{ "cells": [ { "cell_type": "markdown", "metadata": {}, "source": [ "[Table of Contents](./table_of_contents.ipynb)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Designing Kalman Filters" ] }, { "cell_type": "code", "execution_count": 1, "metadata": {}, "outputs": [], "source": [ "from __future__ import division, print_function\n", "%matplotlib inline" ] }, { "cell_type": "code", "execution_count": 2, "metadata": {}, "outputs": [ { "data": { "text/html": [ "\n", " \n", " " ], "text/plain": [ "" ] }, "execution_count": 2, "metadata": {}, "output_type": "execute_result" } ], "source": [ "#format the book\n", "import book_format\n", "book_format.set_style()" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Introduction" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "In the last chapter we worked with 'textbook' problems. These are problems that are easy to state, program in a few lines of code, and teach. Real world problems are rarely this simple. In this chapter we will work with more realistic examples, and learn how to evaluate filter performance.\n", "\n", "We will begin by tracking a robot in a 2D space, such as a field or warehouse. We will start with a simple noisy sensor that outputs noisy $(x,y)$ coordinates which we will need to filter to generate a 2D track. Once we have mastered this concept, we will extend the problem significantly with more sensors and then adding control inputs. \n", "\n", "We will then move to a nonlinear problem. The world is nonlinear, but the Kalman filter is linear. Sometimes you can get away with using it for mildly nonlinear problems, sometimes you can't. I'll show you examples of both. This will set the stage for the remainder of the book, where we learn techniques for nonlinear problems. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Tracking a Robot" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "This first attempt at tracking a robot will closely resemble the 1D dog tracking problem of previous chapters. Instead of a sensor that outputs position in a hallway, we now have a sensor that supplies a noisy measurement of position in a 2D space. At each time $t$ it will provide an $(x,y)$ coordinate pair of the noisy measurement of the sensor's position in the field.\n", "\n", "Implementation of code to interact with real sensors is beyond the scope of this book, so as before we will program simple simulations of the sensors. We will develop several of these sensors as we go, each with more complications, so as I program them I will just append a number to the function name. \n", "\n", "So let's start with a very simple sensor, one that simulates tracking an object traveling in a straight line. It is initialized with the initial position, velocity, and noise standard deviation. Each call to `read()` updates the position by one time step and returns the new measurement." ] }, { "cell_type": "code", "execution_count": 3, "metadata": {}, "outputs": [], "source": [ "from numpy.random import randn\n", "\n", "class PosSensor(object):\n", " def __init__(self, pos=(0, 0), vel=(0, 0), noise_std=1.):\n", " self.vel = vel\n", " self.noise_std = noise_std\n", " self.pos = [pos[0], pos[1]]\n", " \n", " def read(self):\n", " self.pos[0] += self.vel[0]\n", " self.pos[1] += self.vel[1]\n", " \n", " return [self.pos[0] + randn() * self.noise_std,\n", " self.pos[1] + randn() * self.noise_std]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A quick test to verify that it works as we expect." ] }, { "cell_type": "code", "execution_count": 4, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "import matplotlib.pyplot as plt\n", "import numpy as np\n", "from kf_book.book_plots import plot_measurements\n", "\n", "pos, vel = (4, 3), (2, 1)\n", "sensor = PosSensor(pos, vel, noise_std=1)\n", "ps = np.array([sensor.read() for _ in range(50)])\n", "plot_measurements(ps[:, 0], ps[:, 1]);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "That looks correct. The slope is 1/2, as we would expect with a velocity of (2, 1), and the data seems to start at near (6, 4). It doesn't look realistic. This is still a 'textbook' representation. As we continue we will add complications that adds real world behavior. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Choose the State Variables" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As always, the first step is to choose our state variables. We are tracking in two dimensions and have a sensor that gives us a reading in each of those two dimensions, so we know that we have the two *observed variables* $x$ and $y$. If we created our Kalman filter using only those two variables the performance would not be very good because we would be ignoring the information velocity can provide to us. We will want to incorporate velocity into our equations as well. I will represent this as\n", "\n", "$$\\mathbf x = \n", "\\begin{bmatrix}x & \\dot x & y & \\dot y\\end{bmatrix}^\\mathsf T$$\n", "\n", "There is nothing special about this organization. I could have used $\\begin{bmatrix}x & y & \\dot x & \\dot y\\end{bmatrix}^\\mathsf T$ or something less logical. I just need to be consistent in the rest of the matrices. I like keeping positions and velocities next to each other because it keeps the covariances between positions and velocities in the same sub block of the covariance matrix. In my formulation `P[1,0]` contains the covariance of of $x$ and $\\dot x$. In the alternative formulation that covariance is at `P[2, 0]`. This gets worse as the number of dimension increases.\n", "\n", "Let's pause and address how you identify the hidden variables. This example is somewhat obvious because we've already worked through the 1D case, but other problems won't be obvious There is no easy answer to this question. The first thing to ask yourself is what is the interpretation of the first and second derivatives of the data from the sensors. We do that because obtaining the first and second derivatives is mathematically trivial if you are reading from the sensors using a fixed time step. The first derivative is just the difference between two successive readings. In our tracking case the first derivative has an obvious physical interpretation: the difference between two successive positions is velocity. \n", "\n", "Beyond this you can start looking at how you might combine the data from two or more different sensors to produce more information. This opens up the field of *sensor fusion*, and we will be covering examples of this in later sections. For now, recognize that choosing the appropriate state variables is paramount to getting the best possible performance from your filter. Once you have chosen hidden variables, you must run many tests to ensure that you are generating real results for them. The Kalman filter runs whatever model you give it; if your model cannot generate good information for the hidden variables the Kalman filter output will be nonsensical." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design State Transition Function\n", "\n", "Our next step is to design the state transition function. Recall that the state transition function is implemented as a matrix $\\mathbf F$ that we multiply with the previous state of our system to get the next state, like so. \n", "\n", "$$\\mathbf{\\bar x} = \\mathbf{Fx}$$\n", "\n", "I will not belabor this as it is very similar to the 1-D case we did in the previous chapter. The state transition equations are\n", "\n", "$$\n", "\\begin{aligned}\n", "x &= 1x + \\Delta t \\dot x + 0y + 0 \\dot y \\\\\n", "v_x &= 0x + 1\\dot x + 0y + 0 \\dot y \\\\\n", "y &= 0x + 0\\dot x + 1y + \\Delta t \\dot y \\\\\n", "v_y &= 0x + 0\\dot x + 0y + 1 \\dot y\n", "\\end{aligned}\n", "$$\n", "\n", "Laying it out that way shows us both the values and row-column organization required for $\\small\\mathbf F$. We convert this to matrix-vector form:\n", "\n", "$$\n", "\\begin{bmatrix}x \\\\ \\dot x \\\\ y \\\\ \\dot y\\end{bmatrix} = \\begin{bmatrix}1& \\Delta t& 0& 0\\\\0& 1& 0& 0\\\\0& 0& 1& \\Delta t\\\\ 0& 0& 0& 1\\end{bmatrix}\\begin{bmatrix}x \\\\ \\dot x \\\\ y \\\\ \\dot y\\end{bmatrix}$$\n", "\n", "So, let's do this in Python. It is very simple; the only thing new here is setting `dim_z` to 2. We will see why it is set to 2 in step 4." ] }, { "cell_type": "code", "execution_count": 5, "metadata": {}, "outputs": [], "source": [ "from filterpy.kalman import KalmanFilter\n", "\n", "tracker = KalmanFilter(dim_x=4, dim_z=2)\n", "dt = 1. # time step 1 second\n", "\n", "tracker.F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Process Noise Matrix\n", "\n", "FilterPy can compute the $\\mathbf Q$ matrix for us. For simplicity I will assume the noise is a discrete time Wiener process - that it is constant for each time period. This assumption allows me to use a variance to specify how much I think the model changes between steps. Revisit the Kalman Filter Math chapter if this is not clear." ] }, { "cell_type": "code", "execution_count": 6, "metadata": { "scrolled": true }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0. 0.001 0. 0. ]\n", " [0.001 0.001 0. 0. ]\n", " [0. 0. 0. 0.001]\n", " [0. 0. 0.001 0.001]]\n" ] } ], "source": [ "from scipy.linalg import block_diag\n", "from filterpy.common import Q_discrete_white_noise\n", "\n", "q = Q_discrete_white_noise(dim=2, dt=dt, var=0.001)\n", "tracker.Q = block_diag(q, q)\n", "print(tracker.Q)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here I assume the noise in x and y are independent, so the covariances between any x and y variable should be zero. This allows me to compute $\\mathbf Q$ for one dimension, and then use `block_diag` to copy it for the x and y axis." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Control Function\n", "\n", "We haven't yet added controls to our robot, so there is nothing to be done for this step. The `KalmanFilter` class initializes `B` to zero under the assumption that there is no control input,\n", "so there is no code to write. If you like, you can be explicit and set `tracker.B` to 0, but as you can see it already has that value." ] }, { "cell_type": "code", "execution_count": 7, "metadata": {}, "outputs": [], "source": [ "tracker.B" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Function\n", "\n", "The measurement function $\\mathbf H$ defines how we go from the state variables to the measurements using the equation $\\mathbf z = \\mathbf{Hx}$. In this case we have measurements for (x,y), so we will design $\\mathbf z$ as $\\begin{bmatrix}x & y\\end{bmatrix}^\\mathsf T$ which is dimension 2x1. Our state variable is size 4x1. We can deduce the required size for $\\textbf{H}$ by recalling that multiplying a matrix of size MxN by NxP yields a matrix of size MxP. Thus,\n", "\n", "$$(2\\times 1) = (a\\times b)(4 \\times 1) = (2\\times 4)(4\\times 1)$$\n", "\n", "So, $\\textbf{H}$ is 2x4.\n", "\n", "Filling in the values for $\\textbf{H}$ is easy because the measurement is the position of the robot, which is the $x$ and $y$ variables of the state $\\textbf{x}$. Let's make this slightly more interesting by deciding we want to change units. The measurements are returned in feet, and that we desire to work in meters. $\\textbf{H}$ changes from state to measurement, so the conversion is $\\mathsf{feet} = \\mathsf{meters} / 0.3048$. This yields\n", "\n", "$$\\mathbf H =\n", "\\begin{bmatrix} \n", "\\frac{1}{0.3048} & 0 & 0 & 0 \\\\\n", "0 & 0 & \\frac{1}{0.3048} & 0\n", "\\end{bmatrix}\n", "$$\n", "\n", "which corresponds to these linear equations\n", "\n", "$$\n", "\\begin{aligned}\n", "z_x &= (\\frac{x}{0.3048}) + (0* v_x) + (0*y) + (0 * v_y) = \\frac{x}{0.3048}\\\\\n", "z_y &= (0*x) + (0* v_x) + (\\frac{y}{0.3048}) + (0 * v_y) = \\frac{y}{0.3048}\n", "\\end{aligned}\n", "$$\n", "\n", "This is a simple problem, and we could have found the equations directly without going through the dimensional analysis that I did above. But it is useful to remember that the equations of the Kalman filter imply a specific dimensionality for all of the matrices, and when I start to get lost as to how to design something it is useful to look at the matrix dimensions.\n", "\n", "Here is my implementation:" ] }, { "cell_type": "code", "execution_count": 8, "metadata": {}, "outputs": [], "source": [ "tracker.H = np.array([[1/0.3048, 0, 0, 0],\n", " [0, 0, 1/0.3048, 0]])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Design the Measurement Noise Matrix\n", "\n", "We assume that the $x$ and $y$ variables are independent white Gaussian processes. That is, the noise in x is not in any way dependent on the noise in y, and the noise is normally distributed about the mean 0. For now let's set the variance for $x$ and $y$ to be 5 meters$^2$. They are independent, so there is no covariance, and our off diagonals will be 0. This gives us:\n", "\n", "$$\\mathbf R = \\begin{bmatrix}\\sigma_x^2 & \\sigma_y\\sigma_x \\\\ \\sigma_x\\sigma_y & \\sigma_{y}^2\\end{bmatrix} \n", "= \\begin{bmatrix}5&0\\\\0&5\\end{bmatrix}$$\n", "\n", "It is a $2{\\times}2$ matrix because we have 2 sensor inputs, and covariance matrices are always of size $n{\\times}n$ for $n$ variables. In Python we write:" ] }, { "cell_type": "code", "execution_count": 9, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[5., 0.],\n", " [0., 5.]])" ] }, "execution_count": 9, "metadata": {}, "output_type": "execute_result" } ], "source": [ "tracker.R = np.array([[5., 0],\n", " [0, 5]])\n", "tracker.R" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Initial Conditions" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "For our simple problem we will set the initial position at (0,0) with a velocity of (0,0). Since that is a pure guess, we will set the covariance matrix $\\small\\mathbf P$ to a large value.\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}0\\\\0\\\\0\\\\0\\end{bmatrix}, \\,\n", "\\mathbf P = \\begin{bmatrix}500&0&0&0\\\\0&500&0&0\\\\0&0&500&0\\\\0&0&0&500\\end{bmatrix}$$\n", "\n", "The Python implementation is" ] }, { "cell_type": "code", "execution_count": 10, "metadata": {}, "outputs": [], "source": [ "tracker.x = np.array([[0, 0, 0, 0]]).T\n", "tracker.P = np.eye(4) * 500." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Implement the Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Design is complete, now we just have to write the code to run the filter and output the data in the format of our choice. We will run the code for 30 iterations." ] }, { "cell_type": "code", "execution_count": 11, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from filterpy.stats import plot_covariance_ellipse\n", "from kf_book.book_plots import plot_filter\n", "\n", "R_std = 0.35\n", "Q_std = 0.04\n", "\n", "def tracker1():\n", " tracker = KalmanFilter(dim_x=4, dim_z=2)\n", " dt = 1.0 # time step\n", "\n", " tracker.F = np.array([[1, dt, 0, 0],\n", " [0, 1, 0, 0],\n", " [0, 0, 1, dt],\n", " [0, 0, 0, 1]])\n", " tracker.u = 0.\n", " tracker.H = np.array([[1/0.3048, 0, 0, 0],\n", " [0, 0, 1/0.3048, 0]])\n", "\n", " tracker.R = np.eye(2) * R_std**2\n", " q = Q_discrete_white_noise(dim=2, dt=dt, var=Q_std**2)\n", " tracker.Q = block_diag(q, q)\n", " tracker.x = np.array([[0, 0, 0, 0]]).T\n", " tracker.P = np.eye(4) * 500.\n", " return tracker\n", "\n", "# simulate robot movement\n", "N = 30\n", "sensor = PosSensor((0, 0), (2, .2), noise_std=R_std)\n", "\n", "zs = np.array([sensor.read() for _ in range(N)])\n", "\n", "# run filter\n", "robot_tracker = tracker1()\n", "mu, cov, _, _ = robot_tracker.batch_filter(zs)\n", "\n", "for x, P in zip(mu, cov):\n", " # covariance of x and y\n", " cov = np.array([[P[0, 0], P[2, 0]], \n", " [P[0, 2], P[2, 2]]])\n", " mean = (x[0, 0], x[2, 0])\n", " plot_covariance_ellipse(mean, cov=cov, fc='g', std=3, alpha=0.5)\n", " \n", "#plot results\n", "zs *= .3048 # convert to meters\n", "plot_filter(mu[:, 0], mu[:, 2])\n", "plot_measurements(zs[:, 0], zs[:, 1])\n", "plt.legend(loc=2)\n", "plt.xlim(0, 20);" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I encourage you to play with this, setting $\\mathbf Q$ and $\\mathbf R$ to various values. However, we did a fair amount of that sort of thing in the last chapters, and we have a lot of material to cover, so I will move on to more complicated cases where we will also have a chance to experience changing these values.