlWY4YEduP2+Mjr1MfgglBkSvGzPnLQc9GNxNULl/JQYMPQiCQFtx81z3sN6AH0ZSB0Rjiq2mzWzFm5dfq7df+Tr+De7DgtQUYXQpxZPWh/cxpfJnXk1X+dhip93jwz8/SFjXP+Sf24Zwbj6ejsYGIaMfgwx6htjrUbMyJ553IkZecR0WThrciyT8v/YM6vkJRFEVRlJ2iirYW0jS5xUybvrXDtXfow6Xgl15CCT9sbZOb/9QsdyxOsjYLLUfgqg9TWRUlGEmPMc/RgLcqyFpvIVM+/2RTjFNo2FaKAwrn4BURgnEv4fA6GrRiLCnIo5r9hh2FlIJo3RoAAmYe0khhO22EZpHrdRNKSMz6+l38Dii7swf/dQEnnnMIa8YtpqljEc6CHhTOmM9CVy7z8/bC65jCiD/eSzKR+aM1Dunfjn88cS7dzHKi5HLa+WNY/N2qZmP2O3Q/Lh/+D1Y1aPgjgrsu/APhiPqdVhRFURRl56iirYU0ITdOYW328x7C4zRYIXsjG/w4OmgInwdHVjZVwolpJ8nSYzhjTaz2lzBz+qRNcYatYdsWufnpJZLBUDYrV86iTqb3s1XOWsCgE08DJN9M/JCuRcU46jfuZ3PBeZcchhCCcBy+ma/OrvqtuPzio7j2ljOJzljHem8AZ3EZ/lnrqU4mmVwyAL/7ex666kbCwVjGcysr8fPEqMvo6a0jjpcbhs/n0w9mNBvTea+O3PnqQyyN6HjjGo9d/ic2bFiToYwVRVEURdmTqaKthdLntIGQP3SP/PUUbdtbXnZInyJIuEEKjPaCnCzwNjpZ4y2kyKoi5Egfkr3WV8jaRT8eJqyhk7Jt/G5ISYPGuny69SmgOm6S5bD4540vktexD5rTZvrYDzj7rFPQIz6kkWT+knmcec7hWBIaE3D3Pa//km+Bsps4alg/nnruTySX1fFtk4YrvwhzXhME1/FBx8F43et4/ubrKF8dznhu2V6TUR9dTc+cOBKdl95v5MmHm99Pl5OfzWPjnmdp1IEzpTPypuF8++3XGcpYURRFUZQ9nSraWkgIG6n9uDzS0H89Rdv2DOtXQrLOAAHCnyJctQGrIkbI6SfXrAchiGsGdfEY1sbGIwBIA49rHQEjStjy4/WYeEp6E0oIipyNrK4IY+NFM2IEN1TQr3//dJgtuPueR9inVxkNSQMzWsfiJcvaaPRKpvTqVcr7Y29FBGPMWdOEIysHfbmX7LXzeLvL4ZjOEO89eQMLZ6/PeG6moTF+/JX0bG9ikODLxblcffEjzcY43U6eGf8Cayw/mqXx1eOv8fmE9zKUsaIoiqIovwWqaGshTf5kT5v24562Lco3+cvvV9uen2Wwnfry0P26kQpmoxcIrEQjkYYUtdF0UL4jCsBqXwlfTBj/4y2lQNoG7dqvxiUaqY95qa5aTIOWj40gO1XFwSecBAjqy9MFmZdsbDOO5bIpbh/A73ISTkhEMPOzKkpmFRVl89XnI3AgmDq9AsPjRlS3o92SqYzqOgzbYfH1B3czeeyCNsnv3f9eQM/eBXiIsDTchaMOvbnZ6zVN45FRj1Hvb0fSEqx5Zwqv/+eJDGWrKIqiKMpvhSraWkjD3qIeM42WRLduVq61XfN0KWGz47WT1rbblOf4TLTOhyOjHowOGj7ThenNpdLw4LHjZBX4AFjlL2bOzC82xQlsbMvAl59+SrA2QEXVfGosHwLJoo9nsO/RJwKS6R+MZcBeXTGDPqxAA9IpuejyoQCEEoKJX65s3UCVXwWPx8m0z+8lK9fH5DFLcAb8aPEedJ43kTGdDqXBdLLhu8cY+cRnbZLfcyNOZMCwHuRoNVRa3RnY5zpsu/mOq7c8dgue7nvTkBTEZ67i4bv+kaFsFUVRFEX5LVFFWwslEwlsAcLeuDzS3HpFtXssmtzy4O94fNsd+A7fuwQZdwACo0SQ77Vw1wvWeIsotitoyi4GCRu8BZSvWLQpLtcIY6d0/C6bpDRJNOTTe0BnquMmOabFP+94mazivdBdNt988hlnnXUKWqMbqdl8MvVzTjr1UFK2IB6zuef+V3/B90JpS5qm8dn7t9OpZ3tmvDIfV6d8DGdfOs6exEft9qXSnUMy+DpP3fxmm+T3jz8O4qiLDqVYr6CezgwYcBtNTfFmYy669iJ6H3cstXGBc0WYO/58yXaLPEVRFEVRlNZQRVsLNUaaNi6PBJAYTp1MtO5vDfmzYwW2XUoO69eORK2Z/o3wxClftZZEVZxGh5tsMwxi43JQRwq52QfTIrMOK7mMgB4hlPKT5dfRA92JJKHQ2UDMdmLbLhBRGuqCdO/We1MmTz71H3p2KSWS1HE2VFNZUbnr3wRlt/Df5//CgcP2ZvEb8xFdi3Bm96XdzBlMz+7CsqxSXHzEfVc+hm1l/s8dpx3RjYvvPJnOjvVEKGboMc9QsaGm2ZijTj2Sk//vj2xo1PDXWNx68XnEYk0ZylhRFEVRlN8aVbS1kCbc2IKNLSTB9G4siiTsaIG0Na0r+3bdB9zBg3uTCmZjlAik3YQlDWpj6awKN+5nA8g3tzxYuIgKDM86TBGnrsmHoa8mpOUCgqzoBoacegYgqP5/9u47Tqrq/v/469wyc6fubO90EATFAghGxRIVNUUTjUaNJXbj9xd7SOwNMTFqYjQmxoItisbeG2KjiIgIFuqyu7B9Z3Z6u/f+/hiyFGHZVXZAc55/yO7sPfd+7jD4uO89bc1SFCEwsl4sVwLLsNht7ABcukZX2sLsjCF9P133+19wwq8PoeW1FYRqyjHKd6Fo3hes1DwsLB2J15jPzWdcRyqx9eG7/WXvkaVcc98pjHC2ECfAKee9yqIFX/XYZsy40fz29mtYFVXxxRRuOu00gsGeQ54kSZIkSdK3IUNbnzmwlNwCHELYGE71a0f0PoD1LnR9k0C3aR9b7ivb3vLwyKpiN7GSiZB0odUo+HU3uitAs+7FZ8VR/bml/lGgWNuwWIhhqDSuKMMbyH3fUl+Aw9lMe9aLgs2sx95mt8mHgbB57+kn2X/sHjg6/Ji+GKaW5bRzfwhAOKXw1Aufbl6W9D1w8gkHcOWNJ5P4ZB2rDQ9G2QDcH7cRTkR5q2ocPvdy7rjgckLt+e+lqi71cO9z57KrN0wGg+vvXMWzM2f32KZqQCW3PPE3lkdU3GmFey64mDVr5IqnkiRJkiT1Lxna+soWuWGHuc3a0IwtRKptZbF+GgG28YIlNt0jOLvDm72VFU0O3r0SNZoLn2olFBopXO0WDd5yKswmkkZh97E+Eef/LjuCCy85hB/sU4XwaPicWVK2QarFTcZZSHtKo8TIMv32mbgKB6AaJkvf/ZCfHfsjRNqBLWDGU48z5Yh9SJuCbCrDX+7cMXOZpP7zg31H8sCMi7DWhlkSUXAWlqIvMdFbV/L8oP1wu5qZcd0lNCzvzHttXpfGs6+ez6jiLDbw5DuCW659uMc2/oCPu1+5jxUJJ7qp8vx1t7FwwQf5KViSJEmSpP9pMrT1kaoq2KbaHdq+S++gvZW0mJvP5gId0JLUL28g3pYhpToIGJsOWxQCTp5wMidMOINDJw/A1mL4lQihjA+XyBKxa4llBWV6BF9xFZblwLa6SMXiDKgdCoAlLJ599hWGVJfn5rOF24hGIv19+1IeDRlSwRsvX48SzTD/qwiK24NSF6Ck7mOeHHowmiPGG/dfwafv1+W9NlURvPzcOYwc6MZBko8bKvnVsdN6bKM7dO5+8Z+sFQEwBZ/c+zSvPP9EniqWJEmSJOl/3XcocuwcFAUUy8CycsMjv+ly/JsTO3C9yb0nj8fsCqBVK6iWheJ005HJfTRqlE3nsAndZNiaOmrXruGoKbvicWXQRIaOmBdDSdOl5nrljGA9Bx57PAANXy3Eqak4Ex5MbwzLZbPfgSNxqApdaYt4m5zP9n1SVORj7ju34NQ1Zr+zDt1toAQHUvvle8wcchBZHZa+czOvP7Fgh9T35H0nsuuelXgIsSYxnP3HX9bj8UII/vjorSRKBpLKClpf/Zj77rolT9VKkiRJkiTJ0NZ3wkTgxLJyC5F811f4Hl7lJ+LaFdIO9BoFv8uBQwuwzllAkRmhKLlpmEw53PhiQZYm4kSTY/EW5AZfftowEIdI0ZZ2owmbx//yPLvscyAoNu/NfJIp++2P3uHH8sRJWUlOO+dQALpSCv96+P1837bUT5xOnQ/fnEZxZYDZj3+Bp9iLau3KoEWzeLZ2X7ocbjrr7uHhP7687ZP1gzuuOpx9jtyNYqWNdoYzdvRlZLNb3woD4NJbLqV4j3GE0wJ70Tqm/+HCPFUrSZIkSZKUI0Nbn9koGNhWbnik1aeutr4tKbL50b3tjbM3+WrjiW5fT5iHjK2CYO5joJbZ+JQoRmuWRk8ZZTSjKI5N6tE6c9/Pq1+M5hf4HBnilofl4cGoRSodaZUyI80/H34V3VOBZmRZ/tFCjvzxYQhTw7YEf/77nRx04F4kswp2IskDDz7Tq/uSdm5CCF5+8g+M2HMQH89YjDGkDM2zGwM+epc3y3dnracMOzaTOy56cIfUd/4Je/Gj8w+hSmuiS9QyfsJNRMI99/KecO4JjDv2aNqSCq6GOFefeypmD5vUS5IkSZIk9QcZ2vrMRrWdWPZ/Q9uWj+kmvn7Ahle2HeI2i109EpudefOzp1NfD20Hja0k3eFFuKCldR11K1uIdKQxFZUCZxR7k5PY+FsTZFWd4iFdCML4RRehjBdQiFcXkTQFpVoXA0aOwbI0sul2suk0FSU12MLG0iwWLFhMTWkR4YyCEWknm8308g6lndk//3IOB/14HCufXEp2SCVG8a5UzvuYhd5qvgwMwq2+yS3n3IaZzX/39BE/GMxv/nQcQ/S1RCnliKMfYs2qph7b7H/4fpzwuwtojCn4gjbXnHYSsXg0TxVLkiRJkiRtIENbHwlhIYSOZQls7M1WZLQ3+m8v9Pc0NrHpRbKbbVwsBAyfdCBWuACtRsGlO9C9XtpNDcW2GB5v3uR4Rc9Q3NlKq6eAQw/dA6/PRBEWnWEvAEFHbu1/pXEVk3+em8+28pM5+F0uHDEPlj+C5YIjfronmiLoSlm0rZUPwd8Hl/2/n3DG/x1FcHYd7aXFuMqHEpi/ino05paPwedaxC1nXUU8ks57baOHFDL94dMZ6WojKfyc+7v3mPPu4h7bjBgznKn/mMbKqII3ofDHM86kra25xzaSJEmSJEn9RYa2PrLJhTbbEggB1pa72vJRSK91d5Zt1mbs4CISai1kNbRqhcFVBRiWj0ZXESVWFzVftW5yvGqpuJIRPukK0tk1DK9PYNvQVh8ALFrTLpyKxV9veIxBu09EaBbvPvkUP5tyKFqnH8uVIpwMcsoZh2LbEEmr3P63l77NuyDtBI75yT5Mv/0MUktb+Mpy4iipxrkwRDLczus1E/C6VnPXxZfS3pT/BWfKAgYPvXgeo/xRsji4/aEWHv3Xaz23qSzltmfuYVlEw5VRefCiP7Bi+ed5qliSJEmSJOnrthna7rvvPlpaWvjss8+6XyssLOT1119n2bJlvP766wQCge6fTZ06leXLl/Pll19y2GGH9U/VO5CNhbDX97T1uHrkFn7Qx3z3tcM3f2F9GttWDbkhjgLL2nTBhYPHVmGFcidRSy0cVhC9NUWzu5hS0YowNx1g6WnLDWtb1PQpwmfj11NEbR/JuJ/BJV10phXKjRTPv7EAxVmC6syy5rPPmXzwZISlYFtw9bRb+MHEMSRMFRGP8MKLb/XlLZF2MnvvNZQnnvgddkuMT9osHIVFaF9peJq+5JnBB2AYHTzxx8tYuaR12yfbzlxOlRdePZ9RZQKBySsLXFxx0T97bOPxuvn7q/exKu1CsxTevOUe5nwgP6OSJEmSJO1Y2wxtDz74IFOmTNnktalTp/LWW28xYsQI3nrrLaZOnQrAqFGjOOGEExg9ejRTpkzh7rvvRlG+b515Fur6nja+NjxyS3qat2Zv4att2/qxm19r8yM3/f7gsVWkO30IH6xZvYZ19SFCnSa2UAjomw9btAm0RUnrBsPGWmgiileECaU8JG2NgZURMpagRAmy6z77YlsKyVgTtmVR7KvAVkwszaa5uZmygI9wSuAMd/bi/ZN2VrW1pbzz+o2oKZMPF3Wge9woa0upWDmXJ4cehOJI8u4TVzH/zWV5r01RBC8+dQYjh/lxEuOztgEcPeWaHtuomsqdz/2dVr0EyxR8+chrPP3EA3mqWJIkSZIkaeu2majee+89Ojs7N3ntpz/9KTNmzABgxowZHH300d2vP/7446TTaerq6lixYgUTJkzoh7J3HFtYCKFttBDJ9gkd+Y4uuqZQNv5Q7HABeq1CRXEhmsdHGzqabVKob7pIg7AiFHW2ECosZtI+E/AWmAhhEwwXkLZVYqoLgOJoE/sffRwAX3zwNhWBAI6wG7Mggu2yOfakSShC0JWxqFvR+bW6pO8Gv9/N3Fk34/YYzH5tDYbfg4gMYeDSd3hq0GSSDpWVH93Kiw98uEPqe+TO49htn4H4RZB16RFMHHvJNtvcdP807JrhJLKCrne+4O5br+3/QiVJkiRJknrhG3WDlZeX09ycm5Tf3NxMWVkZANXV1TQ0NHQf19jYSHV19XYoc+eRm9OmrN+nrTc9bTunCSNKyVrFYClo1QoDKjy4Mm4a3CWUmR106JFNG7THcWYSxAsdhOLVeD1g2QqhdYWkbZW2lIFHsxjgbaJyxF4ousV7Tz3D8UcfhRryYTkzNLY1cuIph2DbEE0p3HTrf3bMzUvfiq5rvPvqDVQMKuWDR5fiKQugitEMWvgOL9RMpMPwE1l3P/ddt2O2crjp4oPY79i9KVVb6WAoY3ebSjrd8zL9v7nmAmom7UcoLVC+aOfGS875zv7bliRJkiTp+2e7jl0U4utDAbf24HPWWWfx0Ucf8dFHH1FSUrI9y+hX9ubDI7fDQiQ74tHw4LGVZDtVAEQgixVqRmlO0e4qpFjrwN5sWKu7MQGAURHG9KTx60kilg9voZuimizBtKDcmcThzoJagOJM0bKqjgkTJyIQ2Bb84bqbGLfHCGJZDT0eYs6cBXm/b+nbe/qRy9h90gg+fegzHIPL0f2jqfnoA94tGckabyVq+jlu+79/9jDXsv+c9tMxHHfpFGq1dYRFNfvu92c6O8I9tvnpr37CQaf9kpakgrcpzdVn/opMRm5DIUmSJEnSzuMbhbaWlhYqKioAqKiooLU1t8hAY2MjtbW13cfV1NSwbt26LZ7j3nvvZfz48YwfP5729vZvUsaOISyEEN3DI/vzt/Ffz8Df8Fr211sfuGctmU4/SqFg9bI6WtridERyC40U6+HNmlsEWkMkDC/+mi4MEcEjIgRTHlLOOL5yC9MWFNNOXWQAti2IdeR6XAucxdhaFsthoWoWhR4XXWkbPRT6Zvci7VB33HwaR/1iX9Y8/yWpweU4y0ZSOu8zlholfFY0DI/+HtPPuplM2tz2ybazA/aq4ZI7f8kwRxMxijnmpKdY9sWaHtuMP2AcZ9xwGWuiCr4wXHvKSYQj8rMpSZIkSdLO5RuFtueff55TTz0VgFNPPZXnnnuu+/UTTjgBh8PBoEGDGD58OPPnz99+1e4MhIUQ6karR25pq+xehCu7N1trb7WIDV9t9SRisz8hvf5B2u3UcI0+HDvqQ69VGFxbjl5QSJv30F08AAAgAElEQVRw4rAyuIpXYysbNkBW1RhFwVZChUU0dfrwFOZ66IKhANBEW2Nun7bicCuL6kcCNp+89TJDyyvQQx7MQATbCRdfeDhCCLpS8MmnPW9sLO18zj/zcP7f1J8TndvAOl8AZ9lgfB810prN8l7lHvjcS7n13N8TCaXyXtvQaj9/eeJMRrk7SeHh0hs+4e1Xev5/z0k/Oo5rrvgTKyIq3pTCHWefR1NzY54qliRJkiRJ6j1tWwc89thjHHjggZSUlNDQ0MA111zD9OnTmTlzJmeccQb19fUcd1xu4YnPP/+cmTNn8vnnn5PNZvnNb36DZVnbuMJ3iy1MFEXJ7dOG1dN6+/2nl2nPtsEWArG+xHgy9zC9/+hyhOkGW6DVCGpKdMKrstR7SqkwW2ktDmK1+LrPowVTaGaaaJFBKqWCdyRf2AqRlg4cRSYdKQ13yiLgS9IYCaA4LeY+/zLnH38MasRLxt3GomWLOO3kAzFtyMSzXH/zo9v7XZH60eE/3JO//v08Mss7WJLUMUorcH6awAqu5aWhP8TjauDeqZfSXN/zUMT+EPA4eOLV89m1MIGJyn3PRrnnjp7n000etz8nHHouy0udOLMq//7d9Xy+dFGeKpYkSZIkSeqbbYa2E088cYuv//CHP9zi69OmTWPatGnfrqqdlKLketcECrYtcKipXDL65l1m30LvLmpv8nXuu4PGVpJu10GA7UoTal0LzR66XD4GiXpsZdN2nqYkAHptFxGHg6zpIBET+AMOIh0DiJUqVEXSZNwOEmgYappgUzO7jx0La3MbkN908x1cPvXfRDManshali1buZ3eB6m/jR49gOeevQI6k3zcmMQZKERd7sLfMJdHRkzB6Qzy3J2/44uP1+a9Noem8Mqr5zGyUkclxqwvSrngzN/32GZ47TCmnnQtyycaKKZN/L1XeOctucm7JEmSJEk7r+/bJmr9StMVEBbq+jGJTi2GpWyce7cVpLbWK9f/qW/jKx8wfjjZzgLUMsGaVY1EozYdsdwRpXrXpu0Ui6LWIFFPgKLSIH6PD0URdIQE7S3LiGZc2KqgIJJmRfMAQOCO5RYt8VCA5UhjGzB2dDkOw0EqmsIt57N9Z5SXB3j/rZvRLfhwfjOa4YKWKqqWfciTQw/G1jMsePF63nthSd5rEwKe//epjBxZjJsIX3UN4bAD/tBjmyJfEX+7+C5WjzcwnYIhc1N89cmTeapYkiRJkiTpm5GhrQ80h4otLJT1b5sistiiD2/h1ieg9fYEuT+2MSKz+yqbDd20bJtCrwNROxk77karURg+qAKHt5AWzY3bSmG4Wv97NAAxryAQbqWrtITGdSWY7ioAlESUptbFdJo6WDbuzgx10TLAxrMuzF7DhuLo9GEWRLCcJpdfdETutO2t6JHEt3wfpHzweAzmzpqOv9DDu8+twAh4UdIjGLR4Fk8P2p+Yw8naz/7Ck3fN2iH1/Wv60ewxeQQBpYMWczjjxlzS48JATt3JI9c9yJrdPCT8CgULOvGEe94KQJIkSZIkaWcgQ1sfGC4HCBvWBzUhTOwdMDZSbJTaNn1E3fIDa/ertsVBu1diZxyAQKsSVAUE7qCg3lNOhdVMzL3pORJJF6plkqzyYCku4sJNJK7gjGeoHjKRiF/BHbLQMoJ224VqWDjXJjju+GNQEi5sxeK1999m/4PGk7UEzpZ6RFbuf7WzU1WFt56/hgG7VDFvxmcYtcWo+m4MWjCbl6vG0eIqJNX5CH+/4okdUt/vz96Xg0/dl3K1mRCD2HOPq0kktr4AiiIUHr7hflqHBoiUqzhXdrH0ldfzWLEkSZIkSdI3J0NbH+w7aTcQFsr60KaK7PZb8j8P2c/G5uCxVaTbHaBCWsRYt6qBVGuKuO4i4Ahv6A1c/4fRlsJG4B0cwXTGEZpCV0ShsjCLlhxIPKDgbbWwgRQqTpFFTVmMGDZq/TXh7r8/QGFZCZG0ijfS0v83Kn1rj/7rt0w4eAxfProYhpbhKBhN1fy5zAkMYZW/Bqf9Cn86706s7bBPYV/94tCRnHLNTxmkryVKBZMPvZvmpo4e2/zt97eSHVhDxxAdX5vJVaefhGnKXjZJkiRJkr4bZGjrg/33HY8tLISdSzRCmGDvkFVIvrFJk8aQDRWiVQram9rJCpWOZO4eKjbbn810QlFHJ2F/ER5HE55AGYoCVirLmrpFhDMuUAT+rv8+/AoK0wkENkbWi+VKYDltjvzhSDSHRjKaRLHzv3+X1Dc3XHECvzjtYJpfWUaopgxX+UhK5n/JCs3HwtKReJ3zmH7m9aQS+Q89E0aVc+W9JzPC2UycQk48+2UWL1zeY5upv76IsqF70TTGgT+mcMNppxIM9RzyJEmSJEmSdiYytPXBkEHV2IqNEBuFtu2W2fo3/AmgyKMRL54ASQOtRmHYoAocRhFNug+/GceVjW/SpnloGQXhdrpKilmxooi0syI3TS4eJppeQxANYdm4Q+u3dRA2g2jD8KRwdPgxfTFMPcNvfzMFgGQk2q/3KH17p/xyMlfceBLxhetY7SrAVT4I94JWQokYb1ePw+dexu0XXE6oPf/zEmvLPNzz7DmM8obI4OLaO5bzwn/e67HNLw47hkl7/YT6cQ48aYW7f3MhDfVy5VJJkiRJkr5bZGjrg4ICX25z7e6eNmuri4LYW1h0RPRm0+3twN50hGO3sTUelFhutUu1Akq8aVwdJg3eMsqtdXgTTjbckE1EK0Fgk65woLp1UopBV1TBm7GpqTmISECl0DJRrNyVVMOkJBVH1FiItANb2Dzw5GPsPXEsaVNALI608zpgv125b8ZFmPUhPgsrGEUl6Euy6G2reGHQD3AbTTx49cU0rgjmvTafS+fpV89nVHEGG8Hjb1n86Yae9/qbMGY8px55Aav3deKwFJ69+lY++XhOniqWJEmSJEnafmRo6wOnU8cWG4KXEJsP9etdKLPZfv1qPZ9HbFLS6Eo36U4DdIgkgtQvW0u8LUNadRBwxSho2ni5fwt3MIOpqHgHhrBdaRRNEIkqlPkTkCglWaBQbsS6W3gcGTTLAiMXDC0BLzz/Gv7iQiJpFSPavp3uWtrehg6t5NWXrkUJp5i/LILm86DUFVBc9zFPDj0IzRnltft+z+I59XmvTVMFLz9/NiMHuHGQZH5dOacdP73HNgPKB3D9GdNYNclAqIKP//kUr74kl/aXJEmSJOm7SYa2PtBUAUpuc20ABZNvE7/6u9/N/u9/Re7PAbuOxAwF0GsUUtEUimHQkcndS6UaxujaMKdNV6Gws52wvxhDa8NdUIUQYKfTLPtqDsG0AUBpYkV3mypPECwLLWZgemNYLpvTTpiAqilEE2mysWQ/37H0TRQX+5n7znScmsYH761DdxsonQOp+eJdnhxyEFndZslb03hz5sIdUt+T95/ErntU4iHE6vhwJu9zeY/H+91+7p36D1bv7SLjUmh5eQEP/P3WPFUrSZIkSZK0/cnQ1geKIrCF3T08EmFibWX1yJ1teRKdDF3OXSDtQKtWGFZbjEMrZJ2zgCIzgp5Ko1obeg5ddg2+WJB4oZeVdVUktVJMC0QkjGrECCoaqmmTMI3uNiN8DcQzJnqHH8uTIGUlOOuMQwEIpxTenbvia3VJO5ZhOPjwzZsoqgjw7hOf4yz2o5i7MmjRLJ4duB9dDjftK+/hkVtf3SH1/fWaI5gwZQxFShtt9nD2HH0ppmlt9Xhd03n0+hk07OolHlAxP2nklisvymPFkiRJkiRJ258MbX2gKHZuTtv6SCbYeHhk7wc9bn5UbwNen/eE2yhPuohjh9bPPSu38esxjNY0jZ4yymiiIK5t0tTfWgiAszCD5rfJKA6CEZUSBUpLDiFarFBMlgZ3eXebci1Mp6IgTA3bhlvv+iu77jGSZFbBTmeZN29x3+qX+pUQgleeuoLhewxiwYzPcA4uQ3ONZuCCd3mjfHfWuUuwo0/w10tn7JD6/u+kvTnq3IOo0proEgMYN/5GIpGtz4sUQjDj2n8SHFJMV5WGuyHGNeedJpf2lyRJkiTpO0+Gtj4QAmzF3miljyzfZpuq7b8widjsOxvW9wQ6iZPu8CJc0Ny8jjWrW4h0ZDEVlYAzhq85SKsR6G5b2JIkqzrwDuhEcZiouiAeExR5U2QTftIehXJXGLtrQ0+bKmwy2dwCJJZq8emnS/AU+ImkBY5IO6a19R4SKf/+9ddzmXzUXqyYuQRzSDlG8Wgq533MAl8tXwUG4VLeZPo5t2Fm8//3duR+gznvlmMZrK8lShmH/+QBGuqae2xz68U3ogwcQttwHX/Q4qpTTyIej/XYRpIkSZIk6btAhrY+UBU7l9c2Wj1yu8Wu7bVJ91bOvVavwAoXoNUoeBwONJeXNlNFsS0q1BBGJEKdrxIABw6KO9sIFxSRMLK4AjUAiHQSkawnmHEC4G/7nFTQ3X0ZK2WjRVxY/giWC3579mQUVRBLpAm2RPrv/qQ++92FR3P6BUcSfGc17WUluMqHUThvJWtwML9sND7jE24562oS0UzeaxsztJibHzqdXYw2kqKAsy6Zzbz3l/TY5v9OPIdBu/yAtWN1fAmFW359Bu3tvdvIXWxhpVdJkiRJkqSdiQxtfSAEm85pY3tuFN0/D4424DJjdJlVkNXQahQGVRdg2D7WuooosUI40gLFtqnz5kKbq3MwrmSEjFOlbl01CaWITBbsUISUO0ZIU9GzNnfc/BRdWWd39a3rnGidfkxXilC8k5N+dTC2DV1pjVvueHmzqqQd5dijJzLtz6eTXNLCMpwYpdUYHweJRzt4o2Y8Xtdq7rzoUjqa899LVV5oMOPFcxnlj5LBwa33r+PxB1/vsc2PDjicQycdT/0EB66syv0XTmXFii/zVLEkSZIkSVL/k6GtDxSs9Uv+/7enLbvdOsj683f9/kwXVij3tVps4TCD6C0pmt3FlIg2/GEbC0GXMzfU0d/gA6DA1YHwZ8mqOsGwSpVXEAmNIVqiUqKkefLVhcTYMBeuOehB2ApYcM3NtzBkl6EkTBUlGef5F9/sxzuUemv8uGE89vjl2M0xPm230QuLUb9QcTd/xbODDsBwtfPv6Zew+vO2vNfmcqq88Or5jCoFgcWL85xcfdm/emyz27DdOP+Yy1m9r4GGwus338XcD2flqWJJkiRJkqT8kKGtDwR2LrRt1NNmby219TnM9V/vkzsTIt3hR/FB3eo1NNWHCYVMbKFQ5Ijgawqyzl3M/PffAWwKW+KkdBeuIVGcDgVVg2QC3FoX6ZSHrCEoNzr54eE/w9roI5SOG9iKiaXZRELtuLxuIkkbZzj/mzFLXzdgQClvv3YjasLkw0870d1ulMZSylfOY+bQg1AcCWY/eiUL3s7/Kp+KInjpP2exy1A/TuIsbqnh2KOu67FNRVEFt/7mz6yaaGBrgs8ffplnn3woTxVLkiRJkiTljwxtfaBiYytsyFe96mnb6IA+dqf99/Duy23Yea2X17RRbIs6UYMd8aPVKlSVFKJ6PLTZOpptUqZ04YxHWeOrZM6cWSiaRlFnK8GiAOu8hWiB2ty100mSqRSdaQcArjVL2XfKsZtcVe9yYxZEsB2Cy397KEIRRBMZ6tbI0LajFRR4mPfOLbjdTma/sQbD70FEBjNgyWyeGnIgKYfKirm38tJDc3dIfY/ddTy77VOLXwRZmx7OxD0u7fF4j9PDA1feR90ebtIehdDbS/n7n6/v0zW3+gsXSZIkSZKknYwMbX2g2ibWRguRIEzsb9BD1t3C7kWK68PpN1+N0kbgNbvIpIvAUtCqFWorPLgybhrcpZSZHehJDQGs8ZZTt2QBWqQcZyZBsMSmrauMhAiQyghEZ4xg0kmXoWBkLC79/QyM6oEo+oaVBdWQD9uZgRYnx/z8ACwbIlmNa256ovc3IW13uq7x3qs3UDagmPcfXYq7PIAqdmXQwlm8UDuRTqePcOO/uO+GZ3dIfdMuPYQf/GxPSpRWOhjK2DFTyWS2vky/qqg8euODNI30Ey1RUT5v46bLz8tjxZIkSZIkSfklQ1sfRGOJTYZH2j0Nj9xJBMwOsp25v2YRyJINNaE0p2h3BSjROggEM2SFQpdQSCcTeJpVAOyqZkxvClNT6exSqS2xcNkFREtUSrU0Hy9ZS0oz0JwbHq4FAsuCeFuWmiEDiGU19HiEefM/2SH3LuU8+9jljJk4nEUPLcY5pByHdww1899nVumu1HsrUFLPcNtv790htf366N057uLDqNHWERbVTNr3VoKd4R7b/Ovqu4gOLCdYq+FtSnHVWb8ik8n/KpeSJEmSJEn5IkNbH6RSCrYA2xYgLGwlt1L/FlcM70WWy0fcc2c6yXQWoBQJGlc10NaRoCOc6x0r1qJ42oI0eMp5/+3X0DSFwtYwCcNLWVUKt2GgqpBJWji9FomMgaULyvUWfvKzU7EReBzpDfejZbEcFi5vEofLSTRhooe7Nvx8Jw+430d/veXXHHHsJNY89wWpwRU4SkdRNm8RS9xlLC0aikd/l+ln3UI2nf+92A4cV8vFfz2eoY4mYpRw9AkzWf5VfY9tbrzgKjyDRtIySscfhmtOOZlIpKvHNpIkSZIkSd91MrT1gSqcueGRlkCI3MDIDUMde3OGTdOdvZXXtxfFzrJaGYod9aHXKtRWl6L7imhTnDisDEV04UwmqPNVMn/OOxx25DiKQq0ESwroaq5A+Nfvz5aKk1QNOk0dgNTSRYw96EjAxu1LdF/PDEQQusqwiWGEEESTWT5Z0tQv9yZt2wVnH8EFlx9D5MMGmvyFuMqG4J9fT7Np837FWHyuJfzp7N8T7UrlvbbhNQXc/vgZjHR3ksLLRdcsYNbrC3psc8Yxv2L06INp3MuBN6nw5zPPo7m5MU8VS5IkSZIk7TgytPWBECoWgL0+tImtZbWNX/16IOtrRPumkc5nxSDtBlugVQuqi3TcUY16bzkVZivOVG5RkQZvGY3LPuWUH/0UzUzTVZUikS4ijp94UqB1JQiFNcJuFU/G5IJLH0ArrUJxWjicG3raLDWLKy2oGOXGtCGW0bnqhoe/YfXSt3HEYXtyx13nklnezucpDWdpJY5FMcxQEy/XTsLjqueeyy+hpTH/m54Xeh08/sp57BpIYKJxz1Nd3Pu353psc9D4yRx94GnUTXTiNFUeu/w6vvxiUZ4qliRJkiRJ2rFkaOsDoSjYtpoLbYrVv5urbQcBK0y6QwUBijdLsLkBsyVFl8NLoSNEoD1BStHpTMYxs1lGGaUAqIOayfrSoCkEwyo1JTaOjhSxYoUyR4rWoElK0dHUNKrYMKzOtqHMF8ddUkA0o6HHO1mxfNWOuv3/WbuNGcizz1wJHXEWrk2jBwKoy5z4137G00Mm4zSCPHPH5SxblP9eUKeu8vKr5zGyUkcly6wlBVx07p09thk+YDiXn3g1q/c1UIXCe7c/wOxZL/fYRpIkSZIk6ftEhrY+ULARphN7/fBIALHFCW07By2bItMZQC0TKIkksYRNZyxXd5kWxt0epM5Xwew3Xsbt1ikLRoh6CigtMPF4vCgqmCkTRUsTzRjYqqBMNHLMCWcCgnhbPRvveWA7bZyeFA5DJ5rIonVFd9Cd/++qrCzivbemoZk2cxa0orkMlOZKqpbP4ckhB2PrGeY9ey0fvPx53msTAp5//DRG7lKMiwhfBQdzxEFX9Nim2F/M3y78G6snGJhOhdVPvcPjD92Tp4olSZIkSZJ2DjK09YGigIITywYhNl+44VuEt35Yn0MzbeoYAXE3Wo2C0+3A4SmiRXPjtpL4zCh6Js0abyUL58/mZ8cfTCDcSqjYz7pVgzHd6+ezxaPEbRedlg62TVF7KyMmHQTC5r0XZuLqTHZfU7jAV5sbLhlJmbz+fv43af5f5vEYzJ11M76Ah3efW4nD70OJj2DgZ7P4z6ADiDl0GhbfwdP3zN4h9d3/p2MYu/8wAkoHzeZw9t7t4h4XpzF0g4evfZA1Yz0kfArxD1fwl2l/yGPFkiRJkiRJOwcZ2vrERrGdWJaSGx65PfUi822+D1tPAkkT0k5AoFUJSjwmrqCg3lNOhdmCO20AsM5TQvPqrzjugMNQLZNEeRYUFwnhIhJXMBIZol2CiF+hIGuRTeoQKEF1Wnz06huo7fHua5YPiOCu8JO1BIm0yk3TZvT1XZC+IVVVmPXitdQMr2TOg4tx1RajOUYzcOFsXq4aT6srQLL9If5x5cwdUt+V5+/PQSdPpFxtJshg9hx7FclkeqvHK0Lh4Rvup2VYAZEyFceKENf/9iwsK/+rXEqSJEmSJO1oMrT1iYlg0+GR2+wm22IYW/9ibzbXZpMRiD2ddBOFCYt0uwNUEEaappUNpFvTxHUXASNMQUuUmGawrq0J27IYjhcbgXtgG1lnDKEphCIKgwMJHEmIFyqUOxPEMx7SQkcVSWLBECK2vkagpqwLV4GfSFrFGe2gta29V/cnfXuP338R4w4czeePfoY6vAK9YDRV8+byYeFQVvmrcVgvcev5d2NZ+d924YQpIzn5iqMYqK8jIirZ/5C/0dLc2WObu/9wG5mB1XQO1vG1Zbnq1yeRSiV7bPNN7cQjnCVJkiRJkgAZ2vrExt5oeKTZq36vLT4P2j3+dLuwkz6yoQBapUBkTbJCpWP96vwVWhh3Z5DVvkpmv/UqhYUuSoMhQp4AflcaT6AcRQE7lcUdCxLOGCAEpdnVNGWqAQg1LkdVBGrU2X1NBQvNoRFLZLC64lsqS+oH064+kZ+fciDrXv6KcG0pRtkulM5bynKHn09KdsHrnMv0M28klcxu+2Tb2T5jKvjDPScz3NlMnEJOPPNFli7qedjsH864mOIhe9A0xoE/Jrjh1FMJhXoOeZIkSZIkSd9nMrT1gcBEERqWJXJz2nrZU5ZvjqxFvTkSkgZajYLX0NBdRTQ5fPjNGEYmgWZmqfNW8tmC9/jVqT/CH2lnmWmycnUNaWdFrncvHsYO2wTREJaNszNBE0UgbN6c+RAH7LEnjk5/7qI2qHouwIXT8MRzC3fcG/A/5LSTDmTqdb8k/vFa6t0BXGWD8CxooTOVZFbV3vjcX3Hb+b+jqyOx7ZNtZwPKvdzzn7MZ5Q2Rxs1Vf/6SF59+v8c2J0z5ORP2+jEN4xx4Ugp/O/e3NDT03wqkcr93SZIkSZK+C2Ro6wNb2AjhwLYUhLD6vAPb9ox4PT1sFiZNRFQDQK2AgDOOq92kwVtOhdWEL5nbn63VU0j72jp+tNf+CGw+rF8CHicpYRCKKvgyNmu1YiIBlULLpMsqJKQ4UQ2TJe9+yDHH/hiRdnRf1+krIW0KMimbO+58fDverbQlk/cfzb0PXIi5JsTSmIqzqBR9cQa1vY4XB+6L27WOB666hLWrgnmvze/WefqV8xlVnMFG8NgbWW6b1vNnYtLu+3DylPOpm+TEYak8ffUtfLpoXp4qliRJkiRJ2nnJ0NYHtm2i2LmeNkUx17/acxTbYrZa32TTuTTb/pX/1o6wN/sqkMqS6TBAB1tLU7+8iXhbhrSqU+CKU9DURcjhZcXKrwAYlHFgKipqaTOKkUbRBZGownBayKgekgUK5UYMgUIGFdWKkYrHGVA9ZJM6nD4fkbSKI9ROLCqX++9Pw4dX8epL16KEU8xbEUX1eFFW+yhes5CnhhyI5ozyyj+m8tnc+rzXpqmCl148h10GGGikmLuqnDN++cce2wysGMjVp9/E6kkGQhV8dM8TvP7y03mqWJIkSZIkaecmQ1sf2MJCCB3b2tKS/zuevT4NRtOlmF0B9BoFLStQDIP2TO6vukoNYXSFWeWr4v13XqNmQCElnR10eAIccfgo3IFKhACRTlFUV0dw/SqTpYkN85CaVyzGqak4Em5M34ZwpmoKsUSa7Kqdc9jo90VJiZ85s6bjUBQ++KAJh9uNaK+l5sv3mTn0YLIOm8Vv3MTb/1m0Q+p7+sGT2XW3cjx0sTo2lIMmXd7j8X53Af+8/B/UjTPIuhSaXpzPjH/c1u912v2x14YkSZIkSVI/kKGtD2xhoyoqli1QerkQSa/PvZ3OM6LaT7s5BNIOtGoFv0fg1AKscwYoMsPoqQyqZbLGW8HnCz/k9NN/jjceZGkiTjixG0mtFNMCIhGUxjhBVUM1bXTLB4BQbF57dAZHTd4fvcOP5Vk/V2p9TutKKzR/4d5OdyNtzjAczHnrZgrL/Lz71Fc4C32o2V0YvHgWzwz8ARGni9Zld/PYba/tkPr+dt2RjDtsNEVKO232CPYcfSmmufVfcOiazmPXz6BhjId4gUpmYQN/vOriPFYsSZIkSZK085OhrU9MQF2/T1v+V+LrjYPHVmF15RKUWm7jVaI4WzOs9ZRSRjP+eG6uW4fbT7i9hUOH7QXAvDWLUP2QURwEIypukWXp7uOJFikUkyXhz222rRpZli/4hClHTUGYGvZGz+PJrIKdytAVVPN70/8jhBC89syVDBlTy/yHPsMYUIJmjGbAR+/yWsUeNLlLMMOPc+dlD+2Q+i48ZTxHnH0glVoTIQaw97jriUa3vgCKEIKHrruXjqFFdFVquNbEuOa807Esc6ttJEmSJEmS/hfJ0NYXwkYRCrYFqtj8wfJb9JVtx9GEh4ytIt3hRbjAshI0rG4h0pHFVFQKnTH8TUFajQCLF84HoDoBWVWndHgU1WGi6oJ4TKB464kZAdIehXKjCyFyQcyrpTEzGcqLq7GFjaXa3fVHUgI92LH1YWdyNNq3cv9d57P/lD1ZMfMzGFKBs3gMlfMW8JG/lmUFA3Epb3DLObdjmfl/o398wFDOnvZzButriVLGoT+6j8Y1LT22uf3Sm2HgYNqH6fg6La467UQSiVieKpYkSZIkSfrukKGtD2xhoijq+iX/v0lvwJYfpu2t/6iPp7cZsu9BWOECtFoFh1BR3R7aTRXFtihXQjijEVb7qvjw/bfYdUw1JcE2Wvjg2P0AACAASURBVDwF/PCQvXEFcr1pIp0kqzcQTOeW8C8Jr+wOZuVqCL/LhSPqxvJHMH0bLh9NpLHXyY9Uf/jDxcdw6nlT6Jy1mo6qMozy4RTOW06d4uSjstH4jI+ZfuY1JGKZvNe2+7BibphxKrsYLSRFAWdcOIsFcz7vsc1vTzqX2hETWbe7ji+uMP30X9PR0ZqniiVJkiRJkr5b5BN2H9jCQhFKbvVI8c2HR/Yln/W0+uTmR3jTMZJKNWQ1tGqFgEfBaftodBVTYoVQUyaKbbPGW8HyT+dy5inH40pG+DQUJBgeQkIpIpMFOxTBNE1CDhVH1sI0K7qvUZ1t4tgjD0Pr9GO5UiTKNmyuHc5opDfabFvaPo47Zl9u+NPpJBc3sxwDo7gG4+MO4rEgb1aPx+tayZ0XXkZnS/57qSqK3Dzwwrns6ouQwckf713LzIff7LHNjycfwSETf8Ga8Q7cWZV//fZyVq36Kk8VS5IkSZIkfffI0NYnFiCwbQVV2Q7zbrbzKLZAIoQVXD+frdhCz3TiaE7R7C6iVLTiDwssBF0Og0Ski32rRgDwSfMn4MuSVXWCYRW3J40n9AOixSolSoaUUdR9DX8mzgEHTUbYuWGimYoN+7QpyTj6TjrX77tqwvgRPPrvS7GbInzaaeIoKkb7XOBqXsazg/bHcLXx75svZfUX7Xmvze3UeP7V8xhVaiOweW6Og2un3tdjmz1G7M65R1/K6n0NdBRevulO5s+dnaeKJUmSJEmSvptkaOslzaGsXz0y95Yp5H8Y2rYyni/eSabDh+IDiy4aGyOEQha2UCjUo3hbgqxzFzPvg3cQAiojGVK6wfA9BE6niqpBMgG2bxXZlJ+sISgzOvlv1569/qsibzm2YmLqNs6Nehyd4dBme89J38bAgWW8/dr1qAmTOUu60Nw+lPpiylbN58mhB6M4E8x65EoWzFqZ99oURfDyM2eyyxAfThJ82lTD8T++vsc2lcWVTD/3VlZPNLA1wZIZL/DCfx7JU8WSJEmSJEnfXTK09ZLuUEFYKOvfMnUbPUq92wOqr11tW09Eim1Sb9ZgRXLz2ZwYODwe2mwdzTapphVnPE6dr4q5H77NxP1GUhxsZZ3Ly4Rx+6AV/Hc+W4Ksq5FgJteDVt6+aqMgZkPKxhF2YwYiYNgM19o23I0lP07bSyDgYe4703EZDma/1YDT50KJDKL289k8OeRAUg6FZR/8kVcenrdD6nv87uMZPb4WvwjSmBrOpL0u7fF4j9PDA1fcR91ebtIeheBbn/GP22/KU7WSJEmSJEnfbfIpu5d0Xc1trv3f0CZ66GnbVhazv36A2GqjXgQ7GypTrWTTRWApaDUKxV4VV8ZFg7uUMrMdYVoIoN5bTt3Sjznj+ONwZBJ81NZMOFFJQgRIpQUiGCMTd9BlKBgZC3/I6L6GIiCU1NBCfmxHhjWt9VR71e6fG+789z5+H+m6xnuv3UhZbTHv/ftzPKU+VHsUAz+ZzfO1kwg6fXQ13MsDNz2/Q+q75fJDmHTMnpQorXQwjD12m0oms/VfYmiqxmM3zmDtSB+xYhWxpIWbLv9NHivumZDdw5IkSZIk7eRkaOulUSMHg2J1P+Cpys4VUGqT68h2rh+6WZAlE2yCphTtrgDFWicoClkgJATpZII9C2oB+Cr4KZY3iampdIZVClxZSlr3I1qiUqqlUU3HJteJZHMhzrLgiuum4fP7u3/mdsjl2reH5//9O0ZPGMYnDy3GGFiG7tmN2o8+4J2SXWnwViCST3P7hf/aIbWd+fOxHHPh4dRo6wiLavaZeAvBznCPbe675i7Cg8oI1Wp41qa46uxTyGZ3rn8/kiRJkiRJOzMZ2nrp8EMnYQsbpTu07VwLbpTHGsl0FqAUCSwrQltHkmA4t/N1iRYFoMFTxgdvv4qmKZR3xYkbXiYc4MNleFBVyCQtFK2JRNqDpQsq9K/vs2WnnNhaBsthUVbkwOFyfO0Y6Zv725/O4PCfT6Tu2c/JDC7HUbYrZfMW8am7nKVFQ/Do7zD9rFvIpq1tn2w7O3h8LRfecTzDHOuIUcJPfvE4K5c39thm2v+7BmPgLrSO1PGH4ZpTTyIa7TnkSZIkSZIkSZuSoa2XRgwdBMJC2Ot7s0T+H5q3RphZ2u1a7KgXvVbBpbjQfUW0KgZOK0ORMwJAo6+C+XNmc/iR4ykKtVCvOxk8aALCX507TyoOWjudWR2AyrWrN71OIoMe9GIGItgGTL1oyhaHlolt7hYud9nekv93zpGcf+nRdH1QT3OgBKNsKAUfraHJgg8rdsfn/ow/nX0FsXA677WNGFDAbY+fwUhXO0m8XHDlPGa/ubDHNmf9/FRG7XogjXs68CYV/nzmubS0rM1Txb0lh0ZKkiRJkrTzk6Gtl4qKC7GF3R1IFGGyvcLH1h4bN399a/Pe9FA7VtoFtkCtEpR6BO6ITr23jAqzlbjLDcBabwmNyz7lVz/6KZqZYd66NaSzRcSFl3hSoIUSJFN+wl4Vb8ak4pNg7gLrL5uI26hRD5Zm8skXCznsiEmYG5W09Xl50rYcefhe3HbXOWSWtfNlRsdZUo5jUZRsqJlXaifida3hnssuoaUxkvfaiv1O/v3K+YwqSGCic/fMIA/+/cUe2/xwnwP5yQGnUjfRiZFVeeTSq/nyi0/zVLEkSZIkSdL3iwxtveQyHNiK3b0QiehxnzZ7o8DVz0FGgCPURqZDBwG2O01Hcz1ma5Kww0vAGUKs/1sOJhKY2SyjjBIAGlNLyHpToKkEwyo1JTau+DBiRQqljhTOuMXGa/inMlrujiy48eY7KK2uJJrW+vf+/gfsvtsgnnn6CmiP80lTBt0fQFvmxL92Cf8ZMhnD6OQ/t1/OskXNea/Nqau89Mp5jCxXUcny1mI/l55/V49tdhm4C5eccBWrf+BERWH2bf/ivdmv5aliSZIkSZKk7x8Z2npJ1zUQuc21oefhkXae+5xSHZ1kOgtQywT1qxqJxwWdsVwFpWq0u8vuw9lv4HbrlAUjhN0FHHh4BR5vAYoCZsqkpekLolkXtiooEw2b3ZSNknBiOVNYhs3eY6twGDqx5M41t++7pqqqiPfemoaWtZm7sBXFcKG0VFC5fA4zhxwMjjRznrmWD1/5Iu+1CQEvPHE6I0cU4SLKF50DOeqQK3tsU1pQyl9/+1dWTTAwdYWVT77NzEfuzVPFfWNvYRVXSZIkSZKknZEMbb2kqoCwwd54eOSOp1kJvkoPg7gbrUZh+OBKHJ4ALZoHt5XEoW14MF288AN+dsLBBMKtrEKhILAvWdf6+WzxKK0dS+m0dIRt4+1as8l1rI4oeqcX0x/F0i0uu+gIAMKpnWdu33eN1+ti7qzpeP0u3n1xJbrXhxofzsDP3uGpwQcQd+jUL7qDZ/7x7g6p78E//5yx+w2lQOmgKTuCcbtd0mPQMRwGD11zP2vGekj6FOIfLOOv067IY8WSJEmSJEnfTzK09ZIiWD88Mhfaeh4emT9+swEl4QAEWpWgKgDukMIabzkVZjNRzdd9bHPdKn5xwGGolsmH9ctAcZEULiJxBSORYcDQSUT8Cv6sRau7bZPrRNu6UBIubGHx0ruvs9/kcWQtQSItP0LfhKoqvPPSdVQPq+DDh5Zg1BSh6aMZsHAWL1WPp80IkGybwT+unLlD6rv6ggOYfOI+lKnNBBnMnmOvIJXa+jL9iqLw6A0P0Dw8QKRMxbE8yHUXni17syRJkiRJkrYD+cTdS0IltxDJJj1t68cdfm0lEXvLX37t+fXbP9AWZOtJdThBBVxp1q5cQ6o1TUIzKDQiIDas5WhZWYbhxUYQNVZiGnGEphCKKFQWZhGJgcQLFcqdCUxto1AqIBXN9ajZQnDvPx+isLyESFrFEWnvda22XKik28wHL2avA0ax9JHFqMMrcPjGUD1/Dh8UDWe1rxpH9gX+dP7dW9qHvd/98ohRnPiHoxio/3/27jvOiur+//jrnJm5vW5vdKWIClaQSBSMNflaftFEE2OLGjUmxl4Se28xURNNiF1jFKOxY1fsggUUUaQsC8v23dv7zPz+uAgswnJpC+p5Ph5JLnfnzHzmLnk87ptzzmeaiVPLnpNupb2tp88xd170FzKD6ugerONvL/CnE35JLpftp4oVRVEURVG+21RoK5HExhY2UMLyyF5ftPtqKV5Ku/E1tdRfeQHT7KTQE0KvFQjLwhIGXenizyr1WK96QiEXld0RIt4Q+x84BG+wCinBzhZoXPQhsZwLhKCy0LvVP5aFTDixPGkst8XB+49GN3SS6Tz5lNrTtr6uu/SXHHb0XjQ/+yWpgZW4KkZQ+cEcvnSEmFU+HJ/zHa47+Rpy2f6fzZ2wYw0X3Xk02zpaSFLGz49/is9nL+xzzMUnn0d46I60jnbgTwiuOOZXRKN9hzxFURRFURSldCq0lUhKG1uu3NMmhLnF540MM8FiBkHGhd4g8RsahruMFoefgJlEkux1/M9/eRCBeCdfFgrY9i7knLXFmZxkjHR+KT3oSMtGZns/MNnqTuDoCmD6k0itwO9O2w+AaBaWOvwopTvhV5M577IjSc1spskbwlk1FN/MFrqyGV6v2xm/5wtuPu0Col8n7340qMbH3x47mZHeHnJ4uej6OTz/1Dt9jvnFgYezy5gDWbKLA29Wcvspv2dpc2P/FKwoiqIoivI9oUJbiYSwQdiI5UlNyk3dgGP9H/IbyC5FJDQA9BpByJnC01Fgia+aaquFjObodfyBYyYgsHmnaQ7C5yArnEQSGv6CTV3DJOJhjZBl0hFebT9bNInIO7CxKfPG2XncjuRMQSFnEzN8G37L3zOT99qBf971ewqLepiTkrjLKzFmZ5Fdi3lm0A/wupu5+09ns2xhpN9rC3gM/jvtt4wqy2EjeXBalltv6Hs/3YQx4/nFAafSuIcTh6Xx3z9ex+xZH/RTxYqiKIqiKN8fKrSVSGJhCTZT90jBhuxv82ebyXd5wAF5o0DT/BYSnQVymkHInfzG8YNyBqbUMKpaEc4M0hDEE4JKfwo7XUkmIKlxJ7C03uMK6eI9W4DXZeIvCxPPaTjjnb2e46as3YgR9Tz79CWIaJYPFqWQHj9ygZ9w0yc8NnQShjPGM3dewGfvL1n3yTYxQ5c89+wpjGxwopPjnfmVnHT0TX2OGVI7mIuPu4pFe7gQmuCDOx7mpRee6KeKFUVRFEVRvl9UaCuRtK3inrZVlkf2yV7DXrS15Ju1xrW+8pBtEytkMaNBjHqJsASa00VXXoJtU+1s73W45bCp6O6iyxvigP1H4Q3VIwSIXI4vv3iPnpwLgIrk/N6XsSy0hAvTn8D2WnhDeTRdkkznSHenej1GXFmzysog77x6LQ4peeudFhwuN7JrIPVfvsnUYZMwHRazXriK1x+ftUXqe/y+X7Hd9lV4iLIwOYzJE87v8/igN8id595J464uCi5J89Pvcf8//9JP1SqKoiiKonz/qNBWIg27mMO+nmlbR8t/8Y0XG271UGcjcNvdtJsNkHOgN0gqXDYOPcQyZ4gyK06yrGnFL9cWkHGG8KV6mJNKEU3vQFqvwLRAxGPo3jgRTUczbWSqdwOJSBqMrgCWJ43Da+KvdAIQzUluv/v1NdzxhjVX+a5yu528+8o1hCoDTP/vPJxhP1phBINnvcYTgycSd7ho+/J2Hv7LS1ukvr9f9RN22XcUYdlJhz2cnbY7G8ta+9Jfh+7g31fcR9P2XlJBjfzMJm665Jx+rHjTU5PFiqIoiqJs7VRoK1E+k+010yZFH3vaSv0SuBFfFoOFJqxo8denVdn4ZAJnW55mbyXVtFJwWFgs34uHjYgUZ9LeXzILPQB56aAnplGhQ1X5PiTKJOUUSDh7d4NcZhkIU8e2wem38ZaXkSlI7GyeBx58asNv4HtASsmL/7uYIaMH8MF9n+IZWIHhGs3AmW/wYu1YWtzlFKIPc/t5D26R+s46bhwHnDiRWq2FCIPYeefLSSYzaz1eCMH9V0yhc2gZsVodd2OCS047HsvaOp5ZqCiKoiiK8l2lQluJ4ikTS7I8tNkrwtBalRTI1je1rTzeX2gi3+VFuEHT8yxpbCPWXcCUGkFnqniQXRwjsAl0pMlrDqq2jWM4C2iGIJUSuIwI+XSInFdS7YoiVpt2yBYc2MLG0m00aeL0e4lnBY5YF4XC2h+2rMC9fz+NH+w3hnmPfArDajHKRlP3/kw+CAxiXnAgLvECN5zyVyyz//uQHrz3ME686jCGGMtIUM2PDppC85L2Psf89dzrsAcNpnMbg0CXxcXH/5JMJtVPFSuKoiiKonx/qdBWIs12YgmwbYGQ6/iSXWIWW/8HJ9srBrYhsWJB9AESzRZobi+dpoa0LarcS3sdL3SL8q4O2r0B9pm8C87ggOL7uQxz57xNT6645DHY8Xmvq1kIjLgbKxAHv6AylEJKQSKdo6stvtqtrryZ1YPfWu/jO+xP5/yUo3+zPx0vL6Kntgpn9baUvT+PhdLFzKrt8Ltmcv2Jl5FO9n/wHTu8givvOY4RrjZSBDn+dy/z4ftz+xxz1jGnU7/tOJbtYOBPCa4+/ni6uvoOeYqiKIqiKMqmoUJbiYRmfD3JhljD0shVY4hYz0yyyjO7v8n+ZqsPl50iaVVDQUevlwScAqftY6mnnAorQjzUuqIe2wIz68adjfNJpIfu6BDSsox8AexIjHCNi4hDw1GwuOHqqb2uszhUhtYdwHJlcVf7KK8wsG2I5XWuu+WZ9bvJ75Ejf/oDLr/+WDKzWliouXBVNeD5sINEKsrL9bvh98zn1jPOo7u9/2epass93P3UKYzyx8jj4ro7l/DYv1/tc8yhk3/MXrv/Pxbv5sCT15jy+3NpXDSvnypWFEVRFEVRNji0DR8+nI8//njFf6LRKGeccQaXXnopS5cuXfH+gQceuCnr3WKEkNi2AEssXxq55fisGObyR3lpFRaOfCdGa5Y2dxkVsh1T7328q60Y+2a1fYIIWBQ0g+6YRp1PJ+j+IYkKjQqZ538vfdJr3OJQOcKW2DZ4ar14wyFSBQ0tk+LZ5/r+ov99NW734Tzw0DnYy2LM6gFHWQX6HIGz7SueHDwRj7uNB686h8YvOvu9Nq9L58lppzKqwkJg88TbGlf+8Z4+x+w0YiwnHXwWjXu4MJA8d9VfmfH+m/1UsaIoiqIoigKgr/uQNZs3bx477bQTUGy40NzczBNPPMHxxx/PLbfcws0337zJitwaSGFjm45icFvX8sjNzG3GyHUFkAGwCoKlLVFETwC7XFKmrf58Nptge5ysw83wnQVOpySvQzYNVn4ZmewgCk5BldHNfgcc3mtk1vbikiaWYaOLHE6vi/akjRHrQfmmwYOreeWFK5GpPO9+HsMVDiKbyqhcOJ0Hhu+PdKR45f4/8tEbC/u9Nk0KnnviJEYO8eMgyofNAznqkDP7HFNXUce1p9zI/PEubF0w+64nefqJf/dTxZuftf7rkxVFURRFUbaITbI8cp999mHBggU0NTVtitNtlYSwkbiwLbHG5ZEba32+Ps43BmPHA+gNEqdmoXsDtGOg2ybVeqTXsbozS3l3O9FQGbvuvDv61/vZsmnmffkOPXkHAK7FnzH+gJ+uGKelNRxRD2YojvALyrVlCCFIpPMsWtS90ff7XRMKeXnv9etwOw3eeHUpDq8bER1Cw9zpTB06iZwh+OLN65j20IwtUt9//nEU2+3agF/0sCQznAm79N2m3+vycvdF/6JxJzc5j6TzxU+Ycuu1/VStoiiKoiiKsqpNEtqOPPJIHn744RV/Pv3005k1axZ33XUXoVBoU1xiixPYSMuJtRUsjzRzQbAkeoOk3GfiyblY4q2k2uxEy/SePDVyGo58mkxYJ5aqJSWCZHMCEU1RN6SGqFvDnbc4+8L7cNUNWjHOaq9HiwawHHmclV6CHrBsiBUMLr360T6qW/tn812d2HA4dN5+8Woq68uY/vBcvBUBNEYx6JPXeGrAHkScPiKL/8l9126ZfYA3XvAj9jh4DBWynU62Zcz251IorL1Nv67pPHzV/TSP8pMs1+DTVq678Pf9WLGiKIqiKIqyqo0ObYZhcPDBBzN1arGJxR133MGwYcMYO3YsLS0ta10medJJJzFjxgxmzJhBRUXFxpbRD4ozbZYtYK0zbWLFsd94a/XX63Pl1cJOoUsDQAZN8j0t0JqjyxWiTO8i3NO7G6GvvfjcNU91NwVfFkvX6I5pNIQt3IwnUS6pNHJ8MqeFrO5cMS4fryxe2wRXyIUn4CdZ0HGkosyY+fHK2la92Pf0IcVPP3Iho3Ybxkf3z8I5pArDtz0DZrzNa5Xbs9RbDen/8pcz794itf3miLEcdsZ+1OvLiNHAuHHXEo0k+hxzz2V3EB1cSaRBx7s0zcUnH6Me76AoiqIoirIFbXRoO/DAA/noo49oby+2/25vb8eyLGzbZsqUKey+++5rHDdlyhR22203dtttNzo7+78pw/qzEMJYvjxyY6eMBMLesISTNTXyPUFkmcA2Be1dWbpjxRBZYSTwtvUsvwKATbgjStrlw1efxOv2oGmQz1gkIk2kch4sQ1Clt3LI4cexap9KkfZiG3ksp41TpnC4HSTSJkYsupH3/t3yt5tOZN9Dd6fx8c/JD6nDVTGK6vc/Zpanms/DQ/Dor3H9STdQyG/6JbXrst+4Qfz+zz9nqNFMkgp+fPhDLJzf3OeY6/5wGY5B29I+wiAQhUuPPZpkMt5PFSuKoiiKoihrstGh7aijjuq1NLKmpmbF68MOO4zPPvtsYy+xVbCxkDiWL4/s/y/gANI2ma3vjJ3wYQyQuHULpy9Mh3ThtPL4Aimc2fTK4z2ScKSNSHkZzd0hhL8eAJFNsmjxDLoLBgDpT2ex414H8vW8mR5xYPR4MYNxnB6LSnd7cT9bpoCdXfuyuu+bM049iFPPPoToW4tpLSvDVT2U4IxGmi3BOzU74nfP5oaT/kgynuv32kYMCnHDv09ghLuDDAF+e9G7vPXaJ32OOeWI4xk+ci+WjnXgy0huPOEk2tqX9VPFiqIoiqIoytpsVGhzu93su+++PP744yveu+GGG5g9ezazZs1i0qRJnHlm3x3qvi3WN7Rtjm1vHjuBlXeCLdDqBRVeE3dCp8lXRY3ZRizk7XW8kfajm3nSFQbpQoiU8JPKCIxoloHDtyPm0/DlTX57zt1olbVIZ/G+rJYBaAkvlm4ywMgSDDowLYgXdPKJ7+kayNX85MBd+fNtvyH3RQefFxy4KmpxfRwjH21n2oDx+NyN3HHu2XQs63sp4uZQEXTy7+dOY1QwiYnBbf/u5L5/PNfnmP0m7MOPJ/6KxeOduAsaD5z9J+bN+278g4uiKIqiKMq33Qa3/AdIp9Pf2I92zDHHbFRBWy1hIYRebPm/eiJbQ46x+2rI8Y0XfV135UuvnSDfZYAA6S3Q1dKEaPMT8/gYIhaDEGSkARRndnztxRDmGRglJp2gS3o6NQaWWyR6RpOslAzR03THISsNHFoGADNeVizPAr/DxBMIkcjruBIdWNZ3tJvIehiz4xD++9iF2B0pPm4v4AyVoc1z4Fs2mwe33R+Xq5upN5/HV7Pa+r02l0PjmedPZWS1RGIy7eMQ5//++j7HbDdkJH844iLmT3CiIXn1xim8Nf2lfqpYURRFURRFWZdN0j3y+8FCoq19pm3VLFNim8SS5qzslSe37Rz5niBatcDO6aRSku5U8WfljuLz2Rb7a4vntqGss4eEN4wvHMPrDSIlmFmTtpa5xHNubE1QJZo49OcnAoJk+2KwbbSkB8uZxXZaCFcOw2WQzBTQuhLr9WiC76K6ujKmv3w1esHmvY870ZxuZEsVtV+9x9Rhk8CR5e3HLuG9F77o99qEgKcfPYGR24ZxkeDzrkEcvN8lfY6pDFZyy+9uZdE4F5Yh+eo/L/PYw//qp4q3DkKo2WNFURRFUbZuKrSVyBYWUhhYVl/dIzef8oCThXI4pDzo9RKvy8TpDdKqe/FYGVr9YQAafcU9hToVhKId9JSFWbi0goJ7+X62VIKO7jl0WwbCtmmc/gEj9tgbhM2bTz0KEQOj248ZSBC04jhqi3vYYlmLVFbr9/vemvj9bt5/7Xp8ATdvPLsIh8+DltqGgZ++zmND9iJtGDR++Gee/NdbW6S++/7yU3acMISg7KY1P5zddzwbu49/QHA5XNx/6T00jvWQ9Ulib37B7ddf3I8VK4qiKIqiKKVQoa1kFkJoxe6R9H9om7RDLSLtAAR6naDCm8MdkTT5qqkxW2laPsO2zFtcrupqrUfaJplyHU1zkRFuYkmJM51nwNA9iAckgYLF7y+8HytYgea0mPnCS6TiZci0C6TF6GVNOKuD5C1BOidJWe5+v++tha5rvP7sFdRtU807D3yGty6Mpm/PoA9f59n63el0BUi23cOUSx/bIvVd9ru92Ovn46jS2uhmKGPGXEQ2u/Y2/VJKHrrqXlqHB0lUauhfdnPlmb/pM+QpiqIoiqIoW4YKbSUqzrRp63hO2+YzeWwd2U4naCCcOZrnN5Jty5HWXYRd8eLaOKC5rdjS3d9iYwmBZ2CEvDOD0CXRuKSurIBMDSIVllS7UniCteSFjibSJCNR8hnfivv1WRlcwSCJnIYz3rX8Gt/PpWRT7zubnSaOZPYDszCG1aAHtqd+xju8WT6cRn8deuFpbj79zi3yAPFf/ng7jrrwIAYazcRFHT/Y6y90tkf6HPOPP95KZlAt3YN0fG15/vTro8nn+7/LpaIoiqIoirJuKrSVaEVoW9OetpK/qK/9wDVFoVXfGz9hDIVICL1OIAomlnTSmS3+rM61skPh9FenIYWkvLObuL8Mry+KL1yJlGDnCixa+CGRvAuEoCK7kEN+diIAPUvmoUmBTLqwPGnssgiFAQ50QyORzqOlNl0a+bbFvhuu+BWH/GIiS575guzAapyV/BhFoQAAIABJREFUI6h8/1O+cISZXb4tPsfbXHfiNeS2wOMQJoyp5YK//5JtHS0kKeOIY57gi88W9TnmklPOJzR0e1q3c+CPCy4/5mhisZ5+qngroyYWFUVRFEX5FlChrWQWQorlD9cufaZNrOlb4epviTW9ufJQmU2TDO8MGRd6vcTn1jFcIVoNPwEzSfU23hWn+XTmW2hmDYF4J9Gwn6amCrKO2uIMUDJGJr+UHnSkZfPO49MZMHYcCJuX/nM/k3bZBUdXANOXRNQ1URhbDkAsC2lXebGab1vi2kgnHfsjzrn4ZyRnLKXZE8ZZPQTfzGV05XK8Ubczfs9cbjr1AmI9mX6vbXCNj789djIjvd1k8XLhdZ/ywjPv9TnmVz85kp13PIAlOzvwZSW3nvxbli1r6qeKFUVRFEVRlA2hQluJijNtciMfrr1hiccZ6UDGi01A9BpByJXG02mxxFdNjdWCKA+uOLZr2WLcyyoR2OTK8uBzkBNOIgmNQMGmvmES8bBG2DL5041TKXhDaC6TOW+9yyGH/QSRd2BjI0NR5KBqcqagkLPIGf7v3azE5L134I4pp1NY0M3nKR1XZSXG7CyiawnPDJqA172Uf114Fi2N0X6vLeh18NgLpzMqnMVG475n09x2Y9/76SbuNIGf73sSjXs4cVoaj1x4NZ999mE/VawoiqIoiqJsKBXaSmQLGykkIED0vQzO3sTTUc5IB7luNzhA0xIsnt9MojNPTjMIupPfOD7YmseUGr4BPeDIIQ1BIiGo8CaxUpVkA5Jqd4Kh246lIDQ0K0kunWZA/eBi/XoBsHEGAsRzGo54J4g1zhl+Z40c2cCzT1+CiGSY0ZRG8/mRC3yEmz7hsWF743BGefpv5/P5zOZ+r83QJc89dwoj6x3o5HhrXjmnHPvnPscMqRvCRcdcwaI9XAgpeff2B3j1paf6qeKtk2q6oiiKoijKt4UKbaUSFmJFGFtLaFvfrFbKd0bbpjUqMaNhjHqJYVroTg9deQm2TbXeu0PgwCHllHV1EQ2V4/Tk8Ybriv1Dcjm+/PJdevIuAMLxLzno8OMAaPlqFi7DwJnyYvoT2FXdVGt+NF2SSOcQqeJfE3ud9/fd+BJcVRXi7VevxYHk7XfbMFxuZGcD9V++xaPDJmMZJh89dyVvPPnpFqnvyQeOYdR2lXiIMj8+jB/teWGfx4d9Ye489w4W7eqi4JIs/d9bPHjX7f1UraIoiqIoirKxVGgrkS2KLf8BpFwttPUVZtaUdJa/VUrE0TMJ2gsDIWegN0g8PhcOLcgyV4gyK05eH7HyUsAJxx2OL9VDpNKgcWk9ab0S0wTiMQxfgoimo5k2/7nzOSpGjkFoFtMevJcf7/VD9O5AsQnJoMXUeIqPEIjlJAmtvO8ixSp30sdn8W2Y2HC7nbz7yjWEKvy88fg8nCE/Wn4Eg2a9xuODJ5JwOGmZexuP3PbKFqnvH9f8hJ32GUFYdtJmDWeX7c/Gsta+XNehO3jw8ntp2t5LOqiR/aCRmy8/rx8rVhRFURRFUTaWCm2lEhZyRSLpv5b/rmgn1vItU1qVjUckcLXlafZUUk0rphHsdfzkYWMBMBu6kUHIS4OeuEY4BxXlPyJeJimnwK33vETe5UNzmiz48BP2P2hfhKkXk58/hT9QQ7ogsbN58rqn3+53S5JS8tKTFzN4dAMf3Dsb78BydPdoBs58g2m1O9PqLiMfeYi/XfDvLVLfOSeMZ78TfkiN1kqEwey806Ukk2tvgCKE4P4r/0XHsDCxGh3XohiXnX5CnyFPURRFURRF2fqo0FYiW9orQpuU/fel1xnpIN/pQ7gBK82Sxg6i3QVMqRF0rr6fzaYhZZHXHfjro+iOApohSKUEISuCmQ6R90qqXVHGT9gfE4nIxTALBWrK67GFDY480gaXz0ciK3BFOvrtXre0++88nQn7jmHev2fDNrUYZTtQ9/4HvB8czPzgAFy8wA2n3Ipl9v+U4WGTt+XXVx7KYKOZhKhm8gH/oKW5s88xt553A/bAQXQNM/B3mfzpuF+SyaT7qWJFURRFURRlU1GhrVTCYuXHtRlC25pygG2zOB7EigfRB0h0oaG7vXSaGtK2qHX1XqapCZPy7g4i4TJkzo8zNKD4g1wGR6GDrrwTgED7HCYfchQAi2a9S8jjwZHwYAXjyLIYDYSQUpBI5/B2ZTf9vW6FLjn/CH5x0r60v7iQnvpqXNXDKXv/CxZoHj6sHIXPNYPrTrycTKrQ77XtMrKSy+86huHONlKEOOa0F/l4xhd9jjn32N9Ru+1uLNvBwJ8SXH3scfT09B3yFEVRFEVRlK2TCm0lsldZHrlZ+iiKb24Gk7EISbMKCjpGvSTslTgtH0s95VRaEbKBbXodr8UduLMJYpWS5pZ6UrKMfAFkJEa+UCBqaDgKFjdeMxX/4OEI3WLaQw/w/w7aH607gOXM4qjoosZdh21DLK8h0vqmv9etzFGH78ml1/yK9KwWFjncuCoH4J7ZQTwV55W6XfF7vuKvvzuXno5Uv9dWV+Fhyv9OYaQ/Rh4XV/+tkSf+83qfY376o4PZc7fDaNrNgSev8Y/fnsPixfP7p2BFURRFURRlk1OhrVTSZuXH1T/L42R3O4XI8iWZFRZGrhO9NUuru5wK0Y6luXod7/26+/zADoS/gKkZdMd0yj0dxLzbkqjQqJB5/vfSLLION7qzwNK5X7LXpB8ibIltg3QV8PurSBU0tHQaMHoXZff5xxJtPU/o3mP8CO5/8Gzs5hizIwJHuBJjjo2zfT5PDt4Tj7uN+684h6Z53f1em8+t8+S03zKqojij+t83Jddccl+fY3YZtRMn/OQMGie4cNiSp6+4hQ9nvtUf5X5rreHfSxRFURRFUbYqKrSVyBbWiqhhr2l55Kpf/Oy1vL++utrIdQWQAWhc2MjS5hiRiAVCEDaSq5zfBmxCbXGyhptQbRKnS6LpkE3buA2LjOml4BRUu7rZ78CfYSOxkl3YlkWZtwpbmli6jYaN0+smkbXxtretdot2H19wv33ffIcMqeblaVcgk3nemxtH93oRTWEqGmcyddgkdEeSl+65iE/eXNTvtWlS8Oz/TmbEYA8O0ny4pJZfHnZ1n2PqKxu4+uQbWDTeBZrg4389wXNP/qefKlYURVEURVE2FxXaSiVshC2Xv1zH/JJYx89LmJ5y6JLZsTrseAC9QVJXVY7hDdCBgW6bVBi9Z9nKRITynjaaXV7SPWXogYHFUrLFxhPdeUfxvI2z2WP/wwD47O2XqQuHcUQ9mKE4tsem2uNCCEEinadi7uqh7bsjHPbx3uvX4zIM3nh9KQ6vG9kziIFzpzN16N7kDcHnb1zHi/+ZuUXqe3TKUYzeuQ4fEZoy2zJxt3P7PN7n8nHXRVNo3NlNziNpn/Yhd91+fT9VqyiKoiiKomxOKrSVyBY2Kx+wtqGNSEpfTDh+ZBVmLgCWRG+QDKx24865WeKtpNrsJKZv1+v4gT0JHPkMM9pb6I5VkxJBMjkBPVGyOY2oW8Odtzj7/Ptx1g1CGhavTn2UI396MFo0gOXIs6hlMWWhCiwbogUdV/N3s9Ogw6Hz9otXU1EXZvp/5uIp96PZoxj8yev8b8AEIg4v3Y13cv/1z26R+m7+436M+8mOlMsOutiWMaPPpVBYywPdAUMz+PdV99E80keyTMOe1cJ1F/2hHytWFEVRFEVRNicV2kpkS3sTbGUTvf6nL5PH1FLoXv4w75BJvrsV0ZKhyxWiTO8G2XuvWWVLsUnGvOgsTE8WS9foiWl4tSxmupJkuaTSyDFrbisZ3YnuyNO+aDG77rZ78f5M+NPlV+MJlZMs6JCLIKzVC/0WPB17HYQQPDv1IkbuOpSP7puFc3AlhncHBsx8k1eqt6fZWwWpx/jrWfdukfpOPXInDjl9H+r1FqJiALuNu5pYdPVHO/R2z2V3EBlSSaRBx7MkxSW/OQbT7P8ul4qiKIqiKMrmoUJbqYSN2KCZtjUltHWHn73GDiDfHUSWC3TNoqM7Q3e8OK5ST/Y6g21ZlLdHSLn97L5XAI/Hg6ZBLmOhaZJ03o1lCKr0Vg454jhAkIu0ABAwwthGHstpUVvpxuFykEibpAot63GPq93xOjo7bJbumyW6888nsc/Bu7Hgsc/JD63FVTmamg8+5hNvLXNDQ/Bor3D9yTdRyPf/A6j332MQp9/4M4Yay0hSyUH/734aF/T9e7jhzCsxBm1Lx3CDQMTmkmN/STKV6KeKv/3s79SiX0VRFEVRvqtUaCuRLWyE3fsLXq8/rWufW58EqwY5n1vHud3+2EkfRoPEQODwhWmXLpxWjioR71VAKp0mHGkjUh5m6KDdEf4GAGSmOEPTbRZn5dKzPmHHvQ4EbD548SlG1NdjRHyYwTi44PyzDkAIQTxTIGe2b8T9bJ3OOv3/OOkP/0fkzUY6y8twVw8j9MFCltqSd6t3wO/+hBtOvphkPNfvtW03JMz1D57ACHcHGRHg1Ave5p3XZ/c55rQjT2SbkXuydKyBPy254YST6Oho7aeKFUVRFEVRlP6iQluJbAH28tC2rj4jG3T+VV5PHF0DeQ/YAq1eUOY08SR0mnzV1FjtpPXez05LzrfQzTzJGgc5s5yU8JHKCPRID7mcIOrV8OVNTj3nbrSKWqTT4u0nn+LInx+KlvBiaSYffD6T/Q7YA9OCuKljWX0vyfu2OeQnu3PjX04k+3kHX5hOHJX1OD+OkY118ELDOHzuRfztrHPoWNb/s1SVQRcPPnsq2wWTmDj464PtPDDl+T7H7D/hRxww4RcsHufEXdC496w/8tVXc/qpYkVRFEVRFKU/qdBWouKetq9D2+ZIbSvPOXlMHfkuHQRovgLdrUsotGWJObyEjeg3HizlbMoC4BgUJe/LgC7piWkECkvwSA+pMkmVI0ssJclKA13LEWlrZ/vRY4qXtmyuu+5WKuprSOR17HzXpr+/LWjnnYYy9dELsNuTfNJZwBEKY3yp41v2OU8M2QuXq4tHbjyXBZ/1/+yiy6HxzAunMrJKIDCZ9pGHC8/4R59jth86mjOOuJBFE5zoSF6+/k7eeevlfqr4u8PeHP8/VhRFURRF2QxUaCuBQ9N6LY+Ua/vUVvkOuDHfByeO24Z8TxCtWqAJi3QKulPFE9ZrPb2OFSJHuKObuDdMMBjD4w0iJZhZE10KEnk3tiaoFks49OcnAoJk+2IAPHYAy5nFcsHuOw3A4TRIZArEWLYe1Yo1vNp61NeX8/pLV6PlTN79uAvd5UY2V1O94D0eHTYZ4cjw5qOX8MFL8/q9NikFzzz2a0YMC+EkyZzOQRyy3yV9jqkKV3Hz725h0TgXtiH58qEXePyRe/qpYkVRFEVRFGVLUKGtBA5NLp9kK8YSXa47nohVHsW9pp+u/O9eb1ERcGEOmAgpD3qDxCklhjdMq+7Fa2XYrjC397O7jQ5C0Q46KipY0liO5a4v/mB5M4oeS0fYNmVtbWw7fi8QNtOffITdRozA6PZjBhJYTpNzzzwAgHjGImu1sabde8VHeH/zfsRaXq9uTWM3J7/fzfuvXYfX6+KN5xfhDHqRyW0YNOd1Hhu8FxmHxoKZN/P03W/3a11fu/+vh7Pj+MEEZTfL8sPZfcez+jze7XBz38X30DjGQ9YniU6fy99uuqx/ilUURVEURVG2GBXaSuDUdSwBLG8o6HCsO7StdzxZPmDvHWoQKScg0OsE5e48nh6K+9nMFhyy914zIxJB2ibttT7QXaSFm1hSYuQXkaKcWEASKJiIlIUVrEBzmsx84SWO+NmhyIwLpMXTL09jwg93IW8JUgWJZWfXt/qtjq5rTH/+SmqHVvH2Q3Pw1Jahye0Y9OFrPNOwO12uAImWe7jrsse3SH1XnLE3E3+2K5VaG90MZeyOF5LLrb1NvyY1HrrqXlqGB0hUamhfdHHVWaeoJX6KoiiKoijfAyq0lWD7UUOKD9e2i10eDae22a41eWwduS4naKC58yyd30imPUdadxF0JVbfzoa/NYYlBPrgJJYzjdAl0bjEUz4Hh15JOiypdqXBluSFjiYypKIxthk2HADLhn/d/SChqgoSOQ07893Yz/bfB85hzA9GMOuBT3EMqcIIbE/9B+8yvWIkjb469PyT3Hz6Pzau6ecGOvbg7fn5+QcyUF9GTNSzx8Q/09UR7XPMP/90G6lBNfQM0vG15rj410eTz/d/l0tFURRFURSl/6nQVoL9DtyzONNmC4SwcXnWHdrWNBdXyp6v8T8YQ6EnhF4nMDSBLZ10ZYsj62S815mEzFLW1UU8UE6Now1vqBopwc4VEAKieRcIQWWuccX5u5u+RJMCV86P5UlheS0OO2gHdEMjkc6TzUZKqHLrdtNVx/B/R+5J09NfkB1YjaNqJFXvz+ZzVxmflm2D13iTa0+8lnzO7PfaJo6t45zbjmJbRwtJyvnpr/7LvM8X9znm8lMvxD9kO9q2cxCICy4/5mhi8W//70lRFEVRFEUpjQptJdhu+BAsubzlv7Txuo2NOt/KyZ3eD3AeUOklHd4Jsi70eolTgOEO02r4CZpJvFa693kKXQTiXSRrwnQtCpBz1GDZQDKKZUEPOtKyCSSWt7EXNi8/8gCTd9kFo8uP6U+RJ8/vTtsfgFgWrEzvGZ9e++e2ylYjvZ18/L6c9ccjSLy3lKW+EM6aIfhnNNORz/Nm7U743XO46ZQLiUf6fwnokFo/t049iZHebrJ4Oe+qT3j52ff7HHPcwUex4w77sXQXB76s5C8nn8ayliX9VLGiKIqiKIqyNVChrQQV5X5sxPKZNgvDvdrHtr5ZZi1L8vYZUwfx4jPY9FpB0JHE02GyxFdNtdVCfrXnsxltKQQ2+jAd6dPJSifRhIZDfgGRscTDGmHLJOvwAKC5TOa89S4HH/YTRN6BbdtMefg+dtp9B7KmpJCzwN7A2af1WGa4uVYk7jt5DH//52/Jz+/i86zEXVGNY1Yaepby7MAJeN1LmHLRObQ2xTZTBWsX8jqY+sJpjApnsdG4+6kkf7+l7/10e+06kcP3OZHFezhxmhqPXHg1cz77qJ8q/v5YfcmxoiiKoijK1kaFthI4DQPb1FYsj9xcn9qkHWvJdbnBAZF4B4vnLyPZmSenGQTd33zYdaA1jik1AoN7sIw8UhfEEwJvcDF6pp5sQFLtTiBEsWDNSpJLpxlQPwQAS8IL017DVxYikZM4451rL27F5q+t8xvuqFENPP3kxYieDB81ZdD8IbQFXkJLZvPY0Ek4nFGeuv0C5s5s7vfaHLrk+edOYWSdA50cb3xRxm9P+EufY4Y1DOWCX17GwgkuhJS8c9sDvPrSU/1UsaIoiqIoirI1UaGtBFIDabmwrGJoszbHVJFts8PE8ZiRMEaDxMyY6E4PnXkJtk2d3nsPk9QSlHV1EA1Wkk/F8YXrijMGueKyv56cE4DK5PwVY1rmfYLLMHCmPZj+BLbH4sSjx6NpkkQqR6o7tRlubPOrqgrx9qvXYiB4+71WNI8H2VFP3ZdvM3XYJGwjz8xnL2f6U59ukfqefOhYRm5XgYc4X8WGsv8PL+rz+DJ/GX87+w4W7ebCdEqWPPEWD919ez9VqyiKoiiKomxtVGgriYlgeWiT1mbpOOglScY5EvIGer1k2IAynFqQZleIciuOnl51/5uN1NrwpSLEyiuZv7CStF6BaQKxOKYpiGg6umlj9azcf/f8g/fyk71/iN4VwPKkSRVS/PqEfQGI5SW3/uu1TX9jm5nH4+S9164lWOZn+uPzcAb9yOxwBs96jccHTyThcNL82a1MvX3L3Nu/rj+YsZOGE5JdtJrD2Xn02ViWtdbjnYaTBy+/lyXbe0kHJNn3FvLnK87rx4oVRVEURVGUrY0KbSWxkbYTu9hCcrPMtIWIYC3vAaJV2fj0BM62PM2eSippJZjqvSzR3VHcl2VVu5B+yEuDnrhGlQ4yMp54uaSMAjHK+HpJ48KPZrH/QfshTB1suPbWWxi14wjSBYmdzfPQQxuw/K53p5J+JaXklacvZdDIet6/bzauQRXozu0ZPPN1ptXtQps7TK77Qe646D/9W9hy5524B/scuyc1WisRBrPzTpeQTq+9AYoUkgeuvIv2YSFiNRquhTEu+/2JfYY8RVEURVEU5btPhbaS2Gg4seziTFtpoW35QaKPg+2VH3/A6iLX6UN4YNmypTQt6iDaXcCSGmFnikBr7+WRoY4oec2Bv6Eb3WGiGYJUClxGBJEpI++RVLuiYGvYspimzEKB6rI6bGFhSpg39ys8QT+JrMAR68I0lzchWXUqcQOC2Lq6TG6qbPfglN8zbvIOfPnv2TCsGmdoe+o+eJ93Q0OZH2jAaT/PDafehrVZ1rP27fB9hnP85Ycw2GgmTg1773cHrcv62DMI3HbBjRQGDqBrqIG/0+RPx/+STCbd5xhlI6lnkyuKoiiK8i2gQlsJhLAQwlixp23d3/NsSokmK85k27TrFVjxEHqDJODxYLi9dJoa0rYYVJbHGY+vHOi0KOtqJ1JWCVYXztCA4vu5LJ9//hZd+eX72SLzltdSvE7Y68ER92AFE1gei7NO3RspBYl0js6WdXRUFFvX99vLL/wZR56wD63TviLSUI27egRl789lge7lo8qR+FwfcN2JV5BNF/q9tt1GVXPxXb9iuLONFCF+dcrzzPpwXp9jzjv+DKqH7ULLDg78SclVxx1LT0/fIU9RFEVRFEX5flChrQQ2FgKjuDxSWFhr29QmVn1RSsQpDvAVsqTMaihoGA2SwXV+nLafpZ5yKq0InmEh5CrnK+DFnU2QqCxnaXsZKRkmXwARiVFR4yZiaDgKFpnO3KpF8dOD9kfrCWA5s3TFOznyF5OwbYjlda6++ckN+Wi2iKOP/CF/uupo0h8vo9Htw1U1EM+HHcTSCV6p2xW/Zx63/PZcIp29Z6kMY/P/dW+o8vKP/53Mdr4YeVxccdsCnpw6vc8xR+x7CD/Y5VCadnPgyUnu+O0faFq8YLPXqiiKoiiKonw7qNBWgq9Dm2UJBJu+EUkwl8LsKYYrWW7hyHaht2ZodZdTIduxHTrWKuHL2V58rdULRKCAqRl0x3S8Zd343T8kUaFRIfOkzd6FTtz7hwhbYttw8TXXM2T4UFIFDS2T4oUXp399s6vZulr8/2DCSO6570yspTE+i0sc4UqMz0yM9gU8NXhPPO5W7rv8HJbO7/nG2L9P+T+mzT4Jp1Njp52G0bj4bsaPH7HJavO5dZ54/jRGlRewgamvCa6/7ME+x+w2eheO+/HvWTTBicOWPHXZzXz84bubrCZl7TZHQyFFURRFUZTNQYW2klho4uuZNnutX/as7NfLHUs769dxyJdNkesOIAPQuLCRpcuiRCIWCEGZUXw+W7OnYsW4UEecrMNNoK4Lp0tD0yGbtnG6bDJZH6ZTUO3s4uvdZV9fp8xbha2ZWLpNIRPD5XOTyNo4Yt8MOKvXuF43tpkMHVrDS89dgUzk+WBeHOnxojWGqGj8kKnDJqM7Erx414XMeqtxjePrR5djZU2yWZN99tmRgQMraWxs3yS16ZrguSd/w8hBHhxkmNlUw6+OuKbPMQ1VDVx54nUs2sOF0AQfTXmc559+dJPUoyiKoiiKonx3qNBWAltYCKEXG5GItTcike71/zilZdNoD8eOB9AHSOqqyjG8QTow0O0CDRXFzoGN/loA4p4AZT1t9ISrSETT6P7ifjaRLS4F7M47AKiMfNX7HvLgiHoxg3Fsj835Z+6HEIJ4Os+CBV3rXfeG2JiZjbIyP++9fj1OQ2f660swPC5kzyAavniTR4dOomDYfPbqNbz06EdrHF9V4cEqc9D8WXGf2OR9xjBnThOtrWsPrOtj6l2/YLudavESoTG9LRN3O7fP4wOeAHddOIXGnd3k3JK252dy999u2CS1KIqiKIqiKN8tKrSVwMZCCA1r+Z42e61Tbet/7lDaxsz5wZLo9ZKB1W7cWTdLvJVUm53og0IANPlqAGi2t8GRz5Aor6AnHiYlgmRyAiueIJeSRN0a7rxFzOjodZ3OnAct6sdy5FnQvJCDD90Ty4Z4QeeSqx4u5UPYYpxOg3devoby2hBvPDIXT3kQzRrF4E9e48kBE4g6PHQuvJMHb5q21nMccfgobCGY/tJCDENn4sTRvPbqrE1S318u3p/dD9yBctlBp70tY0efi2mu/S+DoRk8dMW9LBnlIxnWsD9ZxvV/PHOT1KIoiqIoiqJ896jQVhITTejYVnGmba0zRhswlVSetCh0awDIYIF8VyuiNUOXK0SZ3gNa8VcUXZ4IRYcLAKMeCu4slq7RHdNoLA/hiJaRLJdUGjmyjnyv68Qsb7FEEy6+/FrqBg0gmddxpGJ8+PGn6113fxFC8NxjFzF8p8HMvO8T3EMq0b07MHDGm7xcvSPN3irs5KPcevZ9fZ5n3KTBSMvmiSfnMW7ccLxeF6+8Mnuj6zv9qF34v9MmU6e3EBUD2G3c1cRjyT7v597L/0HPkAqi9TqeJSkuPuUYTLP/u1wqiqIoiqIo3w4qtJXAljZCiOUt//sKbes40Rqe2eaLCfLdQWS5YOFXjXREcnTHi8dVO1MrjnvzlWkgLIKdCVJuP8GqNjxeF5oG+YwFukEm58YyBNV662p12VgZF7aRx3Ja1Fd7cbgdJDImemz1Vv/rFzw39wTcP//6Gyb9ZFfmP/oZhaH1OMtHU/v+h3zkq+eL0GDc8mWu/82fMQt9T3NWjQxjt2dIJHPss88YTNPk9dc3Lqwe+IMhnHrj4QwxlpGgkgMPvZ/FC1v6HHPTmVehDRpGx3CDQMTm4mN/QSq19pCnKIqiKIqiKCq0lWT58ki72Mp/3csjS4sy0rZYnB+LnfRhNEiGDqzF4Q3QLl04rRwjhuorjp3x3hsUPJJwpI1oWZj2rizCV9zPJjPFL/1dpgG2Tai72C5eLK/DSlrxFAivAAAgAElEQVQ4Ij4KwTi22+aCsw8o7mfLFPjg4+b1+BxKefbcpnPu7w/m17/7MT1vNNJVXYGnehih9xfQhM571dvjd3/MDSdfTCqe6/M82wwNkfcbLPq4DSjuZ/vwwwVEoxselrYfVs51DxzPSFcHGRHg5HPf5N3pfc/cnX7UyQwZOYHmMQb+tOT6E35NZ2fbBtegbBpCbF0dUhVFURRFUVanQlsJbGEipSx2j5TmWmfaSg4syw8MmFFE3g22QKsX1Icl7oRBk6+aGrMN1/L9bADNX32Klfajm3kyYY18IUBK+EhmBJ58Em88Tcyr4StY9HiK+9mkVQAbIj0aMuHF1kxmzJ7Jjw4Yj2lBIq9z2VV9LyvcwDvcaIcdPI7rbvk1mc/a+NJy4iivx/VRhEyiixcbdsfnXsTtZ55DZ8u6g9f/++koAF5+fj5er4vx40fw6isbvp+tOuzi/qd/w6hAggIObrm3hYfvfqHPMQftuR/77XEki3d34i5o3P2HC5n/1dwNrkFRFEVRFEX5/lChrQS2sJEIbHsdyyPXsEJvjf+Gv/zNoBkl16WDAOkr0NnSjNmWIebwUuaIgVw52iwU8HQU9z25B0TIe9KgS3piGiNGC0Yl0qTKJFWOLKa+vJDldaZSxY6StmVz3Y23UVlXQyKv40p2s2hRU+mfQz9ltl12HsYjj5yP3Zrkk04LR7gM/UsdT8sXPDH4h7hcnTxyw7ksnNOx7pMBO+85AK1g8+y0BUycOBrD0HllA0Ob26nx1LTTGFklEJg8N8PNH8/+V59jdhg2mtN/ej6LJrjQkbx07d95751XN+j6iqIoiqIoyvePCm0lsZCi+FEJ1j7T1ksJK660QppCTwitWmBlCmSy0JUsDqzUe+8183oNwp0REr4Q/rIEHl8YKcHKmhiGIJF3Y2uCKntJ74vYNiLlxHJmsdwwbtcBGE6DRLqAXMPywC39vOEBAyp5/cWr0LImb8/qxvB6kM2V1Cx4j0eHTUI6Mkz/z8V88PK8ks8Z2iZEvjlJoWAxefKOZLN53nnni/WuTUrBM//9NSOHBXCS4tP2ARx24KV9jqkOV3PT6bewaLwL2xDMffB5npi6PrObiqIoiqIoyvedCm0lsKWF/Pqj+sbySHuNL1e+tab0ZmOYNo1iW0i5MRokXreGwx2mzfDgtTL4rFSvEYcftS+haAepsIeFLZWY7joARDoBQLelI2ybRW+817u2ZAaj248ZTGA6CpxzxoEAxLIWz7325Tcq25K7ewIBD++9di0er4s3XliMO+BBxIcy8LM3mDpkb7IOjfkf3MQz975b8jl3GVtD3q3xxYxig5DJ+4zhnXfmkk5n17u+h24/gh12H0RA9NCcG864Mef0ebzH6eHei++mcayHrFcSff1z7rj5ivW+rqIoiqIoivL9pkJbKYSFWD7TJvuaaVuPaapQ2kQknYBAqxNUegt4ImL5frYWvBmj1/GH/+BHSNvEGYqD7iIj3MSSEkfSpmURxIOSQMHkd3+8f2XZCLKFPDLjAmHx9EvPM2HizuQtQTYnufbG+1m3/pl703WN6dOupGZwJW8/NAdvVQhNjGbIR6/z9IBxdDv9xJfdxd1XPLFe5z340BEATHtmHmVlfsaOHbJB+9muPnMSP/jpLlRq7XQzjLE7nE8+v/Y2/ZrUeOjKe2kZESBRoSHndnLVOaesvYmNoiiKoiiKoqyFCm2lEPaK0Cawse2Nn48Kpy1yXU7QQDizLJnfSKY9S1p3EXQlCLYleh2/DV4sIQgOaMNyphG6JBqXBF11pNp00iFJtStNIFTfa1whpy1/ZXHXPf8mVFVBIqfhTHbS1dldWrHrebsb0o3viYfOY8c9hjPr/k8xhlZjBEbTMONtXq8YRZOvFi33P/78uynrva9u+/H16DmL16Y3MWnSDkgp13s/2/GH7sgR5x7AAH0ZMVHP+B/cTHfX6o9K6O1fl9xOcnANPQN1fC1ZLj7xaPL5fJ9jlC1BdY5UFEVRFGXrp0JbCWxhIZYHNSGtVSafbNLJ/Ncv14uVClCIhtDrBFgFkE66ssVr1OpR3N2Rlde38lT09BD3l2MFJL5QNVKCncsjhCCSc4EQVGYXcfDPT1q1cvSUC8ubwuFN/3/27jvOrqpc/P9n7Xb26W16JplkUkkISYCE0EmCCBcRBLFLUUBBr1gQ8SIiAoryRdTrBUVRQAUvgiAIApJAKAmQSElCTZlJnX5mTq97798fJ5mSqal4/a33P8zMWe3sGV6v82St51mcc8ZhaLpKKlvE6s7wr+KnP7yA0z92DJsfeYfcpCrMyhlUvryGdWYF6yKT8erPcdPFN1EsWHs8tmein0xzEoAlS+aQSGRYtWr9mPufcHg9X//5x5litJAmylmf/DPr39k8Yp/rv3w13omH0HaITiAB3zvvMyST8T1euyRJkiRJkiSBDNrGZNfl2uVvbBy777Hlsn13hI316Jtm5dnmTIeciVav4DcMdHeYFiNA0EpjlvJodt/Ru0SsQCDZRSLi541tU8kbNdgOkEpiOzbdaCi2gyuXpX7Ogr715Az0Lj92OEnIneBLX/wgAPEC3PPg6n14IvvPZRd9kK9cdQ6plVvZ4QthVjXiX7WVtpLFC7Vz8XvWcfMXvk2yZ89z0Baf2EDJUFi7snwX3eIlc3juuTexrJEv4t5lyrggP/vfizjEEyOPl29c/yrPPLlqxD4XnvlpDp11MtsON/DlFX5y8aW0tG7b47VLkiRJkiRJ0i4yaBsLYSP67a4NdzxS9B61ckbcefOW4pAqX5yt1QiCrgzujhJbvVVU2y340/rO8crsDVb5ouxwEc2vkRcu4kkVHzrFQgfJsErYtoj7fJS8wd550iKCKBoYFTk8epF58w8lbylYeZv/uf1/h1zbnp/87N9hz7YbP3jyPH5++6UU13exLq9jVtXgeiOD3b2Dxyccg9e9lTu+dQVtW5N7uigATjtjGgAP/+Vt6usrmDZt3Jjz2cI+gz89cSkzw1ksVH79UIpf/fThEfucdOTxnL34czQvdOGyVO698jrefuv1vVq7dOA5ztiCd0mSJEmSpPebDNrGwBEO/UIo6LfT5oxcPHJInlKCYqcHDLD0FJs3tpDuLFFUdULuNIHWODHD3zumd0cGS9HwNXThGAUUXZBMC4KBIEqpRD6gUG2mEIpCSai985RKHgAClRZCOPgiIVIFBVeyk2xm+OORByPLZ9asCfz14ashluOf23K4ggHU9W4CW9fwYONJuFzdPPzzK3nn1R17Pce0I2rQMxavr21n8eLDAMaUz2ZoCo///VJm1OqoFHn2rRBfufhnI/aZOmEq3/r092g6xkQVCi/89C6WL3t8r9cuSZIkSZIkSbvIoG0sFAex81E5zlgKkQwfvjmOQ4fjwYqH0OsVFGxUw01nUQHHoVaNY8bjNPtrAbCtAtGuDjq9QYTbwhsehxBAoXxcsLvoAqAis2HAPKIIesrECqTQveCOOqiqQipTINO1d/lsYrh31u9xjFSDZNfxUWGovLD0h+g2vPhKG5rphrY66t5bwZ8nL8bRi7zy6Pd54W9v7tU6AXRdQR/npWdDOTdw8ZI5tLf3sG7dyPloQsAj953PjBlRPCR5N97IqSdePWKfiD/CL772C5rmm1iGQvODy7nv7tv3eu2SJEmSJEmS1J8M2sbAEU5fIRIcbGuYxzYgohkmesnadJUmQFFHG6cQNkxMLcgOM0TUTqDnLFTH7g3a0l0lvJke1qXTNG2tI6tWYFlAIollWfSoGprl0FaMlGdVy0e+7M4IWiyIHUwjAG+NF4B4UeHnv1m2j09k3wQOrScQ9vLcXzfgDnlRCtOYuOYZ/jLxeNKGi21rfsqDtz2zT3OcfupULE3wz+fLl40vWTKHZcvWjJp3+Jsfn8XcE6cRUrpos6ZyxKyvj9jH1E3+cN1dbJ7tJRtQyL60kZ/e+O19WrskSZIkSZIk9SeDtrEQdr98NRvb7r+11O9L0f9ngz/oC4C4hbWzkKBa5eAjgau1wHZPJVW0EsgIHCBmlo9Hik3liomvbH8DJQAFRSeWVPEVo+QTPSSjChFKvOdpKI/pKrfPxWsQlgr+8jrc0QqyJQXyBf5476N79RicIffZxp7HJpSdd9353bx891rM8RWo+mwmrl7O43VH0uYOk+/6Pb/8zv17tb7+Tj5tMgAPPPAW06fXM25clGeWrRmxz3994VgWf/ZoqtVWupnI3DnXkMsVhm2vCIXfX38n7ZNDJKtVXBt6uO4rF2HbMldKkiRJkiRJ2n9k0DYGjuL0VehwGH6nbVe1kv5xzG4xTanHotjlQ3jAsrNs2dRFImZhKyphV5pAazdtZpjXV68ExyHQkqKoGdROS6MZFpouyGbA1IM4BZWiR6HajOPsymXLlyNCO+vFETaqx0Bg4fJ5SeUFRiKGZY29dH7/5e/F9WsDXHzByQB0r2yCyVUYwZnUvfISK8KT2RSox2U/zs2X/gLb3vcLqCfOrUJLFGnaHB9TPtvHT53Bed89g4n6DpLUcOLJt9HWOvI9dv/zX7dQbKinq1HH32Hxnc99mnw+t89rlw6uff27liRJkiRJOtBk0DYGjqBf0OZg2bt9yhODvhhmIId3kpOwEyG08Qq6oqJ7vXTYGopjU6324EqmaA7UseLFpeTyWaKxduKRShYtOhxXZHx5lp35bLGd+WzV8b58tk2vv4jIC/SEBzuYRKgCn5FDUQSpbIGOlr2rxLivrr/6E8w/ZgYATcKHu3oGFS+/zQbNz2sV0/G5XuKmi68nnyuNMtLoAn4DUWXS8U456Fq8ZA7NzW1s2tQ6ZPujZlZz9S8/w1RXGxnCfPqSx1n72sh3uX3781+jsnEeLYca+NOC688/j56eMV5WLkmSJEmSJEl7YJ+CtqamJtasWcNrr73GqlXl+6vC4TBPPfUU7733Hk899RShUGi/LPT9NCCnzQHHUoduOErM5rLSpK1qsFT0cQpRj4LL8bPdE6XS7kbNCRQcNnur2bjmFVqbSpj5FLlxfmI9jWREhGIJ6O6hVMrRoysYJZtARaR3jifv/QNWezVqdwDHHwcBAb8bx4FEUePGmx/au2fQu/m159sS533yRK6+4dMUtpSLgpiV9XhWt9OTy7Bs3JH4Pe9y65e/RU9ndq/WtruzPjwdWxGsfGYziqKwaNHsYUv9j6/ycvtDX+AQXw9F3Hzvp+t59MHnRxz/46eczcJ5H2bLkQbegsJtl32VrVs37Ze1S5IkSZIkSdLu9nmnbdGiRcybN4/58+cDcNVVV7F06VKmTZvG0qVLueqqq/Z5ke+3/iX/FeFgDXc8chTuYpxS9868rqiNmutEa83R6o5QoXQQTjhYCHpcLrKpBM7GIgCeKQVEsIilasQSGjVOO6poI1WhUqkUMSr6AuPtb79HLlWJcBRUd3d53mCYTElFzWV46umRA5L97YTjZnLn3V/D2tLDtlz5GWrvWuidm3h04rF4zB3c9d1vsG1D936b8/gPNCIchwcffJu5cycRifhZunRwPpvfrfPQE5dxSLSIg+C+py1uvv6PI4591Oz5nPcfX6LpGBeGrfDQd2/m9Vdf2m9rlyRJkiRJkqTd7ffjkWeeeSZ33303AHfffTdnnXXW/p7ioFIVUQ7adu20CYFVGsNO2xBpWa5CD4UuP0oALHrY3hKnp8cCIQgpaXyt3ezwVvDS8mUIAYHWBHnDja+qB9Olo2qQzzqYqkWhpGG5BFWurgFJOY7jQMaLo1roWhxdKeDymKTyDkZi/wVGYzF5ci1PPPY9lESeV95LorrKxznDW9fy58ZFaK4UT/zm26xZuWW/zjvu0ChKrEB7Z4YlS+YAsGzZwJ02TRX8/ZFLmD7Bg0GOV5qrufATPxpx3AnVDVz3uR+w6WgToQpW/+p+nnzsgf26dkmSJEmSJEna3T4FbY7j8NRTT7F69WouvvhiAKqrq2ltLecOtba2UlVVte+rfB+5VA1HoTcIE0Jg7cnxyJ3FSQxN4V1nEk4qgDZewYWJyxukAxeaUyJYyuLKpmn21/HyymUcv2gWke424hUVtG8HNVBfHi5fPkIYKxoAVMUGBjz1kQh63IsVjqMoUBeNI4QgmS2yfmPXPj0LIYZ6j2KIryAaDfDSszfh0jRefH4HutdEpKMAPNZwNCXDYe3TN7L0z6/t05p2V13lwQobbFvbCZTz2d58cwttbT0D2j3w289wyNxavPSwKT2FE4+6csRxA54Av77qlzQd4aboVmh9fBV3/fIn+3XtkiRJkiRJkjQUbV86H3vssbS0tFBZWck//vEP3nnnnTH3vfjii7nkkksAqKio2JdlHFAuTcXuV4jE1ByyuaFj3V0bXvYQ0dvRh1RhFYNgK2j1CpVejWSHmy3eCNVWJxm3FwFs9laz+c3XuPrWb2F0psnXe+lJuLCjQfIFgTvWRtZWibtV3EWbTHEuYcrFRQQOHz/nTNS4n+LUjQBEqlzYDiRLOtfecN+eP4DdSuuNJaNN0WDF0zcSqQnx/O/X4Z5Sg1KaScXWv0AdpHQ3Hetv44+3PLnn6xnFuefMBCF47h+b0HWN44+fxZ2/eWpAm//+3mnMP3UWEaWFdnsq82ZdgWUNX6Zf13Tu/f7dbJ3pIxNSsV/dxo+/8/X9vnZJkiRJkiRJGso+7bS1tLQA0NHRwUMPPcSCBQtoa2ujpqYGgJqaGtrb24fs++tf/5r58+czf/58Ojs792UZB9S42soBxyN1U6VkDRPrjhDRLJ5TRylWftxqsESuqxXRmiNmBolqMRxFoShUEtgUCznmBsYB4J2cpeTNYWsqsYTK8aXnKOm1pKMKlXqBojow4D1yQTm3UKnbATh4wwHSRQ0lk+LV19bu28OA/hVJhnX0xyymHNbA6rvXYEyqRHPPomH1c7wZKFe/XGiu4L+/+ft9X8sQFpzUgGI7PPzIeyxcOB2PxzWg1P9XPnMk//GFRdRpLcSZwJHzbyCVGr4AihCCu6+7g1hjlHidhmdLmu9eegGWte9VLiVJkiRJkiRpLPY6aPN4PPh8vt6vTznlFNatW8cjjzzC+eefD8D555/PX//61/2z0vfJB05ZiCPAcQQIG9NUx5bTtpsT542nGAuiRAWiWCAWzxFLlgOgiJIAYIuvmueefgJdV6jqSZNx+/GEe/B6PagqlHI2psiTKXmwdUG1tlsJe8fBr4Vx9CJqKIbLJXC5XaRyJZTuxP54HKOqmW5QOdvFhj+vw2qswYweSu3L/2S1fzxtnvLxyMZSFqt0YC6grpoRxmnLkkoXWLJkDpZlsXz5OgBOP34SX7zpHCbp20lRxSln/o6tzUNfA7DLLd/4AUpDIx1TdQLdNtec/ymy2fQBWbskSZIkSZIkDWWvj0dWV1fz0EPl8vGapnHvvffy5JNPsmrVKu6//34+//nPs2XLFs4999z9ttj3wxFHzMAWHWALhHBwe/VhgzahDB21+d06+owPUnrVhzFFwaVrFL1hdigapl3A6+4gZY+n2V/Lqpfu4T8+fDThnnZi48fR05TGqduZz7YzWIiVNHAcol0d9M/UEkkLI+bFivRgKFA1zgQglUqjd2fG9H735Z5hlxHE2+Ans2IHXTUVuCunEFqxgc0YvFI1i4X6Y2CBOEDXA05pDFH06zQ9vx0o57OtXr2BeDzN7MlRbrznQqabHeREkIu+9gyvvLBuxPEu/9QXaZh2NM2H6fgzCjddeCGdXUPvHEuSJEmSJEnSgbLXQVtTUxNz584d9PNYLMbJJ5+8T4v6V1JTFSUrOsERCMXB7dWw7ZEfm9itdOQJh9Ygim5wBGqdIOqxiG/X2OyrpsZqIxNUoRu2eyvZvn4dt1xxA9r2TkSjh2JRpSh8ZLMCs7uLHaU6EgEVX8kmbRwKhb55su0KStqLNWEbAKGaaiwbcukSrp0Xch9Inuo6im91sC4PZlU95j+7yaRi/GPSSfjcm1j6hz9z8scG/83sL+ecMxOAp/++Aa/X5KijpnHL/3uI6rDJXX/7IjP9KYoY3HznDv73nqdHHOuME09jydEfY+MCA09J5c6vfouNG8eesyn96xvDSV9JkiRJkqR/CQdmy+PfiN9049hKOWgTDkLdeVRyDyyaU0uxUwMBqr9Ix44WSm15koaXkCvRW+yjI5XAtkocokdwgNDUNHl3BjSF7qRKtWij2XMUmYhClZHD0bwD5slnyhUl1dryTpMnFCJV1NCKBQ4GpzXFa+0WeiSK9paKp/VdHp54PKa7g/tuuoKOluQBnf/w48ajlhwef3Ijxx8/C13XeHH5Wh594jIOqQSBzaMvu7j2yt+MOM5hU2dz6VlX0HSMiYbCEzf+gpdXPntA1y5JkiRJkiRJw5FB2ygU1UFYLhy7nNNmOzDgEKEz6ItBjj9qOsXuEGqNwC1S5PM2sZ2nFUNa+bidAJYv/Tten0Fld4KEJ4RuxPAFIigK2PkSuiJIFL04qqCabb3LcAAcByXtwjZzqIEEPqGju3SSmSLCOTD5YwBetW/sVW8nUb1uxLZKqja9zP2TF6EYWZb/8RpWL9twwNawS3BKkOL2NKWSzZIlc8hl83zz8qOYPjmAiwxvtNZz7unXjThGTaSGH192C5sWmjia4M17HuOvDx6YoimSJEmSJEmSNBYyaBuFEKBgYu/cabN3i81Gi4c0iljjjoWsG32cgqa40T1hWnUPXjtHsXI9ALYQvP7Kc3zskycTSrSzEVj7VgDLrCuvI5MCIGZrCNvB1z5w9ywUi6PH/Fj+NEJAjbtcVTIWK+77QxhGMOjltOpc7/eqqaMkGpmwbjkPNJ5E3lBZv/JmHrvnpQO2hl2OmFtD0a3yzqpyRdPFi2ezYdVLzJo/noDoZnthKkfPu2LEMbwuL3d957c0z/NQ8Cp0L1vLL39y/QFfuyRJkiRJkiSNRAZtoxA4CMeFvbMQyUgx2lA5Mj6RwskaQDmfLWzaeGKCLb4aauwWsmGrt21b83ucc+wHUByblVveRegmOeEmkVZwZS3idohkUCFoWfTY8wfME+zuRsmZOIoNAoLBOoq2oKO9PPfYjS3RR9c1XnjyBkxvX1EWVcxi4qvP8Oj4hcRcfhLbfsNvbzg41UPP/MgMAB5/5D2i0QDj3DnCMyqpUNrpYjJzDr2KYnH4Mv2qovLHG+5ixww/6aiKWNfGD6780kFZuyRJkiRJkiSNRAZto7JQMHqPR46peEG/GMknkhQ6XaCCMAps3bCFXEeenOYi5Er1trVtB8dxmOx4sIUg623C0jMITSGeVKgL57HVSrIhhSozi6OYA6bSM+Xgb9dRSXcgSLKgUsooOGIPf83DvMf+od/D917JrKOm0Pz3Lb0/q3/lBZ6pnMkWXw1K/iF+cvmv92zefXDowjq0vM3yF7Zw7VcWkQgp1Gs7SIhxLDz6ZrpjI195cOe1t5GaWE33eA3vjjzXXHIexeKB26WU/nWIfaqZKkmSJEmSdODJoG0UDg6K2LXTZg86Hjlcr13SioLVE0KrE2i2DaqLzlz5Q2LU7hdI2A4VlT4qYt10e8N88NQp+CI1KApQKLJp42p6ii4Qgqr8poGzlWz0tAvbm8F2O4QVN5qukk5lwdl/H0p37Qn+/Eef47SPHs3mv75Nu8/sfX2tp4o3I5OpDbzGTRf/iFLhwOXS7c7d4CfdnGDx/PEsvnABU4wW0kQ582N/YsN7W0fse+N/XoN74nTaZugEEnDteZ8mlTo499pJkiRJkiRJ0mhk0DYqCwUN2wEhnBF22gYGRkKAy0jRIqZA3kSrV/C4VHRXiFZXgKCVBq3vaKTtOJx/wZkEUl28WyhQsg4np1eXg8R0EstppRsNxXbw79w12rWU5JYMelcAO5KiIPJUe6vKP+9IDFrXvopUufnylR8hsWIrLYEwZlVj72sv1syhIvgu0RUaqfiBv2Jgl8UnNlAyFLas7eCW+z7PDE+MPD6+du0/efbpV0fse9HZn2XmzMVsn2fgyyncctGltLVtP0grlyRJkiRJkqTRyaBtNMJGCKNc9l/Y2GO83MnBIexvw0mXc760akHQlcHsLLHVW0W13ULR5eptbzs2px22EIHDys3rUP0KBeEinlQZV+FQU3ciyYhK2LbI2Z4Bc7VsKSKKOqIyx69+/1v8wVrylkKxNbXrTeyXRxEOqtQdGqX4Xifv5DVclbW4Xk/3vh7wbmVBth2R9Iwwyv532hnTADjplDnMDGWx0Fj+pp9f/2LkfLolC07kzBMvoHmhC1dJ5Y9Xfo933n79YCxZkiRJkiRJksZMBm2jcBwbxdF7j0eOGLPtKsG/s03Y30qx04MwIJbsYPPGVtIdRYqqTtCdAjFwsIa8hqVouOo6QC+i6IJkWlBdW6KUrSLvV6g2k7Bbjlo2Wf7eqLFZtuxFTL+fVEGgpNPss51vxq1bzJwZgM4Mr+4ooIVCqO+58G9f29v0lImv4sl6hxvpgJl+ZC3ugsP0eg8qJeKuI7jiS7eN3KdhGld88rs0HWOiCoXlt97Jc8/8/SCtWJIkSZIkSZLGTgZto3CEgxAajs2QJf+H7FOuBkKyAqx4CK1egYKFYrjpLKkIxyGibRvQR3OVqOjuotMb5NRTZ+GNjCvfuV0oHzPsKZRzx6rT79F/50yUSqgJN1YghWoKLjnvaFRVIZlK7beDkbrmMLM6iSiUWL2mG83tRmmtpW79Sv7cuLi3XbVm7KcZx84wFPRxHiKWipskO6yZ2Jk869ZtHrZPRaCCn3/1v9m0wMQyFDb+eRn3//6Og7hqSZIkSZIkSRo7GbSNRlioiort7KoeOUTUNkR05CJHl10PRR2tXqFxfARTDbDDDBO1E2QrBuZNGS4db6aHtek0qeRMsmoFlgUimaRYgB5VQ7McJnVuHNCvEG9FiwXIh8v3pV1wwRIAulJt++ftq4LZtUlUDV5f3gqmiZKZSsO6Z3lw0gmkDWHqn8UAACAASURBVH2/zLO3HvzdxyipgirdptWaiiiqLFu2Ztj2pm7y++/9js2Hecn5FTIr1vPzH1x9EFcsSZIkSZIkSXtGBm2jKN/MpmLbSvl4JDAwSht6681PCjtRbqdUOviUBK62Ats9FVTSim0ObO+LlX8Vq7e9hghCUdGJJVUm1pVo26CQjCpEKeEvDjzymM7HEJZKT3V5wBmzp5MtKaRyLbutaC/23QRUHOrDCGi890QLBb+JZsyi4dXlPF57JO1miPrxq/d83P3kO5cdz4S51QAY/omcc/ZtjBsXZdnSN4ZsrwiFP9zwW1qnhkhWqRjre7ju8ouHDsQlSZIkSZIk6V+EDNpGIxwUoeDYAPbO//axhjkv6XbiFLt8CA/s2L6NzRs7iccsbEUl6Mnu1toh1JGiqBnUTM+hGRaqLshmIBC2ySddFD0KVWZP+chk//lz4AibWFUEgYUn4COZFzhWin2lnDYVY5yX1se30hPQMIKzqHv5JV4MT2ZTYByG/RjCrB/UT+y+yEH2PUj6xKkz+MzVp5MWOXwFh5NOvYN5cxoAWDpM0Hb71T8h3zCO2EQNX3uJ73zuUxQKB6/KpSRJkiRJkiTtDRm0jcIRFoqilguRKDbOiAHHrkokNi16LXYiiDZeIeTzYvh8dNoaimNTYeYG9FJViMbaafMEWLT4CMzw+PJoOwOKWKFcZbK6+72Bs+UL6AkTO5zE0jWqtCyKIkim4v1Xg1D2fJdtsq8R5cg6Es9uodmnY1bNoPLlN3nPCPB6xXR8rpXcdNENgNZvQQdnx2rh7Br+61efoVHbQbchiDdleOuNjSxeMoempjaamgYfDb364m8QaZxL6ywDf1pw/XmfJR7vPijrlSRJkiRJkqR9IYO2UTjCRhFKOWjDGtNROr+dJFWqAktFH6cwsdaHy/ax3ROlyu7G1AQgeqtMKrkoZj7Nq91ddHdPJC0iFEugpTLk8g49hoJRstHiA7f5sp0dqN0B1IpyEBjxmzgOdKZbyptZOwuiKBp7ZJyrlon10ym+3spbuHBXTcS7qoVYPsezdUfg97zDTy67injX7juGB15DjY/bH7yEQ7w9dKQUbEXwxF/WoSgKixYdNuTRyE+ceg7z536IrUcYePMKv/jC5Wzb3nzQ1y79a7F33zaXJEmSJEn6FyWDtlHZCASOo8CIl2v3CZViWPHyo1WiNiLbidaWp9UdIap0sGsPbNdQ3pZyVPVG62sQLGKpGl0JjQWHO3RvdJGqUKlUitgMrM6YTqcRjkJ4SvkuOG8wRKakksvvfRGSgNvLYTVzsLf08HpC4IpUoq8ponZt5tGGY/F5dvDba65g+6Y936Xa19SxgEfnwb9fxiGRIg6C9W15hOPwwF/eZt68RsJh36AiJEcfdhSfOfUymo92Ydgqf7nmJta88fK+LUSSJEmSJEmSDiIZtI3CEQ6KsvMxCWtMgYev1EWhM4ASBPI5drTG6e6xQQiqAj2D2oc6UuQND7MW6JguHVWDQtbG73HIZl1YLkGVqwux26/Lyak4qkXFRBMPOVwek1TewbEzA9oNDBGHN21aHYc2ToeePK9syqB6vChNfiJbXuOBxpPQXUmOcK9h3UtbRn8I+5mmCh7/2xeYPt5EI8/KjVVkjQJKV4HOrixLlswBYNmyvp22ibUNfPfCG2k6xkSoglduv4+n/v7QQV+7JEmSJEmSJO0LGbSNRtgoOx+TIqxB20X2bieshFOiiYk4KT9avYJL1TB9YTow0O0Ssyc19bZ1ANP2EYm1EYtEmTtnAWpgZz5bvnz0MFYq764Zm9b2m8VB5FLoPR6scBJVF8xzbUEIQTJb7Nds7FtbFRUBViy7CWE5rFrdgeYyEV3jqX/nBf7cuIiS4XBI5J+EMiNdnr2/boYb7C93f4ZDZlfjJU5TejKfPOs6SmGdbes6AVi0+DDWrdtMW1s5KA54gvzqyl/RfKRJyVTY8ejL3HPHTw/Y+iRJkiRJkiTpQJFB2ygcYfftcAl7UBy0e45bwNmOU/SBraDVK0SDYOZMtnorqbY7CQUG7oJ52yZhlHIkgy7SuVoyIkCuIFB6MvR0WsRNFXfR5vJv/W5Av3xmO2rcD6Hy/JMCYDuQLPbdmyZw2Jk9N+J7NE2DlUt/SLgqwJql2xBeN2ppOpPWPMNDDceSdJkcMv4NApnAHjy5/ee260/nyA/MIqJ00uFMY96sKzj7rBkgBM/9YxOGoXH88bN689l0Tefe6+9m6ywvmaBKcfUWbv7uN96XtUv/+kYtdipJkiRJkvQ+k0HbaBS7t4S9MlQhEnvgJ76wvZlirJxjpgZKZDpbEC05YmaQiB4bNHxgW7kypFqTouTNYWsqsbhKfQSa3tZIVyhU6QXe3jSwb65YLunvCleUxwn4SBc1jOzg45cjEULw5EPfofHQ8bx8z1pyfjeaOYvxq57jyZq5tHgqmFz3T2pckxEHcCdtOF87bwGnXnQitVoLPUzgiCOuI5XKctSiBhTb4S8Pv8PChTPweFwsXfoGQgh+//1f09UYIV6r4d6c4ruXXYhtWwd97ZIkSZIkSZK0P8igbRSOcFB2/VO8GFxtzrHFgHvJ3HYzxVgQtUJgdQu6E3m6UuVAL2zuVm1R2ITbE2TcfsK1CXweL6oKpbxFvHsTyZyJrQmqtFbOPOeCfpM6iKyKoxfRfWGUYgaX2yCVLaHFE7utcORA63e3fYnjT53H+vvXIhprcEUPpfbl1awOTOC9YAOTKlbR4Bo/KJ/uYPjwiZO5+AdnM1HfTooqPvChO9m2pR2AyulhnNYsmWyJJUvmYFkWzz33JrdecRPOhEl0TtEJxGyuueDT5HKZUWaSJEmSJEmSpH9dMmgbjbARzq7jkc7gPLF+l2srdoGNTh1O2odWr+DxKOjeEO2KG9MuUOkeGLRpJoR72umOhujo8WL7xpWnyWbYsnU1MUsDx2Gc08LsE07t7edkHYxuL1YkiSIU9Hx5dy2ezvDSq9uHfBtDHZD8r2+czXlf/CBdy5qI1VZhVk8l/PJ7NCsmq6pmUhtYy3HpPAK9X6+Ds9s2d1oF37/rfKabbeREkM9d/gyrV74FwNTJEYp+nY2vlatkLl5yGKtXb+BzZ5zP+GlHseMwHX9G8IMLL6Srq/2grFeSJEmSJEmSDhQZtI3CEU7fsUDHBmdg0KL3i4YC+TZEyQOOQK0TVIQKuBM6W3xV1FhtaLo6oK8r7Uazi2QqoWAFyQof6axAS+aZOGUWCZ+Kr2SjV41DRKt7+3XnDJS0FyVS/t5wubFsiKUsrrvxnjG9r3M/cgzX//gCcmta2SDcmBX1uP/ZRSbdw9PjjiTob+Ija15FLxmjjLT/g7iaiIc7H/kCM/1Jipj86Nfb+PMfnu59/eyzZwCw9ImN+HxuFiyYxtsr0iw66qNsnm/gKar8+ivfpGnTe8NNIUmSJEmSJEn/Z8igbTRKXyGScmGPgXtWzoCgbQeFTg0EKN4iHS3bKbXlSRpeQq4Euwc4/rYiDuCaEKPoToOm0JNUqY/YqIXZZCIK1a4cjmJSUPp2u3Klch6cWVWO2kyfn1RRwy7laG7esnOtZZphDNplWzB/Gn+87wqcliRvxCyMSATtLYHZup6HJ52A293BtJqlBHvEoDUfaF5T45EnLmVmRflZ/3WFxnVX/XZAm8OPG49acnj8yY0cf/xMUu061eI4mo4x0VF4/Iafserl5w/quiVJkiRJkiTpQJFB2ygc4dAXuDiDzhk6/Y5Hilwnpe4Qao1AyRUpFGximfLr1drAXDMFQaSzm5QvRDCUwe+Loihg5Uu07FhHouDGUQRVbNs1enk+B0TGhW3mMfxePEYHuksnkSkNWeLf5XEP+L6hoYplT34fNVNi5bo4mtePsiVK5aZXuH/KIhQjw5SGxzEYXLjjQP+xqIrgsYcuZnqjH4Msr+8Yx8c/fP2gdsEpQYrb0pRKNqctOZZ/PmjSdLSJownW/u4RHn3o3gO8UkmSJEmSJEk6eGTQNgpHOP2ORDrYuwVGVr/YptmeBFk3er2Cx62jecK06l68dhZfKT2gn2pVEUx0EKv00tw8jpK7DgAlkyIWf4eYrSFshzqlu9xBlOftzvrRY36sUBohBJWhrQBsSw1X1r9vpywU8vLyszfhNg2WL9uGy+9GSUxk/FvLeaDxJAq64JDapRhadtgxDqQ//fLjzDqynoDoZmt+Kscc8c1BbY6cV0vRrVLq0fC6vMwyP8SmOSYFj0LXP97gjp/9oLdtXdTD07ecy42XLToo65ckaWSNNRP58Vc/T3WV5/1eiiRJkiT9nyKDttEo/XLabHvQbpazq0gJDnbGAARqrSDiKeKJwRZfDTVWK56cPqCfp7UWxbFJ16dQTRc5YRJPKxjZEhMajyYZVAhaFnakXJxEdZWjw/fsiSg5ExEs55r5IxpFW/BOJjTi2xCK4IUnb6RyfJTn730Lb6Uf1TmEhteW88iEY+h2+YlvuYOQVdi357Wbj33zG5z95S+N2u7HV53MwjPnUaG008UU5h76LYrF0qB25312PgDjtAXc94N7aG50k46qsLaNH171nwPa/ujC+Zw03c9Fp5+0X96LJEl7rzpUzW1f+hlHVn6cD5/a+H4vR5IkSZL+T5FB2ygc4SD67bQNOA4J2MW+4iKlLheogKvA1g1byHYUyGkuQmaKYFtqwLj+FhtbKLgndVByZRCaQiKpUBcu4KQbyIYUqtwZHKEBDqrI4gA9VhgA3V8Hjo0Z8JIqqMSLWv9V93616xdcPbuWmQsm8+rdazAnVqF7ZzN+1Ys8UzmTrd5qRO5Bbv3qbwfdxTYgRB3i+OVQ+o9x1NlncNzZZ+/WYuA4l3x0Lh+5/APUaztIiHqOWvgjerqTQ44959jxGEWwMpXEGyrpGa9R061yzSWfpVQqDmh7+lENCNh5xbgkDUf+fRxoXtPLHZffiub4cByBoshnLkmSJEl7QgZtoxiQ0+Y42NbugUu+96tSTwitTqCJEsJw0ZUr96vREri7431dlBLRzhiJQBSfIvCFalAUoFBk08bVxIsmCEFNqbm3S6z5HRzLQaQ92N4MmsuHXy9XpExnC+XApF9ly12BigNEIm6C9UGaH3qL4qQaXFUzqXr5dd7wVPNWuBGP9iw3XfxjSsXB99ANCLD24nOWMPQR+y1ZMIHLb/0Yk/UdpKngjHPvZeP6bcO2z4VsvN0mAoX26TqVOZ3kQ2+QTg8M8ibX+gm6tWFGkSTpYNFUjdv/82Z8eiWOZ+grSSRJkiRJGpkM2kbhKH05bQKnfERyOHkXWr1C0FNEN0K0ugIErRSufA7N7jvqlxc6/lQnPWE/W9dPJa9Xl09eJhNYtNGNhmI7NEb6Euaeuv/35DMKelcAO1QOUCK+LgByu+0w9VcVzRGJuOna2E1bKIq7upHAqs202LCi5jD87jXcfMnVpBP791jkLo42fMQ2bUKQW+77HNPdneTw8+XvvMxzS18btv2SkyZS0EFtrQLAn1c5zuyhmMoNbjunbt8XL/1bG+PGsbSPfnTRNdT5p0P9Uh57ceX7vRxJkiRJ+j9JBm2jGFiIBBxrYNC2e0ii1Qj8ah6zo8RWbxXVTiuB3MAdH6VLRwDxgIYWgILioielEnSgrvYEkhGVsG3hrhzX2+ftF18iZrsRRR09UC4U4g25yVsKmmYOuXZvpZfGhjTpVIENW/O4KmswXk9RjLfy9/EL8bk3c/s3r6B9+9BHEcdMDP214Tah3zEop9+n5GjAxX1/v4xDglksdG67v5u7bv/biNN8+dIPAFDYXM6H+VB9isL2wXlvAB86qmEP34QkSfvb1z/6ReaMOw7/5Fc55/JbsawR/tFLkiRJkqRhyaBtBIoQOKK3cCMKAru4e9DWF5QIF9hKiab1MdKdJYqqjk/LEmiN0+Xy97bztWWwFI28vwh6AUUTpNOCsDdFIVtN3q9Q7U6C6Pv1FLI5CoXy/Wx+XwEcC9PvJVlQ0JXBH4S8Li/1R04gm1NZ91oXejCE+p6LwPZ1/GXSibjMGA/85Jusf6N1bA9jV7y1B0ck/ZHoMGM5PPbEpcyoVlEpsXRNgCsu+58Rx5reMJ3KaSbuHBTjFQDUVKfpblZBDFyUELB4rtxpk6T307knnMF/HHYu4Ukb+fi3r6cn3neUXMiUNkmSJEnaIzJoG4GhqgN22lQFiqXd7i8TfQGTVq/gEh5U3U1nSUU4DkE7gxlP0OwvBxF5SyPa1UlPOILQBZ5wffkDTCHPO2+voKdQ3jWL9Lw7IEByGzpayo0VSKLrUBFsQlUVUsnioA9AhuZi9sR52CWbN1duRzVMlNZqatev5P7Ji8EosPIv17LyiXf2+Rk5I3xXUVNTfkS79YkH4syYGsZNirdiEzl9yXdGnKMyWMnPv/oTEr4inh5v788LKdi8ITao/eyJEdy6grNzRfLzoTQSISOI/W7hIfP5wge+QrCujUtv/R7NWxKjd5IkSZIkaVgyaBuBS1PL8drOoE3ToJgdmPtlOP2CtnEKIV8JUw2y3QwRtRO4RR7VsWn2lQOYre3j8WZ76KnUKdkKWa0CywKnJ4knWKBbVdEsh3v++9EB85y5ZBFaLIAWKN/bVlHRCUB3z8D7jnw+N4dNOBxN1VizvAXFUFEz05iw9lkemHQCWV1n82u38vAdz+/x89jTP5ZwVfWQPw9MihJUYrSUpjF/9tcHHJvcnWmY3HPt78gc3oalCrRERe9rbRssmtubBvVZPKcWgALyLihJOtgaaxq5/lPX4Y0k+dHDN/DKqzve7yVJkiRJ0v95MmgbgcelD9hpM3SVTCozoI1m9X2vVjqYdhdGW4Ed3koqaUMR5d2ebrN8PDK/KQBAT3UnNkVKik4sqeLLJ6kILyIVVYhS5Pb7nhkwz8kfPBlhqdT4tuE44It4yJYU8vG+I4gCePbx6/CaPtasbKLkcaFqs5jw6jM8Pm4BHWaITPtd3HHNn/fgKfTLSdvDDYlwZeWA7888eQYAUaWTbiYx97CryeeHL6KiKAp/vP53tE4NEnVvAqCUDve+/s+XNg+67BzgrGMmAZBz9EGvSZJ04ET9Uf7nsv+H6bH5y7qf8sDf3nq/lyRJkiRJ/xZk0DaCRScdga2wM1pxcLkVOlt7BrTRiumdXwlsYdG8vo14zMIWCq6d8UibO8Jrq1cADt7WLEXNRSYaJxSyUXVBNgMuLU8hG6ToUag24xx3wukD5qkK1+IIm0bXVnAsXD43qbyA3nviHCbX+Tj8+EN4Y8275EsBDP8sxq1ayYuRaTT56zBKj/L/vnT7QauaF6zoCyg/dfpMFn5oNgCZQpBjT/o5He3dI/b/5X/9lFxDHbGJGo7ZgzcjWNe2qff1Rx9fMaiPpgoWTi8Hi639r1mQJOmAchtu7rj8Vkzdy9rM3dx8+3OD2gz1jyySJEmSJI1OBm0jOOH4I7AFOI5AKA4ej86GjVv6GjgOWdy93/o8CrrfR6etoTg2rm0+AJr8tax4YSmWahGNtRMPR0EBIzoBAFHIUbIcYjvz2QKtb3HSGZ/oHdfOlDCSXuxQEkMtEYoWURRBMlVg107Y/IosNRE32x97l0J3CHfFNCpfeZN3jBBvRKcyU2zkhxffSCG/W07eWIndM9ZG5wtHAFBVhW/f9mmq1XIQld8geHvtppG6cs0lVxJuPIzWWQbhZJ6Up4S7x8+Pf/6H3jZPvDD4Q+GCaZXoqqCIyUtrRp5DkqT9Q1EUfvHlmwi5akmE/8qXr33g/V6SJEmSJP1bkUHbCBom1O/aZEMIG9OjsWz5G72vm9ki+X55UxFvEdP2sc0TpcrqRkuXj+dt9tWwcc0r5PJuzHyaVLRcTCOrhCmWwI4lcCxBj0vBKNnc+P0/4W2Y0jtu56YMancAEUgBEKzy4DgQT/TNfVxNhtaODFs8IYzKSfhWt9CVz7G87nCmVSc5VGwgERt8n9mB5A0FAfB4XczwdlOiXP3SKYz8Z/fp0z/GEXNOY+sRBt68wsa/3oKtlPPZNm9o723X0t0CDKzguXhOLQ6QopKWjn28ykCSpDG54YKraAgdij7xeT7xtTuw7ZH/iUcWf5EkSZKkPSODthGE/F4cR4BdrvuvGgovvLy+93V3Oo/dLyWr1NWF1pqnzR0hqnT0/jyuG+TSSfTW8geVYgiUosBSNboSGkH/JnRXhFRUpVIp8thzb5LX+3bwOtsdhCPw+MpHMd3hMJmSSikX6G2zNaWx9e04ZkUlxto8Stdm/tZwLCGjxMkz296XEtv+nUGbIhwcFFasHT5/bZdj5y7kk6d8geZjXLhslQeu/iHHnliNcBxyWR9HHD55QPvdi5icfdxkBBArCnl5siQdBJeecQELJi4hOHkt53ztZrLZoe9O7CX/v5QkSZKkPSaDthFoOjiW0Xs8EuHQlUj3vu5K5rHTau/323ck6O6xQQi8om9X66XlS1EUQbA9Qd7lwfYIotp0VA3yWRtDK1Cw3FguQbWrk//40Cdx+u0eWSkdRy3hNwvYqobLY5LKOWD1tdn2z20o3gDqRj/hLa/zQOMivGQ4LJpDfR9+y7qmMHlG+ZoDAazYUMlddzwxYp9JtRP5zvk30HS0iVAUVv7ijzz95MO4xxv4UiorNrzO2WecVG48xAc/t0tldkMIgOfXvrsf340kSUM5/agPcM78zxJq2Mxnrr2Ojs7s+70kSZIkSfq3JIO2EQhhozgmji0Qwqb/iR/HdngvPxNnZx4agOEL0YGBbpcIOqnen7+0chknLJpNpLudZEUIhEANNgCg5MsfcrqKBgD6hrUsOOWs3r5WIo8e92CFkigK5KsrEEKQiA+8UFvXDdTOesa9+zz3T16ErdscK1ahvy+/YYeHf38eGOXjkBYKi4/51og9gt4gv7zylzQfaVIyFbY9soI/3Plzamt8pDw2Zk+QH9/6Jz5w8rxhxzhuZjWKgBw+brjj8f36jiRJGujwKXP42oe+SaCmk2/86nu8u2HkwkIweGdckiRJkqSxkUHbCBQcFMeFbQuEcAYEbSQtnKIPlPJul+M4uLMutnoriTo9uJS+oGrLW69z4UfPwSjlEPXln2eUALmCgHQbhZxOwq3iLtp85Vt3YdTUoxgWAuhoLqDG/Th6CQHY1ROwHehq76vM6ABqaToNbzzLQxOPJ6W7mVXzFF6yA9qMzTAtxzDArn2/8fPeYN6SGew6JJVMZLFte7huGJrBvd+/hy2zvGSCKoVVm7nl2m8C8KlPzCkHuclKkrE0h8ypGXack+eOK+eziShN22TlSEk6UMZX1HPT+TfiCWb4xVM/ZPmKLaN3kiRJkiRpr8mgbQTlTCwT2xEwYKdN4MQtCjEV1H4dWvPEzCBBV9/dbUJAsZDjMF/5wufI1DaKpLFVlVhcRa1fiVGYQrpCoUov8G5zNznVhaaX87/iXeVxdsU8RriCVFGjmAwOWOuE1ct5snYuLe4oM2qWEnB1ItgZSO3LP27vYS6cqm8jfIKbWrWFAtowQ/YtSAjBPd//NZ2NYRK1GmZzkmu/9Dlsu1zl8rQPz0axHZJZg+OPOxTNNfyf7NnHNSKAzszouXOSJO2dkDfE7f95Ky5T4amm27jngdff7yVJkiRJ0r89GbSNyEYRxs7jkc6AwhbZGBRjQZS+05HEUuUGPvfAC7h1XaGqJ03GHcAIFXBVeFBVKOUthFYiXfBia4IqrYUPf/RCQJCP7QDHwc4YOHoR27DRdAvD7SKdKYE18Ff3SrCB9cEJmOJJot7NB+qBjKiUSGPP1ZikbydFNYVRKsgB/OzKH+E0TKRzio6/y+aaCz5NLtcv6K0W+BM6f3/1ec49azHOEBt2QkDIazCpyosDPLZyzX58V5Ik7eLSXfzq8lvw6AE2OffyvVuf2qtxZPFISZIkSdozMmgbgYONQN95PNLGdhwcx0F18ryROQwn7UN4+h5hu+rGtAt4tYHV0z501rGEe9qJR8MA2L56AES2HJx0Wxo4Dsl/vsrsE04BHF568mEybTmMmBc7mgTTIVBdDoKS8TS7W105k/pAKz+66Hv7/0GMUZvfYLrZRoYQF3x5KbY6cvuvn/dl6qYuYMdsHX9G8IMLLiAW66u6OXVyhIwbjHiYX/z3wyxaNJvEjt0/7ZWfyUmH1SIEZAlx051Pll+R6TPSCBxZxnCPKELh1i9eT9RsIF/1BBd9+497NY6zp9v3kiRJkiTJoG1kNgoG9s6S/7uCgKC9FWGZ4AiEt6/1Fm8VUTuPEANPFX76g6ej2UXyEQPHccgKH+msgtLdA901JHwq/pLNpVf+FhGpRnHZrHjkb2x4N4eS9mLUFIgXN+GtimDZkGobfN+a6ikxJbqVWHtm0GsHywxfgiImb706h8cefWnQP6f3D6I+svh0TlxwNlvmG3iKKnd8+Zs0N68f0P68zx4BgJKqQEXQOCPKhrU9Q859yuE789kIE4vn9+v7kiQJrv7U5UyrPAJP40uc+9VfYFky6JUkSZKkg0UGbSNwhI0itHLJ/345bSGnmUKnAQoIo++8XtLw4nP5wOmXRubAdD2CAzhRhx0xEzSF7qSCX+kmGDucTEShysiRLhgUFB1NzZPo6KSzszxExTSdj3/8UMxgkGRRQ6Rzu4YGygGiWZUfdORIDPHVPhED89EAtH4X1QkcWhKz2fGMSiBaMeww6byPiz78dZqPNjEchb99/1ZWr3p+ULvjPzAVreTQlbY5eck8VE2w/Nm1Q4551jHlfLaW5PsXtErSv6sLTvk4J07/EKHGdzjnih+SSu1d3qisHilJkiRJe0cGbSOyEWi9xyN3fd5QnRZK3UHUaoGyW0AU0F0DdpSEYlPVHSfhCYEhSCgzURSw8yUUBZIFL44iqHK2cs4nLwEEqdamcgCWNLDNHL5KAyveg+7SyaZziCFyxcQQv0nRG8Xtn6Bt94BNVQSHZl4EyrtoncqhZN4o73JV1NYOO07zxYyrDgAAIABJREFUjqk0LTRxNMHrdz7MY3/905DtilEHX9zkT8ue4NwzF2GV4OHHnx3UzuMqUB00sBH879Mr9/LdSf9/JfOrRrZk3gl85riLCY3fzoU/uJaW1sHHsyVJkiRJOrBk0DYCR1goQus7HolDZdBksxgPWTd6vYJb79tp+//YO+84Oat6/7/PU6aX3dmWuukJCYQkQCAQWgKCoFxAxHYVy7WLYLtesYGKKM2IDQS56g/F6/VSpUgNLbQEQgIkhJa62b6zO33mKef3xzNbZ3dTICyQ8369YGfmOeX7nNnN63ye7/l+vxE3T2DIBtCOmcRT7bxWfm8FygWnc14dty7XQLiScGcL0xcfA0Ky8uYbWTJvHmZnFFmTQQhoa/eOBdqdrfv8vneX/732o0yaGul7b6Zb+l4n6hsq2vtNr27b9gMDlEIaHfeu5Q+//vmwYx+2aDwFnxfPduOf7uOY4+bRvU3w7CvrKtpOrPXWMkeCq/5S6bFTKBR7x7zGA/jOB75LtC7J92/4Mc9v6HhTxlVCWaFQKBSKPUOJtlGRCKEjXQE4uBKWLxgPWRMQ6OMFhnD6Wif0wgDvloeWCaJJl8e2voSULgURoCerocsXsN0o6bhO3HFo7o7hxmrQAw5rH3iIsz98BloxgH+Cl9SkalwtliuINm8tWza2XHnBSRxx2sHUam19nw289apa73ikcAEEhm7wxbM+D0AuriHXN/PzC84fcfxPnnO49yJbS1U8wqTpMTY820bJLg1qJyU0NvSU49liFIrOgGu9qzTWq6VQvPMYVzWOFZ+7jGC0xH8/fjn/evDVN2dg9eeoUCgUCsUeo0TbKHgxbTqu7E35L1m+YAJWZwAMEMECPR2ZvvZVVZV1ySIdJVyhYUW3kteyCEMjldYIVW/BFHHyVYKGYA4XA0sY6OQppDPMmjEHgNqZJkhJIBYlU9KJZtor5ngrw0Qkgi+evZDTzzuBiUYzKTF52HbxsmjTHAkC/njRNeRrowDMTe/gh1/4JLY9clzMwUsn4bOgJZPmlJM9AXf//WuHyfgnmVyfRgBbOoZPUvKmxfQpFPsJkUCE35+/Ar/P5PHWa/n9DU+PtUkKhUKhUOzXKNE2Gr2ibUBM2+KjF2F3V2FMEISMDOj9ee0ToSExX6EiNR1dJMNVvPe9MwnUj0fTQJYshIAeOwBCUF96HZ/hA6Bry0v87orPoWeDuOEcgbiBUezBMHUy6QLacIXKhrAvNZzP7eGrv/gQ082dZKnlweS8YdtFqqu8F5ZLwOfHN2UmqfHeWs3JbCObTY84h6ZBvsohkgzy2/+9mQ+cdhx2AW7514MVbasjFgHTwkXjulsfesP3p1Ds75i6ydXnXU7ErKE58A++/bM7xtokhUKhUCj2e5RoGwUpXIQmvOORwkHL5chFFkDRjzFJozrkog+oru03hoi2aVmimQ5eKpUo2YdQMBtwXdAy3UgXkhhorsRfakEIHTRJXXYdp5+6DLMzhqjLgoQAXnKPTKfn1Rs8S/+7kfxJb5aI87k5SjNLzAl2UBAxvnzB4yRLQ4uxeVaE43GEBF0KNN1gx0IfgZJ3TduFRSccPxXLEJipGu67/WmOPGYWHZslG7ZvrGg7dVwegCx1/Pm2Z974TSoU+zmXfe6HjI/MhokPcM63/vSmjq2SRyoUCoVCsXco0TYKEhdNaGVPm8ToboeMJ1KMBkFIuGjOMB01zxsWFkUE8Pi259GjgpLmpzujU291oiUXkk7oVLs2KRlCIjhgXA/f/OoJbNqQR1gmiWneDicQilJ0NOy2fK9hbzm6k8c3ro258SwOJr/+awf/79q7R2wfjEXRXS+WzdUhaOus+p+bdmuuT3x8CQBuLsHkyXXUjQ+xfs1OXLfSyzhjorcmKUJqQ6hQvEG+dfaXmD/hKKIz1nDW136JZe3as69QKBQKhWLfo0TbKHgxbRogEMLB7O6g1BlG+MH0p9m0oQec4TY1nnqIJzM4mkFkYieYFpohyGYFUb+Flp9IMarREMwgEQhDctbBXcj2LJmcCcDUg4IgJf5ImHRRQ8v1ira3Vp0I18ZvPcrsOomGw71rI/zXeVeP2idaXY3uClzd8709cPm1vLLpxd2ab8rCGoIF2Jxs5czTjgHg7nsqY2qEgKkNXs26jTtaKq4rFIrd58PHn8F753+Qqmmv8qHvXEz3PixSPzRhk0KhUCgUitFRom0UPNFW3lxIm20pH25PHGOSRn2sCyMQxBrk9hqwEfE71HS2011Vw0knH0goMdHLrlgqAoJkKQhAfX4DAD5DIgo2Tz7djpEJ4sTShKI6fiuJrmtk8qVR0mnsWsTt7hapop2URPOPMGVSgABZ2t35/NtJPxx9DCGorqlFkwIpwLEcbvrb9bs1v2lqZKMOoe4wV1x3I6edchTFDNx+38qKtgdPTWDqDjYmv/jLPRXXleNNodg9jpp3OJ9b/hXiE1r40i8uYuv2kWNO3zhKsCkUCoVCsaco0TYaQgLeccig002yNAksE2OiRnXEwqfFcIRvQAdPJkgJTiBMON9DOh4mlTmQgl6L40Cw2ELJgaSuYziSQvB1byoEj96zFQhidMbQQykAQrrnyUtZA7+q4Tc9I4mUN/JQuxh4jbrpYeJaF13agbStzw1IpV+J4wgiDQEsX7nwuO1SKhZ2e74z3jcHRxcYqVqeefxlDjtqGq2vOGxu2wwwaO7lC72adz3uBO557E1KR65Q7GfMHD+DH330IsI1aS65+SesXts81iYpFAqFQqEYghJtoyFcT3gAkWIbTo/3Wq+XFHsM/K0lHKMyzb9E4E96nxf8Ei3qYmkmXSmdpVNXk7MSZGo0arDo8nkixCo4BOvjpApBhKuTDHqeuEAkRt7WoFiqmGdP2BuvU9d0C9+B1dTrrXRrM3j5VTHqQNKFZFc9W6YHcTSJZrnkc7k9mvMjH/fS+9u5KubOnUys2sczT24Ztu0ZR0717MyP36M5FIqBiP3Y81Mbq+XXX7qCQMjlH+tWcMtdL421SQqFQqFQKIZBibZRkFq/aAsVWrE6I4gwOLbkpQ0FUl328Ns9TRJry2IZfiy/i+Fz0U1BPg+RgEXJiWCFNBoCPQPmAiN2EE5BIIXLpsgMpGPjD4fIFAW+ns635qbLxDOSnhMm0GjsJC0m8ErHvF0mJXj96dnsiIdITjFwhaRrZwt7KhdrZ0UI5wTPN7/GB08/HoA77n5i2LZL5tQB0NIW2qM5FAoFhPwhrj1/BQEzyHOZP/KLax/d53PK3ShZolAoFAqFohIl2kZDSEAD6dJk1eKm4piTNfwamJEw7dIcVrQZRpGarjaS8TqEEPiqvALUouQdE+yy/ADUdG/yOkgQmkntE+sw0yGcqjR1xjbsVAeaJsjmC7TuHBJjsg8DtqI5SaBhIrN8zWRJ8HLXQhxbx93FnFuzCVrm+ajK6bga5FKpPTI5FvWRDjsEu6P87KobOPW9h5NPCv712CPDtjd0gUWALZvze3B3CoXHaMd83+3oms5vzv05cd84uqtu47yLdi+z65uFykOiUCgUCsWesdeibdKkSTz44INs2LCBF154gfPOOw+ACy+8kB07drB27VrWrl3LKaec8qYZ+1Yjy8cjo7KFnFMDjo4xUSMRcQnKGDuCteiiMue/WfIRKGVJGgkA8lo1lg2+7g6yRYMen4bfdsm29cbDCUTJYZvhoidjlEI2ZvsrSKkhJRSl4CeX3zzQsiE/d4fd2yWZtkUsNI4Dwl0UCdPeNINSwQAkmhCjzrj9EB+Rkk7Nqm7vvtPpPZgZzv7AgUjNi2fb9mobCw6bRNOmIs3JyhgbgXf3SXci+dxwdRcUCsVI/PTTF9AYPxBjyiN89OvXqnIZCoVCoVC8zdlr0WbbNt/85jeZN28eS5Ys4Stf+Qpz584FYMWKFSxatIhFixZx990j1/J626N5nrYqdytO0lsqLeEgsm0YzUVaQwnE0NrSQKTNExE9XdW4egFHN+jsMZga7ubFV5aSqdWp1SwK+WBfH+FYtEcjCCnQLZfvfvcyfKEYOVvHp+s8+OCqvra73F+VVVL/0+zdk01VYR/BiM4BVUUkOqnXJ2M09ScREXrlOKGO/td+V2dBcyuWZQGQ7e4Z1tiR7D/rw4chpCSfj3DYoTMJhA2eHCnBiPTuKpmtGfF+9mdPimL32d+8Puee/hkOm7KM2Iz1nPX1KygU1EMPhUKhUCje7uy1aGtpaWHt2rUAZDIZNm7cyMSJE980w94OSOEigIizmVJnDC0Or7+6mZ2tKbp6vI2OMIbu+Fyq2tIUfCEKVhD/lAC6AaWCi6m5pHJRHJ+gwd8BTv/yp8wwZklH6jauKTE1C1/IT6booovdjQMZLFL2JMGCz9C4864vMnOcgUGJHXI21XcPFUyDx58xaTpVa/oTsRwpmohancig91mmK+n12k0zgpNNIhmDx19dy9lnLAfg1juGPxrZO+TWJnXCV6HYXU5bcjJnHPrvVE/Zwr//8Ed0dKqjxQqFQqFQvBN4U3a8U6ZMYdGiRTz11FMAnHvuuaxbt47rr7+eqqqqN2OKsUFINEeyRa9BZqIYkzUax9Xhi8Rpx4fp2viGCCMj2E5NspXu6gQIgVY1xRuq6G2OOi3vSGRt9nlc2e+mEyULX7cXzyYDkm9//SSEEGTzIxe4fTMdBLf+5RzmzqsjRJo27UBeb187fMOybquOVPO7b17N64v9fZcaq70YPTfg3VdP5+4nTxk/LkIm5BLojnP5iv/hpPccQqZNsPKZx0fsUyDCCxu7dnsOhWJ/5tBZCzn/fd8kNq6dr119Ea+81j3WJikUCoVCodhN3rBoC4fD3HTTTXzta18jnU5z9dVXM2PGDBYuXEhzczNXXnnlsP0+97nPsXr1alavXk1tbe0bNWOfIIUkmGtHlqLgahiTNCY3BAnlA2wL19NAF+B5wXoFlFnswLSLZKMBALIiRqEoCGSzZPI6qZBOyHLp8bdj2f3L72Yz6Kko0rTZtP1l3v/+pbgSis5wX9Gbe+zv2p+dxqLlc6jWOujSD2Bd5zPDtgsEfIDEZ/j4y4/+xLaDQuRjA4RneRHcoPdZd3v7btvwsY8sACHQ03VkknkOWNDAlhczJDPJEftkRA35vLXbcygU+yuNdZP52TkXE6rK8cu7L+HRJ7ePiR3qxLJCoVAoFHvHGxJthmFw00038de//pVbbrkFgLa2NlzXRUrJddddx+GHHz5s3+uuu47FixezePFiOjo6hm0z1khNEsq0UOryRIgetcl37ES2lEgGYoyLpRjq74q2exkTiz4bf10r0tDpSukce6RL3h5HtkajzixSREP2ll4T4EpP5LkuXPSTSxk3ZSIZy8Ac9hvyPuzf/4zscxNi9K/42/9xJO/59NGM01