\n", "\n", "I plotted the $3\\sigma$ the covariance ellipse for $x$ and $y$ in green. Can you explain their shape? Perhaps you were expecting a tilted ellipse, as in the last chapters. If so, recall that in those chapters we were not plotting $x$ against $y$, but $x$ against $\\dot x$. $x$ is correlated to $\\dot x$, but $x$ is not correlated or dependent on $y$. Therefore our ellipses are not tilted. Furthermore, the noise for both $x$ and $y$ are modeled to have the same noise standard deviation. If we were to set R to, for example,\n", "\n", "$$\\mathbf R = \\begin{bmatrix}1&0\\\\0&.5\\end{bmatrix}$$\n", "\n", "we would be telling the Kalman filter that there is more noise in $x$ than $y$, and our ellipses would be longer than they are tall.\n", "\n", "The final value for $\\mathbf P$ tells us everything we need to know about the correlation between the state variables. If we look at the diagonal alone we see the variance for each variable. In other words $\\mathbf P_{0,0}$ is the variance for x, $\\mathbf P_{1,1}$ is the variance for $\\dot x$, $\\mathbf P_{2,2}$ is the variance for y, and $\\mathbf P_{3,3}$ is the variance for $\\dot y$. We can extract the diagonal of a matrix using `numpy.diag()`." ] }, { "cell_type": "code", "execution_count": 12, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[0.007 0.003 0.007 0.003]\n" ] } ], "source": [ "print(np.diag(robot_tracker.P))" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The covariance matrix contains four $2{\\times}2$ matrices that you should be able to easily pick out. This is due to the correlation of $x$ to $\\dot x$, and of $y$ to $\\dot y$. The upper left hand side shows the covariance of $x$ to $\\dot x$." ] }, { "cell_type": "code", "execution_count": 13, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "[[0.007 0.003]\n", " [0.003 0.003]]\n" ] }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "c = robot_tracker.P[0:2, 0:2]\n", "print(c)\n", "plot_covariance_ellipse((0, 0), cov=c, fc='g', alpha=0.2)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The covariance contains the data for $x$ and $\\dot x$ in the upper left because of how it is organized. Recall that entries $\\mathbf P_{i,j}$ and $\\mathbf P_{j,i}$ contain $\\sigma_i\\sigma_j$.\n", "\n", "Finally, let's look at the lower left side of $\\mathbf P$, which is all 0s. Why 0s? Consider $\\mathbf P_{3,0}$. That stores the term $\\sigma_3\\sigma_0$, which is the covariance between $\\dot y$ and $x$. These are independent, so the term will be 0. The rest of the terms are for similarly independent variables." ] }, { "cell_type": "code", "execution_count": 14, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[0., 0.],\n", " [0., 0.]])" ] }, "execution_count": 14, "metadata": {}, "output_type": "execute_result" } ], "source": [ "robot_tracker.P[2:4, 0:2]" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Filter Order" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We have only studied tracking position and velocity. It has worked well, but only because I have been selecting problems for which this is an appropriate choice. You now have enough experience with the Kalman filter to consider this in more general terms.\n", "\n", "What do I mean by order? In the context of these system models it is the number of derivatives required to accurately model a system. Consider a system that does not change, such as the height of a building. There is no change, so there is no need for a derivative, and the order of the system is zero. We could express this in an equation as $x = 312.5$.\n", "\n", "A first order system has a first derivative. For example, change of position is velocity, and we can write this as\n", "\n", "$$ v = \\frac{dx}{dt}$$\n", "\n", "which we integrate into the Newtonian equation\n", "\n", "$$ x = vt + x_0.$$\n", "\n", "This is also called a *constant velocity* model, because of the assumption of a constant velocity.\n", "\n", "A second order system has a second derivative. The second derivative of position is acceleration, with the equation\n", "\n", "$$a = \\frac{d^2x}{dt^2}$$\n", "\n", "which we integrate into \n", "\n", "$$ x = \\frac{1}{2}at^2 +v_0t + x_0.$$\n", "\n", "This is also known as a *constant acceleration* model." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Another, equivalent way of looking at this is to consider the order of the polynomial. The constant acceleration model has a second derivative, so it is second order. Likewise, the polynomial $x = \\frac{1}{2}at^2 +v_0t + x_0$ is second order.\n", "\n", "When we design the state variables and process model we must choose the order of the system we want to model. Let's say we are tracking something with a constant velocity. No real world process is perfect, and so there will be slight variations in the velocity over short time period. You might reason that the best approach is to use a second order filter, allowing the acceleration term to deal with the slight variations in velocity. \n", "\n", "In practice that doesn't work well. To thoroughly understand this issue let's see the effects of using a process model that does not match the order of the system being filtered. " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "First we need a system to filter. I'll write a class to simulate an object with constant velocity. Essentially no physical system has a truly constant velocity, so on each update we alter the velocity by a small amount. I also write a sensor to simulate Gaussian noise in a sensor. The code is below, and I plot an example run to verify that it is working correctly. " ] }, { "cell_type": "code", "execution_count": 15, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.book_plots import plot_track\n", "\n", "class ConstantVelocityObject(object):\n", " def __init__(self, x0=0, vel=1., noise_scale=0.06):\n", " self.x = x0\n", " self.vel = vel\n", " self.noise_scale = noise_scale\n", "\n", " def update(self):\n", " self.vel += randn() * self.noise_scale\n", " self.x += self.vel\n", " return (self.x, self.vel)\n", "\n", "def sense(x, noise_scale=1.):\n", " return x[0] + randn()*noise_scale\n", "\n", "np.random.seed(124)\n", "obj = ConstantVelocityObject()\n", "\n", "xs, zs = [], []\n", "for i in range(50):\n", " x = obj.update()\n", " z = sense(x)\n", " xs.append(x)\n", " zs.append(z)\n", "\n", "xs = np.asarray(xs)\n", "\n", "plot_track(xs[:, 0])\n", "plot_measurements(range(len(zs)), zs)\n", "plt.legend(loc='best');" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I am satisfied with this plot. The track is not perfectly straight due to the noise that we added to the system - this could be the track of a person walking down the street, or perhaps of an aircraft being buffeted by variable winds. There is no intentional acceleration here, so we call it a constant velocity system. Again, you may be asking yourself that since there is in fact a tiny bit of acceleration going on why would we not use a second order Kalman filter to account for those changes? Let's find out.\n", "\n", "How does one design a zero order, first order, or second order Kalman filter? We have been doing it all along, but just not using those terms. It might be slightly tedious, but I will elaborate fully on each - if the concept is clear to you feel free to skim a bit." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Zero Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A zero order Kalman filter is just a filter that tracks with no derivatives. We are tracking position, so that means we only have a state variable for position (no velocity or acceleration), and the state transition function also only accounts for position. Using the matrix formulation we would say that the state variable is\n", "\n", "$$\\mathbf x = \\begin{bmatrix}x\\end{bmatrix}$$\n", "\n", "The state transition function is very simple. There is no change in position, so we need to model $x=x$; in other words, *x* at time t+1 is the same as it was at time t. In matrix form, our state transition function is\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1\\end{bmatrix}$$\n", "\n", "The measurement function is very easy. Recall that we need to define how to convert the state variable $\\mathbf x$ into a measurement. We will assume that our measurements are positions. The state variable only contains a position, so we get\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1\\end{bmatrix}$$\n", "\n", "Let's write a function that constructs and returns a zero order Kalman filter." ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [], "source": [ "def ZeroOrderKF(R, Q, P=20):\n", " \"\"\" Create zero order Kalman filter.\n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=1, dim_z=1)\n", " kf.x = np.array([0.])\n", " kf.R *= R\n", " kf.Q *= Q\n", " kf.P *= P\n", " kf.F = np.eye(1)\n", " kf.H = np.eye(1)\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### First Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A first order Kalman filter tracks a first order system, such as position and velocity. We already did this for the dog tracking problem above, so this should be very clear. But let's do it again.\n", "\n", "A first order system has position and velocity, so the state variable needs both of these. The matrix formulation could be\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x\\\\\\dot x\\end{bmatrix}$$\n", "\n", "So now we have to design our state transition. The Newtonian equations for a time step are:\n", "\n", "$$\\begin{aligned} x_t &= x_{t-1} + v\\Delta t \\\\\n", " v_t &= v_{t-1}\\end{aligned}$$\n", " \n", "Recall that we need to convert this into the linear equation\n", "\n", "$$\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix} = \\mathbf F\\begin{bmatrix}x\\\\\\dot x\\end{bmatrix}$$\n", "\n", "Setting\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1 &\\Delta t\\\\ 0 & 1\\end{bmatrix}$$\n", "\n", "gives us the equations above.\n", "\n", "Finally, we design the measurement function. The measurement function needs to implement\n", "\n", "$$\\mathbf z = \\mathbf{Hx}$$\n", "\n", "Our sensor still only reads position, so it should take the position from the state, and 0 out the velocity and acceleration, like so:\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1 & 0 \\end{bmatrix}$$\n", "\n", "This function constructs and returns a first order Kalman filter." ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [], "source": [ "def FirstOrderKF(R, Q, dt):\n", " \"\"\" Create first order Kalman filter. \n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=2, dim_z=1)\n", " kf.x = np.zeros(2)\n", " kf.P *= np.array([[100, 0], [0, 1]])\n", " kf.R *= R\n", " kf.Q = Q_discrete_white_noise(2, dt, Q)\n", " kf.F = np.array([[1., dt],\n", " [0., 1]])\n", " kf.H = np.array([[1., 0]])\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "### Second Order Kalman Filter" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "A second order Kalman filter tracks a second order system, such as position, velocity and acceleration. The state variable will be\n", "\n", "$$ \\mathbf x = \\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix}$$\n", "\n", "So now we have to design our state transition. The Newtonian equations for a time step are:\n", "\n", "$$\\begin{aligned} x_t &= x_{t-1} + v_{t-1}\\Delta t + 0.5a_{t-1} \\Delta t^2 \\\\\n", " v_t &= v_{t-1} + a_{t-1}\\Delta t \\\\\n", " a_t &= a_{t-1}\\end{aligned}$$\n", " \n", "Recall that we need to convert this into the linear equation\n", "\n", "$$\\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix} = \\mathbf F\\begin{bmatrix}x\\\\\\dot x\\\\\\ddot{x}\\end{bmatrix}$$\n", "\n", "Setting\n", "\n", "$$\\mathbf F = \\begin{bmatrix}1 & \\Delta t &.5\\Delta t^2\\\\ \n", "0 & 1 & \\Delta t \\\\\n", "0 & 0 & 1\\end{bmatrix}$$\n", "\n", "gives us the equations above. \n", "\n", "Finally, we design the measurement function. The measurement function needs to implement\n", "\n", "$$z = \\mathbf{Hx}$$\n", "\n", "Our sensor still only reads position, so it should take the position from the state, and 0 out the velocity, like so:\n", "\n", "$$\\mathbf H = \\begin{bmatrix}1 & 0 & 0\\end{bmatrix}$$\n", "\n", "This function constructs and returns a second order Kalman filter." ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [], "source": [ "def SecondOrderKF(R_std, Q, dt, P=100):\n", " \"\"\" Create second order Kalman filter. \n", " Specify R and Q as floats.\"\"\"\n", " \n", " kf = KalmanFilter(dim_x=3, dim_z=1)\n", " kf.x = np.zeros(3)\n", " kf.P[0, 0] = P\n", " kf.P[1, 1] = 1\n", " kf.P[2, 2] = 1\n", " kf.R *= R_std**2\n", " kf.Q = Q_discrete_white_noise(3, dt, Q)\n", " kf.F = np.array([[1., dt, .5*dt*dt],\n", " [0., 1., dt],\n", " [0., 0., 1.]])\n", " kf.H = np.array([[1., 0., 0.]])\n", " return kf" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Evaluating Filter Order\n", "\n", "Now we can run each Kalman filter against the simulation and evaluate the results. \n", "\n", "How do we evaluate the results? We can do this qualitatively by plotting the track and the Kalman filter output and eyeballing the results. However, a rigorous approach uses mathematics. Recall that the system covariance matrix $\\mathbf P$ contains the computed variance and covariances for each of the state variables. The diagonal contains the variance. Remember that roughly 99% of all measurements fall within $3\\sigma$ if the noise is Gaussian. If this is not clear please review the Gaussian chapter before continuing, as this is an important point. \n", "\n", "So we can evaluate the filter by looking at the residuals between the estimated state and actual state and comparing them to the standard deviations which we derive from $\\mathbf P$. If the filter is performing correctly 99% of the residuals will fall within $3\\sigma$. This is true for all the state variables, not just for the position. \n", "\n", "I must mention that this is only true for simulated systems. Real sensors are not perfectly Gaussian, and you may need to expand your criteria to, say, $5\\sigma$ with real sensor data.\n", "\n", "So let's run the first order Kalman filter against our first order system and access its performance. You can probably guess that it will do well, but let's look at it using the standard deviations.\n", "\n", "First, let's write a routine to generate the noisy measurements for us." ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [], "source": [ "def simulate_system(Q, count):\n", " obj = ConstantVelocityObject(x0=.0, vel=0.5, noise_scale=Q)\n", " xs, zs = [], []\n", " for i in range(count):\n", " x = obj.update()\n", " z = sense(x)\n", " xs.append(x)\n", " zs.append(z)\n", " return np.array(xs), np.array(zs)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "And now a routine to perform the filtering and save the output in a `Saver` object." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [], "source": [ "from filterpy.common import Saver\n", "\n", "def filter_data(kf, zs):\n", " s = Saver(kf)\n", " kf.batch_filter(zs, saver=s)\n", " s.to_array()\n", " return s" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we are prepared to run the filter and look at the results." ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "image/png": 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TWPDTYTYezyc1u4i3NsTwzg9HaFzbhxPpudhcPKTn7WbjTPxBitJO4J6TwvABvRnSsTmff/45L7zwgjG0T//+/Z3GsKv9JyLOVatkdubMmfzjH//glVdeYcKECcb0km97S75tLS09PR2TyeTwbb0r7u7uZU6WTCaTccJ37nMNJdOcnRBCcS91JWXOTkwutt5z21S6XmcHupITImf1ms3mS6q39G9X9Z67raX3obN6S7bV2YnqxdZbXf4357bdWb2l233u/K7qvdA+9PDwwGq1Oi07X70ly56v3kvdhxfa1nNdaFs9PT2xWq2XZR/abLZyv28uNg6dnYDoGIGxnppyjLiYONQxomYeI5wpXVdFx+GsWbOMRPbGG2/kL3/5C7Vq1WLhwoV88cUXAMyaNYuJEyc6nENV1jHix8OpvPZd8RXtv93ZimuDcl3WW7KtNpuNZ555xpg+fPhwHnnkEXJycli5ciUff/wxNpuN119/nZCQECIiIggJCWH16tVGIuvh4UFYWBhPPvkk3t7ezJ49m6NHj5KYmMhrr73Gm2++CUBYHV9GXVeHhzrbOZTrw9fR6fxyLJ24tOJ2+nmYCAv0oHldH65v1YjW9fxpFVqL2t4mbrllBrt27QLgPz8v4z9THbcnNDSU0aNHn3cfishFslcTM2bMsAP2GTNmlCkrKiqy+/j42MeOHVumrG/fvvZWrVqVmW61Wu1nzpxx+LFarRfVltTUVHtycrI9NTW1/BsiVzXFhrii2BBXFBviyuWKjW3bttkBO2Dv1KmTvaCgwKF85MiRRvlbb71Voeu+GMdSs+0dX1xjD3/2W/uU5XvsNpvtopZbs2aN0e5evXqVWW7KlClGOWDv2bOn3W6327t162ZM++677xyWSUxMtHt7e9sBe2BgYJl9VdqRlLP2zTGp9lOZeedtc3p6uv2uu+5yaEvJT0REhP3w4cMul72U81eRmqhadI328ssvM2PGDJ5//nlefPHFMuXu7u4MGDCAL7/80qGHt/j4eH744QfuueeeCm1PcHAwoaGhZZ6hElFsiCuKDXFFsSGuXK7Y2Llzp/F6zJgxDs8kA4wbN87pvJUhu8DC44t2kpVv4ZqwIF4eHHFRj4oBxvPdAA899FCZ5R566CGHvzdu3EhsbKzx3GxYWJgxBmyJBg0acMcddwDFz2uXPAfuTIsQf7q1DKZegPd521y7dm1Wr17Nzp07efrppxk2bBhPPvkka9euZe/evWWewxeRP67KbzN+4403mD59OnfeeSd//vOf2bZtm0P5TTfdBBTfgty1a1f69+/PtGnTyM/PZ/r06QQHBzN58uSqaLqIiIhItWMv9ayrs9uXS0+zO3lG+HKx2exM/t8eDidnE1rLi/dHXI+X+8UPsVM6Kd+7dy8TJ04EYM6cOQBGx1VQ3MnUokWLaN68uXGbdk5ODlartcxt2yUdaUHF3uZ7/fXXl+n/RUQqVpVfmV25ciUAa9as4eabby7zU6Jt27Zs2rQJDw8P7rvvPkaNGkXLli356aefyvTkKSIiIlJTXXfddcbrjz76qMwz/fPmzTNeV2ayNfeHI6yNTsbT7Ma8EddTL6B8wwPdeuutxuu3336bN998kw8++ICzZ89itVqZNWuWUf7CCy9w8803YzKZ6NatG1Cc7C5YsMChzl9++cUY9zU8PJxGjRr9wa0TkapgslfmV3KVSINOi4iISE1kt9vp3LmzMTxSt27dmDhxotEB1NKlSwHw9vYmISHB6dCHFe37/cmM+bT4lubX7+3IA12bXGCJYhkZGRw+fJgbb7wRgD/96U/89NNPRrnZbObxxx9n27Zt7N69Gyi+fTs+Ph4fHx8A1q1bZ9xebDKZGD58OL169SIqKor333+fnJwcAF577TWeffbZitngP0jnryLlo2TWib179xrDKJw7JpzUbIoNcUWxIa4oNsSVyxkbmzdvplevXhQWFrqcZ+7cuYwfP75C1+vMkZSzDH5nC9kFFh6+OZyXBkVccBm73c6DDz7Il19+aSSnZrOZw4cPc8sttzgd4QKK+1n5+uuv6devn0Ndjz/+OB999JHL9XXr1o3169c7jKtbFZTMipSP3hkiIiIiV5nu3buzZs0awsPDy5QFBgby/vvvV0oim5lXxJhPfyW7wMINzerwQv/2F7WcyWQiJyeHwsJCEhMTjVuBW7duzdatW41Om0rr3Lkz33//vUMiW1LX+++/z8svv1xmKEdPT09Gjx7N2rVrXSay+/fv56mnnqJLly5cc801DB8+nJ9++qlSnzcWEed0ZdaJmJgYLBYL7u7u6nFOHCg2xBXFhrii2BBXKiM2rFYr3333HZs3b8ZisdCxY0fuu+8+/Pz8Lsv6HNZts/PYwh1sOpRKw0BvvnmqO8H+Xg7znD59moULFxIVFcXChQsdypYvX85TTz3Fgw8+yLhx42jZsqVDeUxMDFu3bjW2q0uXLhfsGTk3N5fVq1eTlJREUFAQd955p8u+V+x2OzNnzmTmzJlOy++//34+/fRTvLy8nJb/EboyK1I+SmZFREREpMK9vuYg722KxdvDjc/H3kJEo8Ay81x//fXs2rULgOjoaNq3//3KrcViASjT+3BlmTt3Lk899ZTDNLPZjNVqNf5+5JFHmD9/foWtU+evIuWjd4aIiIiIVKiVexN5b1MsAK/f24mIRoHk5uaWmW/kyJHG6w0bNjiUubu7V1kiW1BQ4HBFdvr06WRkZJCTk8NHH31kdC61YMECjhw5UiVtFJFqMM6siIiIiFQti9VG4pl8jqflEJeeS9zpHI6n5ZJwJg8PswlfTzN+nu74ebnj52XGt+S1pxlfL3f8S6Z5upNXZGXK53sBeOK25tQ5e5ShQyfz3XffcezYMYfek0eMGMHJkycZPXo0rVu3rqrNL2P16tWcPn0agCFDhjgkto899hjJyck899xzAHz66ae89NJLVdJOkZpOyayIiIhIDVBosXEiI5e4tByOn84lPj23OHlNy+VEei4WW8U+eXZrq2Cm3tmWZyY/zbJlywBYtGgRf/3rX415ateu7TA+bHVx7Ngx4/XAgQPLlA8aNMhIZkvPKyKVS8msE/Hx8UaHDE2aXNw4aFIzKDbEFcWGuKLYEFcqKzYKLTYm/W8P3/2WxPnyVU93N8Lr+BJe14/wur40retL49q+2LGTU2Alp8BCTqGV3AIL2YUWcgus5BRayCmwkFtoJTu/iJMHduPZqC2N6/jz9rBrMbuZePzxx5kzZw4hISEX7KCpuijdQZazZLX0tMroTEtEnFMy60RGRoYx7ptOPKQ0xYa4otgQVxQb4kplxIbNZmfq53tZFZUEgJ+nmSZ1/WhatzhpLfkdXteX+gHeuLn9sWTz22+/ZerUqRw4cIBvvvmGAQP6GGXt2rVj3bp13HbbbRXa8+/l1KdPH0wmE3a7nblz5zJq1CjCwsIAyMnJ4eWXXzbm7du3b1U1U6TGUzIrIiIicpWatfYQX+1JxN3NxIcPd+H2Nhd3dTQnJ4fVq1eTmJhoDGFTr149l/ObTCYOHDgAwHvvvceAAQMcyvv06eNssWqrefPmDBgwgG+++YaUlBTatWvH/fffj5+fH8uXLyc5ORmApk2bltlWEak8GprHiYKCAux2OyaT6Yr5BlEqh2JDXFFsiCuKDXHlcsfGp1uPM/3raAD+PaQz913f+ILL2Gw2XnnlFd544w0yMzON6R4eHowYMYLXXnuN1atXc9NNN9GmTRuj3Gq10rJlS8LCwhg8eDB9+vShWbNm+Pv7V/h2VZZTp07RvXt3YmNjnZYHBASwfv16unbtWmHr1NA8IuWjZFZERETkKrM2+hRjF/+K3Q7P3NGaCT1bXXAZu93OE088wYcffuhynpJxVsePH8/cuXON6WfPnmXGjBksWrSI1NRUAHx8fHjwwQeZPn36FXuLfWpqKi+88AKLFi0yhhZyc3Nj0KBBvPLKK7Rr165C16fzV5HyUTIrIiIichX5NS6DBz/cRoHFxrAbmvDq3REXdWvx+vXrjduB3dzcGDFiBL169SIqKop58+aRnZ1tzFurVi2SkpLw8/MjIyODnj17smfPHqf1hoSEsGnTJtq3b18xG1gFsrKy2Lt3LxaLhXbt2lG/fv3Lsh6dv4qUj56ZFREREblKHE3NZvTCHRRYbPRqG8rLgzpcdA/C77zzjvH6nnvuoW/fvgwbNgyABx54gBtuuAG73Y6vry/fffcdvr6+AEyYMMFIZN3d3enXrx/+/v6sXLmSs2fPkpqayr333su+ffswm80VvMWVIyAggFtvvbWqmyEi59CVWSeysrKMZ1gCAgIuVxPlCqTYEFcUG+KKYkNcqejYSD1bwD3vRXIiPY/OYUEsHXMjvp4Xf90iNDTUuEUYoHXr1hw4cMA4d+rVqxcbN24E4Pjx44SHh5OQkEB4eDhWq5WgoCAiIyONK7BpaWn06NGD3377DYBVq1bRr1+/S97Oq5muzIqUj94ZThw7doyYmBgNgi1lKDbEFcWGuKLYEFcqMjZyCiw8+skOTqTnEV7Xl49HdilXIgtgsVgA8PT0BODw4cPs2LHDKC+dcJfMu2bNGqxWKwDjx493uJW4bt26zJw50/h75cqV5dwqEZHzUzIrIiIicgWzWG2M/+8ufkvIpI6fJwsfuYFg//P3jpyfn88nn3zC1KlTjWkdOnQAoLCwkIEDB3Lw4EFuvPFGAJKSkli7di1QnNQ2blzcM3Lpq4ht27Yts57SHSRlZWX9wS0UEXFOz8w6Ua9ePaxW6xX7XIdcPooNcUWxIa4oNsSViogNu93Ocyv2selQKt4ebnw8sgtNg/0uuFz37t359ddfMZlMPP7447Rs2ZIxY8awefNmACIjI/nhhx9wc3MjKiqKF154gby8PABGjhxpDCXUqFEjo85169YxfPhwh/WUJMCAkQCLiFQUPTMrIiIiUslOnjzJ9u3bsVgsREREGFdFy+vN9THMXn8YNxO8P6ILfdrXu6jlXnvtNf72t78BMGvWLKZMmUJRURG33347W7Zscblcw4YN2blzJw0aNAAgNzeXRo0acebMGUwmE7Nnz+aJJ57A09OTlStXMnLkSGO82t9++42IiIg/tJ01hc5fRcpH7wwRERGRShIXF8c999xDeHg49913H0OHDiUiIoJbbrmFrVu3lquu/+08wez1hwF4aVBEmUS2qKiI5cuX8+c//9lhWB2Axx9/nIceeoitW7cyZcoUADw8PM7bSVOHDh344YcfjEQWwNfXl2effRYovko8ceJE6tatS3BwMIMHDzYS2XvvvVeJrIhUOF2ZFREREakEx48f55ZbbiEpKclpuaenJ99++60x1mtpVquVVatWsWTJEhITEzE37khceD/smBjfowVT+pZ9XnXSpEnMmTMHgPfee4+xY8dedFt37dplrCsoKIjBgwfTp08fp+dRJUnsW2+95bSu3r17s2LFCvz9/S96/TWVzl9FykfJrIiIiEgl6Nu3L+vWrQOKh8F55JFHqFWrFkuWLOHAgQPG9Li4OLy9vY3lEhISGDhwILt27QLAs14L6j34Gm6ePlhjt7B88gCjo6bSY8ru3r2b6667DoC7776bL7/88rJuX2RkJO+99x6RkZHG7dNjxoxh0KBBemb8Iun8VaR8lMw6ER0dTVFRER4eHn/4GRa5Oik2xBXFhrii2BCAQ4cOGb39Nm7cmN27d5OcnExRUREAU6ZMYf369QAsWrTI6EgpNzeXrl27sn//fkzunvi0uok6Pcdg9q9N3vHdpPxvBj7enrRs2ZI5c+bQs2dPh/X+/e9/p1evXvTs2dMh0ZXqScmsSPnoneGExWIxfkRKU2yIK4oNcUWxIQCbNm0yXo8bN47g4GAjLkwmk9EZE8APP/xgvF648FNiM+3U6TuBJk8tIWTgVMz+tQkPNNPy1A9gt5KXl8dvv/3G3Llzy6z31VdfpVevXkpkReSqpKF5nPDy8sLNzQ0PD4+qbopUM4oNcUWxIa4oNgSgoKDAeF2vXnFHTaVjo2QaFI8Bm3AmjxW7TjL7gC/1h/8LKH42taG/G0NubMGj3ZpiGnczYWFhxpW8+Ph4CgsL8fT0rMQtExGpOkpmnXA26LcIKDbENcWGuET8/ZkAACAASURBVKLYEIDWrVsbr5ctW8YjjzziEBvTp0/H5OGFb+tbOBren+6vb8RuB3zrYsnJIDdyEYFZx+l+90Ce7nPX/y/lyZ133sny5csB+O9//6tEVkRqFD0zKyIiInKZWSwWmjdvzokTJ4DioXGeeeYZ/Pz8eG3+5yzdegyf1rfg5uVrLHNz87r8/Om/SNi+CizFV3br1KnDyZMn8fHxAaB79+5ERkYCcOLECRo3blzJWyYVSeevIuWjd4aIiIjIZebu7s7rr79u/P3Bhx9x/bDJdJ25mm+yW+DXsTduXr74FGUxMsKHn6f2YOnjN3F7Ux8jkQWIiIggOTkZgO+//95IZFu3bk2jRo0qd6NERKqYbjMWERERqQTDhg0jKyuLSc+/TECfCXg36QiArSCX7AM/0jA9irQTMXy1PpQZD+0B4KmnnmLJkiVGHR4eHixdupSoqCjj9mKACRMmqJMnEalxdJuxE4mJiVitVsxmMw0bNrxcTZQrkGJDXFFsiCuKjZrBZrNd8BzDbrfz+a8nefGbfeQW2jBZCwmK28S1QYVMmfQXHn30UbZt2wbAzz//TPfu3QF48cUXeemll1zW279/f1asWIG7u65RXOl0m7FI+eid4URqairJycmkpqZWdVOkmlFsiCuKDXFFsXH1io+P55lnnqFBgwaYzWYCAwMZMWIEv/76a5l507ILGLv4V6Z8HkVObgHhhXHMG9yED6eO4K/jx9KuXTvGjRuH2WzmnnvuISAgwFh25syZzJ8/nxYtWjjUWadOHV544QW+/PJLJbIiUiPpyCciIiJSTj///DP9+/cnKyvLmJaVlcXixYtZsmQJ7777LmPHjgVgw4Fknv3iN05nF5Cz+1sKd37B1rNnMN35LXjVMZYfMmQIPXr0cNqJ0yOPPMLIkSPZtm0bSUlJBAYG0q1bN6MjKBGRmki3GTuRk5OD3W7HZDLh5+d3uZooVyDFhrii2BBXFBtXn6SkJNq1a0dmZiYAnp6edOrUiZiYGGOayWTi2zXf83N2CEt/Ke7BuE29WoQf+4YP334DgKeffpqZM2cqNsSg24xFykdXZp3QB4q4otgQVxQb4opi4+ozb948I2nt3bs3S5YsITQ0lLy8PKZNm8Zbb72FZ8M2PLFgC26NO+Hm7s7o7s2YfEcbMk63YvFH79KvXz8eeOAB/P39q3hrRESuXLoyKyIiIlIObdq04fDhw7i5uREXF+dwW3BeQRHNez1IxvH9FCTsp8WQZ1n0zync3KKuMU9aWhp169Z1VrXUcDp/FSkfvTNEREREyiElJQWAZs2aOSSyh5PPct/727CHd6EgYT8A7r99zU3N6zgsr0RWRKRi6DZjJ3Jzc43nm3x9fau6OVKNKDbEFcWGuKLYuPrUrVuXM2fOEBcXR2xsLL5+/qyKyWHW2kMUWmx4hYRj8vLDXpDDk2PHYrPZMJvNZepRbIiIXBols07ExMRQVFSEh4cHnTt3rurmSDWi2BBXFBviimKjWEpKCl988QUJCQkEBgYycOBA2rRpU9XNMtjtdnbu3ElkZCQWi4UOHTpwxx13OE1C7733XmbNmoXFYqFt+w6EdO6BZ88JAIS5nWHLRxOwF+Rw22238de//tXlOhUbIiKXRsmsiIiIXDZFRUU888wzzJs3j8LCQmP61KlT6devHwsWLCA0NLQKWwh79uxhzJgx7Ny502F6kyZNmD17Nvfcc4/D9HHjxvHustXkJMZiKcwjaec6GncagCl2M5s3LTXmmzJlSqW0X0SkplIHUE6cPHkSq9WK2Wx2Otab1FyKDXFFsSGu1OTYsNvtDB06lP/9738u52nXrh1bt24lMDCwElv2u6ioKG699VaH8WLPtWTJEoYNG4bJZCIm+Syz1h7i+/3JnIlcSmbkUjxCm1GUkQiFecYyr7zyCn//+9/Pu+6aHBvinDqAEikfJbMiIiJyWaxatYr+/fsDxWOxPvXUU/Tu3Zt9+/bxr3/9y+hI6W9/+xuvvvpqlbTxlltuYevWrUBxYj1+/Hhq1arFp59+yoYNG4y2t2zdhjufm8+KvcnY7OBmgj81gNM/L2HDqq/Iy8vDzc2Nvn37MmnSJPr06VMl2yNXNp2/ipSPklkRERG5LPr378+qVasAWLx4MQ899JBRdvjwYTp06IDFYiEkJISEhAQ8PDwqtX179uzh2muvBYqH29m1a5fREZNxVfnzL8BmBaDOnX+hVuc7uLNDfZ7p24aWocVjxBYVFZGZmYm/vz/e3t6Vug1yddH5q0j56J0hIiIil8WOHTuA4t5/hw4d6lDWunVr+vbtC0BqaipxcXGV3r6SK7IATzzxhEOPwgUWG83//AQh971YPMHkRj23LL4cdwvzRlxvJLIAHh4eBAcHK5EVEalk6gBKRERELouSm7/c3NwwmUxlykv3FFwVN4pZrVbjtcVi4bnnnuPe+4ZwuKgOc9bHcCorH99m11Gr62CuDQ9m0/8+cLodIiJSNZTMOnHo0CGjq/zqNGyAVD3Fhrii2BBXanJsXHvttaxbt47U1FS++uorh16B4+LiWLNmDQC1a9cmPDy80tvXqVMn4/W0adOw2Wx8tGorPndOBsDHlseJ1e+Ss/9H+t37aoUnsjU5NkREKoJuM3YiPz/f+BEpTbEhrig2xJWaHBtjx441Xo8YMYKZM2cSGRnJ+++/z2233WYM1fPoo4/i6elZ6e279dZbadOuA34de4OXHwCp0ZH4FGXRLn8/B//zIDnRP+DhbmbUqFEVvv6aHBsiIhVBV2adMJvNRlf5IqUpNsQVxYa4UpNjY9CgQfTv359vv/2W3NxcZsyYwYwZMxzmad68OX/7298qrU0xMTEcO3aM23r0YtmOE/gMeZ3gAsja+TVFqXFgMnNo7mMcLDXMzsyZM6lXr16Ft6Umx4aISEVQb8YiIiJy2eTl5TF+/HgWLlyIzWZzKLv11lv573//WyljrFqtVkaOHMnSpUupFVSXFk99Qlp+8SlQgIed1J+Xkhz5BXZLgbGMl5cXM2bM4Nlnn9WzslIpdP4qUj5KZkVEROSyi4uL47PPPiMxMZHAwEAGDhxIly5dKm39Z/OLuO2O/uz5eR0Ade4YR5vb7+HJ21swpEsYWItYvnw5kZGRWCwWOnTowIgRIwgODq60Noro/FWkfJTMioiIyFXFbreze/durrvuOjJzi1iw5RgLIo+TcuwAKctfpMltQ3hhykSG39YOT3edF0j1ofNXkfLRM7MiIiJS7RRZbeyOP8OPh1P46fBpEs7k4eXuhreH2fjt42HG26P4tff/vz65bzublszl5OEoxvxrKVvP1uZsgQWAdh07M/uJX7nvhma4m5UciIhc6ZTMOpGSkmJ0yBAaGlrVzZFqRLEhrig2xBXFxsVLPJPHj4dT+fFQKpFHThtJaHmc3buP9MNRACz58G1C7v47berVYkLPlvTr2ACzW/V59lWxISJyaZTMOpGUlGSM+6YPFylNsSGuKDbEFcWGa/lFVnYcT+fHQ6n8eDiVmJRsh3JPeyE5R3aSeWgrhclH8fDypkefvgwf+Sh1QuqRknoaCybMXn7kF9nIL7KS3S2MV7f/F9+AOtx41wDGDb+eO9rXw60aJbElFBsiIpdGyayIiIhUmri0HH44mMKPh1PZejSN/KLfezh2M8G1TWrTtbEfn74+jQNb1oH99/IiYNUnh9i8YiF9+/Zl5cqVTJs2jenTpzus46E9vxIWFqYeiEVErnLVogOos2fP8vLLL7Nnzx52797N6dOnefHFF8uMRTdq1CgWLlxYZvk2bdpw8OBBh2mX8gB9ZmYmdrsdk8lEYGBg+TdIrlqKDXFFsSGuKDZ+t2R7HM9/tY/SZx71Arz4U+sQ/tQ6lO4tgwn09WDYsGF89tlnAHh6ejJo0CACAgJYsWIF6enpDnWGhIQQFxeHj49PZW5KhVBsyLnUAZRI+VSLK7NpaWl88MEHdO7cmcGDB/PRRx+5nNfHx4eNGzeWmVaR9IEirig2xBXFhrii2Ci24UAyL/x/IntD0zr0bBfK7W1CaFOvlsMV1JMnT7J8+XIAateuTWRkJIGBgTRs2JA33niDXr168euvvwLF48AOGzaM/Pz8MucCycnJJCUlERQURHh4eLW8SqvYEBG5NNUimQ0PDycjIwOTycTp06fPm8y6ublx0003VWLrRERE5FJEnTzDhP/uxmaHoV3D+Oc9HV0ml99//z1WqxWAa665hn79+hEcHMyOHTsIDAxkxowZDBgwAIAhQ4bw5ptvOiy/adMmXn31Vb7//ntjWseOHZk8eTIPP/xwtUxqRUTkj6kW9yyYTCZ9uIiIiFyFTqTn8ugnO8krsnJb6xBeHhxx3s/80rdYHj16lOPHj7Nz50527NgBQOvWrY3yoqIih2UXLlxIr169HBJZgN9++41Ro0YxYcIEqsHTVSIiUkGqRTJbHnl5edSvXx+z2Uzjxo2ZMGFCmednLlVhYaHxI1KaYkNcUWyIKzU5NjJzi3jkkx2czi6gXYMA3n3oOjycjO+anZ1tJKDh4eHG9JCQEAD69u1rPDO4evVqo7xJkybG64MHDzJ69GhstuIOo5o1a8Zjjz3GDTfcYMzz7rvvsmTJkgrcwktTk2NDRKQiVIvbjC9W586d6dy5MxEREQD8+OOPzJ49mw0bNrBjxw78/f3Pu3x0dDTh4eEEBAQY0woKCozOo2rXrk2TJk04cOCA0VW+r68vubm5xvpLO336NAkJCUDxB2rt2rWNMqvVyr59+4DiB/ebN2/usOyxY8fIysoCoEOHDri7//6vOHPmDHFxcQA0bNjQ+DAvERUVhd1ux8fHx+EbaoATJ04YyX2bNm3w9vY2yrKzs4mNjQUgNDSUBg0aOCy7f/9+Y7vbt2/vUJaUlERKSgoALVq0cNjX+fn5HDp0CIA6deoQFhbmsOzhw4fJy8vDZDLRqVMnh7LU1FQSExOB4hOYoKAgo8xisRAdHQ1AQEAAzZo1c1j26NGjxjf4ERERmM1moywjI4P4+HgAGjVqRHBwsMOye/fuBcDX15dWrVo5lMXHx5ORkQFA27Zt8fLyMsqio6ON298aN25M/fr1HZaNjo7GYrHg5eVF27ZtHcoSExNJTU0FoGXLlvj5+Rllubm5xMTEAFC3bl0aN27ssOyhQ4fIz8/HbDYb8V8iJSWFpKQkAJo2berwDFZhYSEHDhwAip/Natq0qcOysbGxZGcXD4XRsWNHhw4m0tLSOHnypLGtdevWNcpsNhu//fYbAP7+/rRo0cKh3uPHj5OZmQlAu3bt8PT0NMoyMzM5fvw4AA0aNCgzHMW+ffuwWq14e3vTpk0bh7KTJ0+SlpYGQKtWrfD19TXKcnJyOHLkCFB8AtywYUOHZQ8ePEhBQQHu7u506NDBoezUqVMkJycDxSfAFzpGlBYTE0Nubq5xhcjDw8M4VugYUawmHSOysrI4duwYAPXq1aN+/foOnynu7u7V6hiRmZnJ/PnzSUlJITQ0lOHDhzvE06UcI3btiWLGplSOpBTSINCbBaO64u9VHMeljxHLly/nrbfeIj8/n/j4eG6++WZq165NRkYGO3fu5Omnn2bmzJn4+Pjwv//9j+eff95Yz8iRI43X77zzDhZL8bi09957LwsWLKBWrVoAzJ8/n8ceewyAV199lR49etCoUSOH/XS5jxFQ9jyi9GdKixYtdIygZh4jSjt06FCZzy8Rce2KSmYnTZrk8HefPn249tprue+++/jwww/LlJ/LYrGUub3IbrcbJ6ElH4LnLnPubUwlbDabUVbyTXBpF1vvuW0qXW/Jh9y59drtdjw8PMqUWa3WS6rX1baWrvfcbS29D53VW7Ktzm4ru9h6q8v/5ty2O6vXYrE47XXwfP+bC+3Dkv+Ns7Lz1Vuy7IXqdeZi96Gz5Uu36VwX2tbCwkJsNpvDSYWzev/oPnS2jy623uoShzpGlK23uvxvLiYOq8Mxwm63M2vWLGbNmuVwd9O0adMYMWIEs2fPplatWn/4GGG325mzNY19KYX4epiYP6or9QN/T4pKt6mwsNBIKD7++GPGjx/PqFGjmD17NgD/+c9/ePvtt/H09CQnJ8eoo2/fvg5J58qVK4Hi3o/Hjx/vsI8fffRR3nzzTaKiojhw4ABJSUllktmqOEaUrkvHCB0jStcrIhfnikpmnbn77rvx8/Nj27ZtF5zX3d29zIHQZDIZB/OSbzUDAwOxWq2YzWbjG0Zn3NzcjDJnJybn1ntuW0rKz21T6XqdndB7eHhgt9ud1ms2my+p3tK/XdV77raW3ofO6i3ZVmcfQhdb74X24bku1//Gz8+Ps2fPYjKZXO7D0u0u7Xz/mwvtQw8PDyMmy1Nv6W11Ve+l7sMLbeu5LrStnp6eWK3Wy7IPbTZbud83FxuHVquVwMBAh3XrGIGxnppyjHC2raU/U3JycqrFMeIvf/kLc+fOLTNvYWEhH3/8MdHR0WzcuPEPHyPe+D6GzSfyMZvgxd6NadcggKSkJD755BOeeeYZhzaNHj2aefPmMXToUAYMGIDJZOLhhx82rhpD2SSpW7du/POf/3RYZ8lVypCQEOrUqVNmH7Zt25aoqCgA40rpufvwch4jnPH19TViQseImnuMcFaviFycajHObGmnT58mJCTE6TizzthsNmrVqsXAgQNZunSpw3SN0yUiIuLoxx9/5PbbbweKT6yHDRtG79692bdvH++//75x9fMf//gHzz33XJnlLRYL3377LZs3b8ZisdChQweGDh1q3NK79Jd4/vZl8WMI/7qvE0O6hDFnzhymTJmCxWJh2bJl3H///Q515uXlOR1mb9euXbz77rtERkYa6xozZgx33XVXmc/zTp06GY8/HDp0yOH22cLCQpo2bUpSUhJubm6kp6drWByplnT+KlI+V/yV2c8//5zc3FwN1yMiInIR3nnnHeP1W2+9xYQJE4y/H3zwQbp27YrdbmfevHlMmzbN4erRxo0bGTVqFCdOnHCo8+mnn+af//wnEX3u5/mvip/z/EuvVgzpUvzsY6dOnYzbMefOnVsmmXU1Xvx111133uH6ShsxYgRTp041tmPhwoV06NCB5ORkJk2aZDw3PGjQICWyIiJXiWpzZfa7774jJyeHs2fP8uijjzJkyBDjw65fv36kpqby4IMPMnToUFq2bInJZOLHH39kzpw5tGjRgu3btzt0lqFvtkRERMpq2LAhSUlJBAQEkJqa6tBBGxT3R7F+/XqguAOoko6Hfv75Z3r37u2y512P0GY0emAGGbvXMWDgQD59Zohxi6Xdbqdnz57ccsstPPnkk2U6sKoIGRkZREREGJ0BQXEnc8nJycYzjx4eHmzevNmhh2OR6kTnryLlU22uzD755JNGz3tQ3Lvh8uXLgeIe+wIDA6lXrx7/+c9/SE5Oxmq1Eh4ezl/+8hf+/ve/OySyIiIi4lzJFVJfX1+nz+eV7g22dCc2EyZMMBLZ2267jUmTJhEQEMCnn37K4i9XE3DTEI6/+xhYLZhbeGAy/X711WQy8cMPP1zOzaJ27dqsXbuWO++80+hFvORqLIC3tzdLlixRIisichWpNldmK9qlfLMVGxtrdPx07pAjUrMpNsQVxYa4Ut1i4/bbb+fHH38E4Pvvv6d3795GWWpqKs2aNSMnJwd/f39SUlLw8fFh27Zt3HzzzQBce+21/PLLL0bHN1n5RdzywudkWT04+c7D2Avz8PX1JTk5+YJD5l0OmZmZLFiwgMWLF5OYmEhgYCCDBw9m7NixDmPYVgfVLTak6unKrEj5VJsrs9VJdnb2eXsxlppLsSGuKDbEleoWG2PGjDGS2aFDh/Lqq68aHUA9//zzRgdQw4cPN55l3bVrl7H8PffcwyuvvEJoaCiPjXmCJxf/SrY5AFtuGmCiXbt2fPfdd1WSyEJx79ETJ05k4sSJVbL+8qhusSEicqVRMisiIlKD3H///bz33ntERkaSlpbGE088UWaeevXqOfRkXHp4kRkzZmC1WgkLC+Nw7RuJPJKGt7uJo5/PxF6Yy3XXXVftroCKiMjVScmsEx07dqzqJkg1pdgQVxQb4kp1iw0PDw++/fZbhg0bxpo1a8qUt27dmhUrVtC4cWPsdjsmk8nhOVMfHx+ys7M5mZDAZ6s34du4La1SfuJQylEAPZNaDtUtNkRErjR6ZlZERKSG2rFjB0uWLDGeLR04cCB33XUXO3fu5L333iM5OdlIeLt27crOX3fh3fQavEPC8bt+IO4BIYSd+pnNC18HihPdhIQEateuXZWbJXLF0vmrSPkomRURERGD3W4nIiKC/fv3A7Bv3z7at2/Ph99u4aWvo3APbgKAJTOZjE2fkHvwZ2PZDz74gDFjxlRJu0WuBjp/FSkfvTNERERqsNOnTzv8bTKZGDt2LFA8TM/aLbsY9uE2Xo08U5zIFuaSvvFjEj4caySyISEhLFy4UImsiIhUKj0z60RaWho2mw03Nzfq1q1b1c2RakSxIa4oNsSV6hob69at44033mDLli2cOHHCYXzZhx9+mAI8OFKrE28dzADS8XR345FbmvLk7S3YvT2YzZuvxWKx0KFDBwYNGoSXl1fVbcwVqrrGhojIlULJrBMnT540usrXh4uUptgQVxQb4kp1jY2VK1eybt06AD7++GMmT54MQHpOIW//dJLFp5pQlJCByQR3X9uIyXe0oVFQ8VA9PXr0oEePHlXW9qtFdY0NEZErhZJZERGRq1xMTAzNmzfHbDYb0yZMmMDcuXNp1qwZwcHB5BVamR95jHmbYjlbYAHgttYhTLuzLe0bBlRV00VERFxSMutE48aNjdt+REpTbIgrig1xpSpjY/v27cyYMYM1a9awcuVK+vfvb5S1adOGyMhIuna9gRV7k+jx702cysoHoEPDAP52Vzu6twqu9DbXJDpuiIhcGvVmLCIicpns2rWLzZs3Y7FYaN++PX369HG4Onq5ffvttwwYMACAPn36GLcVlyiy2pj6eRQrdicA0CjIhyl92zCwc0Pc3EyV1k4RKabzV5Hy0ZVZERGRCrZv3z7GjBnDtm3bHKaHh4cze/Zs7r777gpf57Fjx/Dy8qJhw4bGtH79+tGiRQusVit9+/bFbrdjMhUnqflFVib8dxfrD6Tg7mZiSt82jOrWFC/3yku2RURELoWuzIqIiFSgffv20b17dzIzM13Os3jxYh566KEKWV98fDyTJ0/myy+/ZPz48bz11lsO5ceOHaNJkyYOV4TP5hcxeuFOth9Lx8vdjfeGX0fPtvUqpD0i8sfp/FWkfJTMuli2hA4eUppiQ1xRbEiJ2267jZ9/Lh5/tXXr1owbN45atWqxZMkSNm7cCIC/vz8JCQkEBFx6x0ppaWmEhYWRl5eHn58fJ06coHbt2q7nzy5g1IId/JaQSS0vdz4a2YUbm6sn3aqg44acS8msSPmYZ8yYMaOqG3E52O12CgsLHaZ5eXkZt1edT1RUFAkJCZw+fZr69etfribKFUixIa4oNgSKr8pOmzYNgJYtW7Jr1y4CAwMJCQnhrrvu4syZM0RHR1NYWEhYWBhdu3YtV/25ubnExMQQEhJiTPP19SUxMZH4+Hiefvppbr75ZpdjviaeyePBD7dx8NRZ6vp5snj0jVwX7jrxlctLxw0516Wcv4rURHpmVkREaoxjx47xwQcfOHTKNGbMGG688cYKOVncunWr8fqJJ57A39/f+NtkMjFp0iSWLVsGwJYtWxg3btxF1Wu1WpkxYwbvvvsuoaGhREdHO1yp+cc//sEbb7yBt7e3yzqOpmYz4uNfSDiTR8NAbxaNvpEWIf4u5xeR6s9qtZKWlkZBQUFVN0WkwoSEhJz386w0JbNO+Pv7G4OYi5Sm2BBXFBvV35w5c3jmmWewWq3GtG3btjF//nyGDRvGggULXF7RvFgWi8V47evrCzjGRunnVkvPeyFms5mffvqJ9PR00tPT+e677/jzn/9slJ/vtmKA6MRMRs7/hdPZhTQP9mPR6BtpFORz0euXy0PHDbkUeXl5pKamEhwcTEhIiK7eylXBarWSkJBAaGjoRSW0SmadaNGiRVU3QaopxYa4otio3hYuXMikSZNcli9duhRvb2/mz59/Sevp2LGjwzrHjh3rEBuTJ082Xnfq1MlpHXa7nT179nDttdc6TJ88eTJbtmxh6NChNG/e/KLbtON4Oo8u2MHZAgsdGgaw8NEbCPa/tKRdKoaOG3Ip0tPTadCggb4MkauK2WymUaNGJCYmEhYWdsH59TS5iIhc1SwWC88//7zx98SJE0lKSiInJ4d58+bh41N8hXLBggUcOnToktbVrVs32rdvD8Avv/zCgAED2LhxI7/++isTJ05k9uzZALi7u/PII4+UWX7ZsmVERERw/fXXExsb61DWv39/jh8/zqJFi2jXrt1FteeHgymM+Hg7Zwss3NCsDksfv0mJrMhVwmazKZGVq1J5xmNXMisiIle1DRs2cPLkSaB43NXZs2dTv359fH19eeKJJyjdD+Inn3xySesymUzMmTPH+CBevXo1vXr1okuXLrz55puUDCDwwgsv0KBBgzLLHz9+nP3792O323n77bcdytzc3GjUqNFFt+WbvYmM+XQn+UU2erYN5dNHbyDAWye+IiJy9VAyKyIiV7XSVzjvvvvuMuWlpx09evSS19enTx9WrFhBcHBwmTIPDw9efvllnn/+ebZs2UJOTo5D+ZgxY/Dx8eHWW2+lV69e5VpvdHQ0H3zwAe+++y4vLlrPXz/bjcVmZ2Dnhrw/4nq8PS7+m24REZErgZ6ZdeL48eNYrVbMZjNNmzat6uZINaLYEFcUG9VXSUdMAPHx8WXKT5w4YbwuueX4Ug0YMID4+HjeW/wFn+7LJcejNkHuRXTr2JLszOO063Qdh6P3MnfuO4wf/3uPxnXq1CEmJqZcV2APHjzI2LFj+fHHHwEIGioEBAAAIABJREFUuGkItf8UDsCtDWDOA9fg5qaOYaojHTdERC6Nrsw6kZmZSUZGBpmZmVXdFKlmFBviimKj+urRo4fRy+e8efOMW44BCgoKeOmll4y/e/fuXSHrLLLaWLA9gXlxdTnj04gid19SCeSr31L5dMcpDkfvBeDpF1/jz2/+yF8/283bG2L47rckct0DKLTYHOqzWG2kZRdwNDWbXfEZ/HAoha/3JDBrxXZ6TJhFlLkVdftNJPSBV6j9p5EAZG75jCWTBvDll19UyDZJxdNxQ8S5Tz75BJPJ5PTnmWeeAaBx48aMHj3aWObIkSOYTCYWL15sTNu8eTMzZswgKyur0rdBKoeuzIqISJUrKChg//79WCwWWrZsecGhZsojPDycwYMHs2LFClJTU2nfvj0PPvggQUFBLFu2jOPHjwNQv359hgwZcsnr25eQybNfRBGdmEXBqSO0C/VlZI8OnCk0YfGpw5GU+nz2U2fycrPxv34g+xIyiU7KdqjD7GaicW0fLFY7mXlFZBe4HsbHq8u9nNulU+CxDcT9XHxCN3r0aO68806HMW9FRK4ECxYsoG3btg7TGjZsCMDKlSsJDAw87/KbN29m5syZjB49moCAgMvWTqk6SmaduNheIqXmUWyIK4qNPyYrK4tXXnmFjz76iPT0dKD4udL77ruPmTNn0qpVqwpZzzvvvENUVBSxsbGcPXuWj5d9g3tACPknim879vHx4bPPPrukcWbzi6y8uSGGD346SsGZVDJW/Yvc+GhuGDiQYf8ovlrq6ekJwD/7b8LXvxYnMvKITcnmSGo2R1KyiU3NITYlm+wCC3FpuWXWUcvLnQAfD4J8PXC3FbJl03ps+dnU8jYz8ckxhAbVokPDADo2uoshlrj/Y+++w6K42gYO/5bee1MRUSzYWzRqYu8Gu4nG3mKssdfPXqLGHks0sUVFTbUbE6Ni7GLsEhsoAgLSm5Rld74/9mXCsqBIj577unK97JwpZ8bzzs6zc85z+PXXX4mLi8Pb25vPP/88z+cmFA5x3xCEV6tRowbvvfdetmVZpy8rSi9fvtQawiIUHxHMZiPjYUMQshJtQ8iJaBtvLiYmhpYtW3Lr1i2t5Uqlkn379vHbb7/x559/Ur9+/Xwfq1SpUly8eJEZM2Zw4GYoli0/Q8/QmPSEKByTnrBwcEeaN2+Y5/1fCYhixq93eBKpSejUuZEnBw/G8BI4evQoISEhlC9fXl7fxsYGAA9HCzwcLWiXaV+SJBEen8rTqCSMDfSwMTPC2tQQKxMDDPT/HR307bffcvjQMgCmL1/OhPbVteo0ZcoUfv31VwAuXLgggtkSSNw3BCHvXF1d6dChA1u3bs22fPbs2SxZsgRAa77Sc+fO8eGHHwKaOcbXrVvH7du30dfX54MPPmD58uXUrl1bXr9///4cPXqUs2fPMmXKFC5fvkzt2rU5f/58IZ6dkFsimBUEQRCKxRdffCEHsoaGhnTp0gVra2sOHTpEVFQUsbGx9OzZk0ePHhXIXIpWtvY4e03A2kmT8MlAAVjaE2Npz7gTEezwu8DH75XFq1YpLHM5hU1CipIJGw9w+NwNzD0/xNnKmMXdatK2mjOuQaPZt28f48aNw9nZOdf1VCgUuFib4GJt8sr10tP/7XqcXfe5zMuUSmWujy8Iwn/fy7SchyYUFTOj/IcZKpVK614Hmnm6c2PkyJHExMSwadMmDh8+jKOjIwDVq2t++Fu4cCHz589n+PDhzJkzh9TUVL766is+/PBDrl27RpUqVeR9paSk0LVrV0aNGsXMmTNRqVT5PjehYBRoMJuSksLTp0+pVKnSG012KwiCILxbwsLC2L9/PwDW1tZcunRJ7nK5Zs0a2rRpg6+vL4GBgRw6dIhevXrl63hB0S8Z7X2dOyFxKBQwqU1lPmtWgTP3X/Dz38H4PIzg+rNYrj+LZcGRe3SsUYqP33OlUXn7HDMB/3E3lI+7fUS8/w30TCwY1Ls7c7vXledynTp1KrNmzZKTTxW0jAcygN27dzNixAj09P59c7tr165s1xUE4e1Xbe7vxV0Fni77KN/7aNSokc4ypVKZq4DW1dVVfiNbt25dXF1d/63b06csXLiQCRMmsHr1anl527ZtqVixIgsXLsTb21tenpqayqJFixgwYEB+TkcoBHkOZtevX09sbCxz5swB4O+//6ZDhw5ER0fj7u6Oj4+P1iv9/5K4uDgkSUKhULx2YLnwbhFtQ8iJaBtv5o8//pB/bf/888+1xg5aWVmxcOFCOnbsCMDx48fzFcyeefCCCftvEpesxNbMkHV96tKssuYX+o41S9GxZilexKfw640QfroWhH9EEgduhHDgRgiutqb0qu9Kz3qulLXTjI+KTExlwRE/jtx6jspE011YnZKIZ9JtrEz+7aqc0YX0TdpGdHQ03377LXv27CEkJARra2u6dOnCuHHjdMYPN23alMqVK/Pw4UMuXrxIr169mDJlClZWVuzatYtVq1YBoK+vz5AhQ/J8/YTCI+4bgvBqu3bt0hlbnts3s69y4sQJVCoVAwcO1HrzmzHPt4+Pj842PXr0yPdxhYKX59awdetWrXTY06dPx87Ojjlz5rB27VoWL17Mli1bCqSSRe3p06colUoMDQ21+swLgmgbQk5E23gzCQkJ8t+Zu3JlqFy5crbrvgmVWmLdqUesP/0ISYLaZW3Y1K8eZWx055J1sjJhZHMPPm9WgRtBsfx0LZijt54THJPMmpMPWbbzMHaRtxg5ZQ47Lj4l5qUSPQUM+mwUZ7aEM378F3z66afZ1iO3bePmzZt07NiRsLAweVlsbCzr169n8+bN7Nixg379+sllenp6rF27Fi8vL9RqNQcOHODAgQM6+505c+YbzVsrFB1x3xAKi9/C9sVdhQJRtWrVHBNA5Ud4eDiQcxKprOPZraysMDc3L/B6CPmX52D22bNncqrshIQE/vrrL/bv30+PHj2wtbVl7ty5BVZJQRAE4e1Srlw5+e9jx44xdOhQrfLjx4/Lf+ell090UhoTfrjJXw8jAOjfyI05XtUwNnj1EBiFQkE9N1vqudky16sav98LY/K4kTy7cJRw4Ev7GpiUrUHVUlZ81bMWNV2tkb7ole+uxNHR0TqBbPny5QkJCSEtLQ2lUsmgQYNwd3fngw8+kNfp2LEjP/zwA8OHD9eZq1RfX58ZM2ZozaMrCMK7oSDGq77NHBwcADh48GC2P/ZlvacX1nARIf/y3NJTU1PlhByXLl1CrVbLk827u7trfSH/15QqVQqVSiXG/Qo6RNsQciLaxptp164dTk5OvHjxgl9//ZUlS5Ywfvx4TE1NOXToELNnz5bXHThw4Bvt+1ZQLKO9rxMSm4yJoR5fdq9Jj3qur98wC1MjfbrVLcPL0Z/S78JRAIyfnGPq8J6MaFYBw/9lFn7dQ05u2sZ3330nf282bNgQb29vKlasSExMDJMnT2bHjh2oVCqWLl3K0aNHtbbt1asXHTp0YO/evVy4cAGlUkn16tUZPHiweCNbwon7hiAUrozp1pKTk7WWd+jQAX19ffz9/enatWtxVE0oIHkOZt3c3Dh37hwtWrTg0KFD1KlTR86cGBER8Z+emNjJyam4qyCUUKJtCDkRbePNGBkZMWfOHMaNGwdoplBYsGABxsbGJCYmyut1796dOnXq5GqfkiSx9+ozFhz2I02lxt3ejM0D6uPp8vrvo4SEBPbu3ct3333Hzz//jLu7u1zWs2dPvL296d27Nx9//DGmprrdlF8lN20jc6KRPXv2ULFiRQBsbW359ttv+fPPPwkKCuL48eNER0djZ2entb2FhQUjRoxgxIgRb1Q3oXiJ+4YgFK6aNWsCsHbtWvr374+hoSGenp54eHgwb948ZsyYwePHj2nfvj02NjaEhYVx9epVrK2tRS/T/wi916+Svf79+7Nw4ULq16/Pli1b6N+/v1x27do1rfFOgiAIgpDVmDFjmDVrlvxZqVRqBbJt27bVysj7KslpKib/dIv/O3CXNJWa9tWdOTzuw1wFsqBJajhy5Ej+/vtvnTkLjY2NOXbsGAMHDnzjQDa3nj9/Dmi6X2dN9GRgYEDz5s2B/81B+7+xXoIgCMKrtW7dmmnTpnHgwAE+/PBDGjRowM2bNwGYM2cOP/zwA35+fgwcOJD27dszY8YMgoKCaNq0aTHXXMgthSRJUl42lCSJ5cuXc/HiRRo2bMisWbPkKQG6dOlCq1atmDBhQoFW9k2o1WqdpCGWlpZa0xYIgiAIxe/69et88803nD9/HqVSSbVq1Rg+fDheXl65umc/iUxi1J6/uR+WgJ4CpnfwZESzCjl2/3358iX6+vpy9zOA0NBQypYti0qlokuXLhw6dKjAzi83KlasiL+/P4aGhoSGhmJvby+XSZJE3bp15Tl5Q0JCKF26dJHWTxCEovEmz69BQUH/2ZlDBOF1ctu+8xTMpqWl4ePjg6enJ25ubnmqYGETwawgCMLbSaWW+Cc0Ht+n0Vx7GoPPgxckpalwsDBm/ad1aexhn+12z549Y+3atezYsYM1a9YwePBgrfLNmzfTsGFD6tWrVwRnoW3SpEmsWbMGgAEDBrB161aMjIyQJInNmzczevRoAN577z18fX2LvH6CIBQNEcwKgkahBrNqtRoTExN+++03WrdunacKFrb8BLN3794lLS0NIyMjatSoUVhVFP6DRNsQciLaRuFJTlNxMyiWa0+jufo0mhvPYklMTddap5ThS1b3rEHjOlVz2AtcuXKFRo0aAdCgQQOuXr1aqPXOkJu24e/vT7Vq1UhLSwOgTJkyNG/enLt373L79m15PW9vb/r27Vsk9RYKn7hvCFmJYFYQNHLbvvOUAEpPTw9XV1fi4+PzsnmJp1KpUKvVqFSq4q6KUMKItiHkRLSNghOTlMa1wBh8n0bj+zSauyFxKFXav7saSukkBt7mZeAdUoP9CAz5hyaL1XTu3Jlt27ahVCpJTU2lfPny8jYNGzakbt26+Pn5Ua1aNVJSUjAxMSn088lN2/Dw8GDXrl3079+f9PR0QkJC2Lt3r9Y6EyZMyHEuW+G/Sdw3BEEQ8ifP2YyHDRvGxo0b6dKly1uXUt7ExAR9fX156iFByCDahpAT0TY01Go1V65cISQkBGtraz744APMzMxeu50kSWy/8JR9V5/x+EWiTrmzlTEN3O1o4G7Lwe9Wc/D7TSCpddY7cuQIHh4eJCcn06tXL/bt2yeXKRQKdu7cSZkyZbTGpBa23LaN3r174+7uztKlSzly5Ahqteb8GjRowKRJk+jdu7eY6/AtI+4bgiAI+ZPnBFArVqzg66+/xtTUlC5dulCqVCmtL1mFQsHEiRMLrKJvSoyZFQRBKFq7du1i4cKF+Pv7y8tsbGwYOXIk8+fP10q4lJkkSaz84wEbz/y7XSUnC977X/DawN0OV1tTFAoFf/zxB+3btwfA0NCQUaNG0aZNG/z8/Fi1ahURERHyPgwNDXn27BkuLi6FdMaFJzY2lvDwcKysrChVqlRxV0cQhCIiuhkLgkahjpkFXhsUKhSKYu02I4JZQRCEorNkyRJmz56dY3n79u05fPgwRkZGWsslSWLVHw/ZcOYxAFPbV+HThm7YmRtltxu6d+/OwYMHAZgxYwZ16tShd+/eADx8+JAaNWqgVCpRKBRMnz6dyZMn4+DgUBCnKAiCUOhEMCsIGoUezAYGBr52nXLlyuVl1wVCBLOCIAhF4/r169SvX1/+3KpVK9q2bcu9e/fYv38/6emaZE0rV65k8uTJ8npZA9l5nasx5IPyvErp0qUJDQ1FT08PtVqNo6MjwcHBcpDcpUsXjhw5AsCDBw8KZM5zSZL466+/8Pb2Jjg4GGtra7p27UqPHj10gnNBEIT8EMGsIGgUagIoKN5AVRAEQSg5NmzYIP89b9485s+fL38eNmwYLVu2BGDjxo1MnDgRPT09JEli9cl/A9m5Xq8PZEETWAIYGBiQlpZGREQEx44do3v37gBaYw8zxpzmR2RkJL169eLs2bNay/fv34+bmxsHDx6kbt26+T6OIAiCIAhvLt+vKe/fv8+WLVtYsmQJYWFhADx//pzk5OR8V664BAcHExgYSHBwcHFXRShhRNsQcvIut43Tp08DYGpqytSpU7XKWrRoIQezT5484enTp0iSxJqTD1l/WhPIzvGqxtAPdQPZGzduMG7cOFq2bCkHsXXq1AE0853XqlULb29vOnToAGj+DY4fPw6AtbU17u7u+TqvtLQ0OnXqpBPIZnj27BmtW7cmICDglft5l9uG8GqibQiCIORPnoNZlUrFsGHDqF69OqNGjWLu3Lk8f/4cgM8//5ylS5cWWCWLWlRUFBEREURFRRV3VYQSRrQNISfvctvI+PHS2to628zFmRMYJScns+bPR3z9v0B29kdVGZZNIAswevRoNmzYgI+PD9evXwc03y8Z/P39CQgI4Pbt22zfvp1mzZqRkpICwODBg/M97c7+/fvx9fUFwNnZmd27dxMaGsqff/5JgwYNAIiJieHLL7985X7e5bYhvJpoG4IgCPmT52B2yZIl7N27lxUrVnD37l0yD73t2LEjJ06cKJAKCoIgCCVbpUqVAAgLC+PixYtaZQkJCfz2228AGBkZceSJmq9PPQI0gezwphVIT0/n6tWrOvsdOnQooJm+5M6dO4BmTOxHH30EQFJSEnPmzKFRo0YMGzaMJ0+eAJphMLNmzcr3eW3dulX+e9++ffTv3x8XFxdat27N77//jpWVFQB79+4lKSkp38cTBEEQBOHN5DmY3blzJ3PmzGHSpElUqVJFq6x8+fLyQ8V/UaVKlahatar8gCYIGUTbEHLyLreNjKAT4NNPP+XgwYMkJSVx9epVOnfuTExMDADvD1vI5vPPAPi/TppAdtWqVZQtW5bGjRvLvXsy9O7dm82bNxMaGsrgwYMBTSb9n376iUGDBmU75+r777+Pj48PTk5O+T6v+/fvA+Di4kKLFi20ymxtbenYsSOgedv87NmzHPfzLrcN4dVE2xAEXQqFIlf/+fj4FFmdUlJSUCgUTJkypciOKeROnhNAhYSE0Lhx42zLTExMdDKx/Zdk101OEEC0DSFn73Lb6Nu3L+vWreP27dsEBQXJyZgyc2w5mGdWNQCY1cmTz5pVACAuLk7Ot7Bnzx6mTZsmb2NlZaXVrTiDqakpO3fuZN68eezbt4+QkBCsrKzo0qULjRo1yjbIzYuMeXETExNJTU3V6bYcGRmps2523uW2IbyaaBuCoOvSpUtanxctWsSZM2fk/AwZqlWrVpTVEkqoPAezTk5OBAQEyIk9Mnvw4AGurq75qpggCILw32BiYsLvv/9O165ds+0u7NJ6CCpbNyKPrGTZ2g2MaOYhlw0aNIjly5fj5eVFw4YN3+i45cuXL5DuxDlp3rw53t7eJCYmsn79eq3kVpcvX5YfrNzc3ESGf0EQhALSqFEjrc+Ojo7o6enpLM9JWloa+vr66OvrF0b1hBImz92MO3XqxJIlSwgJCZGXKRQK4uLi+Prrr+ncuXOBVFAQBEEo+VxcXLh48SLHjh2jT58+NG3alI8++ogBy/aSFBNBxM8LSPLzwS7iltZ2Hh4evHjxgl9++UWnK29xGzNmjPz3tGnT6Nq1Kxs2bGDkyJFaGZZHjx4tHpoEQRCKwYkTJ1AoFPzwww988cUXlCpVChMTE4KCgggNDWXkyJFUrVoVc3NznJ2dadOmjc6bX9AMF5k7dy5VqlTB2NgYBwcHWrduLScBzI5arWby5MkYGRmxa9euwjxN4RXyHMwuXLiQ9PR0qlWrRs+ePVEoFMyaNYsaNWqQkpLCnDlzCrKeRSopKYnExESR0EPQIdqGkJOS3DaSk5M5cOAA69evZ9euXYSHhxfKcfT19Xn//ffx9vbmr7/+ov3ENfwVY4WZ54fyOgcOHNDZztraulDqk1+NGzdm+vTp8ufDhw8zbtw4tmzZImdNbtasGePHj3/lfkpy2xCKl2gbQmFZvXo1rq6uuLq66owtffLkiVw2btw4nW27dOkil2e1c+dOuezXX3/VKktISJDL+vXrV6Dn8zqTJ08mMjKSrVu3cujQIWxtbYmMjMTQ0JAFCxZw/Phxtm3bRpkyZWjatKlWQJuWlkbbtm1Zvnw5PXr04NChQ2zfvp0GDRrkmA8hOTmZjz/+mG3btnHixAkGDhxYVKcqZJHnbsbOzs74+voyb948jh07hr6+Prdu3cLLy4uFCxdiZ2dXkPUsUo8fP0apVGJoaEjt2rWLuzpCCSLahpCTktg2JElixYoVLF++nOjoaHm5oaEh/fr1Y926dXJG3vy6dOkSK1eu5MiRI/z555/cUpZi1cmHAMwd3pM7Vk/p1KmTPCfsf8XSpUtxdXVl6dKlWgmqzMzMGDZsGMuWLXvtFEAlsW0IJYNoG0JhiY+Pl3tPpqamapWpVCq5LCNBX2YRERFaPS8zS0pKkstevnypVSZJklyWOadAUahevTp79+7VWlazZk3Wr18vf1apVHTo0AF/f3/Wr18v5/75/vvvuXDhArt376Z///7y+l26dMn2WBEREXTu3JnQ0FAuXLhA9erVC+GMhNzKczALmoB28+bNBVUXQRAEoQBNmDCBr7/+Wme5Uqlk586d3Lt3jzNnzmBubp7vYwUEBMi/0o9fuJaY94YBMK1DFUa3qAgtv8n3MYqDQqFg7NixfP755/j4+MjJplq3bl1i3ygLgiBYWVlRpkwZQDdBnb6+vlxma2urs62jo6NcnpW5ublcljWBmUKhkMscHBzydwJvqGfPnjrLJEliw4YNbN++nX/++UcrqM/cG+K3337D2to6V2+THz16RKNGjbCxseHy5cta86gLxSPPwWyrVq3YtGkTnp6eOmUPHz5k5MiROlnH/iscHR1RqVRiDJSgQ7QNISclrW2cP39eK5Dt27cvbdu2xc/Pj82bN5OQkICvry8rVqxg/vz5ud5veHg4e/fupVu3bpQvX15e3r17dywsLVFiyJMUE2yAGR09GdncI+ed/YcYGhrStm3bPG1b0tqGUHKItiEUlkmTJjFp0qRsy8qXL09wcHCO2x4+fDjHssGDB8tTpWVlaWn5yv0WpuyCyqVLl/J///d/jBs3jiVLluDg4ICenh7Tp0/XevMcERFBmTJlcpUJ/+LFi0RGRrJq1SoRyJYQeQ5mfXx8iI+Pz7YsISGBs2fP5rlSxa106dLFXQWhhBJtQ8hJSWsbGzdulP9eu3at1rjOfv36Ua9ePdRqNVu2bGH27NkYGLz+6+Dnn3+mT58+qFQqYmNjWbBggVx2PeQlrgNX8tLMBWszY9b2qUMrT+eCPan/qJLWNoSSQ7QNQSgY2QWie/bsoUOHDjo9lOLi4rQ+Ozo6cufOnVwdZ9CgQZiYmDB58mTUarWYd7YEyHMCqFcJDQ3N9dxpCQkJTJs2jXbt2uHo6IhCocjxLcH169dp06YNFhYW2NjY0KNHDwICAgqw5oIgCG+HCxcuAGBhYcHIkSO1ymrXrk379u0BCAsL48mTJ9nuQ61Wa31u0qSJnMF3165dSJKEWi2x4fQjBmy/QrJFGWq42nLsi6YikBUEQRCKlUKh0Olife3aNa5fv661rGPHjsTFxemMuc3J4sWLWbZsGVOnTn2jnk1C4XijN7OHDh3i0KFD8udFixbh6OiotU5ycjI+Pj7UrVs3V/uMiori22+/pXbt2nTr1o2tW7dmu979+/dp0aIFderU4ccffyQlJYW5c+fStGlTbt68qVMPQRCEd5lSqQQ0c8AaGRnplGdO/JSxLiB/oW/bto3Bgwfj6elJeno6np6euLu7M2jQIJydnRk0aBDxyelM+vEmp+6/AOCT91xZ2LUGJoaiy6QgCIJQvLy8vFi5ciWLFy+mSZMm+Pn5sWjRItzd3bXWGzRoEN9//z1Dhw7l7t27NG/enPT0dC5dukS9evXo0aOHzr6nT5+OpaUlY8eOJSkpiRUrVhTRWQlZvVEw6+fnx08//QRofu04ffo0enraL3eNjY2pWbMm69aty9U+y5UrR0xMDAqFQk6pnZ25c+dibGzM0aNH5Yew+vXrU6lSJVauXMny5cvf5FQEQRDeatWrVycsLIzIyEhOnDhBx44d5bLIyEiOHz8OaBJ4lCtXTi578OABo0ePBjS9YTLexAK0bduWpUuXUr9+fe6GxOG14RxB0ckYGeixqGt1ejdwK6KzEwRBEIRXmz9/PmlpaWzatIklS5ZQo0YNduzYwa5du7h586a8npGRESdPnmTx4sX88MMPrFy5EisrK+rWrUu3bt1y3P/o0aOxsLBg6NChJCYmsmnTplyNuxUKlkLK/KTyBvT09Lh8+TINGzYssMpERkbi6OjIvHnztF7bp6enY2VlxcCBA3WyJ7dv354nT57w8OFDreVqtZqEhAStZZaWljrBd3bu378vp8rPLsGV8O4SbUPISUlrGz/88AN9+vQBwM7OjsWLF9OuXTvu3bvHnDlzuH37NgC9e/dm//798nZhYWGUK1eOtLS0bPdramrKzO8Os+cfJanpalxtTdncvz41yojMvjkpaW1DKDlE2xCyepPn16CgIMqWLVtUVROEIpXb9p3nBFBZx1IVJn9/f5KTk6lVq5ZOWa1atTh58iQpKSmvnevv3r17lCtXTqt7XWpqKvfv3wc06cnd3NxITU1FqVSiVqt59OiRPI9W1jngIiMj5Wxobm5uWunNVSoVd+/eBTQ3oQoVKmht++TJEzmBVvXq1bWSr8TGxhIYGAhokkNk7UJ9+/ZtJEnC1NSUypUra5UFBQXJ80lWqVJF65okJibi7+8PgJOTk04WNj8/P/lLtVq1alploaGhvHih6Uro4eGBhYWFXJaSksKDBw8AzUNz1ob38OFDkpOTUSgUOv+GERER8tyN5cqVw8bGRi5LT0/n3r17gKY5sU7rAAAgAElEQVRLZObMqaCZCiTjhl+jRg2tbJAxMTHyRNdlypTRSRF/69YtQPNWqlKlSlplz549k+dd8/T01BpvkZycjEqlIjU1lbCwMFxcXLS2vXfvHunp6RgbG+s8mDx//pyIiAgAKlasqDUdysuXL3n06BEA9vb2OhOVP3jwgJSUFPT19alRo4ZW2YsXLwgNDQXA3d1da7qQtLQ0/vnnHwCsra11utb4+/uTmJgIaOZjy/xlGRUVJWcldHV1xd7eXi5Tq9VysgQLCws8PLQz1j59+lROsFC1alWtbq5xcXE8ffoU0GQfdHJy0tr27t27qFQqTExMqFKlilZZcHAwUVFRAFSqVElrbH5SUhKPHz8GNMkcsiZWuX//PqmpqRgYGOjMCRcWFkZ4eDigyfL4untEZhn3iIyuupnvjcV5j6hYsSINGjTA19eX6Oho+W1rVsnJyfLfiYmJDBgwQA5kLS0t6du3L9bW1vz44488DQrBtNkwtt3RTG/Qsooja3rXwcbMSNwj/ic+Pl4eg+zs7IyLi4vWd4q4R2i8i/cI0H2OyPydEhMTI54jeDfvEZk9ePBAJAYThDeQr3lmAX7//Xd8fHyIjIxkzpw5uLm54evri7u7e4GNY834YrKzs9Mps7OzQ5IkYmJiXpsiOz09nawvoiVJkh9C09PTATAwMECSJAwMDEhPT9caT5aZWq3O9gE2Q9b9Zq1LRnnWOmXer0qlyna/kiRhaGioU6ZSqfK135zONfN+s55r5muY3X4zzjW7rhe53e/rrmFWhfVvo6+vL59jTtcwPT09219QX/Vv87prmPFvk13Zq/abse3r9pud3F7D7LbPXKesXneuaWlpqNXqbKeqKIhrmN01yu1+X9deDAwMtB4oi/sesWHDBhYvXsyRI0d01tHT00OtVvP7778THR2NnZ0dgYGB8pRqdnZ23Lx5U36o/GziTDos/Il0q9JIkprWTilsHdQAPT2FXA9xj8j+XDN/p4h7hG6dsnqb7xFZ6enpyXURzxHv7j0iu/0KgpA7eQ5mX758SdeuXTl16pR8cxk1ahRubm6sXLmSsmXLsnLlygKrKGSfdjs3ZRkMDAx01lMoFPLNPOMhNPMvso8ePcr2Zg+aL6GMsuweTLLuN2tdMsqz1inzfrP7sjY0NJQfjLLS19fP134z/29O+816rpmvYXb7zTjX7P6Ncrvf113DrArr38bd3V3+RTWna5i53pm96t/mddfQ0NAwx7kIX7XfjG1ftd/8XsPXnWtWrztXIyMjVCpVoVxDtVr9xv+/eZN2mPWtS3HfI/T19Rk4cCDvvfcesbGxhISEoKenR+PGjbly5QqnT59myJAh8oPa+fPn5b8HDhwoB7JnHrxgwv6bpFuVRvUyjsgjK0lvWgM9vY/lY4p7hG6dMs4183fKvXv3xD2Cd/cekVWZMmXk3hviOeLdvUdkt19BEHInz2NmJ06cyM6dO9m+fTtt27bFysqKa9euUa9ePbZt28b69eu1BlfnRk5jZh88eICnpycbN27U6So3depUVq1axcuXL7W6wuRnzKwgCMJ/XUpKChUrViQkJIRSpUoRGBio9ZAUHx+PmZmZ1oPYN998I99jN23eQq3WPTh6O5T9vs+QJKjiaMKphZ+iio+gV69eckJAQRAEoWCIMbOCoJHb9p3nyO6nn35i0aJFdO/eHVNTU60yNzc3eZxBQfDw8MDU1DTbCY3v3LlDxYoVXzteVhAEoTClpqby8uXLbLsoFgcTExPef/99QDNW7Y8//tAqt7Ky0nmjUKZcBcyqfIC912RWPLKn39Yr7LuqCWT7N3KjpeoGqnjNmM6s4/cEQRAEQRCKWp6D2YiICJ0ECfJO9fS0korkl4GBAZ07d+bXX3/V+rXq2bNnnDlzJtv5nwRBEAqbSqVi9+7dNGrUCBMTE8zNzXF3d2fx4sXExsYWSR38/PyYOHGi1tQ7GUaOHMknn3zCyZMnsy0HCI9PYc/lQAZtv8rkCyocu83EonpL1AYmGElpeFWzZ2v/Ori9uMTC+XPl7YYMGVJo5yQIgiAIgpAbeR4zW6ZMGe7cuUPLli11ym7fvq2TMe5VfvvtN5KSkuRA1c/Pj59//hmATp06YWZmxoIFC2jQoAFeXl7MmDGDlJQU5s6di4ODA5MnT87raWQrLCxMHnuUNcuc8G4TbUPIoFQq6d27NwcOHNBa/uzZM+bMmcP333/PqVOndDKbFrQBAwZw/fp1AG7evEmdOnXksrZt29K2bVut9SVJ4tGLRE76hfPHvTBuBcdpldsbqQg4d5DkR1dIfX6fR5KajVmOOWjQIDGNyBsQ9w0hJ6JtCIIg5E+eg9kePXqwZMkSmjZtKqdJVygUBAYGsmbNmjf61X7UqFFyCnnQdGHOGIv15MkT3N3d8fT0xMfHh+nTp9OrVy8MDAxo1aoVK1euLLCsyRnCw8Pl1PLiy0XITLQNIcOcOXO0Atny5ctjYWHBvXv3UKvVPH78mO7du+Pr61sgY/UlSZLzB2T22WefMWrUKIyNjXWC2cyik9LYctafE/fCCIx6qVVWp6wNbas50766Mx6OFqxbF8CUKbtA0s3g2bt3b7Zs2ZLv83mXiPuGkBPRNgRBEPInzwmgEhISaNasGXfv3qVGjRrcvn2bmjVr4u/vT5UqVTh37pzOWNqilJ8EULdu3ZK/XLJmJxXebaJtCKC5/5UuXZrExEQMDAz45ZdfcHNzIz09nefPnzNhwgQ56/XJkydp06ZNvo63ZcsWVq1aRUBAACEhITg7O8tl8fHx7NixgwEDBmQ7fRnAxceRTPzxJuHxmvlhjQz0+MDDnrbVXGhT1QknK92cA0+ePOHbb7/l3LlzKJVKqlevzvDhw2ncuHGusscL/xL3DSEnom0IWYkEUIKgkdv2nec3s5aWlly8eJF169Zx7NgxPDw8MDMzY+bMmUyYMKFYA9n8Kl++PJIkiQc2QYdoGwJo5tdOTEwEYPDgwXTp0oX4+HgkSaJy5cosW7aM3r17A/Djjz9mG8ymp6fj4+NDcHAw1tbWtGzZEhsbm2yPFxgYyKNHjwDw9vZm0qRJcpmVlRXjx4/PdjulSs3qkw/ZfNYfSYIKjuZMaVeF5pUdMTd+9e2/fPnyLF269PUXQ3gtcd8QciLahiAIQv7kOZgFMDU1ZcaMGcyYMaOg6lMiWFlZFXcVhBJKtA0BNNOIZcjIGJy5bTRq1Ej+OyoqSmvb5LR0Vm/eyebdPxKr1EPfzIbkpzfQjw2iU6dO2Nvbs27dOq0M7YMGDWLZsmW0aNGCypUr56qOgVFJfLH/JreCNImo+jQoy9zO1TAzytdtX8gDcd8QciLahiBkb+fOnfKQxTNnztCiRQutckmSqFSpEv7+/jRv3hwfH5+ir6QAwPPnz/n222/p1q1bjkOdClO+nmoOHjyIt7c3gYGBpKSkaJUpFApu3bqVr8oJgvBui4mJYdu2bezevVt+g+nl5cXYsWNzHdQVhszj9C9fvszw4cPlz3HJSn45dQXTig0xsHIiqmwzRnv/TXBMMiExyUQlpQGl0G89Hvv/bWPTbAAvDizhl19+AaBp06b0799f3meVKlUIDg6mdOnSuarfgRvBzDl4j8TUdKxMDFjWsxadapbK93kLgiAIb7ekpCQOHDjA48ePMTMzo23bttStW7fY6mNpacm2bdt0gtmzZ8/i7++PpaVl8VRMkD1//pwFCxbg7u7+3wpmV6xYwfTp03F0dKRixYqYm5sXZL0EQXjH3b17l/bt2/P8+XN5WXR0NOvXr+ebb75h27ZtDBw4sFjq1r59eywtLUlISOD777+n0ocf8VDhytWAaBJS0wEznHpqprF5Cjy9E6a1fdqLp0iSGgczfZwdHfBPNsWynhfJDy8BMP/Lr7SCWSBXgWxCipK5h+5x4EYIAA3d7VjTpw5lbP67wz4EQRCEwidJEqtXr2bRokXExf2b5X769Ol88MEH7Ny5k4oVKxZ5vXr37o23tzcbN27U6smwbds2GjduTHx8fJHXqSAlJydjYmIihhrkQ55TbG7atImhQ4fy/PlzLly4wJkzZ3T++69KTU0lJSWF1NTU4q6KUMKItlE04uLi6NChg1YgW65cOYyMjADNeNMhQ4bw119/FUv9LCwsGD1mHObVWuDQbyXf3Dfi1D8v/hfIguplHKmhjzB64cewD9yZ61WNLQPqU+raZgK/6kLojrF8pH+LOxtH8+f8Tzg7rTUdP3wPs6rNsPeaTFqHeQzYepm/A6NzXacbz2L46OvzHLgRgp4CJrapzL4RjUQgWwKI+4aQE9E2hJJi/vz5TJkyRSuQzXDhwgU+/PBDnj59WuT1+vTTTwHYt2+fvCwuLo5ffvmFoUOH6qyflpbG4sWL8fT0xNjYGEdHR4YMGUJERITWej/88APt2rWjVKlSmJqaUrVqVWbMmEFSUpLWegEBAfTp04fSpUtjbGyMs7MzrVu35ubNm/I6CoWC+fPn69TF3d2dwYMHy5937tyJQqHgjz/+YOjQoTg6OmJmZib////Ro0f07dsXJycnjI2NqVq1Khs3ak+O5+Pjg0KhYO/evUyfPp1SpUphYWFB586dCQ8PJyEhgREjRuDg4ICDgwNDhgyRc3xkkCSJTZs2UadOHUxNTbG1taVXr14EBARordeiRQtq1KiBr68vTZs2xczMjAoVKrBs2TLUarVcnwYNGgCa+ecVCoXW9cjN9cuvPL+ZjYqKom/fvujr6xdYZUqK+/fvi+yCQrZE2yga27dvJyRE83axXr167N27lypVqhATE8PUqVPZtm0barWaL7/8kmbNmhVp3eKSley/+gwfy5Y4dG4CgFqZQtKdP0m49QfpMSFIylQqVarE6dOncXV1lbftf+uyPN2NgcG/t183ezN2jmlH4InvuJ2ehkLfgHOPozj3+BJNKzkwvnUl3nPPPlOxSi2x+aw/a04+JF0tUcbGlHV96uS4vlD0xH1DyIloG0JJ8PDhQxYtWiR/HjhwID169CAoKIg1a9YQEBBAeHg406dP54cffijSullZWdGrVy+2b9/O559/DmgCWz09PXr37s3atWvlddVqNV27duXcuXNMmzaNJk2aEBgYyLx582jRogXXrl2TE9Q+evSITp06MWHCBMzNzbl//z7Lly/n6tWrnD59Wt5np06dUKlUfPXVV7i5uREZGcnFixeJjY3N8zkNHTqUjz76iN27d5OUlIShoSF+fn40adIENzc3Vq1ahYuLC7///jtffPEFkZGRzJs3T2sfs2bNomXLluzcuZOnT58yZcoUPv30UwwMDKhduzb79u3jxo0bzJo1C0tLS77++mt5288//5ydO3fyxRdfsHz5cqKjo1m4cCFNmjTh1q1bWjMmhIWF0a9fPyZPnsy8efM4cOAAM2fOpHTp0gwcOJB69eqxY8cOhgwZwuzZs/noo48A5Gefwrh+OqQ86tChg7Rhw4a8