voZiovbW1FMvxxTMOnI4EbfnI97TOqSY0zGJf1VbRz/d6cXW0to849kFP+bT6aK0nlDY45+iBMn8ZjD49cM0oC7TkbGD0maT8LV1IoKqgKV3P1uSvwBzTufuXX3HjL+rE2ab+ujadQKBQKxd7whkTb9ddfz8aNG1mxYkXfZ+PGjet7feaZZ/LCCy+8kSnGFiERqWbsZAy9VqALh+6eEl0ZT9TUR3JDFtChuj1JLhjD9UHi+By6DnbRoePhVtJWENcQ1OutvcN7SIlhBZGmhetzmdFYhT/oJ1uw0Yb1qo30uFpUvB5tc/SBE2bx6R+fzlRzJ2nGsezka3DskYt4CwT5tgm4UxrpnGES7XCwo5WesF7R1tHcUmHViGOPE0RTJnc/8ygfPH0Zrgs3/XNlRbvqSFkkCsGdT6wd9dG9eqqv2N/xm36uPf9KgmaUV92/8JNfPTDWJikUCoVCodgL9lq0LV26lHPOOYfly5cPSu9/2WWXsX79etatW8eyZcv4+te//mba+5aiSZeXC1OR2QjGZA2f0DAj1bTpQQJuiahvSBC/1kN1dytdNV6qfzfqJWYR+RxNfo0u2wApSXR4Kew1PA+eyAp8yQhOvBzP9o33AmBZIwio3RQjozU79IA6LvrDOcz2t5KjinO+fA/Prdk06niFzSGaC9XsPMgkmhVc/KlP4uiVXjnHpyEkdCc7d8vYObMS5ALg767mN7+6heXLDybVJHjyxTUVbY+fP77v3i69/r5djg0weqECheLdiSY0rvrST0kEGsnX3cXnv/u3sTZJoVAoFArFXmLsusnwrFq1CjHMubR3dIr/IcSLLjk7CFKgTxAkgg49O3S2hhuY7G9Gatogb47enkN3bToSIQyy5EWYXF7DSCdx4+NIoRO1XRwZAcAwfDhArieMng1hR7I8+szjfP3cI3BcL4Yskx0mZku8MREysS7Mdbd9kbnRFBYBLv7N69z694dG7eM223RsrmLbMT5Cls7vz/0m27a+Nnxbn0B3Bfl8ttfgUcc+5+OHea0ydZi6zvQDEjx7TzfZYrai7UmH9Gco7eoZOUmLQrG/84OPf4OZtYsITn+c07/wOxxHPbxQKBQKheKdisqXPgpVBYdSpwkaaGGLjp1N2K0lMr4QsydsB/RBPpxIcw4JdFbruOEMGBrdKY36Oh03pZFLaNT7CtAXZ+aJmVIhDHh1xX7xy2uoGV9P2jKI+hkeKdjbaK1I0ODWu7/M3BoHCfzjYcHPLrxh1D5u0qV7vc6Wo/z4pMbtP/oFz6x5bMT2jikQ1u6WKYClJ87EsCWdOZsTTzgETRc8tPL5YdueftT03R53KJ87bAE3fPB9GJr6tVe8u/nMez/GMbNOoWrGRj74rZ+THe7hzxjgyt3/d0GhUCgUCkU/avc6Aj5dR88HsJJV6A0C3XEoFCW9ZY2m1e5Eog3STomOLjKRBG7AJDRlApoGbsnGtyNB2goiNcE4sW2w3JKgZf24gQJuQHLckmmYfpNMrsQwtaz7+uwNuia467YvcMDUED7yPLN9PJ88+2cYhobPpxMI6BWDl0oG2WcEm5cEQBfM7ezm7tv/Puo8rgnS2v2CvVaNJNIT4G/3383Zpy/DseCmOx6saDehJkRDvBzTthdrcMbcWRxUX4ftqo2j4t3Lew45no8d9RmqGnfwqZ9cRHNLpcdaoVAoFArFO4u9Ph75bucHX19M7XwfSw94FM0Huu7i1knc2YIjxWr8hkV8wnM8nTyor0881c6OybPRAwZW0CtjoOVSPDI+TqLFQbiSOcENbGcuopwixGyPoHVGcRIZwpMO4M/Xfw+ArvYS9bGAp00kPP7ouZApTzSCmBMC7v/ZXcBdw1yVrL3zB0xY5CNMO63uIrJ3TuKei+4f0u6B3uaUMNiybQKbFwUohTTm5hyOPKZE3r69z4QbX6mcyTEEbnrkhCYDWXzoeAo+iPVUc+OfH+DiCz5Jcptg7avrKtouP3j8CKPs2uvo03WWNk7k+mfHPnOeQrGvOGjKPL595gVE65J8908/5oWX3p6ZeUfL+KpQKBQKhaIS5WkbgcUH1WOaNr5gCcO00DQbHRehu+higBdpwO5Dky490ckgJAURoCejEe/cRk2hQLpKJ+44xKsGixm7dRJaMYATliD9xGp9WK6go1kf1M7y74ZrSQKuPuwlI9hG4pAwNVo7Se0ANvz3JKQ7ys7J0VhbcwybZwXJJnSmZX00xLbhMwSGJtA1gT7CzsvRwSoXBR/O6oG9PvmJckmIbC3VVREmTY+xYW0rpWGyWJ5y2OSK8UZblYHXlkyeQMhnsvL1baP0UCjeuYyvHs+Vn/05oWiR6x+9jHsfGj7mVKFQKBQKxTsPJdpG4P9ubuWRm49g5R9O4+m29/P0urmsv+cIfv7Ep7hnjSc0XmpaAph9fVyhkYlMJGy1IwyNVEYjRonJ+RL5uKAhkEOIwbkMZSbu/fQlmXr3VQRjYdJFHTkkBmXVr/oTcIyWDfHE751c8Vmp9TXEvDomGjtJiUbufW4J0cV3cOJXbqf6tJ1cufGrvOeHJ3DShSeWjQJj/fFsHh+lZ6LBxKyPhmgKISTr79uGqZ3m/aefNqwNji6xsrnRlreP+UdNwl+C5kyK9733CADuv2/tsG1PPXzKXld3WjatEcd1eXTrjr0cQaF4+xINRvn9eSvw+0webb6Ga/+6eqxN2gXK1aZQKBQKxZ6gjkeOwIfPP5fWQJD67GbEVguhSaz6Lk7RViE0yTPr5iD0TiDS1ycdS+DqJnU1CXIayJKFAHpKfhCCusKWcsuy6JIueiaEG85SNamK0hcOwzB1suki/lgeCPWNfcLHEyALXrdR9jtP3nUVWfrPLAatrXT6isw1W8hQxysvVzPdegIpZ/HUUyBJ8sNzvsSFn3ARSIq0EXzxSFrcWtpnm9RlDSYF0whNggCnPsia5/7U52BcB4P2X66QuBrk0xmGIocUTtM0yFc5RLtCXPG/N3Puv5+OXYBb76mszzZzQoxYUMfdy+cMy6Y38szOVnoKKuOkwmPo7+M7FdMwuea8KwibCZp8f+M7lw53PFqhUCgUCsU7GeVpG4GiL8zOaD0iECHk8xE0/fh9fnymD9PwY/oC6LoPI9jfJ5vwBFzRrMd1gY4MrhR0CQPNkSTyg+u6Sa2I2RnDqU4jc0GqTG8T2ZN0CLpVg+3x939VokK1lTefAvxuv+dPF0VE/UvMCbaTcyJs3zwBX0eWkOUStFyCUhJydUK2RtA18Ls+RPM0km2NNC00iRV0jki+iqY7ffMI1wTXQLo+kAPTW5YzYere8cx8Or3LNT7h+KlYhsBM1XDf7atZcvRsOjZLNmzfWNl2gRfPlqVul+NW4EgWTxzHyte37nlfxbue4UqXvFMQQnDF5y+iITwTOfF+PvXtP4+1SaPyLtHJCoVCoVC85ShP2wiEIiWkEKytbkQIT90KIcs/+9/HSiVml/uImAPSoqT56cno+J7xUVhUSyauk5A2mukpPA0v3b4VcfDbJlpNmoaX2ogsqKfoaCQefA09mYOlh/YdhbTWzoADXgQgY/tg+NA19CNmQNsGDMchO7PIvJiFjY+mdTFyi2YipsjymN5Pgdv32trm0L3Kz9Zj/QRtnVOeehJ3Zr+3TwD51vkIKRHSG4MZnYPmtzRPNGaT3btc4098YgkAbjZBY2M9teOD3HPfDlzXRTN0NDRs2zsm+v4jpgCQGuB97LNrF5tuI21j6jqPNTWjGxqOvevskX6fhmVLXFftMhVvX779oa9w4LglRGas5uQv/RJrD0ptjCXvZKF85PxZPPH8MBmYFAqFQqHYhyjRNgKzx+kcP65zl+16kpLXnAQSiR61iAY2IY0GMlmI2WBrVRSjGjONbuy85y3r9Zm5wlNeRiLDSrGY/4h3kyxqXN9wMnqDw7do6psn/gk/PAu4MEU0sWUYW3xGkfnaXTzkSmK6n1m1IHApBA9BlrZzqHbTyPfRXs0TjxzD5mMCGGhMt9dR37mNjnnzBrU7YvVfBr3fNOOkQe9LupeSP92V7P9whP3ZlAU1WAWX15OtnPH+owG4+19eLM5nV1zGoiOO5s9f/S+eevohli+YAMCG7S2DfmlHO+LWe81IORQsm+9/98d8J9PAn9ddStPzJt/57mX88hcX8s8HB69LdSzK7f/3CFOch/j5//6D3/3x8RHnUCjGio8uO5P3HHgmVdNe5QP/9VN6UruXsVWx9/z6x1/j8986gQ1/foxFX7p0rM1RKBQKxX6EEm0jkOusJhN22Lo5QSYdQEqQUgCy/BOQAqtUILooDxKED0ITBTkBFL0NVLLkedcmtGzCLHuhdLyn4UbexIml8fkkp9auQtfnk0+n+Lp+R9kbdkqfPXPkLTThCZfWiIBh9mc9hLmm+d9YWryVKVNi+EmysX05k6cJhCv5n5YTyAl/v49Nej/1PExZJXn9iADSFEwpbsUIrwOCuHb/cUsE/PbAs5BC4JYtrKFnkA0l3Wvf01kWvCNoKr9fJxt1qGqPcvkfbuSK732eYgZuf8CrzzbtsIX4Mdi2/XUWTEsQMDVsTFb85R7+8+QP7PoLHICZdnh4exOhSaegaZLbb32K//zUJWh+k/UvPVfR/kOnLscWITSR4a77X9ijuRSKt4Jj5h/Jfyz7MvGJzXzhih+ybceujyMr3hhf+sQH+NIFJ5Dd4XDdHQ+MtTkKhUKh2M9QMW0j0Npt8MzqRro6wxQLGtmcTi6vk7ccCraFJgvYjsRxy/FeQhIPtpI3qrAd8CfbcYGkrmPYkonPtSLLR4Ic3Vt2kQrj1CQRSCLjowBoHTsIGnkChpd0RAhAQNop0XtSr7/gwGAXltBgQf4xxjWOJ6Z1sXNbA+n8OMCLJWmzq+m2o/TYEVJ2mIwTIl/wM/Upl80HByhGNKanMxhVAxKBDPgNkYAV9OMETQgaiGDlGc3e45HJtrZR1/f0983G0QVGTy1rH3+ZQ4+cRusrDlvatjBu1gx8kRCyPcPOndv6vGwZUcc9q14dddyhSEug512e2tlGqcMgWJ+hqzXF3HkLKKaybN1ZmRb9uKOOQUgH29fFlu2pPZpPodjXzJowkx9+6IdEalNc/I+LeWZd61ib9K5n2VGL+eXvP00hKbnh8uv53Z1rxtokhUKhUOxnKNE2Arr7Okx/gtkzX6Ihu4En8yWS2jaWL9/OpANeZclBNxCr30FVvt8T40pPtCRTOlXpZoyDimRqNWqFxZUtCfLG4HgsIQX2xGaQ4E/Ukbc1XqOTf832kyoF+htKWNOzDKvs9fJnyklKhsSFhLevY1JjgDq9lS25GNntermEt8eizCvMvy3Loes2cJyUHNpaxaLnsmyfGiBTq6Nt7CDmf3iQFvQH+iWihqTqmf/mP089lG+deijfOvWwisQCvYlIOttG30h+5GNe2QQrV8W8eY3Eqn088+QWAGYvWQzAK095G6MzjpwKQMrxle971KEHIdPemh109BJwgWALoUCIWEMt214dPi5lyoxDickmko7681C8vaiL1fGrL15OIOzwP8/+gtsabNAVAAAgAElEQVT+9dJYm/SuZ9a0Kdxxxw+QDjx+/Z2c+7t/jrVJCoVCodgPUbvSERB2CWEleW1TOz1dDq7QqGnorZ3mKRUpINKR7evT7Y9jmIJ8HnzCRgYNrKBGfaCbJ9aswu4fHVEeRUzcicDFHwmRLgJ2pjyD3jeTZMRThn26bXrhJWrnNjDZ2ElzKcqWZApRvt7bV0qtr16AK0E0t7AjGiDZaBBpLvKDz34cIQYnMtjTNByW7p247WxpHrVdzawI4Zzg+ZaX+eDpxwNw+51PALBw2fH4bY01jz2EaWgcMcfLGLnmlS17aA2QNpAajJtxGOhw59OPcPKx/4bQNZ5Y/VBF88njaimZ44m7W3n4ydf3fD6FYh8R9of5/fkrCPiCPNtzPb/8w6qxNmmPkXv8L8rYkojHeeqRq/CFBa/9fTUnXfD7sTZJoVAoFPspSrSNiEsiHMNXXUWHNNClQ6LKk1193iWRp6qro69HrupA70XJO9rYZXkp8aM7X+SY9324YgYZzoHp0BAWaJognekBBEiJGJIeUg5yL1W6mmY27GSmr5ksNbzU1T1sG6REQ4AAe0ueVlejda6PmrzBRed8nHS6p7LPHmJpOpoLPd1dI7ZxcEiHHYLJKJf88q+ccvJi8l2Ce1Y9jKbrTDp4LtGSydp1T3H47DoMXVAiwCXXD19/SoziepNpEzuqY3XH8TU4XHrpTRx75HuQUnLHAzdXtP/wqSeBEPi17fzoijv3fAEUin2Arun85tyfE/c30BW9ha/9+JaxNukN8U5IHmnoBuseu5b4BJ3mf77Goi9ePNYmKRQKhWI/Rom2EXFIhMIErRA7grXU6lm0IWlbnFQJv91fey2jVVOywHWzuLakx6/ht11+8uO/E26cUTmFz8smUlsdR0pozzZ5CU3Ycw/X3FAXeRnmPy9+bsS+Tm85NzdC606dHYf4iJR0DhEv0NyyYw9nHB5b09BdQak0chHrTCCP1ARGuo6m19tYcNgkdmwq0NLdwqQDD0D3+8g3ddLZ2cYJC8YjgQx1rN3QUjHWaE/uY3oAijqFsA+7SydUm6KQKzHrgAPJd/XQnqw8wnnUEUejyRJFX4pkj8rGp3h7cMlnvsfk+Dz0xof52Df+oOqdvQU8fc/VTDwoRMf97Rz22e9S2o1SIQqFQqFQ7CuUaBsBiYvV6qDvzNMaSlBdZQ+46O2YAk0FBnq0HN2gK2UQDhUoxaeRqdWp1SzuWbWRohlEiCE7Lddb/lBVDVlbJ2+1eF4jCbLvqxFle0bHxmB1cy1Xr6j0HvXfk0ALOqSTdWw90o/f0Zlb6iao76aHTYyeYh/A0j3RNhrJsIuQknwuzGGHziIQNnjyMS/ByJwjjwBg4yrvqORZR89AAF3Wnj+anxquBqAj6hXmLvmaSMRrCCWqeG1TZQFvgIYpC4i72+nMD3tZoXjL+eoZ/8GhjccRm76Os752BcWis+tOijfEzX+4mIUnjKPrqQzv+eK3aevOjbVJCoVCodjPUaJtBAIBwc6WPMke7+lqVd2Ai2XhUt3WQ8HXnzBEN6BUkOiaS96N4PgE9f4O3nfax0BK9HKmyd6jQVrBxO/q+EN+MgUX6eZH9LQNPB45nGy6ufNYtm7vIeCvLD7di5szKBk6rx8VQBMas7rD+H3Jvji33WN00WZrAn3gnlJKhh7VTEdKRDIGq159lrPPWA7ArXc+AsCCZccRtHTWPPEwIb/BvMY4AI+s27QnZgAwLZwAwyVpTwAT/nzX3bx/+VkITfDYU5Upuw+cOYWSXktcbuW2e57f9QQKxT7m9KNO4fRDPkbVlM189Ac/orOrMNYmvSmMdqR5rLnk21/g9M8soHujxWfO/wHrN3fsupNCoVAoFPsYJdpGIJYI4ovX0C58mNKmKmwPut5dDJNItpKuTgz6XOQ8kddle5kOq3ds4avnfZalMRehmYPbCmjUqhFCkOnJlbWNwHPI9W9qKkVcpWJpLiWYVj+NO743fGYz2zLg5QZeXxzA8WvMzvkJal6ttfoDG+nK30rBfuNZ0WxNoNsjX7c0SAddAt1xLl/xd97znkVkWgUr1zyB4ffTMGcGkYLOc+ue5ugDG9AEFIjwk2vv2GNbpoUTiKhFviNMYJzFH665lyMPPx7putz10K0V7c8+1SsU7jO2c+U1KyuuKxRvJYvnHMJXT/k6sfHtnP+bC3lt8xuPOVWMzifOOIX/vPj9ZJtcLr3wSm5/as9KjCgUCoVCsa9Qom0Ekp09hLIm20L11MrMoMB56UqatzVi2kVyiVjf54WiQKSiUBKkgjohy0UmQ+ilWjR7eA9YXXgSroSejqIXn1UWbLLiSXT/e7+W2aN7cSxob57H5nlB8jGNae0uiUCpXB5bEvUbxP065pvw22BroFsjX28LGiAEerqObHeeAw5uYMuLGbqzSaYtnI9m6KS27CSbTXPioglePJuoYdvOIcWDd5HJYG5dDVHDTyFs4qQ0ArXdOLbL1JlzSLd1kslVFiNefOhSDJkjZ+QoqCNo+xFvP6/PlPop/PTjPyFUlWPFnZewanXTWJv0prCr49VjyZJFB3PdX76MlZbcetVfuPQf77zsnAqFQqF496JE2wjkkwLZVCAZiFEdHrKpkyC2eV6zUm207+OulE5U82F2B8nWaNSZRcLpbo584g8c+Pzt6G5lco5wtJaMZUDaKrvUPE+bHHhkUQz2rZnx4LA2C12iVw8OxpJSsun2IFsbQ6QbdCZ1+Khu29hXtBsp2fjCKxx+xu9YcOIVe7BCw2NroNsjb8zaQgF0V5IqGBxz9EGYPo1HH/Hiyw5YeiRIeP6RxwA4a6kXz9aeG0UFMrx+Wza9EYCWiJcAJiW3MnncFAJVEV7asH7YceLjDqTK3UZLSiUcUIwd1ZFqfveVKwkE4M6Xf8Xfbh3+9/WdzNste2TjhPHcd+/FCAHP/vkBzrniH2NtkkKhUCgUgzB23WT/xIzE6Wx1IQDxSDkWrfeJvLSpakuRDcWQgf7U/E7RQROCXC6IWyuolR3kqgOsP2QmGDVEM8lBc/iDJXzBOB09NjguA6O/JGKwdw+BhicmolqO4aqg6VGbyAlJugZopuKmPE2aSed0k7qsQc1TKcQ01xOHgJQOuY4QV3/jDLSYj6w7fMFpyiswIhJsqSEF6KXhRZuU0BO1iKR83Lb6Yc4+YzmuCzf/8yEA5h93NGHLYM3Tj1Id8TGlLoQE7li1tnKygYMOw7JpjSRLOTqKkxFBuPJP/8dpJ5wFwEOr/lXRfumig7C0GDH7Ca762+Mj36fiXcPb0esTMANce/4KgmaUTfaf+OmvHxxrk971RMIhnln1WwJVgs03rufob1w11iYpFAqFQlGB8rSNgC9eQ5seJOiWCJuDU7+XLIvq7lZ66mrpTQgpgYDlxZx0u6ZXE+1pQGo4pWr8GZ2+utXlPokpXkaynlTPwOJv5Ri2fvkmJUSLSbTyAEV3cGxcX/HskqTUWuz7sCc1ifaspPkgH+Oz7dj5VrDc8mWB59JzcU0DaepowUjfmHv8IFz026WNINrqx0fIBcDfXcVvf30by5bPJ9UkePLFNfjDIRJTJxPKC1548VmWHTweISBPNZf+8b49MkUTgmOnTmZzLkm+NURwXJG7blnN4kOPQdoO9z1+d0WfM0460etrNHH939fs4c0r3sm8Xbw+mtC46ss/pTowiVzNnXzhe/8z1ia969E0jfWPXEfNVJO2O7ey8PMXjrVJCoVCoVAMixJtI+DvLLIt0kDCLaAJB03rPzLn7jTQXZvMxDqE7P+8TutA2jbpiEbUdinuTBDqybHwnmdpWPk87pAn+5FxJo4LHck0riP6kjgOl4ikIfQaWlmetadH8GTpJnL8LO916xSae8azbbGPOr/FgrZN5CJlUWUIBBpCgF5IUSwdRbG4lPxr09/QmuUd79imXhxyvLB8K4uP9Y4qatk6TF1n+pwEr65Pki1mmXjAbIQmaH9lC8Vigfcsmliuz1Y1fL20UZwki8Y3UB0MkA2FcfOCQE0SKWHi9Ol07WzBtiuPWy5ctAS/TJHTLVUDSzEmXPiJbzGjZiGBaY/zoa//DtdVv4j7msdu+zVTD4nRsbKLIz77HXLFUbIoKRQKhUIxhijRNgLFnTvJmCEi/hhSOAitv4xzsMlCAsUZCYTd2dcn4S/hFrNkExoN/gICQUuwhivnf4TfzzsTOeSRvj8aJm0ZuIUM9XY7AknB50MKgTD7E2FIJAdU9wsNV++7MHg8s8j8mgcgWUd+w8FsPsqPXwhOmpRGlxLH8DJaVk2IEDQk4BCWKRY/cQOLH/8zi5/52xtas7zjlT/Qhoq2MpMXjcewJa4weM+Jh6Lpggcf9FLrzzxkEQDPP+4dTTxj6XQEsDO1Z0lXAJaX49nicxZ79oTbmDvjIMxwgBeef7aivaYJAok5VLlb2dr+7kiprnhn8dlT/p2lM08mPn0DZ33j5+RySjzsa2646vsseX8jXc/mOe1L32FHx57/W6NQKBQKxVuFimkbgQ3jGiAPMdOHFDYIHwJwXZtEexeZaDVuxIdZbdC7vXKFQUaWQNNJ2E0UmURC6+Ic43+plj1slwsHzWEYGpl8AaRLW9CiaAq6ZT0hzSEe7N9ACMCkiCW9r6uk+8Cm4gyjI13WNM/AXjOB148MoGkOBzp+Arqn7gqlIJDFSk+kOxvF9XUyTs/wf43HYhkGXb4oi7l9r9es4PoB0ArDZ14sVLlEegKEg6188N+Ox7Hg5ju9mJ2DjzsWv62xetVKJtSEqI/5cBHceO8TuzHz4IVYNr2RF1rbKTYuQ4tCsNjN+5Z/AID7Hqksa3DKMUdgixBRuYVfXVtZv02h2JecfOgyPnLkp6lq3M45P7mI1rZ3byHn3jhCMcZnUi/4yjl89NwjSL1ic963fsRTm4aLElYoFAqF4u2D8rSNQEJYLJnZSVATWJh9SUiaN2wlnm4n1xBGCIFt9lfddqRJynARriS4pR0APxbjRSu5ggnukOUW0JHz2pUsQVfpQJL2XHYWj6UwMTao6X1ti3HL/SURhiOVj2I9PIHXDwliBeHwlhcIDhA0hXY/M04oEZ9s4YZfpJh4mGQ8xOuxiTSF6ymYAYY/dzigsPcoiRX7RVtloyMOG0/BB76eBPV5m2OOm0tym2Dta+sQmkbDATMI5OClTc9zwoIJAOSo4Tc3jp52e6i1Pl1naeNEVm7eTqHVT3BcnqoSLFq4BLdoserZhyvGOGW5V+Bbmi3c8cCmiusKxb5i/tQD+c8zvkO0vovv/PeP2LCpc9edFG+IM046jh9deTb5Vslvf/obblz54libpFAoFArFLlGibQSMkkZd1POhWb0OSSnp3h5Gky6+yXmQLgU8oSKQFPM+MlU6MdulVPCOIqZ8gn/N8fOcNjBezDtqaUtBm7UdENhWjO7SQVhujJKbIBgZnLr/+S1z+gWKqHSQCkeiP17PltkBclUaU+UTVBWH1CJzNKYcZTN1ynpk/GGc8DZq9CxT7ryIf517Krd88b29o/WPO3AOJHKUYLK+RCT5yqNdn/jE4QAY2QS60Jg4LcaGta1YtsXEA2aj+U06Nm3GcWxOOWwyEkgTo1jas3ppSyZPIGiaBCdPRJYEkep2BIKGKY20bd8xbJ+D5h9B0O0kq6sYIsVbx4TEBK74j58TjBa59uHLuP+RzWNt0rueBXNn87d/fAunAPf+7h9878/Ks65QKBSKdwZKtI2Az+xPue/0SReBv03iCo1IYwot04Q2YKOf6o6Qjwtq/P1xUcLV8dtg5av6FJAoHxHKWzqW2wUCYmkdaZWzQkrQfP3CTAIbn1vX/36IthDA7HVFmuoC9EwwmKA9SzU7+voOx47mVgCi2Sz3PrmRVduaeGZny4A5e43tt0EKMWqa9KL0ebbnKj1t84+chL8EQb0HKbxfu/vu81L5L1x+PADrHnoIgFMXNyKALR1dI841EsunN+K4Lgcv9bxnMd/LuJjofpPnnnuqon0w4EdEplMtt7BxS/cez6dQ7A2xUIxrzltBwK/zUNPVXP83lbF0XzO+rpZHVl6O7oMNf32Usy6+YaxNUigUCoVit1GibQSkEGhlfeL2uZtKJDo7ScVqcDWDoKENSMwPHYUACEHI6I9JEQA2aNkgfRKqrAZzOQtwy4pIgiy3EGCWI+V2FfnRK6Eymkb7LJO6rE4dGyvavRkRJAJGrIsGUJQGuhRgD/GOSZd8lUO4O0iDvhmEwCrALf/ynnLPP+4YApbOU4+uZNaEGNGgjoPO728auUbVSFYsm9bImqYWZGkcekJSU2zFwRPDd628paL9mScegyt8hOVWLllRWQpAoXizMQ2Ta867gohZzXbj73zv8v3x9+6tjWnz+3ysXXUN4VqNpls2svirl72l8ysUCoVC8UZRom0ENE2jV5J5qfglpR6LaKaTTHUcxzUoaDW4ZX0iEHTrOpojwS4OHqs9gdkZq1jtVMsAcSMlmmH3efckvfFr3vZm2tRZo9rbtMAkTo6Fbc/u07pTo6XDL0kD3RUViqpe24ZlCMxUDXHHBU2j83XJSzs2oRsGNTOmYKZtNm95uS+eLUsdf7njueEnGuH+on4fiyeO55GtTRTbfYQasgQdkBjYuQLPv1w53onHHg9S4vjbWbN+526sgEKx9wghuPILP6I+NAN7/L186tvK2/NW8NzK66if5af9XztZ8Nnv444Sm6tQKBQKxdsRJdpGYoAw6D0eqW/xXom4xHE0SpqfVKHf15ap1okWBULIQR64YnICwjb76rD1qprs5v4i2ToWDDhqWSj5Bplh6AOPS1YKIyFgptaO6aaGuQXJ0A5iwFUx6lPv/n5Ck8NkIunva6FjDLMZGq95sToyl/DWT8BzT+/AdV0mHzQPYeq0bHgZKSWnLZkCQFoGd7teWm8muqMbJ2HoGo0LDwIb/NE2b16h0bR5+HihWQccRkS2kFJ/Coq3gP/68FeZ13AE4elP88Hzf4Vt71/qoT975Fs35/1/v5I5RyXofKyHYz73X6Ryw9R9VCgUCoXibY7aqY6AK/vFTO+2KtacxdYNInVdZIoamiEoZr1rEihGNaKOD8mAjZiQuNmoN045lqtXjLjpcjsBxAvoA76N9rbOvrZSwiuvbqiwUQ74KRHowh0+hcgw4me0hCIDGZSaW1BRIHwgFhrG0ILAUmIEOwkWoDvXHzN39z2rATj0pBNBwrMPPIgQcPzBnqdtw47dS8E9MMZu2fRGCpbN9IOXgoD27t44QMGaZyuzUFbHojiBRqrcrTzzgvKyKfYt/37CWZw473Sqpr/M2d/+Kam0Eg/7mt9d/E2Wf2g2yfVFzv7yBbzarOJWFQqFQvHORIm2EdAQfaLNRoCTJ9HZTjqewDDT5COzEAKEPXjjFSn6Bw/kgpEJ4cTSFTJJDhA48YgPMaBF/bhE32shYNHief3vy3W2RW+IXP+V/gQiozJyGzGKmBPDePgGYiEqPG2atEmHLULdEe5/6D7AE6H/fHAlAPOOWkLQ1nl61UoWTEsQMAU2Jiv+cu9u3Mdglk9v5PHtTTjZGsw6l8fufbrv2j/vv7mi/YdPPQEpdIJiGxdeescez6dQ7C7Hzj+KTx/3ReKTmvn8ZRexY6cq5LyvOfeTH+Tz3zme1GaH715wCQ89v32sTVIoFAqFYq9Rom0URPk8oysEdkeBcL6HUpVGV3eArFaL7YBZKCcdEWDYkqBtDNZElonRGUOL9fR/PPDsZPmDIHlcqfXnKnEHCyvNFn0dgy3G4O6DkKNcG3Bvva3F4KNKI/fzrozkaROAJYTnaRsw3kTfNhxdYKRq2fmyl7ESV7KlbQuG30986kS0ZIGdzdtZXo5ny4g67ln16i7uYDB14RAHj6vnyaY2Sh0GwfoMpUw5tlBKtu58raLPcUcdi5A2lq+LrU2piusKxZvBnImz+MGHfkCkNsWP//Zjnl3fOtYmves54ejDufLqT1LolNxw+XX8/q5nx9okhUKhUCjeEEq0jUi/OHEQ+Dd7AiDub8ENuliaSTKlk9A6+5rHbbfPOyfLbjDHNRCuTjTcOSTGbKAok6SzwUHnHfWiNcgaf3em71xlOjb81yYG/H+Y29idj0f104lhj0cOWCcB5pAI/wnmdpASK1fFxEk1Xo+yh3HaovkIXWPHOu/o55lHTQOgx/aNYsXwHD91MgAHH7vES8gZbME0zPI9VdaNA2icuYiY3Em3o/4MFPuG+ng9V33hcoJhm7+uvpJ/3vfyWJv0rmfO9Knc/s/vI2147Lo7+OrVd461SQqFQqFQvGHUbnUEXCn7PG02klhrmpLhJxjsohirxjAF+RyYoj9TZLVZ9kYNOKQoXQMpXOrMnkpFNMDTlu8olT8SICBjBL0r5T47Q7XoZcFUHEG0VR6NHJBEZLfvfDTkiOkjvTpuYLhD0v2HU4RzGuuaN7H4kLnlxp6wW3zSSSBh9X33Yhoah8+pBWDNK1t2w5bBiVSOn95IT6FIw/TDQIe7nn6Y2VO9+XSsit6N4+soGeOJu1tZ+USlF07x7sftS4qxb7JihP1hfn/+CgK+AKuT1/PrPz6+T+Z5J7Gv1zxRFefJR36JLyR49e9P897vX7tP5lEoFAqF4q1GibYRyBcKvbn+CYoMNZ1t9NTUoQnQEp5HSHPt/myKAmJaeSPiij5xIxwdpzqFobloDJ8pTgJaWWCJcrG2kEz3XwQO7mntk2C6GOo5GsH7Ncq+SAx6vQcbqF2kdPQ5/aItHveRDtkEu2P8fMWNLDh4Rnk+b4zZSw4nZOmsfupRjphTh6EJSgS45Po9eTLujbVsWiOPbNmO1R3H1+Bw6aU3M7VxJgA6lQkfPnzqSSAEfm07P77irj2YT6HYNYZu8NuvXkrMV097+Ga+cfGtY23Sux7DMFi/6lpi43Wab3+VhV/86VibpFAoFArFm4YSbSPhuH2etkS6SKCUJTM+DkBOVFGyIBARg+r9+NG9FwM0kGbpyETSy+7Yu9q9tdjkgIZDUukXrSHCLGci9d55hoq23ZFgcpR3u4fQxKBsjcNhuP22feis+UhNoKcbaNrcRuM0L7mKEBJfMEhkYj1ue5qurnZOWDABCWSo47mNexbzE9ZKzKypZn1XD3aXTqiuh0KuRKKuvmx4pc1HHnE0uixS9KXoTqksfoo3l0s+8z0mxeaiTV7Jx791/W6Xr1DsPWvuvYYJ80K039fGIZ+9ANvZv8opKBQKheLdjRJtIyAGxJ3VNOcBsKaHyegGjm7QlTKojkGp6MVp+bAwNU+waBbYmqewSsJAjG8CQOqeF8rVbISUiLLnzSha6Jr3undv19ErJHQBmmDLEj/SKau28tema5bXo/wtusX+r1NIF+nq6JpdTtXfX+dtNLTy8cZenZN3NAQSDYlm6Ji+4Kj9fU6/aPvA2YcgpCRvTWLxYbMx/f32zTr8EIQm2PLMeq/t0ukIoMva82NT43xe3YUlJy0HoGjspKaqDl8oMGKfhsYFxN0ddOT3eDqFYlTOP/NzHDL5WGIznuOsr/2CYtHZdSfFG+K2/76Eg5c10PlkhhO/+G06egpjbZJCoVAoFG8qSrSNhJDl45EuibYeCv4wbsJH0+T56AaUCi66DnnHS/Hvp4ipeULLtAV5vGQaKdOPXteKMMA2veuWWQApMaW3mQvmCoMEDfTHsglDR+gCKQSu4wkv4Xhjm1qpXKy6nOUyq/eJPiElrqOjlY9S2s7gUgRihDei73ijN1KP7etNrYKmC+JVDaMumznA0xaYbBLJGOyMxzn7jGWD2h3+3vciJDx17z2E/AbzGj0v5sPPvTTq+MMx3szSks4Srz8IfPDHu+7ifcs+MPQu+5g/ayolvYa43Mptd6/f4/kUipE4c+n7OG3RR6ie+jof+d6P6Uoq8bCvufSCL/H+T82ne4PFp877Pi9s6RxrkxQKhUKheNNRom0E9HJsmRFsI5Fs/f/snXd4HMXZwH+ze3tdJ516b5ZsuUiy5d57LxhM772E3juhBQgQkhBISCeB8BECSejdgMEUG/ciW5LVe293p2u73x+nalvGcqHlfs/jx9Ld7L6zq5nZfedttEZGghBooakAKJ5Aqv8O1XDAsRr90ujLKkICY5xxPxWiz41RQzvgDyEJ3YD2rfnO3lgwMWgykKHEph1JQ+0A98j9Zer9gaQf8XFWOk0qxtZQ6vVGFi7Mo6utr136hHGYPTKbvl7PzNExSAK6COHBPww105tGjOLk45Jy3E1WjLFe/vr795k2aU5fXOF+13ry0kUA6HQVPP77j4coL0iQgzNpxHiuXHItoXH1XP2beykubfvmg/5HGVIc7SE4/+Tl3HDfMhyVKg/f8xhvbgwmFQoSJEiQID9OgkrbYAhAE+jdTSg+N52JdgCcwobLLQjVOlDdGk692O+g7p96YtQkFTSBIS6K/S0//Ytj6+UBXxFqDgO6VSYNyoqKe4/XRKBmmxCHqMmm9dV1G1I8jTigl/tVJ/iGRCTdxcbPPmMcCIHUEQsaZOVE01AZyLTpFjrMMeG4q5txODpYMC4hEM8mwimv6RhCZyHSoGGWfZR5ffjbJYwRrfh9KqmZw3F3Og96zMQJ09BpTlw6Jx5P0HXtfwWTokMvy9/c8AhIjU7hwbPvxxLm4LHXf8bnG6uOi5wfOlpv9sijP9e08bk88+zleDo0Xvn1czz2yhdHf9IgQYIECRLke0pQaRuMbqXNWh8ouuxJD4WudlSdHKjPZvDgqVbxhBy0Olpv5km649iMYeEHFtfuzUgikPbThfzKwf40PUqa6Pdbvy5rGuUjyvuXe+vXar8e9oneb9db6z7kwLcqoQ1eXLvnUEUNWNoWrxyDrGp0qAnIsoROkdi7J/AiW2OMAiEo2hgoeLtmRiCerd55YGr+byLVHLi/05YsAaBdLSMlPg1DqJX6+tqDHmOLGU2YWk5tezBRwRsy4sAAACAASURBVP8COkniysnjaLvrOt4975Rjfv5wazi/veoJjCZ4Nf/XvPTazmMuI8hAUhLjee/dBxACNj/7Hhf84uXvuktBggQJEiTIcSWotA2GEGiqir2xGYc5FDXUgE7zI8vgc/sRSLQ19lNg+isz/fUdnYpZ6NCb9Gj7qVED9SK17yMh8Om6VamefCgH0ZV6Vbfu7zT8eA3eAS2E0NA08Cn9Mk4K8c3ukb26Xp/FDg1U7eDNAHSaQKLbchUD1nY9ZVYzsiyjqrBxSz4AFcZEhAb1FRsJDzGQHGlGA15fv+UbOnUgaVaVDr+C0TIMYYLHn32ZFfPWAFBcdmAh45njs/FKNmxaKc/+3/rezzNzorGFD564JMgPk7Fx0Wy8/Fx+uWw+AKn20GN6fqPeyO+vewKTzkq+5+888tuPB22bGWEnwWY9pvL/FwmxWNj02VMYQgVlL29l5o1PfdddCvIjI9EWQl78oeO3gwT5MWHQyUxPTvjO5JsUHfPSk4+JF8aPmaDSNghCyHj8Ldhb62mIDBR99hsCi7jk6kRFptUvcTDtR9IG6mNx+sgB32sDTWG9CSBVX5/rllAHttfQemPa+k6+nyBpoKuf1O/3lrihpdHvJ6GfKO2Qyp6sdrt62lpxGsHQGkajJpBkwdfl2yiqLAagzhiGxS1z9l0JnDgvHSHARRiP/uX9IfVNlgSpFpVarwV3vRlTnJu3/7uRCeOno/n8FJUfqLSduWYZAE5rNX/55yYAjGYdP//nalacmz0k+UG+vyiyxHXTJvDZxWcRb7Oy5oX/8EV5FfkNxy5JhSRJPPmTh7AbEumIeJ0r7nrpoO2iLWaeWDqPXddcxJ9PXHrM5P8vIkkS2z/9I+EpCvVvlJFzyX3fdZeCHGPMisL982fw1IoF34n8SybkUnzjZXx4wenfifwgQb5t8uJjqL31Kj666AxyY6O+dfnZMZHU3nol75x3KjOSE791+T8kDi8P/P8gQlPx1zqQVR+lUdFEahouYcHpkghvqcQrR9IeIhHWv1Bbv9Qi/RUye2gCPrWfxar7897EIoDDG4bql+gp9eZqa4dBx+5gldj8+3Wjr2/afv6X/XczBuxsHGKXQwPUA50ye39Sur+yZJThAYQjEsyBIxu0Kjw+N07JSKeiENreBhF+5o6J667PZh9yvbRxcTEYZXDoLagugcHegqZBQlo6zVW1qOqB8WpjRk9C0troUFy9yvPoSfEoBhm94fjEOwX5dlk9MpPHlswlJczG+rJKznn5TSrbO7hxxqRjlgAD4L5zbyE9PBdD6qesuuwZ1P3N0MDVU/L46dzpmBUFgISQoKXtaPj8tadIGRdCw9pmJl58G12e/WtWBvmhIgnBheOz+enc6cRYLQBc9cYH35r8eenJPLxwNuO6LWwWvfKtyQ4S5LsgKTSExxbP5aTRw3s/63lWfRvYTUZumDaB66ZNwKALqCPBeXdogpa2QdA0DVONAw1BYWwkOBpAJ9HaLhEpjLjajDjtEmFyT0rvgVkW+xCYbHY6vf0VArXP9bGb5s5YApn8Ay+VHq934Otl/1PuF4rVpx/2pes/MNLuyIpr94W3aQHlThs8DkzXfVYpsQHFp9Ho8KPXK71uoQClxhQArEog3mxRbgICqGrrPMwe9TE3LRkAOS1gyax1FDI6IwfFYmTnzs0HtJckAaZh6HXlNHX2uZHmTgu4BIh+2uv0penc+Mv5mCzBBeSHQqTZxPMnr+Cl00+gxeVixXMvM/cvL1LZHkhu802F4YfCpcvOZmr6QkKH7WTNDY/idA5UHtLsobx61kn8Yuk8vqqsIffpv/JOYQnt7mAh9yPlH7+5h0nLk2je5GT55bdQ3TT0NSPI95Ok0BDWXXwmv125iILGZj4qLsevfjsxxyEGPc+etIx3zjsVm9HARf95m8c/24DHF0xSFeTHyxWTxrHjqgtZnJnGQ598wbkvvwEMfA86XggRkL/7mou4ecZk/ptfyBn/fC3w3THcWD0UZ+aM5PmTV3wrso4lQUvbINjaXRhq3FRZIpn65U5Meh+qaCfFK/D5PJhEO9P3CVSTH7KSDzi+J2zMp5p5Z52EproZnrCfe2M/w1zTmEbSOyuR/AEvxwItg/R+5zt9YQaidi8ApnYdXSH0pp/sOY0BCxnKyezrerkvFq5XZRKcOq6RtlYFTctixdiRAd0vROKxd1fxqBbocFHZG/S3Cfq9fS+6mgYLpngp/vCGQKeFRv99UAUVDRWHzY21zcjv3nuDGVdMGHBfik0ZSCpYw0oxeDUizAoqghfeH0Lmt+7OzU1Ppq5L0OWOQArRuOeXL7Bs7hkAvL/udU6cGbBqeLqTwaycOxWfMOEzVfDem7t6T5c7LWDS7L9WTV2czpjJ8bgcQ0+OEuTbRSdJnDN2NA/Mn0mY0cA9H37K459txHeQl75j8TxaOnE+p065gLDkcs657z7qG/qylIYaDdw2czLXTg2M+1vf/Zhffv41EFAav40H4veZvuyRQ7sPd119Hqf/ZCJtBT6uuuk+vi48MnfvIN8vzIrCFZPGcufsqSiyxGWvvstfN+/g3nnTmZ2adNzlrxk1nF8snUe8zcqTX2zizg/W4fb5eWD+jGBsTZBvjRirmceXzGVxRhqTnnmO0tbjVy4mzR7Kb1cuYv6wFD4pqeCi/7xNeVs789ID77HHe9gnh9p4csUClg1P55OSCm54+0N21DUyPj42IP84dyAuxMLf1ixnTloypS1thBj0dPyANlODStsg1OlsFGcaEP1iuQLKjIZQ+z5TNEHATqMhy/re4xVrI24y0QmVBM0HQqDT2QB6U/X3DxizKFEY/D40JZDRURMDM0RaaxtxdG/8GRIFXW30Klc9bTxulapt5Ujp3UlNNK33W01o1GxvoRYV0ftPQ6BC9/8CDWusgw76inT7ATSp1+TmGxODEH2y6RcipMcP+na69GBrDefFv3/EnKvvw9+jqwpBjSGKEI+MZq0hoi3QTycRPPXCs0P6+whVZXpyAtvaJLz1esypXWz6ooAbz5mM6vayfvMnXHdRYBfFqwvIWbMqkGGyw1bJ9vzAS58t3Ej6qO6Yw36LRc7UBLaurxxSn4J8+yzKSOUXS+YyIiqCDZU1XPbqu+yqbzxo28A+xkGyog7hMZWbns2Nq27BFt3IzX+6j/yC5t7vVmVl8PTKhUSZzby0cw/3fbSefc2t+8kPMlTWLJ3HPY+fjLNO4zcPPMmLH+/+rrsU5BiwZtRwHlsyl8TQED4qLufqN96noKkFCGwQStLxmy1jY6N5csUCpiTFU9zcyornXua9otLe7wdbK4IEOZboZZkbp0/ktlmTMXW7JSaFhhwXpc1uMnLfvBlcMiEHn6py39r1PLTui94wEa3fe9rxwKJXuGXGJK6bFtjQvOfDT3lk3Ve93/eZF44PkhCcN24MDy+chc1g4Ia31/L0V5uHVhLre0BQaRsEnVcmek/sNzfUA3PBJNyYFY1GwN1pwGlRMQCe0Aj8YwPKmky3K6XBAW5QtYB3qs7jId+YQIc6MKZqLo1IQkYSGh/JWYzT7QAgIUSlrQ0UXLjwI3VPMkuni4nSp6xDQfKDrEkodCEReADN5q1vvJwd6EATvYlQXE4diiohyz5kIZGmDFRkFO8YILDY6CU/Xkt94AtnBBHhNjTRF9+nhIXjUBSSPJ0gNCIcKirQQciQ66VZu9oxKQpqdCiaR6APDbyoRycnU1deAUBcSnemwO5VYFjGeCStkU6Ts/eznCl92ZJ6Fqvk4eHYo8xs/yJYa+v7iiJLPLF0HpdNHEtBYzMn/uPfvFlQfMhjApauAz8/3GdUQngCj17wECZbF79b+3M++qwUgHCTkceWzOWcsaPZ29DEyudfYWtN/WHLDzI440Zn8fw/r8fvgreffol7nv/ou+5SkKMkzGjgqRULOTU7i601dZz98ht8Xj5wre3vUn8skYTg7jnTuG3WZBqdLi599R2e37r7AKt8cK4GOd6MiAznhVNWkh0bxSu79vLBvjJ+t2rRcVGalmam88fVSwg3GXlm41Ye+3QD1R0D3cuPp9K0KiuDJ5cvIN5m5cXt+dz5wToq2gbW5D2eSuOijFQeWzyXkdER7K5vZMXzr/B11cFLQn3fCSptgxAjqcSad1GcNZH0YQVUKmnUNuuItb2Gr3gmX8fYSdC8jHN+QCuLCVPacXSWAVF0tZiQnKMAMAuVJGrp3LCFtlQgFjRdJ4YWlRZvQJnTu/3E1rWSl2XArFMx61R2teoQAgyKAZ3QOC3pK/Q1AQWopSWg/Jm1FlyaDYMuYOFrkCL5IDMBxdGEweHHotMQNKOTw5AkiWIlC8lnxWDSaGtyo3WE4Db76MDIrn37aHN6WTrLiTD5UJyBGSRHqNgsTch+N4qs5+//NPDmVxtwtLuZabZzw3CFz0IDFixFOHCGdGLwQHVHG6tWTh0QRxSZMxkAi1RBQ62DCIcOnwQldX3WisPF5mrF51cxZaTQsQ8K6ncydewsZIPC1m1fYQs3Yo82Q70fDTAZDfiUZKy6QA2tnoUhd1oCjg43siz1PqRzpwYUuW1BS9v3DkkIzswZyV1zppEeHsbft+zkyjfex30Y8Sf7754PJcbNZrbxzDVPYDTIrK14mr/+czMGncxN0ydx4/SJWA16nt28g+vfXovDM7hLbXD3/vCJi47kkw9/jqzA1j+v49SfPf9ddynIUaCTJM7MGcXDi2YRZTHz6y++5rb3PsF/kAQ+x2P3e8GwFJ5YOo+sqAjeKyrhgn+/TYPDedC2QUtbkONFmNHAtVMncNusybi8Ps5/5U1e2J7PrG534GM56lLDQvnZwpmcMiaLirZ25v/1Rb6oqD5o2+OhNFn0Cj9fNJtLJ45lb0MTs/70Gl8OJv84KI0mRccvl87jwvE5FDQ2c/a/XuflXQWHrjf8PSeotA1CZ7yJhsyxyG4/nXorOpuE2qLSoG9DVU349QK7TkPqOJi7lYbWY0XTKzhFF3j1eOn3YqkxYIs/0tdBYqiExy+RGOLjraqBOWLU2nYk1QICXLruDHSiz/0RQNKMeJRGlEHqsDkx0qSbQ1xcHaXllehronHlVuFugivvfBCApbOu7vbP7BYhM2AW7d5YTfnaAp5ZtYhR0QNLGSiiiw6rh5BmMz9/8RWuu2o5VWj0bGJGZk9CVgVGYwE1H9diSk/EoZP5/b/XDv6HGASbq5Wvq2sRSeHI4Rq3PPAcFy6/CYC3PvrvAAsawGnL56AKPbJSHriuHkvbtAR2flXDmMlxvR/mTEugurSNhupgooPvE2Pjonlm1SLy4mPZXF3Lyude4d2iksM+XtOOzF9er9Pz+2t+gUWxUyo9z92Pv0NOTBT/d+pKMiPDeWXXXh5Z9yXbahu+QX5w9/5wMRmNbF3/DOZIifKXdjPlmse+6y4FOQqmJSfw9IqFjI6JZFtNPWe89DrrSisGbd/7AieOXoFLsFl5euUilg1Pp6KtnUv++w5/27LzkMccb/fMIP+bXJCXzUMLZxFhNvFafiE3vvMRZa3tQP9436OXo8gSd86eyo3TJwLw1Jeb+enazw4Zu3Us1RhZElwxaRy3zJhMbIiF57fu4qo3PsDpPUSOgGPYASHghKxMHl8yl+QwG3/etJ1r3/wQj/+Hn1woqLQNgt6koWqBWmcuvR1VBanRC+HQInRIfo0QRaWv8HT/Qtv9TiSgubOeMA6yg6D1Fa2WurMz9pymv6Okxn7xaYPsRQi1L6auJztlv1wngfpxstwnWwSSifSvmN0vf0n/MwEg+fzMDrVw74WnU93RyZoX/sO1D96L1O3ZEqJW0KwTKO2RrH1zE4/99hSqmkBVAwW+9ckp2NwCYW3EVOeGdGiXw/jHG9sOej2DIWs+LF0drCurYkqanpDhnVQU1TEmOw+fs4udBVu58txZA+7F8sULA5kvlZruzwRR8VbiU8N44+87GT0pDgFIsiB7Sjyfvl40pD4FOX5IQnDpxFyeWDKPZlcX5778Bv/cuWfIL3MaGtIQ9/GEEPzisvuIMqfhjX2bG675F/fPn8EtMybT4fEclltmn/zg7n0P37Sbu+WjPxCVYaDuzSpyL7qbbymRYJBjjFGn487ZU7h11hQq2to55f/+y6t7vnlt7d31D2yBHrH8c8aO5lfL5qNIEre8+zG//WrLYb24HS/3zCD/myTYrDy5fAErszJYX1bJdW99eMAmX8+IO9pnRG5sFM+fvIIRURG8uD2f29775ABXyENxtE+o3NgoXjglsKG5triMs/71Op+WHb7X0tFa+sbGRfPblYuYkBBLUVMLp774Kv/NLzyqc36fCCptg2A2u/E5JCTceGSF1g6ZkE43au1YOsJlbD4VWRtMferDr0m0u6oJ0/RI2sFqunXrTvQlFVH7K1sHZIHsf2y/gts9nw/QHXumfyBziNYrv18WSwHa/jUE6KsFoXV3wlrSSPiOahbYQ3gtv5DLX3uPRqeLa/tNML03kNxDc0aQkhKDQ27rVkw1vKoVzaQntrUVo17HhLgwXAp0asYhv3yHas0IIHXcGPCDYmtCp1OIiI+jvCBQUDtnWiI+b9/1JiTlIok6VLfUe+053an+t39RxZnXTkQIyBgThSXEwLZgPNv3ghOyMnhgwUyyoiL4vLyKM196fUgPoP5oGogh7p7ffvo1jIyZhDn9K1585mN2XnUhEWYTr+YXcsPbaw/wyz+0/KCl7XBcUtf+61cMn2Kn6dM2pl98Kx2uH05mryABhIAzskfywIKZJIXaeLewhPP//RZNTtdhHd/f0nYk+tPkxDgeXTyHqckJ7K5v5NyX32R73aEt4QPkB3W2IMcAs6Jw04yJXD1lPCF6PT9f9yU/Xbv+oO55R2tpi7GauWvONC6bOBanx8sFr7zFP7YfftKmo5Vv0StcNTmPu+dMw+XzcdZLr/OvXXsPX/4xcI+8ftoEHlo4i0ani4v+/TYv7Nh9UPfrHzJBpW0QJFlCVQV6yvHpUnE4BdGo+DqT8cRLJKge0LR+i3tfwo0eRQXA6we9rxWIRufvsZRpBzyIRD9Lm6oGLG/7f98nqd/gFv3b9PZkQGbKnh9VyYdPX9vtVhmwtAX6sl9n+v2qd3WR8G4Jpvp2fJEW/lRQy09efLX3e5U+Ba9LcWDqgi4hseakmbS521C9AQ3U5Q0UMEh1leLX6RmWHE69RaK4tJExk+Io2dOE4zCLa4dpTahCIi1nOq4SaHa0M3/KYoQis3HT+m4LWih1GxoZYw1B1SQ8cgKh8tds31NLeFIoQgRS/bc0Oinb2xxYsIQgd3og/X8wCcl3S3yIld+fsJjFmWnk1zcdk92yoe6en7PgZOaNXIU9uYC2ddt5fOFcPiou59Z3P2Zr7YGJRr5Z/pHtosZaLcTbrGyu/vGnuX/moZuYc/IwWrZ1seYnt1Jce/xSXwc5PqTbQ/nTiUuZkZLI1po6rnnjg8O2RvfQ39I2FK3NrCg8sXQuF47Poaajk5ve+Yinv9o85Be3I3XPtOoVZqcm8XZhyQ86bibI0TM/PYXfn7CY5DAbr+UXct9H69lRd/DMxnB0lrZzxo7mscVzCDHo+dPX23jg48+p6XAM6RxHKl8IODN7FA8vmk1siIX3ikr4yWvvU97WPjT5RxFTtzQznZ/Om0ZefCzryyo581+vD/n6fygElbZBELJAU0EfG4JfAB0+0KDZYwLAbtDAr/YOsMCjpXuwCQ2dHPjZ6/OjJzAh/IZ+1rX+suhW2rrbaYC0n/VL8M1WvQPqv3X3pYfWyAa6bP9F+FcEdEwRqBul9bcA9hzb7UEy+vMdCE2jcWIy5MVTvGHfIDJ9dFi8hDWE0FxqZfHqHNzU4HZ7UYwyXd4UdJogybMHR7sfgyRoskhs3F7Az144gb88/Dmv/nn7N10hEFDaOkw2/B0RKFEqxV9ZmTdjKQBvfPhKrwWtpqwNRofgIxxNyChyGY8/9SEPLTwJIQS50xJ6lbOeeKfcaQmU5DfS3tw1qPwgx5fVIzP53apFhBkNR/zSNRiH+ziYkzud82Zdht1WQ3rRHkxxCdzx/joe/2zDEcseqqVNCLhs4lieXL4AVdUw3//Ej/pF8JoLTuXiW2bTXuLn9tsfYt3O4MbJDwlJCC6bOJYHF8xEkQI1157dsuOIrFYDLG2Hyfz0FJ45YTEpYTae/GIT93z42aFjaA4l/wjcM2ekJLL2wtMDffnLi0NyCQvy46Entf7lk8ZS0tLGnD//3wHZUQ9Gz9ouDWHQp9lD+fXyBSzJTGN9WSVXvPYeexqHntgNjszSFmM189zJK5iTlszGyhpOefG/fFVZc2Tyj8DSlmCz8syqwOZuSUsbF//nHf6+9dDxqj90gkrbIEiSQNUEXXobPj9ohT40o6BVJ6P4NCxGEL7BF3NZF7A/ebxuLEBvcbN+9N/REJq/1xWk1yNyQNuDBXUEVLy+HZJD47I4+xVYC1jahFAPcFmy10sM3xyIj3ObjDTMHYFmFVjEge5Nmghcp2Ivxy8H4tm0BiuRwxSquyQ8Hh+KERyEYu3SMNOGoVMCAzSZJYhRkCSBwXB4QzHKYsZKJxWGNDyNOmyj22C3jhETRuBuc1BWXcyaafNpaXDS0hBwxXERg9B8CLmRytqAO1tShp3waAvb13cvppqG3qhj5PhY3np+12DigxxHZqQk8tjiOYzv9kU/4R//ZsMRPgAORkAx/+ZHQlbSCO46+W6sUjuj2nbwUXkVt7778SF3SQ9LPoe/izkvPZlHF88hJzYaCKxHsiRQ/T9OpW3xrGk8/ttz6GrS+Oujf+APb2/5rrsUZAhMSozj96sWMzomki3VdVz4n7cHrZd4OAy0tB2arMhwfrlsPvOHpVDX6WDxsy/xUUn5EcuGoblnxoVYuHfeDC7Iy+79zKQEX63+19BJEldMGssds6cSYTbxr517uPL192ntch/W8UNRmkIMeu6YPZUrJ41DJ0nc/9F6fvbJF0fl1jsUS5siS1w6IZd7580gRK/nlnc/5skvNh3VpuJQLW2nZ2fx6+ULsOoVbnx7Lb/bsPWA0h0/RoIryyBIOsDvxifraG6XsTZ78CiCjnSJSOEFWSBUFSEdZJBqAlkXuLWq191r7DpgPGn9/9d69/Q0TewXq9ajkO2nnu03tvu7RfZ+JQLn9Chd+PQ+UOWArG7NUJP6OhZi0BO/T0d4vUyXKfDZzmnZ2MMVFI8TNI1BDR5h1aBp+N3h2GIk2rUW/E0G0MCrl1AlQYQaKJwq6TV8ErgVQUpeIAPl4cYazelOi9vsiwENZEsjen0ItuhICrcFEpr0WNASu1eBLi0Jk6jG7ZR7F8ax3W6Q2z4P7IZqGozMi0Vv0AVdI79l9LLMk8vnc+H4HMpaA9nd/rHtwNpJR4t2GNbq9KhEnr7kcfSalwTXela/+J8hZag8pHztmx/IFr3CUysWcFbuaPY1t3L+K2+SFGrjgQUzh7QD+0NiVEY6/3n1NlQvfPLH17j+mW+uJxnk+4FJ0XHfvBlcM2U8le0dnPXS67y8e+9Rx4QdjqVNEoJbZ07m7jnTaHe7ufXdj/nj19voPETJjcOWfxjumYoscf20Cdw+ayp6WeIvm7bzan4Rr5590o92rgY5OOn2UF46/QRyYqN5v6iU+z5aP+QNx8NVmhYMS+GPq5cQZ7Xyj+27eeiTL9jX3HqEPe8n/zCVxoXDUvnVsnlkRobzVUU117+99pjUPDtc48OkxDgeWTSbGSmJFDW1sPTv//qfCB3oIai0DYImyZgMxfiUeLqcEKppuLwCn0kiWmkFyY5A7VWuhNb3SijQEFIgS6PW8+KpgejJFtlrTus5NpAtUhBQ2FRAHhDDBvSztKn9ZtXBPCF7lbd+iVI8RldfIzHwAE31c0b2SB5eNBt7vURFhpeGeB9560wDZvDBJlNPL93hrVidMn6Tm4gsHyWeDnZ97sCQLaF2u4qGSoGXXyE0PN2BcBEpIYHPDlNpm5uejA8dbZ1hoIPC6jpiEkchZIkvNnzSZ0H7vIqEpAi8GHESjV1ez4ef9sVVJA8Pp7a8nbrKgOVN0wLWN79PZeeGg9cRCXLsmZeezK+WzScrKoI/bNzKze9+jMvrOy6yDmVp00kSV02dzMmLbsGrKej8rzPqsT8eMkXykOX3Sw10MNaMGs4vls4j3mbl6a82c9t7n+D2+XvTNv+YXgR7/g4R9jA+/+QJFLMg/29fsvyuP33HPQtyuKwemckji2aTHh7GMxu2cucH647ZfPkmS1tOTBR/WL2YvPhY3i8q5fx/vzVozbUjkv8NSmNmhJ3nTl5OXnwsb+7dxw1vr6WkpY28+BjgxzVXgwyOSdFx84xJ3DBtIhpw9r9e56Wdh598oz/fpDRFmk3cP38GF0/Ipby1nVl/fuHYeqJ0/z/YnDPqdDy6eA6XTxpLUVMLq55/hXcKj82GJvS//sHlP7l8PufnZVPT0cm1b37Inzdt/1Gk8R8KQaVtEDRNoIsx4wMMasC83RkVUMTCm/NRk6YhNPWgmkyPXtQTn9aTvXFAGwZ+5JVN9JRXO9iOvDio0+TB6C/rYLuE3b3qTpYS1ulkUlMda05eTmFjM8XZeiozfFhb+tv2xICjB4oTCF0XHVYfETVh6Dwa0vBAkoYR1R7aJxtpBvR+CYvSl0iiS9IPOM3h1sSZl55CqwgHBPoYHzvfdzJ3oQFN03j9w5eZuqq7MPbnlSw5NZxWKQWEQNGVc//jb4G+r5hCf4taz0O6YFs9rs6j36kNcmjGREfyy2XzmZ2WRGVbx1E97A6XwSxtsbKFjVecjy96Ce3Cis/yKnNvfPrYyx/E0jY2NppfL5/P1OQEiptbWf2Pf/NWv8QNRxLr8H2lv/uMoujYvv4PhMTKVL5SSN4VD3+HPQtyuExMiOXXyxcwISGWgsbm4xK/1fsCud+Qjw+x8vPFszkteyQdbg/XdhITjAAAIABJREFUvfUhv/3q2LvSDqY02k1Gbp05mWunjsevalz1xvv8YWNfyZof01wNcmjOyhnFzxbOIt5m5e2CYq5584PemmtHwmBKU49F97aZU7Aa9Dy7eQc3vvPRMd1QhMGVRiEC13r33Omk2UN5busurn3zg2Ni0R4gv0feQb6bn57Cb1YsICPCzu82bOGuDz495tf/Q0EG7j0eJ168eDFvvvkm1157LWazmfXr1w/a9tJLL+WPf/zj8ejGEXP1jSfjksPxaDIJFhcd2yTqh+nABCOatuCJzULndGLy1OKIHIattQKPLpQORxwedwuKLKBOxhXrxGKvwNZixR3hI97qocYFaqdGV+Vw1FF7iazQo0UlYI/X0+mRsBpUCpo0sqOh3atDEuArqUTCRKiopiZkJJ6uCMJt5bjcodhiVbY3G4iqdqJX9AilDqNTEOKx448wY4qwUF9gReeIQulMoKtWoFgE+ig/ks5Ic3Q85QnxtKWm4jakIXcmoXrTqY6PR3ML3A0anW2C5hrB8JEjOOvUVZx35mlceO4pGHQyeqUSZ0IjtupEuqRE2ru8KI54IuzjqbGH4dFBqFuQ3NlAiFdFws8udSaqakfpTETniCYvaTpnn3g6556xmovOPpNzzziJM086gQvOPo2zTl3FRWefySUnLmOMo4NqkukQYYSkt5GYHYti60BSmzhl9WImT81D6YznhElrmJIVg0uXikuE43FJnLjoBM5ecxoCKzpHLCMsU7no5LO44LQzMJvD0TmjidfGcsnJ53D+aaezOHc0LovE3CXjOevkkynP30N8VARjJmdy9fWXE2WzIjW2Ep4Wz9yF4zj/7DOoLCgi0mJh7omzOO/808mIj8VTU489OY5TzpnHeWecQWXhPsJkmekrpnL5VeczIimBttIqJJOBU85dwPnnnk1VUTEhCKLTYrnu1kuZkj2K5qIy/LLERdefwnlnn0VzRSV2wBofzv1P3MzkUaOp27MPn6pyxqVLufrKn9BcWUW4Cm6DxEO/uZ0ZY8dSviNQ42zW4vHcevtNdNQ1YvV4afN5eeipW1g8YwbVu/YiAcOzE3j4ifvprG8k3KdS53Bwx4OXccrKFZTuyEcBYlPsPPrkg0hdHpT2ThpdTm644zwuOOM09m3biVFIhESZ+fUzjxIVYmaW2cKLp60iwh7K+rgITvrNX/iiuIKskbE8/Ni9RFoVtu4oRFEkbr7nMs497UTWf/E1XS43k6dlcu99d5KYEsOmDTswmXTccPulnLRiIUXlVbQ0tTJ7QS633HQdsiIo2FOMLUTPPQ/fQnZCNOYuL898sYmFy/I4ffEZmL2hnJCpo0XOpVmNRU4v5oH/vk1ZUQUrTpjCZRdfgKpoNNS3EBam595H7iA9IZaYYQkU7t7HBZefwLmnnoJXVjHbrJgNfu5/6G5CDAoJI5KpKq3ioitOZPXSRaShEmu28EZtCff97G6MmsZtC6bzxOyp2EJtvGsxcck//4N5eAomvZ+f3n8HHQ0tTB2RykS7nfa8VE5ctZItW7eTNXYkBp2H+x6+C6skyIy0E5IUw5IVkzj39FOp2F3ArFkTcasubrnrOqIsFsweL8On5DBt+gguPu88yvL3MjIjBaPdxM13XkN6bBSisZWI9ERmzh3FTy65iNI9BWQmxZOem85FV5zDuBGZtJdWkjVxDJNnZHHFJZdQW1JKnNVC3rw8zjxnNZPGjKShqIzEzBQmzczi2quupKG8khBNY/78JSRZUgnJkPjpdeeRNiGUmq/aebu8jYaKaqw+H8k5GVx98/nMnpBH+c696BSFE8+ex+WXXYyzqQWrx4sSHsINt5/P4lkzqNhZgCQEy06dw1XXXIGv04HF1YXXrOeRp25iwdRZ7Nu+Cx2COcvGcdtdtyB7fSht7bT5vDz45I2sWrCI4p27UTTIzE7m3ofvwKSB0tZBk8vFHT+7lNNPXEPl7j1khYVBmMKvfv8o0RYzbRU1dLg9nH/5Sq66/BKKtu/CgoTepvCLZx5iWFw0LcUVdHi8nHLWPG668VqKduzGAvgVjcd+81PmTh1LxfYCXF4fS1ZP5Z67bqG9oYHRJhPV7k7ufeRmTlw4jV0bduL1q0ybM4qf3n0Lfr8HT30LLs3HnQ9cx5qVi6jYVYDb4yV7XCq333kTySkxeCvrafF0cd1tF3LSsgU4GpvpbO8kY2Qsd91zK+FhFnx1TbS63Vx14zmcuGwRkXYLNWU1xCWHcvd9t5OWHM3paSk8s3QeBlsIb+sFv8jfw0cbdjBqdAJ33HkzOlmlrdOJ3+fm1nuuYu6UiVgTIqitrGPq9BFcd82VeH0u0sdk0lBdxe33XkduRjpKeAjtbR3MX5DLZZdcgNnZyZTISH67ZTO3PXAjORnpLM5I5tkl8xgdG8knNhsX/t/LMDqdrvYmfvrgbcSG2dCMCtZQKytWT+P8M89g67YdjMgdgU50cd9Dd2OWJDSDTFJaAqtPncspK1fy1YbNzF81l8gIhRtvvR5fRzsjw+1Mi4uhLS+FVYsX8vmXm7j/rBP46+K5jM4dzdraOs596XWU3GGsXD2HpXNns+6zDcyeNo4TkxIxzZ5CVVMLldV1TJk9nlUnzeLkFcvYuHEL1tAQVp8+l4suOgeLkPE2tZCSO5yLrljOqsVLqC8oZniEnckrp3DZFRcSFRJCjMuNYg/hnMuXc+rqk6jYU0CGzcbIWWO4/pYrSQgLw9beiU8nc/VdZ3HKqpOoKSpmZGgoocOieODx28mIi6O2sBSXz891d57D+WefQ23RPnLsYbitOh761T3kDEulq7waSQjWXLCIq6+6ktp9peSE2qj3ufjNXx5mcs4Y2gpKMelkpi/N455776C2uIy8UBvlnW08/OSdLJg6geb8fYQaDYyYkMrDj96Pu7WFTJ1CZWcHd//sKs4+dSWVW/OJMBqJzYzk0SceJNSko6Oijg6flxvuuoDLz1pDze5CYkxmbAlWHn7sfuJjw4ntcFLb6eDia0/h4nPPxNveht2vokToufeBOxg1Mo14l5u69g5OPW8x5515Kl2dnXS1tBMaaeL+R+4iMzWBOJebZoeLlafN5MKzzyQ+1o6t3Umn7OXO+29izIg0EsND2VdSxQmnz+aKi84nLETPQxPzuGn6RGrtofytoYGH131BSWUd51y8gvNOPw1hkvD5/ISF6rjvobuwGfWk5WZSUVzBhVesYfXSRbQ6O9EbDMTFWrjvwTvB4WB5fCyvF5cy7+xFnLhsKXpHJ6+deRJrRmSQH2Xn1vc/5Qvhw+l0csnVZ7B09mx27i0gc3QGyYk27rjzZmrKq8gcOwKLWeGK685jxvixbN9dwIrTlpCYYOGqKy6lcE8hScNTiIkJ5dqbr2BkWhJNFTWcmzuKIovGyRdfQOGevUwflcm/TlvJaZPyqA0xcNGz/2JPfDhTZ47m/DPPYPvWnVjDbcxekMull19AVIiFHbsLWbh6HstXTeWkpcvY+PVWjBYzp527kHPPOxPJ46WopIJJM8dx+XWnsmTmbNZ/vpGYUBuX5GVjmj2FDp+fwn1lLJmcw2tXncvJ86aidLq47NV3aM6J4YKLLqStvonyqhqSU6P5+dN3MHl0Nh9/+hUAl157IpdffhnlRSXUNTQRn2Dnl398mJz0NNat/xqAn1y/hkuuv5bXX37jO9IyBudQOtERVkE5NJIkUVBQwMKFC6msrGTjxo2cccYZ5OfnH7T9xo0bmThx4rHuxlGxq+QvdBqH09CmY2FGI+seMrFruYk4xUNO3Vt0jlmOsa4RW+dWGkYsJqlkPW2GZKrq8+hs34dRFojteppyGohOX09icQztmV3kxXawsQnUWj/NX67Af/KrjPjcgjt1IimTrNR26IixenmrUOW00YIqhxGdpOFa+yWSFkmS+JrNsWvobMlgWMJ6mtpTSMj18VyRjTF1HiJyZVqrX8BeLxPXmYY7MwJ7ZhRF7bbjdq88O9+kOamFqD0TkCdnDfjusxoZv4BhqsJoXT6V1ZOIUvPp6o5lGwrhu0tJ/HgrXzMDpwghYnYx/lEjB20fXb2d6tpxKDonWo5hyPIAxIZCotR9JIhqKluSsLVoFGWlkuf5DAD/ZjsFk0Zj8laQKsqobE8kvMpH/tgsxrs/BsCzLZySscMxqLWkilIqHQlEFLrJnzSKPM86ABy7oqjOSgG5nUwKqHbFEbnbzfaZ45ngfB+A9oJoGhPj8Jo9jCCfWnc0kTt9bJ2ZxwTnBwA0lcTTER6GO1RjBPk0esOxb4ets/IY3bkOo/BQXxGPU2/CERfCaHUrrX4bIVt1bJ2ZR6bjS2yik5qaRDwuaM2MJ9e/AadmxLDZzPbpY4l3bSdGNFLVkIS/0U1zdjpjfV/i0yTE5jB2TRlDlGcPcaKeyuYkpEoHDXnDyfV92XvPilMTCLPXECWa+L99IZiHJZEh6RmtbkVFsPypDdx3x93ktn2IQXh5Kt9K5rjRpHZ1MILdVEsJ/OrT3ZyyaA0THYFrf8mdhT3cTpqjgQyKKNFl8uzGfFZNWdD7t6gvT2bXmFRSW8uR6s24orIZucpD4fsKurLdpMbtZHv2SbRWNRHfXE0Ghewx5bLb7SJNjmSc93MAdkxYg7PYSVLTFuJFLTttk3GFGTFUOcnxb8SLjj0TT8RV5CCj+XPCRSslXVmE1TipzIgm2/81bk1BtzmEfcMSiAktJVR0sC16NtitKIWVjFK30YQdtyEDd3EztvhmIkQL2+3TEYmhqPnN5Pq+RNUE2mY7+VPHYHcXkiBqesdq8Yhkxnb3uWesWr2lJIlKKtsTsVf72JM7gvHuT/qN1REY1BpSRSnlnQlEl3jYOSmbCa61gbG6O5KarHSQWsigkGpXHBH5bnZOy2V810d9YzUlCZ/BwXD2dI9VLxtSp+MuCyV3YTkRUyKp3eyhtaaYEeTT4I3Avl1j26w8sjs/QS+81FfE47NYaYk0Dxir22eOI9PxBVbhpKYmEVVVaE6OINv/NQ7VhHGLie1Tc0l2byVCtFDVkIRwSTSnhjNG3YJPkxGbQ9k5OZtY725iRAOVzUkotV1Ujc0iz/Np7z3bPXE0Eb4i4kUtFW1JRBZ3sXfiMMZ2j2fvVjt7c4YTImpIEeVUdiYQUuiieHIW4zyBe+/aGUHx8HQsSj2poowqVxwRu5zsnDmBCa4PAejYE01lUjxGcxtpooQadwxROz3smDyacb7AeuMojKQyMhrZ7iWDQmq6Yona5WHLjDwmugLzoKUwlgaTAV+SjVHaDuq8UURs97Ntai657nXohJ/G0jhahA5fWhgj1R00+e2EbRVsm5rLCPeXWISLusoEnB0e2sekkevfQLtqxbJFT1FmIskhezEJN1sTF1JSVUmGMJOtbqJGiuNLXTiJSlzvvNw6bAWdbS5iGivIpIBSXTqOMaPo2uPoHS/bRq3G1egmpm4PaaKEYjWTpC1N7JiaTZ4nMDadOyNpCgtDjfeQIpWz15iNb3gynj2tjPMENoV35J2Eq9JNQt1mEkQNO6wTkVKi8O9pJMe/AZ8msXviSbhLXAxrXE+4aOUTkY09Mwm5qJrR6lY8mkKTko27rI2w+HrCRAe7mlJIrHZTP9xKpqGIZtVG9YR5uIq6yGlbi0F4eK4ujrzRozBW7mOYsZRGNZQNERlEiljSmr4gSjRTVp+IrUNQMTyWHP/GQImfzeHsmpJNhKegd+6Gl7kpnJA+YM0sykrHZKojWVRS0Z5IVFEX+ZNHMM67vnfuVqQkIoe2BZ5FjgSi93axa3JWbxvnrkjKR6RjlOtJFaVUueKI3u1m55RRjPMGxlhbQQydphC6kjSGsY9adwyROz3smDyGcb7AvGjeF4dXU2jPMJJJAY3eCMK2a+ycNJps33pkoVJfHo++Q6NuTBgjtHzcmoK8OYRdE0YxXN2ISbipqUnE3OijOieKkdoOnKoJwxYT26fmkO7eRKjooKE+BmMtlI2NZ4y6hU7VjGmLkT05GcTr9mIXbVTXJRFa42bf+BRy/BvxaDrkzTb25GYQIZcSK+qpbExCV+Wkbnxm333dZGffsETMoc0kiioqWxOJKnaxe9IIxvkCc9e3xc6eUenY9PUkiwoqHElE73Wyc0wG4/UBJWFzzol4KrtI7vc8aDbJhDV6e58HeyeegLOoi4zmwLjbHjUbp0EmpLo5sLYRSsgmmZ2TxpDi20KY6KCqLglLk4/aLDtZ0m6asVM9YTaugi5y2z5AL3xsS14EBj2GohKytF1UaHF0TJiAY4+rdw5uy1yG3yNjK8sngyJ2+5LRJmTTld/Zu/bnR88m4rNiHBk60qQSCrsSSMp3U54WzvCwQP3blxlJalwm0dVbSBYVfNQUR+Sscfj3tjDW9wUAf+tKZmRCDomNG4kXdfxzn41Ry2ZAUR1Zvm140PFcm528lLEMb11PmGjnV1+qLFi1EGNpCRnmYlyagc93K6SFxxIZW4tNdPLwWifzzluNrbKGkdoO6v1hPFvqZG7OLPI61yILlcv/UcYFN11GRM0+MiikqCuS/1Z3MHfk1N53gNW/3sLtD91JTN0ukrVyUn/yDlUV3688BofSiY6L0jZlyhTuvfdelixZAsBtt90GwCOPPDLkDn5XlHx6PZGOtkANsv5hYPv97tOZ2DPuDJJK1uMwJVJWOx5Hxz7K2qMYUd5BzYRqwtI3AhpJFpVcs45NTaDV+2ndtBBWvUPGZjPe2TPxqjIIFS9mQCMnvIOKzjDwCso2RRKuFjHS/wY1ieMpbFhAYvRmOl1R2NNlXqk1Mu3zUsY0bOOrE9qx1/UobeHYM6Mpbjd3pzoJJCIZzNVS00BzS0jGw0sCIdBor30RyS+YGB2CyXDs4gr2x/eujFYlWOdcGnB5nNWF6s34xuMiLHvxZIYfhoQD70v2l3/Diy7wgPHEIMl+YuS+rGilHSkkWKvQEIGXTF8kPmTidX2BsaWdKcRZqpHQUISPRr8dD3ri5X5tHMnEmOtQ8KITKi3+UNrVEFKUPrejMmcykaYGjLiRhUqnaqbRF0mqvjtTmtlCeVsk4boGzLiQhIZHU6h0x5NuLOs9T3lXIqGGNkJFX2HoIlcaw4wl+JHRCT8V7gQsSifhUl+drCJHOunmErzoMAgvle44jEoXkVJLb5vCzmGkW0pwo8csuqj2xKKTvUTLTX1t/CPIlPfSpoUQKjqoEMnY1BZsdPS6ZuSLMYzUdqJqAkloFOqyiPeW9V67AzM1JJBBn8vtXmUMKZ4CZFQU4aOJcDoJIYW+ay/uTCfBUoGERrNuLNGLkpC64yu11hYQArdsRo8nMBLcLrySCSELdJoXfF6QZNw6KwbhRvWpSH4vbsmILFR0Qg34k0gSXZoRo6cVTdIhJIFPMiJJGpJQ6Vl6nS6BWXKhCR1CFvgkA5LqRfK6e8/jEUb0woOKhCQ03C4NSdJQZD9IMkgSbq8OvepAk2QkSeBDQcgCGT90uQLXpZrQ67wgSQgBfqGgATqpu88eN26fHr3iR8iBdcLb5UeTZPSSDyQJJAmf0CNLKri7EH4/PnSoQkYv+3r74/XJyD4XQhYISUITMn6hA1Wiy2kgJFajqcCLce/7GIQXWai4NYWqwxir+1xppBtL8CGjDDZWnWlkmEtwaCYswkWVJw6zzoFd6nNfKnQMI9Oyjw7VQojkoNoTiyz7Bszvks5UUi2lOAmcp84XhZBUoqWmfm1SSLAE4mD1wkujLxyv0BEn99XyK3Ukk2CuQkXGIDy0+EPpUK0kK30vC2XOJGJNtQg09MJHh2qhxR82oE2VM55wUxM6fCjCT6vfRovPTpqhbEB/IixNhNCJEOBQTdR5o0nv16bMkUy4uQkLTiSh4dV0lHclMsxUil+TkIVKmTMJq7GTiH7ze486kiwpv3deFuhGEeGtIUIE2rgwUkkKmfS5OhfKo0jyFSHjD/QZG62Ek0pp33l1OQzz7kZFwiA81KuRuFWFJF1fzM4+fybJUnHvPawjGlUTxIm+dTRfzmWEbzsujFiEi0qRhFF1ECn60qDvlMYyRt2KSzNiEl2USqmE+xt77xdAoT+TTLmQLk2PUXio9MQRprRhwdnXhhFksrf3XhTLGcT7ytHjRRIafk1inz+D4boCOjUzVuGkyhOLWeccMA6LHOlkWIp7x2qNNxpF9g5YV0scKaSYy3GjxyTc1Psi0IQY+CxyJJNkrsSLDqPw0OS340EZZBxKGISXNjWETtVCgq4vkUSZK4lYY9847FTNNPvtJCtVfWOjK4loQz0KPnTCj1tTqPHGkaovx6Pp0AsfFV0JhBuae9dsgOKuFNKNZbg0AybhptIdj03fhrV7HELgWZRhKqFds2ATDmrdMRgVF6Givffe99yzLs2AUbip7IrHpHcSIfUl5CjqGMYw677euVvpjkevuAfM3X0d6aRZS3BjwCS6qPHEIGSVWLmvEHtpeyqJIRX4kDEKD9W+GNyykTTRN592KRMY6dmECxMW4aRcJGNSHUSJPlk75PFk+zf1XnuxNIwIf/2A516RM50Mc3HvuCv3JREmt2DF0Xt/9oqRjNDye93t98mZxPiqep/5LozUEkcaffFmRdIIkv3FiO53kFZC6dSsJIq+taWIEaRo+9AAvfDR4g/FLfTESn33okAeTYZvNx70GIWbGuLQaZ4B17lHyiZL3YFTM2EWLirE/7d3b7FR1nkYx5+Z6YkW0lYrTnpIO+yWTXezS1o3YQLLuioqrIlc4MZJUJtoMDFRgze26RXJ3mhiosYLSAhqNCX1gGibyMGm15ZJCjjNzMDMFmknpQdkUxs2UDv97YU6gnRsSzt938L3kzwJ83am/b/NQ5kfnfm/NVozM6Eyz/eatBKt8VxR1Ptn/XEmkvlefOsNqCI9mjkHSfrP1Tr9ruhbXbMCFXqm9K13ne5JX9QqXf2lK6rX75XQtP34vGXAW6/K9IXMz5r/aZXGtfaG5wBJ3x9UO53UjHy6ULxef/vXv/Xd5V/+rrnBsg9tO3fu1LZt27R7925J0lNPPaWNGzfqpZdeWvACndIf2a/vL/9Vq4rmuOaFxyPz+ORNT2nak5sNFNxodfGgijwr78K3Xpk8FQt4K+ftucM6gDvQwNQ6XU4v/FUOP/vhqkfehWzq6jF5inl/F4Dld0+RqTgv+/M9mzZtqvmHfph212YmvzUT5WQjktl2f/n19b12796t559/XpJUUXHr/4jkStpbpry8a7p6rexXH5n9WbzHimWeO+cZvq/oO60pX7qdi5aLRwu7wPGCrvQIAC52LZ3Wf3/wzX3HLGY80k+X5pwfj6QpfogCWH7lhXMMYzOmLX//i3p6Vs51QXMytKVSKdXU1GRuV1dXa3j4xm3UDxw4kHmjXTgczsUyFmXDn0Lateufam/nmkEAAAAAnLOQ/zObt3A4rPr6etXV1Sk/P1+hUEidnZ25+FI5xcAGAAAAwGk5+U1bOp3Wiy++qOPHj8vn8+ndd99VNBrNxZcCAAAAgNtazi6uffToUR09ejRXnx4AAAAA7gg5eXkkAAAAAGBpMLQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIsxtAEAAACAizG0AQAAAICLMbQBAAAAgIt5JJnTixgbG9OFCxecXsZNKioqdOnSJaeXgRWK/mAx6A8Wg/7gVtEdLAb9WZza2lqtXbs268eNzJ5wOOz4GsjKDf0hiwn9IYsJ/SG3GrpDFhP6k7vw8kgAAAAAcDGGNgAAAABwMZ+kvU4vws36+vqcXgJWMPqDxaA/WAz6g1tFd7AY9Cc3XLERCQAAAABgdrw8EgAAAABcjKEti0cffVTxeFyJREItLS1OLwcuUF1drZ6eHkWjUfX39+vll1+WJJWXl+vEiRM6d+6cTpw4obKyssxjWltblUgkFI/H9cgjj2SONzU16ZtvvlEikdDbb7+97OcC53i9XvX19amrq0sS/cH8lZaW6pNPPlEsFlM0GlUwGKQ/mJc9e/aov79fkUhEhw4dUmFhId1BVgcPHtTo6KgikUjm2FL2paCgQB0dHUokEvr6669VW1u7PCd2G3B8C0u3xev1WjKZtEAgYPn5+Xb69GlraGhwfF3E2fj9fmtsbDRJtnr1ajt79qw1NDTY66+/bi0tLSbJWlpa7LXXXjNJ1tDQYKdPn7aCggKrq6uzZDJpXq/XJFlvb68Fg0GTZF9++aVt27bN8fMjy5NXXnnF2tvbrauryyTRHzLvvP/++/bcc8+ZJMvPz7fS0lL6Q+ZMZWWlDQwMWFFRkUmyjz76yJqbm+kOyZotW7ZYY2OjRSKRzLGl7MsLL7xg+/btM0n25JNPWkdHh+PnvELi+AJcl2AwaMeOHcvcbm1ttdbWVsfXRdyVzz//3LZu3WrxeNz8fr9JPw528XjcpJt7c+zYMQsGg+b3+y0Wi2WOh0Ih279/v+PnQ3Kfqqoq6+7utgceeCAztNEfMp+sWbPGBgYGbjpOf8hcqaystMHBQSsvLzefz2ddXV328MMP0x3ym6mtrb1haFvKvvx8H0nm8/lsfHzc8fNdCeHlkbOoqqrS0NBQ5nYqlVJVVZWDK4Lb1NbWqrGxUb29vbr33ns1MjIiSRoZGclcyT5bj6qqqpRKpW46jtvfW2+9pVdffVUzMzOZY/QH87Fu3TqNj4/rvffeU19fnw4cOKDi4mL6gzkNDw/rjTfe0ODgoC5evKiJiQl99dVXdAcLspR9uf4x6XRaExMTuvvuu5frVFYshrZZeDyem46ZmQMrgRuVlJTo8OHD2rNnjyYnJ7PeL1uP6Ned6bHHHtPY2Ni8t0KmP7heXl6empqatG/fPjU1Nen7CBDFAAACkElEQVTKlStqbW3Nen/6g5+VlZVpx44dCgQCqqysVElJiXbt2pX1/nQHC3ErfaFLt4ahbRapVEo1NTWZ29XV1RoeHnZwRXCLvLw8HT58WO3t7Tpy5IgkaXR0VH6/X5Lk9/s1NjYmKXuPUqmUqqurbzqO29vmzZv1+OOP6/z58+ro6NCDDz6oDz/8kP5gXlKplFKplE6ePClJ+vTTT9XU1ER/MKetW7fq/PnzunTpkqanp/XZZ59p06ZNdAcLspR9uf4xPp9PpaWlunz58nKdyorF0DaLcDis+vp61dXVKT8/X6FQSJ2dnU4vCy5w8OBBxWIxvfnmm5ljnZ2dam5uliQ1Nzfriy++yBwPhUIqKChQXV2d6uvrdfLkSY2MjGhyclIbN26UJD3zzDOZx+D21dbWppqaGgUCAYVCIfX09Ojpp5+mP5iX0dFRDQ0Naf369ZKkhx56SNFolP5gToODgwoGg1q1apWkH7sTi8XoDhZkKfty/ed64okn1NPT48AZrUyOv7HOjdm+fbudPXvWksmktbW1Ob4e4nw2b95sZmZnzpyxU6dO2alTp2z79u121113WXd3t507d866u7utvLw885i2tjZLJpMWj8dv2GXrvvvus0gkYslk0t555x3Hz40sb+6///7MRiT0h8w3GzZssHA4bGfOnLEjR45YWVkZ/SHzyt69ey0Wi1kkErEPPvjACgoK6A7JmkOHDtnw8LBNTU3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+ "text/plain": [ + "
" + ] + }, + "metadata": {}, + "output_type": "display_data" + } + ], + "source": [ + "fig = plt.figure(figsize=(15, 10))\n", + "ax = fig.add_subplot()\n", + "\n", + "for lat_stats in pub_cb_to_lat_stats.values():\n", + " ax.plot(np.where(np.isnan(lat_stats.pub_use_latencies), 0, lat_stats.pub_use_latencies))\n", + "\n", + "ax.set_ylim(4)" + ] + }, { "cell_type": "code", "execution_count": null, diff --git a/utils.py b/utils.py index dc29923..809267d 100644 --- a/utils.py +++ b/utils.py @@ -1,16 +1,32 @@ -from typing import Callable, Iterable, Optional, TypeVar +import math -T = TypeVar("T") -def filter_none(ls: Iterable[Optional[T]]) -> filter[T]: - return filter(lambda x: x is not None, ls) +def left_abbreviate(string, limit=120): + return string if len(string) <= limit else f"...{string[:limit-3]}" -S = TypeVar("S") -def safe_map(func: Callable[[T], S], ls: Iterable[T]) -> map[Optional[S]]: - def safe_func(arg): - try: - return func(arg) - except: - return None - - return map(safe_func, ls) \ No newline at end of file + +class ProgressPrinter: + def __init__(self, verb, n) -> None: + self.verb = verb + self.n = n + self.i = 0 + self.fmt_len = math.ceil(math.log10(n if n > 0 else 1)) + + def step(self, msg): + self.i += 1 + print(f"({self.i:>{self.fmt_len}d}/{self.n}) {self.verb} {left_abbreviate(msg):<120}", end="\r") + + def __enter__(self): + return self + + def __exit__(self, exc_type, exc_value, exc_traceback): + self.i -= 1 + + if exc_value: + self.step("error.") + print() + print(exc_value) + return + + self.step("done.") + print() \ No newline at end of file