bl7oVCqVFBsbq/WfSqXK1bY3b96UfH19pZs3bxZyLYX/GtE2ikb9+vUlQAKke/fuaZUplUrJ3d1dLg8PDy+SOj2LSpLmH74rVZvzm1Ru+lGp3PSjUv1Ff0ifrflZer9Za0mhUEiA5OTkJDVv3lzy8PDQqbuTk5MESAYGBtLGjRt1jtG3b19NubWz9Nl3PpLHzGPysfp9d1nyfRKltX5obLLUZ8sleZ0x3n9LsS/TCvU6CG9O3DeEnIi2IWT1Js+vz549K5BjTpo0Sf5OnTNnjlZZVFSU5ODgIH93hYWFFcgxX2fHjh0SIPn6+kpnzpyRAOnu3buSJElSgwYNpMGDB0uSJEnVq1eXmjdvLkmSJO3bt08CpF9++UVrX76+vhIgbdq0KdtjqdVqSalUSmfPnpUA6datW5IkSVJkZKQESGvXrn1lXQFp3rx5OsvLlSsnDRo0SOecBg4cqLNu+/btJVdXVykuLk5r+dixYyUTExMpOjpakiRJvhadO3fWWm/ChAkSIH3xxRday7t16ybZ2dnJny9duiQB0qpVq7TWCwoKkkxNTaVp06bJy5o3by4B0pUrV7TWrVatmtS+fXv5c8b13bFjh9Z6ub1+Oclt+85zN+O1a9eyceNGDh8+TFpaWl53UyLZ2tpiZ2eHra1tcVdFKGFE2ygaGW9lS5cuTbVq1bTKDAwMaNmypfw5NDRUZ3tJkniRkMLlgChO3w/H73k8MUlpSHmYVvvGsxjGeF+n+Yoz7LjwlKQ0FVWcLfmqVy0uzGjFtxN6cvnsnzx+/Bg/Pz9GjRolJ6bISOiUIeNc0tPT8fT01CqLjY3l+PHjAOinxLKqdz3OTGnBpw3LYqCn4PzjSHptvkT/rVfwfRrNH/fC6LDuLy4FRGFmpM9XvWqx/tO6WJsavvE5CoVL3DeEnIi2IZQEV65ckf/+4osvtMrs7Ozo168foPnuunHjRpHWDaB58+Z4eHiwfft27ty5g6+vb7ZdjI8ePYqNjQ2dO3cmPT1d/q9OnTq4uLhoZTwOCAigb9++uLi4oK+vj6GhIc2bNwfgn3/+ATTn7uHhwYoVK1i9ejU3btyQu9fmR8+ePbU+p6SkcOrUKbp3746ZmZlW3Tt16kRKSgqXL1/W2sbLy0vrc9WqVQHkN6OZl0dHR8tdjY8ePYpCoaB///5ax3FxcaF27do6WaFdXFxo2LCh1rJatWoRGBj42vMsrOuXVZ67GVesWJE2bdrQvXt3FAoFZmZmWuUKhSLbfvf/BW5ubsVdBaGEEm2jaFhbWxMWFkZ4eDgvXrzAyclJq/zu3bsAKAyNeaE05sit5wREJBEQmciTyCSeRCTJ41czMzHUo5S1KaWsTXCxNqGUtYn8OeN/bcwMUUtw0i+crecCuBYYI2/ftJIDw5tWoFklBx49esSyJYsZN24cdnZ2VKhQAYBhw4axYMEC9PT05KA8w/Dhw+Uvir59+7Jy5UratWvHvXv3mDVrltztpk+fPlhaWmIJLO1Ri9EtKrLJ5zE/XQvm/ONIzj/+d2qgGmWs+LpPXSo4WuT7uguFQ9w3hJyItiGUBJl/6M08BCaDoeG/P5IWRjDyOgqFgiFDhvD111+TkpJC5cqVadq0qc564eHhxMbGyvk1ssqYVi8xMZGmTZtiYmLC4sWLqVy5MmZmZgQFBdGjRw+Sk5Pl4546dYqFCxfy1VdfMXnyZDm4X7JkSZ4zKZcqpT27QFRUFOnp6axfv57169e/su4Z7Oy0hxJlnHNOy1NSUrCwsCA8PBxJkrS6EmeW8SyTwd7eXmcdY2Nj+Rq9SmFdv6zyHMxOmzaNDRs2UKdOHapWrZpjwxEEQXhTXbp0YcWKFahUKiZOnMj27du5HpzIP6HxHD93jcAK3Sjz3mgMrBz57Gf/bPehp4CydmZYGBsQHp9CZGIaKUq1JtiNTMp2G9AEvKaG+sS8VAJgqK+ga50yDG9aHk8XTSbFVatWMWXKFEDz9vizzz6Tty9btiw///wzTZs21QnCP/nkE9avX8+VK1cIDw9nwIABOse3sbFh9uzZWsvK2pllCmr9+elaEOlqic+almdqe0+MDPLcyUYQBEF4x9WtW5eLFy8C8N133zF16lS5LDExkb179wKa4KRWrVrFUsfBgwczd+5cNm/ezJIlS7Jdx8HBAXt7e06cOJFteUbwdPr0aZ4/f46Pj4/8NhbIdhxnuXLl2LZtG6AZW/zjjz8yf/580tLS2Lx5M6AJ7rJL4pZ1nvkMWTMX29raoq+vz4ABAxgzZky225QvXz7b5W/KwcEBhULBuXPnMDY21inPbll+5Ob65Veeg9mdO3cyffp0li5dWiAVEQSh6Pn4+LBx40b++usv0tLSqFatGsOHD6dfv37F+gPV6NGj+frrr0lNTWX/weOc01uLXpka/ys1w9T930QpduZGlHcwp4KDORUcLSjvYE55e1MC7lzl8gUflDFKqlWrxkddupKg1Od5XDJhcSn//m9sCmHxyYTGphCVpAl4U5RqrE0N6d/Ijc5VLPEo46T1y3Tm+e727t2rFcyCbheiDIaGhhw7doyPP/4424zvrq6uHDhwIMfpDzRBbU3Gt65EQoqSSs5ifj1BEAQhf0aMGCFnzZ05cyZhYWH07NmToKAgli1bJs8s4OXlpZXUsCiVKVOGqVOncv/+fQYNGpTtOl5eXuzfvx+VSsX777+f474ygsmsgduWLVteWYfKlSsze/ZsfvnlF65fvy4vd3d35/bt21rrnj59WieLcE7MzMxo2bIlN27coFatWoX6/OXl5cWyZcsICQnhk08+KZB9ZlzH172tzen65Veeg1mVSkXbtm0LrCKCIBQdSZIYP368TneWixcvcvHiRb755ht+++23bLuXFAV3d3f27NnD4FkrsW0/Dj1zG9TKVJIDrpEeHYIyOoTOLRqyadk8bM21v4yuXLlC116DePDggdZyGxsbli1bJmdDzE6KUkV4vCaojQm4zdpVU5l14gQHDhzQGp9Sr149evbsSePGjendu/cbnZu9vT2nTp3i3Llz7N69m5CQEKysrOjSpQs9e/bM1a+iLv/rJi0IgiAI+VWrVi3Gjh3Lhg0bUKlUrF69mtWrV2utY21tzfLly4uphhrLli17ZXmfPn3w9vamU6dOjB8/noYNG2JoaEhwcDBnzpyha9eudO/enSZNmmBra8vIkSOZN28ehoaGeHt7c+vWLa393b59m7Fjx/Lxxx9TqVIljIyMOH36NLdv32bGjBnyegMGDGDOnDnMnTuX5s2b4+fnx4YNG7C2ts71ua1bt44PP/yQpk2bMmrUKNzd3UlISODx48ccOXJEK8NyfnzwwQeMGDGCIUOGcO3aNZo1a4a5uTmhoaGcP3+emjVrMmrUqDfap4eHB6ampnh7e1O1alUsLCwoXbo0kZGRubp++ZXnYLZdu3ZcvnyZVq1aFVhlSopHjx6Rnp6OgYEBlSpVKu7qCCXI29I2Vq1apRXI2tjYYGFhQXBwMAC+vr58/PHHnDp1qlgm8k5Rqrht6IlDjzkApEU8JfLwVygjn1G3bl0mTptI//79der2999/06pVK16+fKmzz9jYWEaOHElKSgrjx4/P9rgmhvqUszennL05R28ncPToUUAzDUDmYFahUPDzzz9rbfsmbUOhUNCsWbMin1ZIKB5vy31DKHiibQglxdq1azE3N2f16tUolUqtsipVqrBv3z45yVBJpa+vz+HDh1m3bh27d+9m6dKlGBgY4OrqSvPmzalZsyag+VH52LFjTJ48mf79+2Nubk7Xrl354YcfqFevnrw/FxcXPDw82LRpE0FBQSgUCipUqMCqVasYN26cvN7UqVOJj49n586drFy5koYNG/Ljjz/StWvXXNe9WrVqXL9+nUWLFjF79mxevHiBjY0NlSpVolOnTgV3kdC8gW7UqBFbtmxh06ZNqNVqSpcuzQcffKCT7Ck3zMzM2L59OwsWLKBdu3YolUrmzZvH6NGjc3X98ksh5SW9J3Dnzh169+7N559/zkcffaQz4Bh0ByEXJbVaTUJCgtYyS0tL9PReP7bs1q1bYt43IVtvQ9tITU3F1dVVTiawfv16Pv/8cwwMDDh37hyffPIJ4eHhgGai9CZNmhRp/f4JjWf8/hs8DNd0zxn6QXlGNHImJvIFVlZWlC5dOscAu3HjxnLGv/r16zNhwgRsbGzw9vZm//79gCYZQlBQEE5OTkiSxOXLl/H29mbEiBFaY4HS0tJwcXHBzMxMTur0Km9D2xAKh2gbQk5E2xCyepPn16CgIMqWLVugxw8PD2fv3r34+/tjampKmzZtaNu2ba6enwWhIOW2fef5zWzGTXfSpElMmjQp23VUKlVedy8IQiE5efKkHMh+8sknjB07Vi5r1qwZy5YtY8iQIQDs2bOnyIJZtVpi58WnLDtxn7R0NQ4Wxqz8uBYtqmiSKLk4vrrL861bt+RA1tPTk/Pnz2NioumK6+XlhY2NDZs3byYtLY2dO3cybdo0du3axeDBgwHNmI/OnTuzZ88euevvzJkzGTNmjE62dkEQBEF4Gzk7OzNx4sTiroYg5Fqeg9m5c+cWS/fDoiB+HRVy8ja0jYxEDgCtW7fWKW/Tpk226xamFwkpTPnpNn89jNDUy9OJr3rVwt4i91n1rl27Jv89bNgwOZDN0KtXLzlzXsa6Xl5eGBgYkJ6ezqZNm3TGCP3444+sW7eOAwcO0KBBg1ce/21oG0LhEG1DyIloG4IgCPmT52B2/vz5BVgNQRCKio2Njfz3nTt3dMozZ+TLvG5hOfVPOFN/vk10UhrGBnrM/qgq/RuVe+MfyzKPmMi87Y0bN5g6dapW8oSMde3t7Zk5cybe3t4EBARku9+QkBDatWvH1atXS8SYttTUVO7fv49SqcTDwwNbW9virpIgCIIgCEKxEB3gBeEd07ZtW0xNTQHYtm0bly5dkstevHjBrFmz5M/dunUrtHqkKFXMOXiXYd9fIzopDU8XS46M+5ABjd3z1Oujfv368t/bt28nLS0NAHNzc06dOqUV7GZet0qVKnIg6+zsjLe3NxEREZw9e5bGjRsDmuRRixcvztN5FpSEhARmzpxJmTJlqFOnDg0aNMDZ2Zm+ffvy6NGjYq2bIAiCIAhCcchzAqiSLj8JoAThbTdmzBg2bdokf27RogW2trb8/vvvcibgihUr8s8//2BgkOcOHDnye65J8vTohSbJ07APyzOtQxWMDfTzvM+AgACaNm0qd41+//33mThxIra2tvTt21eevNzAwIDg4GCcnZ0BaNmyJT4+PgD8+eefWl2v4+LicHd3JzY2FmNjYyIiIuRJ14tSbGwsrVq14saNG9mW29jY8Oeff2oF6YIgCMJ/T3EngBKEkiK37VsEs9mIjIxErVajp6eHg4NDYVVR+A96W9rGy5cv6dSpE2fPns223MnJidOnT1O9evUCO2ZCipJrgTGcfxTJ7kuBpEl8+t8AACAASURBVKnUOFoas+rj2jSr7JivfV+9elWeIF1PTw+1Wp3juitXrmTy5Mny59KlSxMaGoqjoyPh4eE6b4X79++Pt7c3oOmCnZHaP6vCbBuDBg1i165dABgaGsoJrQ4fPiwH6eXKlePRo0cYGhoW6LGF/Htb7htCwRNtQ8hKBLOCoFHo2YzfZiEhIXKqfPHlImT2trQNMzMzfv/9d77++ms2bdrE06dPAbCwsGDgwIHMmDEj31+Q8SlKrj2N5nJANFcCorj7PB6V+t/fztpUdWJ5zzdL8gSa8a4vX77E3NxcXla/fn1cXV0JDg5GX18fNzc3+ZwyWFpasmTJEq3szaDJYgyQmJhIcnKyTubiiIgInXWzU1htIzw8nH379gFgZWXFxYsX5R8Z4uPjadOmDb6+vgQGBnLw4EE+/vjjAju2UDDelvuGUPBE2xDyQ09PT24/gvA2eZMZcUQwKwjvKGNjY6ZOncrkyZMJDg4mLS0NV1dXnSzAuRWXrMT3STSXA6K48iSae8/jUGfp9+Fsro+DFIubQTydHRVYm+S+W3FcXBwbNmxg586dtG3bVqubtL6+PjNnziQhIYH+/fvj4uLCH3/8wblz51AqlVStWpVPPvkECwsLnf02b96cp0+fkpyczJo1a/i///s/uezKlSucPHkSAFdXVzw8PN7wquTfn3/+KU9gP2LECK235VZWVixcuJCOHTsCcOzYMRHMCoIgvCPs7OwIDQ3FwcEBU1PTt3aWEeHdolKpCAkJwcnJKVfri2A2G25ubnK3H0HI7G1sG3p6eri5ub3xdilKFeceRXLJP4orT6LwC40n66AFd3sz3i9vj6txMnvWzOfqmRNy2WagbNmyrFy5kk8++SRX9fzyyy95+fIlkZGRrF69WivwHj16tNb6HTt2lIO8Vxk7dizff/89ALNnz+bixYu0a9cOPz8/vv/+ezlx1KhRo9DXzzn4Lqy2kbm7WZUqVXTKPT09s11XKDnexvuGUDBE2xDyw9TUlDJlyhAVFSUPORGEt4GTk1OuX66IYDYbYqoLISfvettIV6m54B/F4ZvP+f1eGImp6VrlFRzMeb+CHY0q2PN+eXtcrE24f/8+TZq0ICYmRmd/QUFB9O7dm+TkZAYNGiQvj4qKIjAwkHr16snLLC0t6dWrF7t27aJevXqEh4dTrly5fJ/Te++9x+zZs+VsxcePH+f48eNa6zRr1oxJkya9cj+F1TYyd/f+7bffGD58uFZ55rrm5UcJofC96/cNIWeibQj5pa+vn+s3WILwNhIJoARBeCVJkrj+LJbDN0M4dieUyMQ0uay0tQktPZ14v4I9jcrb4WSl+yta69at5TleK1WqxJgxY7C1tcXb25s//vgD0IzhDQ4OxsLCgs8++4z9+/dTvnx5/Pz8tLpN+fv7o6+vj7u7e4Gf43fffcfixYsJCgqSl5ubmzN06FCWLVumM5a2qKSlpeHm5kZ4eDgAixcvZvz48ZiZmXH48GGGDBlCbGwsoJlTt06dOsVST0EQBCH/xPOrILwZEcwKgpCtB2EJHLoZwuFbzwmOSZaX25oZ4mmWRNjVY8Q8uo6VpQWdO3dm6NCh2Nvba+3j/v37VK1aFQB3d3du374tT20jSRIDBw5kz549AKxZs4YJEybQvHlz/vrrLwBOnz5Ny5Yti+J0AUhPT+evv/4iODgYKysrWrZsibW1dZEdPycbNmxg3Lhx8mcjIyOMjY217nFdu3bl4MGDxVE9QRAEoYCI51dBeDOim3E2MmfQetUYOeHd87a3jaDolxy+9ZzDN5/zIPzfL1NzI33aVXehSRlDFo7px/7bt7S2O3fuHIsXL+bHH3+kffv28vLLly/Lf3/22Wdac7Q+fvxY6w3rpUuXmDBhAqNHj+b27dsMHTqUChUqFMJZ5szAwIBWrVrladvCbBtjxowhLCyMJUuWAJq3tWlp/74hb926Nbt37y7QYwoF522/bwh5J9qGIAhC/ohgNht3796VU53Xrl27uKsjlCBva9s4fT+cjWf8+Tvw33GtRvp6tKjiSJc6pWnt6QyqNN577z38/PzkdfT19eWHsfj4eLp168bFixepW7cuoHnTmSHzVDrDhg1j+/btWl2IM9bt0aMHnTt3LrZuvXlVmG1DoVCwePFievTowaZNmzh//jxKpZJq1aoxfPhwvLy8xINwCfa23jeE/BNtQxAEIX9EMCsI77i/A2MYsetv0tUSCgU08bCnS+3SdKheCmuzf+eu27rVWw5kK1SowLfffkurVq14/PgxkyZN4ujRo6SkpLB48WJ++eUXAGrWrClv//333zN27Fj09fXlKW4yj3LIWNfQ0FDMmZeDevXqsXXr1uKuhiAIgiAIQokggtlsWFpakp6ejoGBuDz/z959h0dR7X8cf296T0ihhNBL6NKbIiAiHUUvinjpXCsiSrkqKqgolosFrti9IE1AUVBBLBQREOm9GRJCCSSEAIHU3Z3fH/kxZskuJAZIQj6v5+FhM2fmzJndb07mu3PmjDi60WIj+XwmI+ZuwWo36FK/HC/d2YByTiZxApgxY4b5es6cObRu3RrImdRp4cKFVKtWjRMnTrB48WJOnz5NaGgo4eHhREREkJSUxNatW+nevTtjx46lRYsWhIaGcvr0aSDnsTvDhg275sd7Ld1osSFXj2JDXFFsiIgUjiaAEimlbHaDwf/7gzUHT1Ejwp/FI24hwNv1CVVkZCQJCQmUK1eOEydO5CkfMmSImfBu27aNlStX8tRTT2EYBm5ubtjtdpd1P/fcc7z88suFPiYREZGSTOevIgWj3wyRUmrqLwdZc/AUvp7uvP/PZpdNZAHzHtaUlBTOnj2bpzwuLs587e/vz80332wOI65ZsyYRERF5tvH09GTChAm89NJLhTgSERERESmNNK5F5BoyDIMtW7Zw9OhRAgMDadOmDb6+vkXdLFbtT2TqioMATL67IbXLBV5hC+jSpQvTp08nKyuLiRMn8tZbb2GxWDhx4gRjxoxh1apVQM79tNWrV8fNzY2+ffvSpEkT/vWvfxEQEMCXX37Jr7/+ak5eNHDgQMqVK3ctD1VEREREblAaZixyjSxYsICJEyeyd+9ec1mZMmV45JFHeOGFF/D29r6q+8vOzuaXX34xn5HaqVOnPM99BTh2Jp2eU9eQkpbNA60q80qfhk5qy2vPnj00bNjQHC7cpEkT6tevz5w5cxwmcrr4vFgREREpGJ2/ihSMklknYmNjzQkZqlWrdq2aKCVQfmPjrbfeYvTo0S7L77jjDr799lu8vLwK3SbDMJg+fTqvvPIKCQkJ5nJvb28GDRrElClTCAgIACDLaufeD9ez7cgZGkUFs/DhNnh75P+RLv/97395/PHHXZZ369aNJUuWlMrJTNRviCuKDXFFsSGXUjIrUjD6zXDi3LlznD17lnPnzhV1U6SYyU9s7Ny5kzFjxpg/t23blpdeeon777/fTPJ+/PFH3nnnnavSpvHjxzNixAiHRBYgMzOTjz76iM6dO5OWlgbAq0v3su3IGYJ9PXmvf9N8J7Lp6el89NFHeHl58c0339C0aVOHcn9/f8aOHVtqE1lQvyGuKTbEFcWGiEjhlM6zTpFr6L333jOH3Y4bN47XX3/dLHv44Ydp3769ud7o0aNxd8//ldFLbdy4kcmTJ5s/33XXXXTp0oU9e/bw6aefkpaWxu+//86bb75Jk7v+xYx1cQC8fd9NVAr1y9c+0tLSqFmzJgkJCURERHD48GF69+7N3r17zSHNzZo107NhRUREROS60jBjJ6xWK4ZhYLFYSu1VJnEuP7FRq1Yt/vzzT7y8vEhKSiIoKMihvHPnzvz8888A7Nu3j+jo6L/dnsGDBzNz5kwAJk+ezNNPP22Wbd26lebNm2O326kQ3YSQe18lLcvGYx1rMLZLnQLt5/777+eLL74A4JtvvuHOO+/8222+UanfEFcUG+KKYkMupWHGIgWj3wwnPDw88PT01B8WySM/sZGeng5AUFAQgYF5ZwmOiorKs+7f9euvvwLg6+vLyJEjHcqaNGlC165dsXj6wC3DScuy0aZ6GE/eXttpXYZh8OOPP/LUU0/lKRs9ejT9+/dn06ZNSmRdUL8hrig2xBXFhohI4SiZFbnKatasCcCpU6dYs2aNQ1laWhpLly4Fck5iKleuXKh9ZWVlATnJrLNH/pQJDSW0y2N4hVehjK8bU+9vgoe781/7fv360aVLF95++23WrVvnUNa8eXPmzJlDs2bNCtVeEREREZGrRcmsyFU2ZMgQ8/U///lPFi9eTFZWFtu3b6dPnz4kJiYC0KdPH0JDQwu1r7p16wJw+vRpli9f7lB29uxZfjqUTkD9jhh2G2/d04CIQNePA+rWrZv5etasWYVql4iIiIjItaZ7Zp04c+YMdrsdNzc3QkJCrlUTpQTKT2xkZmbSunVrtm3b5rIePz8/fv/9dxo2zN8zXl2ZP38+/fr1AyA8PJzXXnuNrl27smfPHv79+nSSGw/C4uFJ9XPbWDF9PABHjhxh2rRpjB07loiICId233fffQwcOJA777yzUBNTlUbqN8QVxYa4otiQS+meWZGC0U0aThw+fJjs7Gw8PT31x0Uc5Cc2vL29WbZsGb1792bjxo15ykNDQ/nyyy8LncgC3HPPPdxyyy389ttvnDp1iuHDhwPg5hNIhcHv4OHhSXbsJj565QEA5s6dy6BBg7Barfj6+vLiiy86tPubb74pdJtKK/Ub4opiQ1xRbIiIFI6+5hG5BsqXL8/69ev59ttv6du3L23atKFLly5MnTqVQ4cO0bFjx6uyHw8PD7799lvuuOOOXEsthPV8Co/gchipicwb1d28j/eWW24xHxv02WefYbPZrko7RERERESuNw0zdiIpKQmbzYa7u7vDMEyR4hobhmGwYcMGZs2axeb0CBLCm5Kx/zde7teGB+/v47DuyJEjCQkJYcSIEZQtW7aIWnzjKa6xIUVPsSGuKDbkUhpmLFIwSmZFbiBfbz3KE5/8wvE5/8Z29iStWrVi/fr1WCyWom6aiIiIXIHOX0UKRr8ZIjcAu93gjR/28eT87VgCwggNDgJgw4YNTu/bFREREREp6TQBlEgJlpGRwW/rN7DgiD8/7jkJwKMda1Kh/vPMmzeXsWPH0qJFiyJupYiIiIjI1adhxiIl1CeffMLzEyaQmJRM5EOf4Bscxuv3NKRPkygMw9DQYhERkRJG568iBaMrs07s2LHDnCq/UaNGRd0cKUaKU2ysWLeJE8ePA5C15Ru+mfsxzaqUAVAiWwSKU2xI8aLYEFcUGyIihaOveZwwDMP8J5JbUcVGVlaWwz4XbTnK74HtsHh4U7bBLcx6bYyZyErRUL8hrig2xBXFhohI4SiZdcLX1xc/Pz98fX2LuilSzFzv2MjOzuazzz4jOjqaxYsXY7cbvLZsH08t2I7dN4QH3vqGQ5tWcke71telPeKa+g1xRbEhrig2REQKR/fMihRjy5cvp2vXrgA0aNiQlk9+wi/7kwAY0bEmT3WujZubhhSLiIjcCHT+KlIw+s0QKcbuuOMOWrZsCUBCti8/bjuEl4cb7/ZrzJgu0UpkRURERKTUKlETQK1atYqOHTs6LVu/fj2tW2uopZRMJ0+eZOrUqaSlpfH222+byy0WC488/TJnlu4lM6wmEYHefDSgGU0q6/5YERERESndSlQye9Grr76aJ6lt0KBBEbVGpHCsVitNmjQhISEBT09PRo8eTVRUFABfbj7Kq5tsZIXVpH5kEB8PbE5kiO6tEhEREREpkclsrVq1rulV2CNHjmCz2XB3d6dSpUrXbD9S8vzd2DAMg0yrndQMK6kZ2f////+/zrTS5PY+JMyajt0weHTKXKKadyL5fBYbYk8D0K1BeabcexN+XiXyV7ZUUL8hrig2xBXFhohI4ejM2InTp0+bz33THxfJ7e/ExubDp3lszlYSzqaTEbeN87t+Jrz7k1jc//r1swW3IajlCQKb9WaHdzg7dp4wy0beVpNRt2uip+JO/Ya4otgQVxQbIiKFUyKT2ccee4x+/frh5+dHmzZteP7557nllluKulkieZxNz+bxuVs5cS6DlF8+JnXzEgC86remepvuBPh4EOjjQaBPJIG33USg98WfPQn08aBW2UAaRgUX8VGIiIiIiBQ/JerRPFu3bmXmzJl06NCBsLAw/vzzT958800OHDjA999/T5cuXcx1nU1tHh8fT5UqVQgKCjKXZWZmsm/fPgDKlClD5cqVycjIwDAMLBYLR44cIS0tDYCbbrrJob5Tp05x7NgxACpXrkyZMn9NymOz2di1axeQM6V69erVHbaNjY3l3LlzANSvXx8Pj7++Vzhz5gyHDx8GIDIykoiICIdtd+zYgWEY+Pr6Urt2bYeyI0eOcPp0ztDU6OhofHx8zLLz588TExMDQNmyZalQoYLDtnv27DG/Ia5Xr55DWUJCAomJiQDUqFGDgIAAsywjI4P9+/cDEBoamufb5QMHDpCeno7FYqFRo0YOZUlJSRw/fhyAKlWqEBISYpZZrVZ2794NQFBQENWqVXPY9tChQ+Zn3KBBA9zd3c2ylJQU4uPjAahYsSLh4eEO227fvh0APz8/atWq5VAWHx9PSkoKAHXq1MHb29ssO3XqFEePHgWgfPnylC9f3mHb3bt3Y7Va8fb2Jjo6msfnbeW7HQlUCfNjSMUkhjxwHwDdu3fn+++/N7dLS0vj4MGDAISFhZn3zF60f/9+MjIycHd3z3N/eGJiIgkJCQBUrVqV4OC/kt+srCz27t0LQHBwMFWrVnXYNiYmhvPnzwPQsGFDh6n/k5OTzWONiooiLCzMLLPb7ezcuROAgIAAatSo4VBvXFwcZ8+eBaBu3bp4eXmZZWfPniUuLg6AChUqULZsWYdtd+3ahc1mw8fHh+joaIeyo0ePkpycDOTcbuDn52eWXbhwgT///BOAiIgIIiMjHbbdt28fmZmZeHh4UL9+fYeyEydOcPLkSQCqVat2xT4it4MHD5KWloZhGERHR2OxWMzfO/UROUpTH3Hu3DliY2MBKFeuHOXLl3f4mxITE2P2EXXq1HGo9/jx4yQl5Tx6q2bNmvj7+5tl6iP+UlL7CMh7HpGQkGDWW6VKFfURlM4+Ire9e/fmiU09mkfEtRJ1ZbZJkyY0adLE/Lldu3b06dOHhg0bMm7cOIdk1hmr1cqlubthGGRnZ5vlgEPHbbVazfJL2e12s8xut+cpv7TeS9tysfzSNuWu12azOa3XMAw8PT3zlNlstkLV6+pYc9d76bHmfg+d1XvxWC2WvMNk81vvld7DS12rz8bT09PcxtV7uHv3br788kva3D2M73ZbcHez8G6/JoQa57jrrrto2bIljz766GWPdeXKlaxZs4asrCzq1q1rnrA52+flPvPcx1rQzzy/76Gz7XO36VJXipesrCzsdrvDSYWzei/3u3y5Y3X2HuW33ivFi6+v4+Rc6iMw91Na+ghnx5r7b0p2djZWq9XpienViG/1EcW7j7iUu7u7uY36iNLbRzirV0Typ0Qls86EhITQs2dPPvjgA9LT0/OcTObm4eGRpyO0WCxmZ577W83c2zjr7AHc3NzMMmcnJvmt99I25a7X2R9rT09PDMNwWq+7u3uh6s39v6t6Lz3W3O+hs3ovHquzP0L5rbe4fDZXOtY1a9YwcuRIAFbGnCOk+1M8eXstGlcK4fjxNCZOnOh0vxfr3b17Nw888AAHDhxwKA8ODubxxx/nvvvuy7PPy33muY/V1Wde2PfwSvFyqSu9h15eXthstivWW9DPxtPTE7vdXuDfm+IYh+oj8tZbXD6b/MRh7nVyK2x8X5xIqCD1Xtz2cvWqj1AfUZB6c//vql71EVd+D0Ukf0rUMGNXHn74YT788EPS09PNb8CdDTPWMA251tLT04mKiuL06dO4+YVw52uLWPhYB9zzMXnTtm3baNeunTmkz5l3333XTJZFRETkxqLzV5GCKfHJbEpKCg0bNiQiIoKtW7eaywvTGZw/fx673Y6bm5vDPR0iF2Nj69atfPrppzRo0IBx48Y5rHPPiBdYdTCZck078+O4O4gq4+eiNke33HILa9euBaBx48aMGjWK0NBQZs+ezYIFC4CcKxLx8fGUK1fu6h6YFJr6DXFFsSGuKDbkUkpmRQqmRA0z7t+/P5UrV6Z58+aEh4dz8OBBpkyZwsmTJ5kxY8ZV209MTIw5gcGlkzVI6RYTE8Px48fp2bMndrudyMhInnzySXNY0ObDp9ka2IrAJjD5vsb5TmR37dplJrK1atVi3bp15pD5Xr16ERoaygcffEBWVhYzZszg3//+97U5QPnb1G+IK4oNcUWxISJSOCXqa55GjRqxfPlyhg8fzu2338748eOpV68e69at4/bbby/q5kkJYhgGaWlpTidfuJKIiAjat28P5AwrvjgTaGpGNqPmb8NuwF2NI7mzccV817lp0ybz9bBhw/Lc+/3YY4+Zrzdu3FjgNouIiIiI3GhK1JXZp59+mqeffvqa76ds2bIuJ9KQki0uLo63336bWbNmkZKSgoeHB927d+fJJ5+kQ4cODuseO3aMqVOncuDAAb7++mvgr9gYPXo0/fv3p3///uajHyYs2c2R0+lUDPHlpbsaXLrry8o92t/VBC7O1pXiQ/2GuKLYEFcUGyIihVOiktnr5dLnpsmN4bfffqNHjx7mc/kgZ/r8JUuWsGTJEiZNmsT48eOBnISxW7du5nMSN2/eTLNmzczYuPQZj0u2H2fRlmO4WeCdfo0J8inYbIRNmzY1X//vf/9j5MiRDs9d/PDDD52uK8WH+g1xRbEhrig2REQKp0QNMxb5u5KSkujdu7eZyPr4+NCuXTuHh5U/99xz5hVYi8XCiBEjgJxJl7Zs2eKy7mNn0hn/dU7SO6JjTVpUDS1w+2666SZatWoF5Dx0vn379ixcuJBffvmFoUOH8u677wI50/0PHTq0wPWLiIiIiNxodGVWSoWPP/6YlJQUADp16sQXX3xBeHg46enpDBgwgK+++gqAN954gz59+gAwYMAAEhISePDBB11+e26zGzw5fxupGVYaVwrh8U61/nYbp06dSocOHUhPT+f333/n3nvvzbPOyy+/rG/yRURERES4AR7N44qmNpfcmjRpwrZt2wA4dOgQ1apVA+DZZ59l8uTJDuvGx8dTqVKlfNX73so/eXP5fvy93Fn6RDuqhPkXqp1r165l4MCBHDp0yGF5QEAAL7/8Mk888YTTh8aLiIhIyafzV5GCUTLrxJ49e8yp8uvVq3etmijXUVRUFMeOHaN8+fIkJCSYy2NiYqhduzZ2u91ctnnzZpf3peaOjezASO55fx1Wu8Gb/2hE3+b5S4CvxGazsXz5clavXk1WVhb16tXjvvvuIygo6KrUL9eG+g1xRbEhrig25FJKZkUKRsOMncjOziY7O7uomyFXic1mM58De+LECWJjY80rszVq1GDy5Ml8+OGH5tXQiIgIl3VdjI30bDvPLN2G1W7Qo2EF/tEsyuU2BeXu7k737t3p3r37VatTrj31G+KKYkNcUWyIiBSOvuZxwtPT0/wnJd/q1auJi4szf/7Xv/5FcnIykDObcWZmppnItm7d+rJDjC/GxYztqcSeukCFYB9e6dNAQ39F/Ya4pNgQVxQbIiKFo2HGcsOxWq14ePw16MButxMdHc2ff/5pLvPx9aNBp3s4fuwoifEHsaWexshKY9GiReYEUK78sOsED8/ejMUCc4a3om2N8Gt2LCIiIlJ66PxVpGCUzMoN4eLzYqdNm0bt2rUdnssK8N1337Fnzx4mTZqEtVw9ynQYjGeY4xVYd+xEhQVQNtCbskE+lA30plyQD+WCvCkbmPO/xWLhnvfXcSYtm4faV+eZbnWv52GKiIjIDUznryIFo2RWbgipqalUrFiR1NRUfH19OXr0KKGhjs973RqfwoSvt7EjIQ0AW/o57Gln8Q4pi93du0D7a1AxiEWP3IyXh+JJRERErg6dv4oUjCaAkhIpNTWVwMBA8+fAwEAGDx7MtGnTqFSpEnFxcWYyezj5Am8s38/3O3JmMfb2cGPYLdUY2KICESEBuLu7k55lIzE1g8TUTE6ey+Dkucycn8/l/HxxeWqGlWBfT965r4kSWRERERGRIqQrs04kJCRgs9lwd3enQoUK16qJ8jcsXbqUd955h0OHDrF3715WrlxpPsImPDyc6OhoevfujZubGykXspi64iCzfz9Mts3AYoG7m0Qx+o7aRIb4/q39x8Yfw2634eftqdgQB+o3xBXFhrii2JBL6cqsSMHoyqwTiYmJ5nPf9MeleHnnnXf46aefAKhatSrHjx93KA8MDGTCy6/gd1M3pq+KITXDCkC7WuE8060u9SL/3rNas7OzWbJkCV999RVZWVnUqFGDcePGERYWVrgDkhuG+g1xRbEhrig2REQKR8msFFsnTpygfPnyDstGjRrFTz/9hMViyZPIggV75Ra8vT8Aj4T9ANStEMQz3epwa23Xz469khUrVjBw4ECOHTvmsPzdd9/lhRde4JlnntGjeURERERErjMNM3bi/Pnz2O123NzcCAgIuFZNlEvs37+fo0ePEhcXx+LFi1m6dCm7du2iTp065jp2u50GDRqwd+9eAJo3b85TTz3FSUsZPtl4ivOeZQCwpp7ixXuaMbhDfdzd/n6iuW7dOm677TYyMzNdrjNx4kQmTJjwt/chNwb1G+KKYkNcUWzIpTTMWKRglMzKVXXw4EHef/99fv31V7Kysqhbty7Dhw/n9ttvd3n1cunSpUycOJGNGzfmKXv44Yd5//33zZ937txJo0aNsHj6UKPVHQwa9wq/x6Ww69g5ADyMbJJWzyF18xJenvgC48ePL9TxtGjRgk2bNgHQvn17xowZQ2hoKHPmzGH69OkAuLu7ExcXL+ijtgAAIABJREFUR1RUVKH2JSIiIqWbzl9FCkbDjOWqeeuttxg7dix2u91ctnPnThYsWED37t1ZsGAB/v7+Dtu8/PLLvPDCCy7r/O2337BarVgNC1vjz/DB8n2Ue+B1vCtEk+3uwSdrDwPg4Wbhn62r0K0ytH7jSwA2b95cqOPZsmWLmcg2aNCAn376CU9PTwDatm2Lv78/b775JjabjU8//VRXZ0VEREREriMls3JVfP7554wePdphmYeHB1ZrzgRMS5cuZeDAgXz11VcA7Nixg8cff5xff/3VXL9Ro0Z07dqVffv2seS77/EsV5P4wHp0fHERiUYgmVY74IdPVH0AAixZdGtanbY1w7i5ZjhlA33M4cdXw/bt283XgwcPNhPZi4YPH86bb76ZZ10REREREbn2lMw6kZGRgWEYWCwWfHx8iro5xZ7NZnO4ujpmzBiefvppgoKC+PLLL3n44Yc5d+4cixYtYsuWLTRt2hR3d3eHRPaRRx9l5HOTWXPwFIl1TlG7wYNk2nLKjmQD2IkI9KZemDuL3p9MxuEdVCsbxMsTdjh8RheH/kLO/bSFkXtIT1ZWFuAYG7nvo9XwH1G/Ia4oNsQVxYaISOEomXVi//795lT5N910U1E3p9hbvXo1hw/nDPe94447zKuVAPfffz87duzgtddeA2DGjBk0bdqU+vXr4+sfQEZmNr41mvNHRHe6vrvGoV43awapMZvJOLyDRe9P5vaWDbBYLMTMfp61Z09y8OxJbr75Zp588knCwsKYM2cOc+bMAcDT05OhQ4cW6rhatWplvv744495/PHHiYmJMWNj2rRpTteV0kn9hrii2BBXFBsiIoWjZFYKLS4uznzdu3dv83VCQgL33nsvv/32W84Cixu7T6bxzs8HWH0gidCB7+EeEILFzZ1TGeDt4Uar6mG0qxlOmxphvD1hNJ998ykAYZ4vmRNITZs2jXbt2nHhwgW2bNnCgAED8rRp8uTJeR7rU1B16tShY8eOrFy5ktjYWFq2bMndd9+Nv78/y5cvZ/Xq1QB4e3szZMiQQu1LREREREQKRsmsE6GhodhsNtzd3Yu6KSVC7kmdYmNjzddly5Yl9v+v2AKUHzCFmAq1eOfngwB4BIWRdeowGbFbmTxyAIO634yPZ857npmZyfIffgByhvBWqlTJrKdJkyasWLGCQYMGsW/fPoe2BAUF8corrzBixIircmzTpk3j5ptv5uzZs+zdu5dXXnklzzrvvPMO4eHhV2V/UnKp3xBXFBviimJDRKRw9GgeKbSTJ08SFRWF1WolODiYn39dz/okD77fmcCGb/7Hhd0rCGzaE//6t+Hr48Vt9SJpXzuChK0reOrhnCua1atX56OPPuK2224jNjaW0aNH88033wA5V3sXL16cZ792u50VK1awZs0aMjMzqVu3Lv/4xz/yzJhcWDt27GDo0KF5ZkcuV64cb7zxBgMHDryq+xMREZHSSeevIgWjZLaUOHPmDJs2bSIrK4vo6Ghq1KhxVeo1DIMePXqwbNkywEJI+8EENeuBxTNnIgu7NZOsk3FkxG3B90wsB37/kcD/TzYzMjJo1qwZe/bsMevz9PQkOzvb/NnLy4u1a9cWejKnwjIMgz/++MPh+bk9e/bEy8urSNslIiIiNw6dv4oUjIYZ3+CSk5N55plnmD17Nunp6ebyjh078tprr9GyZctC1W+xWPAJCvv/nwzcvHywePqQdTKGc5sWkx6zCXv6Ofz8/FiybJmZyAL4+Pjwww8/0KNHD3bu3AngkMgGBATwxRdfFHkiCznH2apVK030JCIiIiJSTOjK7A0sKSmJdu3asX//fqfl3t7efPvtt3Tu3Dlf9cXExDB//nyeeeYZAH778xQfrj7EinUbSVr8GkHNelGlbhMO/zyT03vWATlJYI8ePXj55Zdp3Lix03qzsrJYtGgRn3/+OUePHiUoKIgePXowfPhwIiIi/saRi4iIiJQ8On8VKRgls04cOHAAq9WKh4cHtWvXvlZNvOYeeOAB5s6dC+RM0tS/f3/CwsJYuHAhMTExAISFhXH48OEr3mc6fvx4Jk+ejGEYvPThfNanV2BPwjkA3N0sdG9Qnofa16BBxWAuXLjA9u3byczMpHbt2lSsWPHaHuh1dKPEhlx9ig1xRbEhrig25FJKZkUKRsOMnUhPTzef+1bcGIbB5s2bOXLkCIGBgbRt2xY/P7886504cYIFCxYAUKZMGTZv3ky1atUAeOmll+jVqxfLly8nOTmZefPmMXz4cIftL1y4wKxZs5g1axZHjhzBbnHn4vcer015l4g+z+Lr6c59LSox7JZqVAr9qw3+/v60bdv2Wr0FRao4x4YULcWGuKLYEFcUGyIihaNk1gmLxWL+K04WLFjAxIkT2bt3r7ksJCSEhx56iIkTJ+Lj42MuX7VqFVarFYBhw4aZiSzkTLI0YcIEli9fDsBPP/1kJrN/bNzEK5NfZ8uBw5xKN3D3D8Gzxu34N+iE96JJ+NZqRdmmnRnRuTb/bF2FMv6lawKk4hobUvQUG+KKYkNcUWyIiBSOklknGjVqVNRNyOPtt9/mqaeeyrP8zJkzvP7662zcuJGlS5fi7e0NQFpamrlO5cqVATh9IYvtR89wKjWTPxO9KHPbcNz9Q9hVthad31rN/jVLOPLNWwAEtbybcj2HOuwrrMdTnNv4NTHT/0WTu3+kjH+ta3W4xVZxjA0pHhQb4opiQ1xRbIiIFI6S2SJis9lYvnw5q1evJisrizp16tCvXz+Cg4PzrLt7925Gjx5t/nzzzTfTtWtX9u/fzxdffIHVamXFihVMmTKFZ599FsDh0Tvzl63mWGR7Fm09RpbVbi4PbH4nFouFC8DBxPMYUU3BzQPsVi7sW0Nok840rlODGhXL0ryCN0s/XsisbcsAmDRpEj/88MM1endEREREREQuTxNAFYF169YxYMAADh065LDcz8+PiRMnMmbMGIchR4899hjTp08HYOzYsbzxxhtm2dq1a2nXrh2GYRAVFUVsbCweHh7YbDZq39yd1KjW+NX86/E7VUK8OL3tRw78sgD3MhXxCCnHpPHjaFa/FuEB3tzWqhHH4+MA2Lx5M02bNjW3tVqt1KpVi7i4nPKEhATKly9/td8eERERkVKpOJ+/ihRHSmavs82bN3Prrbc6DAO+1KRJkxg/frz5c506ddi/fz+enp4kJSXluXrbrVs38yrpjp27iLWV4eNfD7Hz2FkADMNO+sENnPvjazKP7XHY9t5772X+/Pnmz5UrV+bIkSNERESQmJiYp20PPvggH3/8MQCbNm2iWbNmBXwHRERERMSZ4nr+KlJcaZjxJY4fP84PP/xARkYG0dHR3HbbbVd1YoaRI0eaiWyrVq0YPXo04eHhzJ07l08++QSACRMmMGjQIKKiooCc2Q4BAgICCAoKylNnxYoVsXj5EtDoDoYsiudUWhwAntiobj/KrzNeJyMpPs92/v7+Dld5IafDBEhOTiYxMZGyZcs6lO/bty/PuqVJUlISNpsNd3d3PQNXHCg2xBXFhrii2BARKRwls//v+PHjjBo1ikWLFmGz2czljRs35s033+T2228v9D527tzJunXrAIiOjmb16tXmhE0dO3YkODiYKVOmYLPZ+PTTT5kwYQIANWvWJD4+npSUFFatWkXHjh3NOmNPpvBDgg9Rj87AzdufU2l2QtyzCdm3mJ2rvqV+u1vYv2kNH330Eb/++iuZmZmEhITQtWtXRo4cibu7u0Mbe/TowZ49e7Db7YwdO5ZPP/0UD4+cMPnqq69Ys2YNALVq1aJmzZqFfk9KmuPHj5uPUdCJh+Sm2BBXFBviimJDRKRwNGaBnD8mbdu2ZeHChQ6JLMC2bdvo2rUrixYtKvR+tm7dar4ePHiwmche9NBDD5mvt2zZYr4eOvSvWYUHDBjA119/zdbYJAa9v4KOb63Bo2E33Lz98ck6w2t3N+S357px8PcfOX06me+++w4vLy8mTZrEr7/+yoYNG1i+fDlPPvlknkQW4NFHH8XLK+dxO59//jm1a9fmoYce4tZbb+Uf//iHud6oUaM05EVERERERIqMrsySM/T38OHDAISFhdG/f39CQ0P5+uuv2bFjBzabjcGDB9OpUyensw3nV+7hyna7PU957kQ697p9+/bl7bffZvPmzZxIzeLBGb/jX9cLwzDIOn6A9JhNcOYoq+a9R+Obch7DM2TIEP7zn/9wzz33mMOU86Nq1arMmDGDAQMGYLPZiI2N5aOPPnJY54EHHuDhhx/Od503kipVqmC325XISx6KDXFFsSGuKDZERAqn1E8AdfToUfOPSUREBNu3b6dChQpmHX379jWvyk6bNo0RI0b87Tbt3buXevXqATmPztmxYwd+fn5m+eOPP85///tfIO8kULFHE+g5dirnK7bE4uGF3W4l4aOHsJ49icViYenSpXTt2tVcPzk5GYvFQmho6N9q65o1a5g0aRI//vijuax27do88cQTPPzww/rDKyIiInKVaQIokYIp9b8Zv/32m3mVdPjw4WYieyYti2y7YT63FWDlypWF2lfdunXp0KEDADExMbRu3Zr//e9/LFmyhH79+pmJrKenJ8OGDQPAZjdYsPEI987czYUqt2Dx8CIo4wTlt8+krH/OMGHDMDhz5ozDvsLCwv52IgvQrl07li9fTkJCAps2bWL//v3s3buXRx99VB2qiIiIiIgUuVI/zDgzM9N8fXHyhaMpaQz67A/qRwYz5payTtf9u6ZOncrNN99MamoqO3fudLgf9qLXX3+d8uXLsz4mmYmLtrBpxXdkxu+g2aDnGd+jHp3rlcNiGcbq1at5/vnnGT58OL179y5025wpX768niUrIiIiIiLFTqlPZmvXrm2+XrBgAaNGjeJQYiqHk9OISbpA/P6dZnl0dHSh99ewYUNWrVrF4MGD2blzp0NZmTJlePXVV+nWdwAPzdrE8t0nOTn/eTLiciaOeqn1y7Sv/1di2b59e3799ddCt0nyz2q1YhgGFovFnOVZBBQb4ppiQ1xRbIiIFE6pv2fWMAzq16/P3r17Abj//vu555572Jnqy4x9OW/N6V8+JnXTYnbv3m3e81pYhmGwZs0a83E5derUoVPXnny24Tj/WxtLts3A3c1CgwvbWDI1597ZZ599lldeeeWq7F/+nu3bt5uPUbjpppuKujlSjCg2xBXFhrii2JBL6Z5ZkYIp9V8DWiwW3nzzTXr16oVhGMybN4958+YBENTqHsp0GEJop39xa4ubrloie3G/t956K7feeivxR44y6qUpDB0xmoj+r+MRGM6ttSN4rkddKgffxlPZRxkyZAgtWrS4avsXEREREREpyUp9MgvQo0cPZs+ezb/+9S/S0tLM5ec2fIV7QBhBzXuzv0wr1sWcom2N8Ku67/Uxyfzz0ec49ONMADwPruSzaW/QMfqve3WnT59+Vfcpf19QUBBWq1XDwSQPxYa4otgQVxQbIiKFU+qHGeeWnJzMjBkzHIb+Dh4ylA93ZrNs1wkCvT1Y+Egb6pQP+lttslqt/PLLL7Rs2ZLAoGDe/vkA01fFkH32FMc+HIoFGDZsGB9f8lxXEREREbnxaZixSMEomc2HjGwbAz/9gz/iTlMuyJtFj95MxRDfAtXx9ddf89BDD5GUlMQb7/yXDV5N2HQ4BYB+LSpR4+xWutzekcqVKxe4fSIiIiJS8imZFSkYJbP5dDYtm398sI6DieepVTaALx9uS7Cfp9N1L76lFovFXLZp0ybznteAajcRdu8rBHh7MPnuhvS6KfJvtUlEREREbhxKZkUKRr8Z+RTs58nMoS0pH+TDwcTz/OvzTWRk2xzWOXr0KK+88goNGzZk6dKlDmUNbmpMuaq18Yu+Gd/GPWkUFcz3I29RIisiIiIiIvI36MqsE4cOHTInZKhevbpD2b4T5+j7/npSM610a1Ce//ZvirtbzhXYb7/9lt69ewPQv39/5syZA0DcqQs8Pm8rO46cxuLmzrBbqvHvrnXw8tB3CSXN5WJDSjfFhrii2BBXFBtyKV2ZFSkYTZ/nRGpqqvnct0vVKR/E+/9sQr+Jn/Ht2ZOUDfRmYu/6WCwWunTpQpkyZUhJSSE5ORnDMPh2RwLPLtrJ+UwrZQJ8+M8/buL2euWK4KjkarhcbEjpptgQVxQb4opiQ0SkcJTMFtCGDRsY0K8fx+LiCGp1DzODy1E+2JdHOtTAy8uLOXPmUK9ePcpWiOKZRTv5YuMRAFpULcO7/ZoQWcCJo0RERERERCQvDTN2wmb7615Yd3d3h7JTp04RGRlJdnY2waERBA/7BIubO2/dexN3N40C4MDJVEbM3cKBk+exWGBEx5o80akWHu4aIlLSXS42pHRTbIgrig1xRbEhl9IwY5GC0ZVZJ9zc3Fi7di0zZsygbdu2DB061CwLDw/nzjvvJDU1lcGDB3PAtwqfrT/KuC93EBHozfEz6UxYspuMbDvhAd68268xN9cML8KjkatJJxviimJDXFFsiCuKDRGRwtGVWSf27t1LvXr1AGjatCmbN292KLfZbOYfILvdYNT8bSzZfhx3Nws2e87b2a5WOG/d25iIQO+rcTgiIiIicoPTlVmRgtFvhhN169alefPmABw8eJCEhASH8tzfpLq5WXizbyPa1gjDZjdwd7Mwrms0M4e0VCIrIiIiIiJyjZSoK7Pnz5/nueeeY8GCBZw+fZo6derw9NNP069fvzzrFuabrZSUFJYuXcr58+cZMGAAfn5+V9wmNSOb2b/H06ZGGI0rheT/oKRESUlJwW634+bmRpkyZYq6OVKMKDbEFcWGuKLYkEvpyqxIwZSoe2bvvvtuNm7cyGuvvUbt2rWZO3cu999/P3a7nf79+1+1/cTHxxMdHY2np2f+EtnUVBYvXsyZI0f4bVcggd26UaNGjavWHik+4uPjzcco6MRDclNsiCuKDXFFsSEiUjglJpldunQpP/30k5nAAnTs2JHDhw8zduxY7rvvvus+kYLdbmfSpEn85z//yfMtWu/evfn4448pW7bsdW2TiIiIiIhIaVBiktmvv/6agIAA+vbt67B8yJAh9O/fnw0bNtC2bdursq+KFSuaw34uZ+TIkbz33ntOy5YsWcKBAwdYt26dvm29geQ3NqT0UWyIK4oNcUWxISJSOCUmmd21axd169bFw8OxyY0aNTLLr5TM7t69mypVqhAUFGQuy8zMZN++fQCUKVOGypUrEx7+16N0Dh48SFpaGgA33XSTuXzdunVmIuvm5kb//v2566672L9/P++88w5JSUns27ePkSNH8uKLL1K9enWHtsTGxnLu3DkA6tev73BcZ86c4fDhwwBERkYSERHhsO2OHTswDANfX19q167tUHbkyBFOnz4NQHR0ND4+PmbZ+fPniYmJAaBs2bJUqFDBYds9e/aYw50uzuZ8UUJCAomJiQDUqFGDgIAAsywjI4P9+/cDEBoaSqVKlRy2PXDgAOnp6VgsFvPzuigpKYnjx48DUKVKFUJC/rrf2Gq1snv3bgCCgoKoVq2aw7aHDh0yr4g3aNDA4cp8SkoK8fHxQM7JQu7PFGD79u0A+Pn5UatWLYey+Ph4UlJSAKhTpw7e3n9N5OXl5UVsbKzZvvLlyztsu3v3bqxWK97e3tSpU8eh7Pjx4yQlJQFQs2ZN/P39zbK0tDQOHjwIQFhYGFFRUQ7b7t+/n4yMDNzd3WnQoIFDWWJiojlJWdWqVQkODjbLsrKy2Lt3LwDBwcFUrVrVYduYmBjOnz8PQMOGDR1OqJKTkzl69CgAUVFRhIWFmWV2u52dO3cCEBAQkGdYfVxcHGfPngVyJlTz8vIyy86ePUtcXBwAFSpUyDN6YdeuXdhsNnx8fIiOjnYoO3r0KMnJyQDUqlXL4TaACxcu8OeffwIQERFBZGSkw7b79u0jMzMTDw8P6tev71B24sQJTp48CUC1atWu2Efk5qqPgJznUh87dgyAypUrO3yxZbPZ2LVrF5BzP5T6iBujjzh37pzZR5QrV47y5cs71K0+Iof6iL9c/Gzc3d3VR1A6+4jc9u/fnyc2RcS1EpPMJicn5+nIIafTu1h+JVarlUvnuzIMg+zsbLPc2TYXy3N7//33zddPPvkkzzzzjPmHvF+/ftSrV4/MzEwWL17MuHHjLlvvpW2y2+1mWe4Hql+UnZ2NYRh4enrmKbPZbIWq19mxXlqv3W53KMv9Hjqr9+KxWiyWv11vQT6bi3W5qhfId72XixdX76HVanX6LfvlPpv81Judne207HL1Xtz2SvU6k9/30Nn2udt0qSsda1ZWFna73eltA1fjPXT2HuW33uISh+oj8tZbXD4b9RF561UfoT7i0nrVR1z+PRSR/CsxySzgtBPLT9lFHh4eedazWCxmZ37pVd+Ly5x19r///jsA3t7e3HvvvQ4nJtWrV6dnz5589dVXpKamEh8fT8OGDV3We2mb3NzczDJnf6w9PT0xDMNpe93d3QtVb+7/XdV76UlY7vfQWb0Xj9XZZ5Tfegvy2Vysy1W9QL7rvVy8uHoPc6+T2+U+m/zUm/v5xvmt9+K2l6u3sO/hlY71Ulc6Vi8vL2w22zV5D+12e4F/b4pjHKqPyFtvcfls1EfkrVd9hPqIS+tVH3Hl91BE8qfEPJqnTZs22Gw2/vjjD4flu3fvpkGDBnz44Yc8+OCD5vJrPbV59erViY2NJSAggJSUlDyd2cCBA5k1axYAmzdvpmnTpldlvyIiIiJyY9KjeUQKpsRcmW3YsCHz5s3DarU6JI4X78m59B6hwti+fbt5z4ez+1sg576X2NhYzp8/z5dffunwrNtTp06xePFiAHx9ffPcSyElV35iQ0onxYa4otgQVxQbIiKFU2K+5unTpw/nz5/nq6++clg+c+ZMIiMjadWq1XVtT+6rwMOGDePVV19l69atfPHFF9x6663mpAz3338/gYGB17VtIiIiIiIiN7oSc2W2W7dudO7cmUceeYRz585Rs2ZN5s2bxw8//MDs2bOv6jNm/fz88lwBvlTXrl3p3bs3S5YsIS0tjfHjxzN+/HiHdcqVK8eECROuWruk6OUnNqR0UmyIK4oNcUWxISJSOCXmnlnImRJ+/PjxLFiwgNOnT1OnTh2eeeYZhyG+F12Pew4yMjJ4+OGH+fzzz/PMVtewYUMWLlyY57EBIiIiIiLO6J5ZkYIpUclsQVzPziAmJobZs2dz5MgRAgMD6dmzJ7fddlu+ZlgWEREREQElsyIFpWRWRERERKQY0PmrSMHoN0NERERERERKHM044ER8fLw5IUPlypWLujlSjCg2xBXFhrii2BBXFBsiIoWjK7NOpKSkcPr0aVJSUoq6KVLMKDbEFcWGuKLYEFcUGyIihaNkVkREREREREocTQDlRGZmJoZhYLFY8Pb2vlZNlBJIsSGuKDbEFcWGuKLYkEtpAiiRgtE9s07oD4q4otgQVxQb4opiQ1xRbIiIFI6+5hEREREREZESR8msiIiIiIiIlDg37DBjZ7cC2+32fG2b+16FwMDAq9YmKfkUG+KKYkNcUWyIK4oNuZSzc9UbdHobkavihp0Aymq1cuHChaJuhoiIiIjI3+bv74+Hxw17/UmkUDTMWEREREREREocJbMiIiIiIiJS4iiZFRERERERkRLnhr1n1m6357mJ3mKxYLFYiqhFIiIiIiKuGYaRZ8InNzc33Nx0/UnEmRs2mRUREREREZEbl77mERERERERkRJHyWwu58+fZ9SoUURGRuLj40Pjxo354osvirpZch2lpqYybtw47rjjDiIiIrBYLEycONHpulu2bOH2228nICCAkJAQ7r77bg4dOnR9GyzXzYoVKxg6dCh16tTB39+fihUrcuedd7J58+Y86yo2Spdt27bRo0cPKleujK+vL6GhobRp04bZs2fnWVexUbp98sknWCwWAgIC8pQpNkqXVatWmbe/Xfrv999/d1j3559/pk2bNvj5+REeHs7gwYNJTEwsopaLFC9KZnO5++67mTlzJhMmTGDZsmW0aNGC+++/n7lz5xZ10+Q6SU5O5qOPPiIzM5O77rrL5Xr79u2jQ4cOZGVlsWDBAj777DMOHDhAu3btSEpKuo4tluvl/fffJy4ujieeeIKlS5fy7rvvkpiYSOvWrVmxYoW5nmKj9Dlz5gyVKlXi1VdfZenSpXz++edUrVqVAQMGMGnSJHM9xUbpduzYMcaMGUNkZGSeMsVG6fXqq6+yfv16h38NGjQwy1evXk23bt0oV64cixcv5t133+Xnn3+mU6dOZGZmFmHLRYoJQwzDMIzvv//eAIy5c+c6LO/cubMRGRlpWK3WImqZXE92u92w2+2GYRhGUlKSARgTJkzIs17fvn2N8PBw4+zZs+ayuLg4w9PT0xg3btz1aq5cRydPnsyzLDU11ShXrpzRqVMnc5liQy5q1aqVUalSJfNnxUbp1rNnT6NXr17GoEGDDH9/f4cyxUbps3LlSgMwFi5ceNn1WrRoYdSrV8/Izs42l61du9YAjOnTp1/rZooUe7oy+/++/vprAgIC6Nu3r8PyIUOGcPz4cTZs2FBELZPrKT8zXlutVr777jvuuecegoKCzOVVqlShY8eOfP3119e6mVIEypYtm2dZQEAA9erV48iRI4BiQxyFh4fj4eEBKDZKu9mzZ7N69WqmT5+ep0yxIa4cO3aMjRs3MmDAALMvAWjbti21a9dWbIigYcamXbt2UbduXYfOAqBRo0ZmuQhATEwM6enpZmzk1qhRI/78808yMjKKoGVyvZ09e5YtW7ZQv359QLFR2tntdqxWK0lJSUyfPp3ly5fz73//G1BslGaJiYmMGjWK1157jaioqDzlio3S7bHHHsPDw4OgoCC6dOnCb7/9ZpZdPPd0FRs6NxVRMmtKTk4mNDQ0z/KLy5KTk693k6SYuhgLruLFMAyOqKsxAAAMBUlEQVRSUlKud7OkCDz22GNcuHCB8ePHA4qN0u7RRx/F09OTsmXL8uSTTzJ16lQeeughQLFRmj366KNER0fzyCOPOC1XbJROwcHBPPHEE3z44YesXLmSd999lyNHjtChQweWL18OXDk2dG4qAh5XXqX0uNzw0isNPZXSR/FSuj3//PPMmTOHadOm0axZM4cyxUbp9OyzzzJ8+HASExP59ttvGTFiBBcuXGDMmDHmOoqN0uWrr77i22+/ZevWrVf8fBUbpUuTJk1o0qSJ+XO7du3o06cPDRs2ZNy4cXTp0sUsc/X5Ky5ElMyawsLCnH7Ddfr0acD5t2JSOoWFhQHOr9afPn0ai8VCSEjI9W6WXEcvvvgikyZN4pVXXmHEiBHmcsVG6Va5cmUqV64MQPfu3QF45plnGDRokGKjFDp//jyPPfYYjz/+OJGRkZw5cwaArKwsIGcWbE9PT8WGmEJCQujZsycffPAB6enpV4wNnZuKaJixqWHDhuzduxer1eqwfOfOnQAO06RL6VajRg18fX3N2Mht586d1KxZEx8fnyJomVwPL774IhMnTmTixIk8++yzDmWKDcmtZcuWWK1WDh06pNgohU6dOsXJkyeZMmUKZcqUMf/NmzePCxcuUKZMGR544AHFhjgwDAPIuep68dzTVWzo3FREyaypT58+nD9/nq+++sph+cyZM4mMjKRVq1ZF1DIpbjw8POjVqxeLFi0iNTXVXB4fH8/KlSu5++67i7B1ci29/PLLTJw4keeee44JEybkKVdsSG4rV67Ezc2N6tWrKzZKofLly7Ny5co8/7p06YKPjw8rV65k0qRJig0xpaSk8N1339G4cWN8fHyoWLEiLVu2ZPbs2dhsNnO933//nf379ys2RACLcfErIOGOO+5g06ZNvP7669SsWZN58+bx8ccfM3v2bB544IGibp5cJ8uWLePChQukpqYydOhQ+vbty7333gvkDB308/Nj3759tGjRgqZNm/L000+TkZHBCy+8wOnTp9m2bRsRERFFfBRytU2ZMoUxY8bQtWtXp4ls69atARQbpdCDDz5IUFAQLVu2pFy5cpw6dYqFCxcyf/58xo4dyxtvvAEoNiTH4MGD+fLLLzl//ry5TLFR+vTv35/KlSvTvHlzwsPDOXjwIFOmTCEmJoZly5Zx++23A7Bq1So6d+5Mr169ePTRR0lMTOTpp58mODiYTZs24e3tXcRHIlLEivAZt8VOamqqMXLkSKN8+fKGl5eX0ahRI2PevHlF3Sy5zqpUqWIATv/Fxsaa623atMno1KmT4efnZwQFBRl33XWX8eeffxZdw+Waat++vcu4uLQrVWyULp999pnRrl07Izw83PDw8DBCQkKM9u3bG7NmzcqzrmJDBg0aZPj7++dZrtgoXSZPnmw0btzYCA4ONtzd3Y2IiAijT58+xh9//JFn3R9//NFo3bq14ePjY4SGhhoDBw40Tp48WQStFil+dGVWREREREREShzdMysiIiIiIiIljpJZERERERERKXGUzIqIiIiIiEiJo2RWREREREREShwlsyIiIiIiIlLiKJkVERERERGREkfJrIiIiIiIiJQ4SmZFRERERESkxFEyKyJSTK1bt46JEydy5syZPGUdOnSgQ4cO179RV/D5558TERFBampqkbXh1ltvZdSoUUW2fxEREbk+LIZhGEXdCBERyes///kPY8eOJTY2lqpVqzqU7dmzB4B69eoVQcucS0tLo3bt2owaNYoxY8YUWTtWr15N586d2blzJ9HR0UXWDhEREbm2dGVWRKQEqlevXrFKZAFmzpxJcnIyw4cPL9J2tG/fnujoaKZMmVKk7RAREZFrS8msiEgxNHHiRMaOHQtAtWrVsFgsWCwWVq1aBeQdZhwXF4fFYuHNN9/k9ddfp2rVqvj6+tKhQwcOHDhAdnY2Tz/9NJGRkQQHB9OnTx8SExPz7Hf+/Pm0adMGf39/AgIC6NKlC1u3bs1Xm99//3169epFSEiIw/KFCxfSqlUrgoOD8fPzo3r16gwdOtRhnXPnzjFmzBiqVauGl5cXFStWZNSoUVy4cMFhPbvdzrRp02jcuDG+vr6EhITQunVrlixZ4rDegAEDmDt3bpEOdxYREZFrS8msiEgxNHz4cB5//HEAFi1axPr161m/fj1Nmza97Hbvvfcea9eu5b333uOTTz5h37599OrVi2HDhpGUlMRnn33GG2+8wc8//5znCuqrr77K/fffT7169ViwYAGzZs0iNTWVdu3amcOaXTl69Cg7d+6kY8eODsvXr1/PfffdR/Xq1fniiy/4/vvveeGFF7BareY6aWlptG/fnpkzZzJy5EiWLVvGv//9b2bMmEHv3r3JfTfM4MGDeeKJJ2jRogXz58/niy++oHfv3sTFxTnst0OHDly4cMFM/kVEROTG41HUDRARkbyioqKoXLkyAE2aNMlzz6wrISEhfPPNN7i55XxXeerUKUaNGkWdOnVYvHixud6+fft45513OHfuHEFBQRw5coQJEyYwYsQIpk6daq7XuXNnatWqxYsvvsj8+fNd7nfdunUAeZLtdevWYRgGH3zwAcHBwebywYMHm6+nTp3Kjh072LBhA82bNwegU6dOVKxYkX/84x/88MMPdOvWjTVr1jBr1izGjx/PpEmTzO27du2apz1NmjTBYrGwdu1aevXqlZ+3TkREREoYXZkVEbmBdO/e3UxkAerWrQtAjx49HNa7uDw+Ph6A5cuXY7VaGThwIFar1fzn4+ND+/btr3iF8/jx4wCULVvWYXmLFi0AuPfee1mwYAHHjh3Ls+13331HgwYNaNy4scO+u3Tp4jC0etmyZQA89thjV3wfPD09CQkJcbo/ERERuTEomRURuYGEhoY6/Ozl5XXZ5RkZGQCcPHkSyEk+PT09Hf7Nnz+fU6dOXXa/6enpAPj4+Dgsv/XWW/nmm2/MRDkqKooGDRowb948c52TJ0+yY8eOPPsNDAzEMAxz30lJSbi7u1O+fPl8vRc+Pj5mu0REROTGo2HGIiJCeHg4AF/+X3t3EApbH8Zx/HfLmI6JRigkxopGYyHTaRaMolCTWVBKyUpZkoWGUibN2EizUkRjZXMVZcOChc1JU1P2Q0kyKUTKLMx9V+/06t6r3pv3ZabvZ3nOec7/2f7O//R/vn9XQ0PDH9ff3d2ppqbmzb1gMKhgMKhMJiPLshSNRjUyMiKXyyWfz6fKykoZhqHNzc13311VVaXX11fd3Nz8tMav3N/f52oBAEDhIcwCwBdlt9sl6X/ZXezt7VVRUZFSqZQGBwf/dX1zc7MkKZVKqaWl5ZfP2O12+f1+OZ1OHRwcKJlMyufzKRAIKBKJqKKiQo2Njb9do7+/X9FoVKurqwqHw+/2c319rZeXly83vggAAHwcwiwAfFEej0eSFIvFNDY2JpvNpqamJpWWln74Wi6XS+FwWHNzczo/P1dfX5/Ky8uVTqd1enoqh8OhhYWF39abpinDMGRZlgYGBnLX5+fndXV1pe7ubtXV1enh4UGxWEw2m01+v1+SNDk5qZ2dHXV2dmpqakqtra3KZrO6vLzU4eGhpqenZZqmOjo6NDo6qsXFRaXTaQUCAdntdiWTSZWUlOROf5Yky7Ik6afTlQEAQOEgzALAF9XV1aVQKKStrS2tr68rm83q+Pj4zXzZjxQKheR2uxWLxbS9va1MJqPq6mp5vV5NTEy8W1tcXKyhoSHt7e0pEonkrpumqUQioZmZGd3e3srpdKq9vV1HR0e5HVyHw6GTkxMtLS1pbW1NFxcXMgxD9fX16unpeXOSczweV1tbmzY2NhSPx2UYhtxut2ZnZ9/0s7u7K4/Hk/sgAAAACs+3H/8c4AcAwB9KJBLyer2yLEumaX5aH4+Pj6qtrdXKyorGx8c/rQ8AAPDfIswCAD7M8PCwnp+ftb+//2k9/D0T9+zsTEVF/IAEAEChYjQPAODDLC8vy+v16unp6dN6KCsrUzweJ8gCAFDg2JkFAAAAAOQddmYBAAAAAHmHMAsAAAAAyDuEWQAAAABA3iHMAgAAAADyDmEWAAAAAJB3CLMAAAAAgLxDmAUAAAAA5B3CLAAAAAAg7/wFAcJGiGSgEmYAAAAASUVORK5CYII=\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from kf_book.book_plots import plot_kf_output\n", "\n", "R, Q = 1, 0.03\n", "xs, zs = simulate_system(Q=Q, count=50)\n", "\n", "kf = FirstOrderKF(R, Q, dt=1)\n", "data1 = filter_data(kf, zs)\n", "\n", "plot_kf_output(xs, data1.x, data1.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "It looks like the filter is performing well, but it is hard to tell exactly how well. Let's look at the residuals and see if they help. We'll do this a lot, so I'll write a function to plot them." ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [], "source": [ "from kf_book.book_plots import plot_residual_limits, set_labels\n", "\n", "def plot_residuals(xs, data, col, title, y_label, stds=1):\n", " res = xs - data.x[:, col]\n", " plt.plot(res)\n", " plot_residual_limits(data.P[:, col, col], stds)\n", " set_labels(title, 'time (sec)', y_label)" ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 0], data1, 0, \n", " title='First Order Position Residuals(1$\\sigma$)',\n", " y_label='meters') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "How do we interpret this plot? The residual is drawn as the jagged line - the difference between the measurement and the predicted position. If there was no measurement noise and the Kalman filter prediction was always perfect the residual would always be zero. So the ideal output would be a horizontal line at 0. We can see that the residual is centered around 0, so this gives us confidence that the noise is Gaussian (because the errors fall equally above and below 0). The yellow area between dotted lines show the theoretical performance of the filter for 1 standard deviations. In other words, approximately 68% of the errors should fall within the dotted lines. The residual falls within this range, so we see that the filter is performing well, and that it is not diverging.\n", "\n", "Let's look at the residuals for velocity. " ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "data": { "image/png": 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i1dXVimVCbF555RVYLJYW4yMjIwNCiDZnviWinoGdNyIiFXbu3On0C2RRUREAwGAwALB+oZQkqV3DH+0NGjQITz75JIxGI66//nqnHbjPP/8cv/nNb6DVarF27Vqn77y0xPZe00svvYSysjJ5e0NDA5544gmneR544AHodDo8/PDDOHnypEN6U1NTl3TsbGu+vfrqq/jiiy8QFhammE7f1XW85557AAAvvvii4qmJ2WzGY489BovF4jBkc+nSpfDw8MDzzz+P9PR0hzJtw9da0t44mTp1KhISErB+/Xp89tlnSEhIwFVXXdVqno54+umnYTAY8Nprr6G8vFze3tHr2t7PR0s6E5+JiYnw9/fHtm3b5OMA1qGBDz30kNM8tnXfbE+vbXbt2tXiGoPNdeRcJUnC5MmTUVJSInccO0uSJIwaNQq1tbXYtGmTIu3jjz/Gm2++icTERPzmN79xmt/2nmZXLAJORK7Hd96IiFS47bbbYDAYMHHiRMTGxkIIgX379uHIkSMYM2YMfvnLXwIAfH19ccUVV+D777/H/PnzER8fL68DNnLkyFaPsWrVKtTW1uL111/HqFGjcM011yApKQlGoxEHDhzAoUOH4OXlhU2bNrW6gLMzEyZMwIMPPoi33noLycnJuOWWW+R1tIKCgpy+P5eYmIh169bhnnvuQVJSEmbMmIGhQ4fCaDQiNzcX+/btQ1hYmNPOixrTp09HXFwcDh06BMC6BlxLa3y5oo7jx4/HypUrsXr1avna+Pj4YMeOHUhNTcXEiROxYsUKRZ7hw4dj7dq1uP/++zF69Gh5nbeSkhIcOXIEAQEBDh0Eex2Jk/vvvx8PP/wwANc9dbOJjo7GfffdhzVr1mD16tX4wx/+AKDj17W9n4+WdCY+dTodHnnkEXmx6lmzZsFkMuGbb75BVFQUoqKiHPIsW7YMH3zwAW699VbcfPPNiI6ORmpqKnbu3Ilbb70VH3/8cZvXrKPnevPNN+Ozzz7Drl27nL6L9vnnn+Pzzz8H8PPQ3R9++EHu0IaGhuK1114DADzzzDOYPXs2Fi5ciJ07d2LAgAE4cuQIdu/ejfj4eGzfvr3FjvLXX38NrVaLG2+8sc1zJKIeoHsmtSQicg+0sJZVc20tFdDS1O1/+ctfxE033STi4uKEl5eXCAoKEqNHjxavvPKKqKqqUuybmZkprrvuOhEcHCwkSRIAFGvNteXQoUPirrvuErGxscJgMAgfHx+RlJQkHn30UcUaVB2pvxBCWCwW8dZbb4nExESh1+tFZGSkWLZsmaioqGh1WvWjR4+KBQsWiIEDBwq9Xi+CgoJEUlKSWLJkifj22287VIf2evHFF+V7mp6e3ub+rqjjpk2bxIQJE4Svr6/w9PQUw4cPFy+++KKor69v8bgHDhwQs2fPFmFhYUKn04nIyEhxzTXXiE8++aTNY7Y3TsrKyoRGoxEGg8Hp+l1taeuzUVhYKLy9vYW3t7coLCxUpLX3unbk89HS9ehMfFosFvHKK6+IQYMGCZ1OJwYMGCBWrFghamtrW8yzf/9+MWXKFBEYGCh8fX3FhAkTxNatW50uPeCsrh05VyGEaGxsFOHh4eLyyy93ev2fffbZVpc6aX4On3/+uRg3bpzw9vYWXl5eYtSoUeKll14S1dXVTssXwrrGm8FgUKzNR0Q9mySEyvmziYiIqNv961//wtSpU3HnnXfiww8/dHd1qBP+8Ic/4Mknn8RPP/0kv2PZnd566y089NBD+P777zFp0qRuPz4RdRw7b0RERL3QjBkzsGvXLhw6dAiXX365u6tDndDQ0ICEhASMHDkS//znP7v12PX19Rg8eDDGjx+PTz/9tFuPTUSdx3feiIiIeomjR49i27Zt+M9//oNdu3bhxhtvZMetFzMYDPjb3/6G7777DrW1tU6n+u8qOTk5WLJkidPF2Imo5+KTNyIiol5i/fr1WLhwIfz9/TFz5kysXbsWwcHB7q4WERF1E3beiIiIiIiIegEOm3Qxi8XisEimJEnyIppEREREREQAIIRA82dpGo2mxTVb2XlzMYvFgtraWndXg4iIiIiIeiEfH58WO2/OtxIREREREVGPws4bERERERFRL8DOGxERERERUS/Ad95czNnEJK2NWyUiIiIior7J2XwZrU10yM6bizm72K3NGENERERERGTTWueNPQoiIiIiIqJegE/e+oCTJ0/CZDLBw8MDQ4cOdXd1qBdiDJErMI5ILcYQqcUYIrXcHUPsvPUB9fX1MBqN0Ol07q4K9VKMIXIFxhGpxRgitRhDpJa7Y4jDJvsASZLkP0SdwRgiV2AckVqMIVKLMURquTuGJCGEcMuRL1IWiwXV1dWKbX5+fpywhIiIiIiIFDrad2CPgoiIiIiIqBdg542IiIiIiKgX6LWdt+rqaqxcuRLTp09HWFgYJEnCqlWr2p2/qKgId999N0JDQ+Ht7Y1x48bh22+/dbrv7t27MW7cOHh7eyM0NBR33303ioqKXHQmREREREREbeu1nbfS0lK88847aGxsxE033dShvI2NjZg6dSq+/fZbrFmzBtu2bUN4eDhmzJiBvXv3Kvbdu3cvZs6cifDwcGzbtg1r1qzB7t27MXXqVDQ2NrrylLpMcXExCgsLUVxc7O6qUC/FGCJXYByRWowhUosxRGq5O4Z67VIBMTExKC8vhyRJKCkpwXvvvdfuvO+//z5SU1Nx4MABjBs3DgAwZcoUjBo1CitXrsShQ4fkfVesWIGhQ4fi008/hYeH9XLFxcVhwoQJWLduHZYuXeraE+sC+fn5qK2tRXl5OX71q1+5uzrUC+Xn58vT4oaFhbm7OtRLMY5ILcYQqcUYIrXcHUO99smbmik6t27dioSEBLnjBgAeHh6YP38+Dh8+jHPnzgEAzp07hyNHjuDOO++UO24AMH78eAwdOhRbt25VdxLdQAiBXbt2Yc6cW/DII4/AbDa7u0pERERERNQJvfbJmxqpqamYNGmSw/aRI0cCANLS0hAdHY3U1FTF9ub77t+/v13HS0tLQ0xMDPz9/eVtjY2NSE9PBwAEBQVh4MCBijyZmZmoq6sDAIwaNUqRVlJSIncwBw4ciKCgIDnNbDbL9fbz80NsbCw2b96M/PwCAAV47bXXMGPGDABAUlKSolNaUVGBM2fOAACioqIcfk04evQohBDw8vJyWFH+7NmzKCsrAwAkJCTAYDDIaTU1NcjKygIA9OvXD5GRkYq8x48fl3/BGD58uCKtoKBAfr9w8ODB8PX1ldMaGhqQkZEBAAgODsaAAQMUeU+ePIn6+npIkuRwD4uLi5Gfnw/A+hQ3MDBQTjOZTEhLSwMA+Pv7Iy4uTpH39OnT8pSuycnJ0Gq1clp5eTlyc3MBANHR0QgNDVXkTUlJAQB4e3sjPj5ekZabm4vy8nIAQGJiIjw9PeW0qqoqZGdnAwDCw8MRERGhyJuWlgaTyQRPT08kJiYq0vLz8+VH+0OGDIGPj4+cVldXh8zMTABASEgI+vfvr8ibkZGBhoYGAMCgQYMU09YWFRWhoKAAABAbG4uAgAA5rampCSdOnAAABAQEIDY2VlFuVlYWampqAAAjRoxQlFtaWoq8vDwAQP/+/RESEiKnWSwWHDt2DADg6+uLwYMHK8rNyclBZWUlAGDYsGHQ6/VyWmVlJXJycgAAkZGR6NevnyJvamoqzGYzDAYDEhISFGl5eXkoLS0FAMTHx8Pb21tOq62txalTpwAAYWFhiIqKUuRNT09HY2MjPDw8kJSUpEgrLCzE+fPnAVif6LujjRg0aJAib3Z2NqqqqgC4vo2wWCzQarUObQDbiJ/11jZCq9UiOTlZkdYVbURMTAyqqqpQWlqKlJQUthEXWRvRHd8jYmJiYLFYoNFo2EbYuVjaCKDrv0dYLBaEhIQoPjdA59sI2+e0vfpk5620tBTBwcEO223bbBfX9ndL+9rS22IymdB8OT0hBIxGo5zuLI8tvTmLxSKnWSwWh3T7cjUaDf70pz/hyiuvxC9/OQnDhw+X05vXyb5cZ0/ojEYjhBBOV5Q3m82qym3pXO3LbX6u9tfQWbm2a+jsCW17y+3Ke9Naua3FS0vX0Ha/m2vt3rSnXKPRCI1G4/A5aK1c+3Pt6D1v7zV0lt++Ts21da5NTU1y56K1cjt7DZ1do/aW21PiUG0bYcvj5+fX4XLZRvTsNsJZWle0EYGBgfLxzGYz24geFoe94XuEfServr6ebYRduRdDGwF0z/cIg8GgiCVAXRvREX2y8wag1SGXzdNa2re9wzY9PDyclmlrvOx/tbLP46xxAwCNRiOnOfuQNS938uTJOHLkz7jkknjk5AxCVVWN0/rbl+ss8HQ6HYQQTuur1WrlvJ0p1/7vlsptfq7219BZubZr6Ow+tbfcrr43LZXbWry0dA3t97HX2r1pT7lms9lpWmvl2vK2Vq7aa9jWuTbX1rnq9XqYzeYuuYYWi6XDn5ueGIdsIxzL7Sn3hm2EY7lsI9hGNC+XbQTbCPtye1Ib0RGS6Gh3rwcqKSlBWFgYnn322XYtFxAZGYlJkybhH//4h2L7V199heuuuw67du3C9OnTsWvXLsyYMQNfffUVrr32WsW+c+bMwf79++VH5jYdXSW9+3wLoA7AMABD3FwXIiIiIiLqaN/B3T0KtxgxYoQ83tWebZttTK7t75b2bT52t6cymUwwmUwXHjufAtDk7ipRL2MbiuFsmAZRezGOSC3GEKnFGCK13B1DfbLzNmvWLKSnpyuWBDCZTNi4cSOuuOIK+WXi6OhoXH755di4caNivO3BgweRkZGB2bNnd3vdOyMtLQ1ZWVkXXoA14sSJnbjxxhtx9OhRd1eNeom0tDSkpKTIL2ATdQbjiNRiDJFajCFSy90x1KvfeduxYwdqa2vlR43Hjx/Hp59+CgC49tpr4e3tjUWLFmHDhg3IyspCTEwMAOCee+7Bn//8Z8yZMwcvv/wy+vXrh7Vr1yIjIwO7d+9WHOOVV17BtGnTMGfOHCxbtgxFRUX47W9/i+TkZCxcuLB7T9gFvvnmv5g58zmYzRY0NDRg165d7q4SERERERG1Q6/uvC1dulSekhYAPvnkE3zyyScArFPZxsbGyjNS2b/a5+npiW+//RYrV67Egw8+iLq6OowePRo7duzAlVdeqTjGVVddhe3bt+OZZ57B9ddfD29vb1x33XV49dVXFVOw9mT+/v7Q6Xzg4WHEpEnRGDAgFDk5RUhLS8P58+cRHh7uNJ8QAlnFNRgY7AO9R598SEsX+Pv7w2QyOX1Bmqi9GEekFmOI1GIMkVrujqGLYsKSnqTnT1gCbNlyACdO5OHhh38Pb+8BLebYe7IYC9Ydxu1XDMTvZ43opnoSEREREfUNHe078GeHPmj27PEX/isbQMudt/2nSgAAP50p7/pKERERERFRq9z9OIjcqhJAXoupqeesK8yfKa3r8AKCRERERETkWuy89XnpqKmpwnfffafYKoSQO2/1RjOKqhvdUTkiIiIiIrqAwyb7gNOnT0Ony4NO14SIiAhF2oYNX+KJJ+5ARUU1MjMzER0dDQA4W1aPqoaf16/ILqlFuL+hW+tNPcfp06fll3MHDRrk7upQL8U4IrUYQ6QWY4jUcncM8clbH1BdXY26ulrU19c7pP33v6dRUFCE+vp6/O53v5O3p+ZXKvY7U1rb5fWknqu6uhpVVVUOL9QSdQTjiNRiDJFajCFSy90xxM5bH/e7381FYKAPZs2aiieeeELebhsyaZNdUtfdVSMiIiIiIjscNtkHJCcnAzgP21IB9kJC/HHixFpERAQDiJS3p+ZXAQCG9PPFqaIa5JTwyVtfZo0hInUYR6QWY4jUYgyRWu6OIT556wO0Wq38x5mIiCAAAsBxANbJStIuPHm7bqS1Q5fDYZN9WlsxRNQejCNSizFEajGGSC13xxA7b2TnPIASFFTWo6SmAVqNhGuSrBOc5JTWcrkAIiIiIiI3YueNFP7zn624dvo01KTsQnw/Xwzp5wutRkKD0YLzVVwugIiIiIjIXfjOWx9QXl4OjaYKWm0DfH19W9wvK6sAl112P4QQ0HgfR/y8edBpNegf5IUzpXXILqlFRACXC+iLysvLYbFYoNFoEFqC4Z0AACAASURBVBQU5O7qUC/FOCK1GEOkFmOI1HJ3DLHz1gfk5ubCYCiAXm9qtfM2eHAkbrllPD75ZD80nl7oJ1knLYkJ8cGZ0jqcKa3FuMEh3VVt6kFyc3NhNBqh0+n4jx11GuOI1GIMkVqMIVLL3THEzhspvPzyAhyqGw4MuxYzJ18BAIgL8cb3ALI5aQkRERERkduw89YHREdHQ6vtB6227XfWfMMiICXfCEkChkV6AgBiQ30AgMsF9GHR0dHyEAGizmIckVqMIVKLMURquTuG2HnrA0JDQwEEwdk6b82l5Vv/HhQq4OOZBWCkXeeNC3X3VdYYIlKHcURqMYZILcYQqeXuGOLPDqSQds76d3I0AOSivDwX+7b9HQBwpqwWFguXCyAiIiIicgd23kgh9ZwEAEiOEti48V8YMmQEnn38ERgLT1qXC6hucHMNiYiIiIj6JnbeSCH1wrDJ5GigsdGIsjLrjJOmo9sBANl8742IiIiIyC34zlsfkJKSAoMhA3q9CXFxcS3uV1EH5JVbn7wNjwJG334lVq3ajGuumYyiAbNxtB44U1qH8YO7q+bUU6SkpMjT4o4aNcrd1aFeinFEajGGSC3GEKnl7hhi541ktslKYkIEArwAwBNZWW9Dr/fCqi/64+iBXM44SURERETkJuy89QHe3t7Q6w3Q6Yyt7pdqm6wk6udter0OgAmxIU0AOGyyr/L29obJZIKHB5sM6jzGEanFGCK1GEOklrtjiJHbB8THxwPIRVtLBRy7MFlJUrTjjJKxoWUAgBwu1N0nWWOISB3GEanFGCK1GEOklrtjiBOWkMw2bNL+yZtNTHA96nP+hyOb/wSz2dK9FSMiIiIiot7deaupqcHy5csRFRUFg8GA0aNHY/PmzW3mu+qqqyBJUot/CgsL29x3xowZXXlq3a66AcguufDkzUnn7cmH/oiij59GxeHP8c+vv+vm2hERERERUa8eNjl79mwcOXIEL7/8MoYOHYqPPvoI8+bNg8Viwe23395ivrVr16Kqqkqxra6uDjNmzMAll1yCiIgIRdqgQYPw97//XbEtMDDQdSfSAxy/8NQtKkAgxNcx/dprL8Hmzd8DANZv+BA3zZzajbUjIiIiIqJe23nbvn07vvnmG7nDBgBTpkzBmTNnsGLFCsydOxdardZp3uHDhzts27BhA4xGIxYvXuyQ5uXlhbFjx7r2BLpRbm4uPDzyodMZERYW5nQf2/puSdHOy7j11ol46vUDqI+ZgtkPOl4jurjl5ubKL+cOHDjQ3dWhXopxRGoxhkgtxhCp5e4Y6rXDJrdu3QpfX1/MmTNHsX3hwoXIz8/HoUOHOlTe+++/D19fX8ydO9eV1ewRysvLUV1djZqamhb3SbswWUlylONkJQDg6anDPc89DZ/EicirrO+SelLPVV5ejrKyMpSXl7u7KtSLMY5ILcYQqcUYIrXcHUO99slbamoqhg0b5jBN58iRI+X08ePHt6uszMxM7Nu3D4sXL4avr+OYwaysLAQHB6OqqgoxMTG47bbb8PTTT8PLy6td5aelpSEmJgb+/v7ytsbGRqSnpwMAgoKCHHrumZmZqKuzzg7ZfAHAkpISnDtnndd/4MCBCAoKktPMZjNSU1MBAH5+fhg0aJAib2HhedTX18l5bU8nbU/ewjzOIzu7DsHBwQgICFDk9ZdKAIQhLfcsgGRF2tmzZ1FWZp2RMiEhAQaDQU6rqalBVlYWAKBfv36IjIxU5D1+/Li82GHzp6IFBQUoKioCAAwePFhxfxoaGpCRkQEACA4OxoABAxR5T548ifr6ekiSJMeFTXFxMfLzrScdExOjGAZrMpmQlpZmPWd/f4eFzU+fPo3q6moAQHJysuIJb3l5OXJzcwEA0dHRCA0NVeRNSUkBYJ1mtvlsRbm5uXJDkJiYCE9PTzmtqqoK2dnZAIDw8HCHob1paWkwmUzw9PREYmKiIi0/Px/FxcUAgCFDhsDHx0dOq6urQ2ZmJgAgJCQE/fv3V+TNyMhAQ0MDjEbHZSaKiopQUFAAAIiNjVXES1NTE06cOAEACAgIQGxsrCJvVlaW/GPCiBEjoNH8/DtSaWkp8vLyAAD9+/dHSEiInGaxWHDs2DEAgK+vLwYPVq4Yn5OTg8rKSgDAsGHDoNfr5bTKykrk5OQAACIjI9GvXz9F3tTUVJjNZhgMBiQkJCjS8vLyUFpaCsA6y5S3t7ecVltbi1OnTgEAwsLCEBWlfGk0PT0djY2N8PDwQFJSkiKtsLAQ58+fBwDExcX1iDYiOztbHlaelJSkaGMrKipw5swZAEBUVJTDk/yjR49CCAEvLy8MHTpUkXb27Fk5joRQ/kjENuJnvbWN0Gq1SE5W/rvQVW0EABiNRqSkpLCNuMjaiO74HmGPbcTPLqY2oqu/Rzj7TgR0vo2wfU7bq9d23kpLSx0aFMD64bOlt9f7778PAFi0aJFD2sSJEzF37lwkJiaivr4eO3bswOrVq/Hvf/8b3333ncM/KM6YTCaHLytCCPnmm0wmp3laCg6LxSKnWSyOMz82LzcxMRGSlA9JqkdxcbG83Van+ibglLVdw6CgWphMZqflRvo1AgDOVTYBEBACkCTrEzuz2dziFzP7+prNZqf1belc7cttXif7a+isXNs1tNWxM+V29b1pqdzW4qWla2gymZzGY2v3pj3lGo1GaDQaDB8+XHEtWyvX/lw7es/bew2d5bevU3NtnWtTUxMsFovT4dauuIbOrlF7y+0pcdiez7IQAjqdziHNfv/mX2TYRvyst7YRztK6oo1ITExEaWkp8vPzYTQa2Ub0sDhU20Z0x/eIxMRECCEgSVKb5bKNgLx/b2kjgO75HhEeHu7wA4+aNqIjem3nDYDTD1N70uyZTCZs2LABSUlJTt9re/HFFxX/f+211yI2NhaPPfYYtm3bhlmzZrV5DA8PD4f6SJIkN17OFvnz8PBw2rgBgEajkdOcfcial2v95UUPwASNRitvt9XpRCFgERJCfS0I95cAeDgtd0Cg9cNzJrcEjz22DEeOHMeePXsgSRK0Wq183Obnal9fZwFtS3N2vvblNq+T/TV0Vq7tGjqLhfaW29X3pqVyW4uXlq6h/T72Wrs37SnXbDZDq9UqfgVtq1z7c22pXLXXsK1zba6tc9Xr9TCbzV1yDS0Wi9N73t5ye0octuezLIRo81ztfw1ub7n2f7dULtsI97YRHSnXlre1cp3V1dPTE56enmwj0DPj0FVtRFd+j7BvfxoaGthG2JV7MbQRQPd8j7C1RfbUtBEdIYmOdvd6iHHjxsFsNuPw4cOK7WlpaUhOTsbbb7+NJUuWtFnOF198gRtvvBFvvPEGli9f3q5jnz9/HhEREVi5ciVeeeUVRZrFYpEfhdv4+fm16wld1/oWLS3S/bcfgN9t02BKgsAHC1sOB5MZSPydhLy/PY7GvOMAgH/961+YMmVKV1SYiIiIiOii1tG+g7t7FJ02YsQInDhxwuGxsW0ca/NxtS15//33odfrceedd3a4Du7vkLnGMdtkJS3MNGnjoQUGBgN+Y64DYP2FwTamm4iIiIiIulav7X3MmjULNTU1+OyzzxTbN2zYgKioKFxxxRVtllFYWIjt27fjpptuUrzM2JYNGzYAQK9ZPqCqqgo1NbUtvhCZan1nGUktzDRpLzYU8B46Hrf9+m6cPbsTDzzwgCurSj1UVVUVKisrHdZHJOoIxhGpxRgitRhDpJa7Y6jXvvM2c+ZMTJs2DUuXLkVVVRWGDBmCTZs2YefOndi4caM8PnbRokXYsGEDsrKyEBMToyhjw4YNMJlMTtd2A4B9+/bhpZdewqxZszBo0CA0NDRgx44deOedd3D11Vfj+uuv7/LzdIXs7GwYDHnQ600OEwU0moCT1oms2nzyBgAxIYCk9UDyzJvRr189ACMA52OD6eKRnZ0tz+TVfNYyovZiHJFajCFSizFEark7hnpt5w0AtmzZgqeeegrPPPMMysrKkJiYiE2bNuG2226T9zGbzTCbzU5nclm3bh1iY2Pxy1/+0mn5kZGR0Gq1eOGFF1BSUgJJkhAfH4/nn38ejz766EUxbPJkIWCySAj0FogObHv/uFABQEJ2CQCYAZwBMKRL60hERERERL14wpKeqidOWFJYWAgPj73QahsVa7kAwKbDwBNbNJg4RGDj4rZD4fuTwF3rNBjST2D3IwKAF4S4GufPFzmsGUIXj8LCQnm2KN5n6izGEanFGCK1GEOklqtjqKN9h1795I3axxpYoXA222TqhclKktoxZBIA4i6sFZlbCpjMAus/2IY333wIRqNAWlraRfE0khzxHzhyBcYRqcUYIrUYQ6SWu2OI37T7uNR869/J7ZisBAAiAwCdVqDJLKGwSsLGjXtw7NgJpKenY/fu3V1YUyIiIiKivo2dtz7MaAZOFFj/uz2TlQDW5QIGBFv/O6cEeOgh67IB48Zd7rBYIRERERERuQ6HTfZhWcVAk0mCn6dATHD788WFAKeLgexS4PYbr8CRI3/EpZdeDWB0l9WViIiIiKivY+etD0hLS4On5ynodCbExAyUt9vWdxseBXTkVbWYC0vinSmRoNVqceml8QDOARgGgE/fLkZpaWnytLhJSUnurg71UowjUosxRGoxhkgtd8cQO299gMlkgoeHGVqtWbHdNllJe4dM2tiWC8gptd9qgXXZgKEqako9lclkgslkgiRJ7q4K9WKMI1KLMURqMYZILXfHEDtvfYCnpyd0Oh10OmWQ2Z68JUd3bLWI2AszTlrXerN3BmfPeiI3Nw8TJkzoXGWpR/L09IRGo4FOxwXZqfMYR6QWY4jUYgyRWu6OIXbe+oDExERYhzX+vFSA2QIct01WEtWx8mIvDJs8W2YtR6sBjEYT7rjjOWzZchBxcXHIyMjgsgEXEWsMEanDOCK1GEOkFmOI1HJ3DPHbdR+VXQLUNUkw6AQGhXUsb1QgoL+wXEB+hXWbTueB8vIamM1mnDp1Ctu3b3d9pYmIiIiI+jB23vqotAvruw2PtD456witxm65ALv33h566HqEhwdi1arHcdlll7mmokREREREBIDDJvuszk5WYhMXal1qIKcEmBRv3farX12KM2feh6dnLIBwl9STiIiIiIis2HnrA/Lz8+HhUQStthEhIdYX1uTJSqI6NlmJjW25gJxSCYC1DI1GA09PDYACAA0ADKrqTT1Hfn4+zGYztFotoqI6+JIk0QWMI1KLMURqMYZILXfHEDtvfUBxcTEMhnLo9SaEhIRACCD1wrDJpE4+eYu1LRfgMOMk8POyAQmdK5x6nOLiYnlNE/5jR53FOCK1GEOkFmOI1HJ3DLHz1gedLQOqGyTotQLx/TpXRtyFJ2/Zpc7TGxoysXnzfhiNZtx7772dOwgREREREcnYeesDhgwZAo3mLCSpHgBw7MKQycRIQN/JCLCt9Wa/XIBNVVUdEhOXoaCgDHq9HhMmTMDw4cNVnAG525AhQyCE4KKmpArjiNRiDJFajCFSy90xxNkm+wAfHx94eXnBYLC+g5aabw22JBVPeiMDrMsFGO2WC7Dx9/fG/PlXArCuQr9v377OH4h6BB8fH/j6+sLHx8fdVaFejHFEajGGSC3GEKnl7hhi560Pkicrie7cZCWA9UnbQNvQSSfvvT333O2YNWssDh58G/fdt6TTxyEiIiIiIit23voYIX5e4y1Z5TuWsfKMk45pXl6e2LLlSVx2WTiAbHUHIiIiIiIivvPWF9TV1UGS6qHRNKK03hNltRK0GoGECHXlxl147y2n5OflApxLBxABwFvdAclt6urq5PHd3t68j9Q5jCNSizFEajGGSC13xxA7b31AZmYmDIZc6PUmZNbFAQDi+wEGnbpyY0IuLBfQwoyTPzMDSMGXX5aioqIC8+fPV3dg6naZmZnytLijRo1yd3Wol2IckVqMIVKLMURquTuG2HnrY2yTlSR3cn03ez8/eWt9P7PZjLvvfhIbN+6Br68vJk+ejIEDB6qvABERERFRH8LOWx8QEhICnS4QWm0j0myTlUR1frISG9tyAbllgMkMeGid76fVauHlpQcA1NTUYN26dVi1apXq41P3CQkJgdlshlbbwk0magfGEanFGCK1GEOklrtjiJ23PqB///4AwgHUIdU2WYkLnrxF+gN6D4Emk4T8CiHPPunMq68uxMGDGXj00btw113Pqj84dStrDBGpwzgitRhDpBZjiNRydwz16tkma2pqsHz5ckRFRcFgMGD06NHYvHlzm/nWr18PSZKc/iksLHTYf/PmzRg9ejQMBgOioqKwfPly1NTUdMUpdamiauB8lQRJEhgWqb48jQaICbb+d3Yb770FBPjgf/9bgwULLoMk5ak/OBERERFRH9Orn7zNnj0bR44cwcsvv4yhQ4fio48+wrx582CxWHD77be3mf+DDz5AYmKiYltIiPLx0d///nfMnz8fixcvxhtvvIGTJ0/i8ccfx/Hjx/H111+79Hy6mm3I5KBQwMfTNWXGhgKZRdb33q4c2vq+Go3tt4I0AP0AuKgSRERERER9QK/tvG3fvh3ffPON3GEDgClTpuDMmTNYsWIF5s6d2+ZY1OTkZFx66aUtppvNZqxYsQLTp0/Hu+++Kx/Dz88Pd9xxB3bs2IGZM2e67qS6mG1x7hEuGDJpI09aUtrWcgH2jACOIiPDH7m5uZg2bZrrKkREREREdJHqtcMmt27dCl9fX8yZM0exfeHChcjPz8ehQ4dUH+PgwYMoKCjAwoULFdvnzJkDX19fbN26VfUxukNGRgays7NxJKsBAJAcrX6yEhvrcgFtzzhpTwiB1av/jFGjRuH2229HcXGxy+pDXSMjIwOpqanIyMhwd1WoF2MckVqMIVKLMURquTuGem3nLTU1FcOGDYOHh/Lh4ciRI+X0tlx33XXQarUIDg7G7NmzHfLY/t9Wpo1Op0NiYmK7jtETNDQ0oKmpCRlF1oXdkqJcV3bchVGmba/19jNJknDkSCYaGxtRUlKCl156yXUVoi7R0NAg/yHqLMYRqcUYIrUYQ6SWu2Oo1w6bLC0txaBBgxy2BwcHy+ktiYiIwFNPPYWxY8fC398fx44dw8svv4yxY8di//798oJ7tjJsZTY/Tk5OTrvqmpaWhpiYGPj7+8vbGhsbkZ6eDgAICgpyWPcsMzMTdXV1AOCwAGBJSQnOnbOOgRw4cCCCgoLkNLPZLHcq/fz8MGjQIGi1WtQ0eeB8jbXz5ms8g+xsCwYOHKgYWlpTUyM/BQsODkZAQIDiuNnZ2QAAvV6P6Gjr2Ev75QJOZWVDqwGio6Oh1+vlfPX19fJEMAEBAQgODsb//d992Ls3DXfeeR1uv/1OpKSkQKfTYfjw4YpjFhQUoKioCAAwePBg+Pr6ymkNDQ3yrx7BwcEYMGCAIu/JkydRX18PSZIcOuDFxcXIz7dOvRkTE4PAwEA5zWQyIS0tDQDg7++PuLg4Rd7Tp0+juroagHXorf01LC8vR25uLgDrdQgNDVXkTUlJAQB4e3sjPj5ekZabm4vy8nIAQGJiIjw9f34nsKqqSr7+4eHhiIiIUORNS0uDyWSCp6enw3uc+fn58n0dMmQIfHx85LS6ujpkZmYCsL7v2XwGpYyMDDQ0NMBkMkGj0SjOtaioCAUFBQCA2NhYRbw0NTXhxIkTAKz3PDY2VlFuVlaWPOnPiBEj7N6HtH7u8vKsk9r0799f8R6qxWLBsWPHAAC+vr4YPHiwotycnBxUVlYCAIYNG6aIw8rKSvkzGxkZiX79+inypqamwmw2w2AwICEhQZGWl5cntwfx8fHw9vaW02pra3Hq1CkAQFhYGKKilL+OpKeno7GxER4eHkhKSlKkFRYW4vz58wCAuLg4t7UR9rKzs1FVVQUASEpKUvxAVlFRgTNnzgAAoqKiEBYWpsh79OhRCCHg5eWFoUOVL8GePXsWRqMRgPUHHHs1NTXIysoCAPTr1w+RkcoZlY4fPy4viMo2ome2EVqtFsnJyYq0rmgjtFotTCYTjEYjUlJS2EZcZG1EWVkZACAhIQEGg0FOc2UbodVq5Wne2Ub87GJpI4Cu/x5hNBohSZLD61mdbSNsn9P26rWdN8DxC0B702bMmIEZM2bI/z958mT86le/wogRI/DMM89g27Zt7SqrtWPYM5lMEEI5VFEIIX+RMZlMTvPY0puzWCxymsVicUhvXm5ycjL+nZkPwIjoABMM2iaYTHBaJ1seZ+WazWYIIRTBGuEPeHoINJoknKuQEOVvbFe54eFByMz8KwICfJCWVoH6emVH0f6YLZ2r/TU0m80OeW3X0Nl9am+5XX1vWiq3tXhxdq5Go1HuYDVnf66dKddoNEKj0WDMmDHtLtf+XFsr15n2XkNn+e3r1Fxb59rU1ASLxeL0XVlXXENn16i95faUOLQvt6VzFUJAp9M5pNnv3/wLR3vKbelc2UY41skdbYSztK5oI5KTk1FcXIwzZ87AaDSyjehhcai2jVBTbnvbCPsORH19PdsIu3IvhjYC6J7vEVFRUQ4/IqhpIzqi13beQkJCnD5ds/1q4+xpWWtiY2MxceJEHDx4UHEMwNqDDw8PdzhOe4/h4eHh8MGXJEluvJoP/bRtc9a4AdZZG21pzj5kzspNzbcGRmI/o7zdWZ1sac7KtQWjfVBqNEBMCHDyPFBYY8DAYNHucgMCrL/c+Ppmw2Qa7fR8tVpti+dqfw2dfVBs19BZo9vecrvj3jgrt7V4cXautvNs6xp2ptyWFqJsrVxb3tbKVXsN2zrX5to6V71eD7PZ3CXX0GKxOL3n7S23p8ShfbktnasQosPn2p5y7f9uqVy2EWwj7MtlG8E2onm5bCPYRtiX25PaiI6QREe7ez3EkiVLsGnTJpSXlysCePPmzZg3bx7279+P8ePHd6jMGTNmICUlRX6Ee+DAAUyYMAGbN2/G3Llz5f1MJhOCgoIwb948vPPOO4oyLBaL/Cjcxs/Pz2nwdKcHPtqBL49asHKGBcuucm3ZSz6U8PVxCauut+DuCZ0tZQCqqgYhOzvbYXgHEREREdHFqKN9h147YcmsWbNQU1ODzz77TLF9w4YNiIqKwhVXXNGh8rKzs7F//36MHTtW3nbFFVcgMjIS69evV+z76aefoqamBrNnz+50/btb2oUnb8kunKzERrlcQOfs2PE5kpKG4frrr5fH0hMRERER0c967bDJmTNnYtq0aVi6dCmqqqowZMgQbNq0CTt37sTGjRvlx5mLFi3Chg0bkJWVhZiYGADAL3/5S0yePBkjR46UJyxZvXo1JEnCCy+8IB9Dq9Vi9erVuPPOO3Hfffdh3rx5yMzMxMqVKzFt2jTFe3M92emzBcgusXbeXDnTpI11uQCpQzNO2hNC4PXXP0denvXF36effhpvvvmm6ypIqhUVFcnDHpq/xE/UXowjUosxRGoxhkgtd8dQr+28AcCWLVvw1FNP4ZlnnkFZWRkSExOxadMm3HbbbfI+ZrNZnmjDZsSIEfj444/x2muvob6+Hv369cPVV1+N3/3udw6zH82fPx9arRYvv/wy1q9fj+DgYNx11129anr7H9LPAgD6+RoR4tv6wuWdYZtxsiNrvdmTJAnvvPNrjBjxEMaNG41HHnnEdZUjlygoKJBn8uI/dtRZjCNSizFEajGGSC13x1Cv7rz5+vpizZo1WLNmTYv7rF+/3mHY4xtvvNGh48ybNw/z5s3rTBV7hKyyJgBAfGgTAC+Xl28bNnm2HDCaAV0n+odxcRE4cuSPSEzsD0nyc20FiYiIiIguAr2680btc77JukbFL2K65naH+wEGnUCDUcK5ciE/ieuoYcNs66v8F8DlAPzR1NSkWGOD3CM2NhZCOM4kStQRjCNSizFEajGGSC13xxA7b31AeYN1jYsxcc6nPlVLowFigoGM80B2KTrdeftZPYD9qKoagkmTbsFdd92FRx55hA2tGzVfsJ2oMxhHpBZjiNRiDJFa7o4hdt76gI/uHYvi6t3w9azvsmPEhlo7bzklABLa3L1NZnMj7rjjDhw9ehSPPfYYKisr8fzzz6svmIiIiIiol+q1SwVQx4T5SfDqwtGHtqdtZ1QsF2BPkiSMGTMYABAY6Ic777zDJeUSEREREfVWfPLWBzQ1NUGSjACMLa4ar1bsheUCsjs542RzGo0Gzz13O5KTByIw0Afx8UUAYgAYXHMA6pCmpib5v/kOInUW44jUYgyRWowhUsvdMcTOWx9w4sQJGAynodebEBcX1yXHiA2x/t3Ztd5aMmfOxAv/VQFgH4DLIEQADh8+3OGF2KnzTpw4IU+LO2rUKHdXh3opxhGpxRgitRhDpJa7Y4jDJsklbMsF5F1YLqBrNAA4gFdffRpjx47F888/r1i/j4iIiIjoYsYnb31AQEAA9Ho/aLWNXXaMcP+flwvIKxdyZ87V/vOfDPz2t38AADz77LOYNm0axo0b1zUHI1lAQADMZjO0Wtcv8k59B+OI1GIMkVqMIVLL3THEzlsfEBsbCyALQF2XHUOSrEMn0wutM052VedtzJjBePnlu/Db336I555bgnHjLu+aA5GCNYaI1GEckVqMIVKLMURquTuG2Hkjl7F13rJLgClddAxJkrBy5c2YMmUkLr10CIB/w7qgt1cXHZGIiIiIqGfgO2/kMq5eLqA1l10Wf2HR7ioA3wMow/fff48PP/ywy49NREREROQO7LyRy8SFWicPyXbxjJNta0JOzue4+eZZWLBgAa6//vrurgARERERUZfjsMk+ICsrCzpdLnQ6IyIjI7vsODG25QJctNZbR2zevBclJWUAgMGDo7q/Ahe5rKwseVrcwYMHu7s61EsxjkgtxhCpxRgitdwdQ3zy1gfU1NSgvr4eDQ0NXXoc++UCmkxdeigHjz9+Mz788GEkJQ3EffeNAvAdgNMAjDCZTLjjjjuwdetWmEzds3KHEwAAIABJREFUXLGLRE1NjfyHqLMYR6QWY4jUYgyRWu6OIXbeyGX6+QFeOgGLkJBX3r3HliQJd945BceOvYVhwwYAqAGQBuBrfPXVW/joo48we/ZsLF68uHsrRkRERETkIhw22QeMGDECQBG6cqkAwLpcQIxtuYBSYFBYlx6uhTo0nyzFgq1bv5T/b+7cqwCYYB/6Qggn+cieNYaI1GEckVqMIVKLMURquTuG+OStD9BoNPKfrmYbOpnthvfeWrJu3UPYuXMVFi+ejunTAwF8A+AYgCocO3YM8fHxWL16NcrKytxc056rO2OILl6MI1KLMURqMYZILXfHECOXXMq2XEBOSc95kqXRaHDNNWPw7rsPQKvVwvrkLQfAXrz99ipkZWXh8ccfR0pKiiJfdXU1Dh06hNraWjfUmojUqqwzYtnf/4Nt/zvn7qoQERG5BDtv5FJxIdblAnK6fbmAziksLJT/e9QoI4ATAM4BqMYPPxzA2LFj4efnh5deeskhrxCi2+pJRB238dAZbD9WiMc/O4r8inp3V4eIiEg1vvPWB5SWlkKrrYBG0wB/f/8uPZa8XEAv6bx9+ulvcepUPj7//BCCgxsBnJLTUlK2ArB20vr31wMoARAAQAez2YwBAwYgPj4ec+fOxbJlyxTlZmRkQJIkhISEIDg4uNe/U1daWgqLxQKNRoOQkBB3V4d6qe6MIyEEtvyUBwBoMFrwys50rLntF116TOp6bItILcYQqeXuGGLnrQ/Iy8uDwXAeer2pyztvtnfezl1YLkDfCyJsyJAoPPbYLIfto0bFYtGiaUhJycaYMQYAP1xIMSAzswwFBQUoKChAbGw0li27B4AOgBYAsHDhQvzwg3V/o9EID4+fL8SOHTvwt7/9DcHBwbjvvvsUL77W1tZi3bp10Ov1GDJkCKZOnaqo008//YTq6mrodDqMHTtWMd66uLgYubm5kCQJMTExigbFYrHgxIkTkCQJPj4+iImJUZSbl5cnT3k7ZMgQRX2rq6uxb98+mEwmhIWF4corr1TkzcjIgBACnp6eiIuLU6QVFhaisrISABATEwODwSCn1dfXIy/P+uU6MDAQYWHKGW7OnDkDk8kErVaL2NhYRVp5eTkqKioAABEREfDy8pLTjEYjCgoKAAA+Pj4ODev58+dhNBoBAP3791ek1dTUoKqqCpIkITAwUFGuxWJBUVERAECv1yM4ONihTk1NTZAkCaGhoYp709DQgKqqKgCAr68vvL29FXmLi4sBAB4eHggKClKkVVdXo7GxUb5O9vemqalJLtfLyws+Pj6KvKWlpRBCQKPRONS3trZWXj7E398fOp1OTjOZTPJ98/T0hK+vryJvRUUFzGYzADhc3/r6etTV1cnn6unpKafl5uaitLQUOp0OY8aMgZ+fnyJvVVWVfG+a/+jR0NAgD2H28fFRxJIQQn5n1cPDAwEBATh2rhJZxbXQazVorK/Blh/ScUOiP64aEXth+PTP17C6ulq+hs3vTVlZmXwNm98b+2sYEBCguDf219BgMDjcm/LyclgsFkiS5HBv6urqUF9vfVLo5+cHvV4vp5nNZjn29Xq9wzWsrKyUl0Tp7DXU6XQO/1ZUV1ejqakJABAUFKSI78bGRrn98Pb2VnxuAGscAoBWq0VgYKAiraamRo7v5tfQaDTK8W27hnl5efL6ShqNRvU1dGV8WywWlJeXt3gN7eO7q65hYGBgl8R3d7UR9tfQWXy7oo04ceIEDAYDdDqdXDf7+O6qa8g2onvaCHvtuYad6XzZt0Nu+QFAkEuZzWZRUVGh+GM2m91ap//9738iPf3P4vTpNUKIL7r0j8XyhRj+u3+KmMe/FKeKuvZY7vyzd+/vRXR0iAAgli+/wS7tSyHE12Lo0AECgAgI8BVC/E8IkSaEyBRC5IiXX35SABAAxLZtHwshaoUQ9UKIRpGbmyWn3XLLLQ738sorr5TTjUajIu2vf/2rnLZu3TpFWk1NjZw2depUh3JnzZolp+fn5yvSPvvsMzlt+fLlDnm9vb0FADFixAiHtCVLlsh5U1JSFGnff/+9nLZixQqHvDExMQKAiIiIcEh76qmn5Ly7d+9WpJ04cUJOW7BggUPeSy+9VAAQWq3WIe1Pf/qTnPejjz5SpJWWlspp1157rUPemTNnyumlpaWKtI8++khOW7NmjUNejUYjAIhLL73UIW3BggVy3vT0dEXaN998I6c99dRTDnkjIiIEABETE+OQ9thjj8l59+3bp0hLSUmR05YsWeKQd8SIEQKA8Pb2dkhbvXq1nPezzz5rsb6zZs1yyDt16lQ5vaamRpH2wQcfyGl//etfFWlGo1FOmzBhghBCiGe3pYqYx78UD3z0k0gcP0NOz8o6rcj75ZdfymkvvPCCQ52CgoIEADF06FCHtAcffFDOe/jw4f9n77zDoyrWBv6bTSUJCSEhhBBI6ITeuyK9CCKgAgI2rliuvaB+1ityFbwWsNxrBQTBBohIkyYC0pu0IJACBBJSSCAhdXe+Pya77GY3bbObTcj5PQ8PJztn5rxnzpz3THnnfS3S9uzZY0p7/PHHrfK2bNlSAjIwMNAqbebMmaa8v/76q0VabGysKW3ixIlWefv27VsmHTF//nyLNEfpiDlz5ljltVdHbNu2zZT23HPPSSnV92zv3r3y0KFDZdYRGzZssEiLjo62W0fMnTvXbh0xcuRIu3WEm5tbjdARFy5ccLqO6NSpk6kNGZk4caIpPTY21iKvpiMU1UVHmFOajvDz87P6vSyY6yFHUN6xQzVYF9GoKOHh4bi51Uenc26QbrgeLuD4RYhLgWYuCBdQGdx8czvOn59PauoVcnPzzVIMQA533tmb+PhmuLu7AWct8qalRZuOPT2PA9dnoPLyLpqlJQOrUVtTdYAgLy/ZlC7EVtRKn5o1k/KkKU2nOwVsM/0tpfl+n3RgR5E7Mrdz3QMEm/19Xd66da/YyGso/P+ajbREs+ODwFWzv4+YHScAfxbJm1v4f35hmrnp6Xmz4+OAcSZUoJzRGEkGdhUp19wBza4i5cabHZ8Gdpv9nWF2nI6qJ4r8ZmQ/ysTWvCzzaxTNay7b3iK/mbtuVV5Sr3PS7PiCjbzGtplnI8382ZwAvMz+PmV2nGwjr7E9GWyknTM7Pm2RHh5ufi+XbeQ1v7f9mL8bEGt2HFckb4HZcSb5+j2sOqyuNa5zFucb6E2teP2xPTzS1FyOv82Oz9uQSV/4f46NtCSz4+NF0o4XOa9oXqM+1ttIM2/ffwMhZn9fMDtOs5HXPGjsXiwNbOLMjmOL5DXXEVdslGsevPNQERnN2/c5G3mNOiLbRlqy2fFRrr/3oNqlkURgLxER6WbhXfIK0/JtlGteTyexfB/N3/MUG3nNdUTRNHN9fqZIekaR46J5zdMPFJHpTJFrFM1rLtuNqyMs78U5OsLLK59mzdIK25DxHHNv04exbJeajlBUDx1hSWk6woA9hIeHm8wmXYE2eKsBqCXdOjg7zpuRyGA1eKtK4QKcRVCQbTPUt96aUmyeV165i+nTh5GWlknz5g0s0urVC+Dbb58lL6+AyMgQlGK5rlzuuac/N98cRV5eAUJkYu5zqG3bEB59dCRSSlq1CsR8MOHunscDDwxGSlkYxNwyLMKAAa0JCFAmMbVqXbNIj4ioxX33KfPNbt2s806Z0p+8vALCw4Os0nr3bkJu7kAAAgP1FukhISqwOkCXLmFYDiDh9tu7k5JyhYAAX6u0Dh3qM2nSzQDUry8w/+DXrp3DXXf1A6BHj8ZYKn4YNKgNkZFGkw7LtGbN/Bg7thcA4eEeqPiICg+Pa9x+e69CeSOx/ChDr15N8PDQF56bxvUPLzRs6M7o0T0AaNLExyrvqFHdMBgkLVqEYdlhgk6dQklN7Q6Ar+9Vi/Tg4AJGjVJprVrVsco7eHB7Ll/OJCQkwCotKiqQW2/tBkBgYJ5Feu3aWaa09u3rWeW9+eaWNG5cBy8vD6u0pk19TXlDQ7FIDwkxmNK6dg23ytuzZyTe3hIAN7dk4LopUHi4uylv48ZeFnmF0JvS2rRpxLZTSaRm6Qj2k9zU4jJ7e4RxOqEbZ5IFn/+Zxz1DE/H1MsokTXmbN69tJdPQoR3JzMymYcMgq7S2bYNNeQMCsi3SAwKyTWlt2wZb5b3llihatAjBz6+WVVrz5rVNeUNCpEV6rVoZprTOnRtY5e3Tpyl16ngU1ksSRlNuY70Z84aHu1vkdXPLM6V17BhpVW7XruHk5al0L6/LmHeGQ0Mx5W3a1Ncq7/DhncnNzS/UaZZp7dvXM+WtXTvLIj0w8LpMUVGBQCLmFlUDB7bh0qWGBAb6WZXbqlUdU97g4AKLdF/fq2b3GmqVt1+/FtSv71uoIyzTIiO9TXnDwtws0j08rpnSlK60zNu9eyOE6FZ4birmneGwMDdT3shIb6u8I0d2xWAw2NQRHTuGmvLa0hHGtOqgI7y8rlaKjggMNA4A1DmdOzfg6lWVXqtWBubfVk1HKKqLjjCnNB0xfHgX7MHVeyWFlOV3mTd//nzi4+N54403rNL+9a9/0aRJE+655x5HyFcimZmZvPLKK/zwww+kpaXRunVrXnzxRSZOnFhivuXLl/Pjjz+yd+9eEhISqF+/Pn379uWNN96gRYsWFufecsstbN261aqMYcOGsW7dOqvfDQaDyTbaSO3atatAPJFNVNbgbc46wae/C6b0krx1e7mbl4aGhkaFeGyJ4Ne/BPf3lbw+Wumg3AIY8r7gbJrgsQGS54ZpuklDQ0OjZuMOjHC1EOUeO9g1opg3b57VpkwjQUFBzJs3z55iy824ceNYuHAhr7/+OmvXrqV79+5MmjSJJUuWlJhv9uzZXLt2jZdffpl169bx1ltvcfDgQbp06cKxY8eszm/atCk7d+60+Pfhhx8667aqPZHBqlMUX008TmpoaNw4XMmBDYXWSOM6Xx+gebnD/41Uf3++Dc6l2cqtoWEbLTKMhkbVZPspmPCZ4P3fBKcvlX7+jYBdZpOnT5+mXbt2NtPatGnDqVOnbKY5kjVr1rBhwwaWLFnCpEmTABgwYADx8fE8//zzTJgwwcJbkDmrVq0iJCTE4reBAwcSGRnJBx98wJdffmmRVqtWLXr16uWcG6kEDAaj6V3l2OdGFq4m1wSzyZqCakMK168ia1RXKqMdrTsCuQWC5iGSdg0t04a1hd5NJTtjBO+shU8maz3y6kZl66INx2Hmr4JAH/jxYVktPChrlIz2PbtxyMmHF5YJEtIFu2Nh3mZBmwaSMZ0koztCWJ3Sy7AHV7chu69odG9q63ejC1JnsmLFCvz8/Ljzzjstfr///vu5cOECu3fvLiYnVgM3gLCwMMLDwzl37pyNHNWbI0eOcOrUKeLj40s/2QFEFvq6uJCuTJU0qj/x8fGcOXOm0tqQxo1JZbSj5QeVA5qxnSVFwysKAa+NluiEZPURwe4Yp4mh4SQqSxelZCrz2we/0XE2TXD4vGC9tWGORjVE+57dOCzeBQnpgpDakoGtJe46yfGLgrfX6ujzjo67PhMs3gVpWaWXVR6OHDnCgQMHOHLkSOknOwG75pDat2/Pd999x7hx46zSli5dahG3ylkcPXqUqKgoi3gPAB06dDCl9+nTp8zlxcTEEB8fz+23326VdubMGerWrcuVK1eIiIhg4sSJvPLKK1ZxKorj2LFjREREWMTEyM3NJTpa+T8LDAykcePGFnlOnTplioPSsWNHi7SUlBQSEhIAaNy4sYUJq16v5+jRo4Cyl23atKlF3sTEJLKzr5nymq9OZmZmmuJN1a1bl4CAAIu8sbHKk5OnpycNG1pOaScnJ5tieISFNcTX04usPMHfiZLmQdkkJqqNogEBAVaxNs6ePYter8fNzc2qHtLS0kwTBUXjeeXl5Znqwc/PzypOWEJCginmSNH4YxkZGaZ4JfXq1bOIUaPX6zl7VnkUq1XLh9DQ+kXqMNEUX6WkOgwKCrKKg2KsQy8vL8LCwoqtw/DwcIuYOteuXSMpSTm5qFOnjpXZcnz8WQwGPR4eHlaxy1JTU01xUBo0aGARtyU3N5cLF5Rnqtq1axMcHGyR1xjLxNaETHp6uikeT0hIiEV8lfz8fFMMNx8fH+rXt6zDixcvmmLfREREWMxcXblyxRTzpWgdGgwG0wfX29ubBg0sHb4kJSWZ3puidZiVlWWK0xYYGGgVSyY+Ph6DwWCzDlNSUkz26GFhYRZxiXJyckxx5fz9/a02MhvrUKdzIyLCsn2bx6urX7++Rfwg8zq01b4vXLhgin1TtH2b12HJ7bsWocpjgAln6ghjOyq61To72zE6wlCrAbtiVB3e3tm2johqABN7wJLd8OqKAj69/RxuOk1HVFRH6HQ6q/iRztIRoGJkxcbGOlxHJCVd4rdTfvx3Zz0ycgRuOkmbBnAkQfDF73m080/QdEQl9CMaNmxoEbvMUTqi6L1o/YjrVDcdcToukXmb1G9PDzEwqYfgchasOSpZvs/A/nPu7IkV7IkVvPGL5OaWcFtHyaDWBlISjTrCjyIqgri4OFN7iYqKsmiHGRkZxMXFmWINFuXo0aPo9Xq8vb1p1aqVVT0Y37kWLVpYvMtGnVRW7Bq8PfbYY0yZMoV7772XRx99lPDwcM6fP89///tfli1bxjfffGNPseUiNTXVamACmF5oYwWVhYKCAqZNm4afnx9PP/20RVq/fv2YMGECrVu3Jjs7m7Vr1zJnzhy2b9/Oli1byrRcWlBQYNVZkVKaHr6tjnFBQUGxjcNgMJjSzJdujRQt18/PDw+PWnh45GMw6IvtQEkpTWm2ytXr9UgpbZqjGgwGs/uQ9GgCW07CSysEi+4tvdziVmvNy7VH3oKCAosAlOUvV2+Vt6zy2pLJmFZ00qFoueW/1wL0en0F77XkZ1OrVi2LZ19Sueb3Wt5nbi5TSeUaA8CaY9kOiy+3uGdTnOvfitRhQUFBYbBx63spa7m27tUR7dB2HTpPRxgx79iWtdyy3Ouav9R1ezaRNKwDubm2y312iGTVYfg72ZM1J3wZ2fpKieVqOqL0Z1Pe9wbs0xHe3t7k5uaaJpUcqSMSLsP/rQ5lX4LqQLZpIJlzhyTYD/rOhr8uevP3JTdah5ZcrqYjKt6PqMi3qrRyvb29TQM9rR9hnrd66Yhv9/tyJceNRgG5jO+swiYF+sLknjCq9VWOxqSxNbY2f8TXJTrJnc3RsDla4O0h6NWoHgOaXuGm5tbPQK/XF9v/Nu+7e3p6WgUFz8vLw2Aw2Gzf5uXaqsPyYNfg7e677yY6Opq3336bxYsXm37X6XS88sorTJ482Z5iy42tBlaWNHOklEybNo1t27axbNkyGjVqZJH+1ltvWfw9cuRIIiMjee6551i5ciVjx44t9Rru7u5W8gghTDMitl5Ad3d3ixkTc3Q6nSnN1stQtNxmzZqhYndcIzExyfS7LZmMabbKNTZGW41Sp9NZlDtrrOTWeXA0QTD7Ny8e6uqYcssrr626LV+51jKVtVxbMhnTbN2rebnlv1d3i3OKk8neOtTpdFYzcSWVa36v5X025jKVVG5p7aWkcot7NsUp3YrUobu7O1JKm22prOWW1l5KKre87VCnq0g7LNu7XHR22xHlSgm/HFG6b1wXWWK5QX7w5CDJW6sF8/cHM7CF9aynpiPKWu51HVGecsE+HdGgQQOLVSNH6Ai9Ab7ZCXPW+ZGdL/BwM/BwvxyeGOqNR2ERw9vC6iOwKjqQtg2tt41oOsJapsr+3pe1XPPV2Ly8PK0fYcpbfXRESiZ8d6g2ANN6XMbdzXK1TwhBWB2Y1Pkqjw325FKOP78cFvxyCOJSBb/H+PN7jD+1txn49YksIoKuD8Lc3NyK7X+b991DQ0OttmF5enqi1+tt5jcv11Ydlge7QgUYiYuL47fffiMlJYV69eoxdOhQqyVRZ9G7d2/0ej179lgGuz127Bjt2rXjs88+Y/r06SWWIaXkH//4BwsWLGDhwoVMmVJ8bC5zkpKSCA0NZcaMGcyePdsiTQsVcJ0tJ+H++eq+5040MKZTpV5eQ0OjBnE0AUZ9pMPLXbL3FYm/d8nn5xXA8A8FMSmCh/pLXhqhOS+piZxKghnLBAfPqs5Tj0jJ2+MlzSznF9gVAxM/11HLQ7Lr/yQBZds1oaGh4QTe+EWw4E9Bh3DJyn9a728uDinhSAKsPCRYdRg83ATbZoxEpyvf4MnRlHfsUCG/SZGRkaUOkJxF+/btWbp0KQUFBRazBMbNg8V5wzRiHLjNnz+fr776qswDN3NcPyCr2gxoBY8NkHy8RfDSckHbMElza18xGtWAQ+dg0U7BiyMk9Wq7WhoNDWuWH1Af38FtKHXgBuDpDi/fKpm2UDB/O0zqft3ZksaNT14B/Pd3+GSLIE8v8POSvDhCcncPsPVp79kEWtaX/J0kWLZf8kC/ShdZQ0MDFebl20KfhC8ML/vADZTTqg7h0CFc8n8j4UK6zuUDN3uwe/SRm5vLZ599xqRJkxg6dKgpPMDKlSuJiXG+C6+xY8eSmZnJsmXLLH5fuHAhYWFh9OzZs9i8UkoefPBB5s+fz2effcb9999frmsvXLgQoFqHD6gsnhos6dVUci1P8M9vBdl5rpZIo7xk5cIjiwXLDgi+3lH9lJzGjU+BHn45rI7NY7uVxsDWcFMLSZ5eMGuN1rZrCofOweiPBB9s1JGnFwxqLdnwjGRKL9sDN1Cdvqm9VdtatEtgYwuOhoZGJfDBBkG+XnBTC0nf5vaX46aDRnWrp963a+UtJSWFAQMGcOzYMUJDQ0lKSjIt9/3888+sX7+eTz/91KGCFmXEiBEMGTKERx55hCtXrtC8eXOWLl3KunXrWLx4sckWeNq0aSxcuJAzZ86YTDqfeOIJvvrqKx544AHat2/Prl27TOV6eXnRuXNnALZt28asWbMYO3YsTZs2JScnh7Vr1/L5558zcOBARo8e7dR7dBRxcXF4el7AzS3XyluPs3F3g3kTJSPnwckkwasr4T93auZJ1Yl5mwUXM5SC23I8nxeGa4GONOwjKSnJ5BTGkbpo22lIyRQE+SqPYmVFCHhtlGT4XNhwXLDjdMU6AxrOpyJt6FoevPebYP4OMEhBXV/JG7dJRnegTLP34zrDnLWS2BTB9tPla2saVQdn6SEN5xOdCCsOqePnh7muLxkXF2dyehMZGVnp17erFzZjxgzS09PZt28fHTp0sHCjOWDAAKt9YM5i+fLlvPzyy7z22mukpaXRunVrli5dysSJE03n6PV6k3cjI6tWrQLg66+/5uuvv7YoMyIigri4OEBtjHZzc2PmzJmkpKQghKBFixa8+eabPPvss9XGbDIjIwNv76t4erom6FqIP8ybJJnyJfy0X9AjUnJXd5eIolFOTiXBV9uu/33ykgeXsySBvsXn0dAojmvXrlmZujuCFYUmk6M7YnIwUVZa1IcpPWHhTnhzlWD1ExL3cpahUXnY24ZOXITpiwTn0q7HAXx1lKRuOXSZrxeM7woL/oRvdgpubqlNRFZHnKWHNJzPf9YLpBTc2l7SIbz0851FRkYG+fn5xTo2cTZ2tdxff/2V2bNn06VLFys3ssawAZWBn58fc+fOZe7cucWes2DBAhYsWGDxm3FwVhrNmzdn9erVFZBQw0ifZvDMEMl/fhO8ulLQPlwS1aD0fBquQ0p45WdBgUHQNzKLhAx34i57seOMZFQHV0unoaHIzIXfjqvjseUwmTTnqcGSnw8p64CleyVTNYv4G4oCPTz9vRq4hQVIZo2TDGhVej5bTOklWfCnYHO02nvTqG7peTQ0NCrO3jjYeELFXnxmaM2eOLFr6cgYrNoWxQX01XAdUVFRNG3a1MrVe2Xz6C3Qv6Ukt0Dw6LeCqzkuFUejFFYegt2xAm8Pyazx7gyIUssR209VTxtxDdcTHh5OZGSkQ3XR2iOQky9oWs/+mdhAX3h6sOoMvP+bIKNyHfNqlAN72tA3OyE6UVDHR/LrE/YP3ACah0Df5hKDFHy7W9OF1RFn6CEN5yIlzF6r3re7umHlDbayiYqKokOHDkRFRbnk+nYN3po0acLOnTttpu3Zs8cqqriGa/H09MTDw8Nly7tGdDr4YIKkQYDaM/DicoH9gSo0nElGNry1WinKxwdKIut5cHMrpS62nUJ7bhp2YdRDjtRFKw6qdjquc/m8jhVlci9oHiK5fE0wd5PWKa+qlLcNXbqqHBwAzBhWPjPJ4rin0HHJ93shx3YsX40qjDP0kIZz2XIS9sULvNwlTw5yfQfE09PT9M8V2DV4mzx5MrNnz2blypWmvWRCCPbu3cvcuXOZOnWqQ4XUuHGo6wsf3y1x10lW/yVYtKv0PBqVzwcbBCmZajXjwZvUbz2bgKebJCFdEJfqWvk0NAAuZsDOQufGFY0j6eEGr45S37NvdsLpSxUUTqNK8M5awdVcFQ9qgoP2Wg9qDWEBaqC/+i/HlKmhoWEbgwHmrFMTMPf1hdAAFwtUBbBr8PbCCy/Qt29fxo4da/LUM2zYMHr16kXPnj158sknHSqkxo1F1wh4sTAg7sxfBYfPuVggDQuOJqjOK8DMMRLPwp2xPp7QpdBaevsp18imoWHOzwdBSkGPJtIhe4/6t4SBrSUFBsGs1drqW3VnX5yK/yeE5M0xEjcH+Rhzd4PJvQoH+ru0dqKh4UxWHlZmz7W9JY/0d/2qW1XALlXm4eHBmjVrWLJkCSNHjmTw4MEMHjyYRYsWsWrVqmrjhbGmkJGRQWZmJllZWa4WxcS0fjCsrSRfr/a/aXtMqgYGg3JSYpCC0R2vu03PysoiMzOTnhEqUN82bd+bhh0Y25EjdJGUliaTjuLlW5VlwJaTgt9POqxYDQdR1jZUoIdXV6r2MaEbdGrkWDkmdFeWCIfPaROQ1Q1H6iEN55JXoMJ7ADzcX1LHx8UCFZKRkUF6ejogOCF2AAAgAElEQVQZGRkuub7dflKFEEycONHCLb9G1SQuLg5v7wQ8PQto0qSJq8UBVEydOXdITlyEs2mCZ3+EL+6p2J4VjYrz/T44dE7g5yV55dbrHeJLly5RUFBA6zq+QDg7z6jOkeZSXaM8GNuRu7t7hXXR8Yvwd5LA010yor2DBERthL+3D3y1XVkG1PGRtAvT2npVoaxtaPEuOHFREFBLMmO442frg/3g1g6w4qAKG/BeI21FoLrgSD2k4VyW7oHzlwX1akvu7+tqaa4TFxdnChXQsWPHSr++XUtkOTk5XLlyxeK3H374gRdffJGNGzc6RDCNG5+AWvDpZImnu2TjCcHnf7hOlpx80Btcd/2qQFoWzC60K396iKS+v/U5LYJzCagluZorOFw5EUE0NGxijO02OErpEkfyxCBJXV/JmWTB7Z/o6PymYNoCwZfb4PgFtUKtUXVJvgrvFToped5BTkpsMbXQccmqv5T+1NDQcBxZufDRZvUePzlI4uMa3yBVErtW3qZOnYqvr68pftq8efN46qmnAHj33XdZtWoVI0eOdJiQGhVDBRsPxs0t19WiWNGuIbw+WvLyCsGc9YIuEZLukZUrw5aT8OhigY8nDGwNg9tIbmpBlVQUsSmw6YSaiXqov6SBAzfuzl4rSL8maB0qube3ZVpgYCAGgwGdTkff5rDmiNr31tV2xBANDZuYt6OKUKBX+yDA/thuJRFQC+bfJ/n0d9gVAxnZgk3RsCladSQCfSS9mkKfZpLezdRqnWY1UDmUpQ3NXie4miNo11AyqYfzZOncCNo1lBxNEPywT/Jwf+ddS8NxOEoPaTiXr7dDSqYgIshxzoYcRYMGDdDr9bi5ucYkQ0hZfqffERERzJ4922Qy2bx5c/r06cPHH3/MtGnTSE1NZfPmzQ4XtjpgMBi4evWqxW+1a9euAkpiE1A1N5ZJCU99L1h5SFDfX7L6CUmwX+Vc+4+/4R/fCPIKLHtenu6Sfs1hcJRkUBQ2V6Eqg3y9Cky5+YQKChuTcl3OerUl/5siHTKA2h8P4/+r2uhPDxvoFln8uUt2w/+t0NE9UvLjw5qpkEbls/VvuPdrHYE+kt3/d92pjjPQG+DERfjzDOw8I9gTC1l5lvoipLakTzPo3Uz9rwVudh3mumz5owa6NHbu9X7YBzN+0tGwjuSPGY5ziqKhUZNJy4Kb5wgycwXzJhm4zWmWie7ACGcVXmbKO3aw65OXnJxMw4YNAYiNjSUmJoalS5fi7+/PtGnTuOeee+wpVqOGIgT8e6zkaAKcSRY89R0sfMD5H8E/T8ODhQO3oW0k9/SWbIoWbDiuVrY2R8PmaAEroGO4ZHCUZHAbaB3q3Fn2tCz4/aSa5f/jJFzNvX4xd52kZ1O4dAVOXRJM+hzeGiu5q5v91yvQKyclAHd2lSUO3ABuaqH+P3gWMnPBz8v+a2to2IPRZHJ0R5w6cANw0ykLgXYNYfrNknw9/HVesvMM/HlGsC8eLl0V/HwIfj6k5AoPlDwzRDKui3Nl07BEb4DXVhoD+UqnD9wAbusI/16jQqhsiVbfCA0NjYrx6RY1cGvTQDLKgXuabxTs+uz5+PiYPKxs27YNPz8/unVTvUdvb28yMzMdJ6FGjcDXC/47RXLbx7D9tGDWauX1zVkDuF0x8MBCQW6BYHCU5OO71ex9vxaS10bB30mSjSdgw3HBoXOCw+fVv/c2QMM6kiFt1KpcjyYV7zxKCdGJsDkaNp0QHDyn3J8bCfKV3NIKBkVJ+rUAf29lC/7MD7D+mGDGT4ITFyUvj5R2OVVYZLax3xjCoSQa1YWIIEl8qmDXGa2zolG5ZOXC+mPq2Bkmk6Xh4abMhbtGwGMDJTn5cPCsZOcZwZ9n4NA5NfnzwjLo2EjSrF6li1hjWbIbjl0Q+HtLXnCCkxJbeHvAXd3g8z9U2IDBbTRrBA2NipCQDt8UxgCeMVzicsO1Kohd3c727dvzySefEBERwaeffsqAAQMQhUsRZ8+eJTQ01KFCatQMWtZXK3DP/CD4eocgJgXmTpAEONg17N44eGCBICdfcEsrySeTLc2uhIBWoerfPwdILl2VbIlWA7ntpyEhXbDgT1jwp6C2lxrA+XmrTl3Rf55u4OEm8XA3/1t5rtMJOHBWsPkEXMiwXMpr00CZaw5oLekYjtUg1tcL/jtZMncTzN0kmL9D8HcSfDxJEliOzfmXrlx3wztjuCSojOaq/ZpDfKoaaGudFY3KZN1RyM4XNAmWDnf/bg/eHtC70GTyGdTg8p9L4PeTgjd+gW8e0LzoFmVfHHy9QzD9Zsc9w9RMeHe9qujnhpVdlzmCKT0lX2yDP/4WxKZImgRX3rU1NG405m5UFlG9mkr6t3S1NFUTuwZvr776KqNGjaJTp054enpaeJhcvXo1XbpotiJViaNHj+LldQpPzwIiIqq2h4lxXUAnDLy4XPD7ScFtn8DnUyWtHDQfcOAs3Pe14Fqe4KYWas+YVylvQUhtFdNnQndJdh7sOK28Y26KhuSr6v+SKb3n5lW4x25glGRAKwirU/q96HTKK2TrUMmzPwp2nBaM+QS+vFfSsn7p+QFmrVGmCR0bSSaWsCE4Pj7e5Fo5IiKCm1pIvt0t2KYF69YoB0XbkT0YY7uN7Vw1B0W+XvCv2yRDPlDxENcelYzUzH4seGu1smjYeBxev01yd4+ym6IX14bmrBNcyVFmVpN7OknwYmgcBANaKeuJRTsFr43WJrSqMo7QQxrO4VQS/LRfHc8YXjV1PKh+dV5eHp6enrRr167Sr2/X4G3gwIGcOHGC/fv306lTJ5o2bWqR1qlTJ4cJqFFx9Ho9BoMBQzXxb317Z2hRX/LQIohPFdz+Cbx7p2RUh4qVe/gc3PuVICtP0Lup5POpEm+P8pVRyxMGt1EeKQ0GOHxecvSCCiSZr4f8AsjXC/L0ai9Zvh7yCv83/jOdq4cmwcocsndTVbY9jGgPkcGSB79RMfPGfgIfTJAMbVtyvj/PwMpDAiEkb40p2UTV2H6Mbah3M9AJ5Ur9YoZjvV5q3LgUbUflJTEDdpxRx2M7O1AwBxMRBI/0h7mbVKy4/i0lvtreUABOX1KxJAHy9IKXVwgOnpW8dXvZ9LGtNnTwLHy/T5U583bXOA2Z2luyOVrw4354bljV9FasoaioHtJwHv/5TWCQyg9BZexZtRdjv1qv17vk+mUevM2dO5fx48cTHh4OKI+TtmYsHnroIcdJp+EQvL298fT0xMOjik5h2KBtGKx6TPL4UmWa99gSwZEEyYxh9n2YjybA1K8EV3MFPZpIvrpP2j1YMqLTQefG6p8llT/rGtUAfnlM8ui3sCtGMH2R4NkhBh4baHtGO68AXi10UjKlJ7QPL7l8Dw8PdDqdyS1uQC3oEK7292w7RYUcpmjUHIq2o/Ky8pDaD9o9UlZ5j46P3CJZfhDOpQk+2kyZ9pPWBJYVOpsZ2FrSPVLy7nrBT/sFJy7C/6aU/lyLtiFzJyXjuzjG+6499G9xfS/wykPODVGgUTEqqoc0nMPBs2ofv05InhtWtfWlt7c3bm5ueHiUcwXAQbi98cYbb5TlxDFjxvDvf/+bNWvWkJ6eTmhoKHXrVvGvpwuQUpKXl2fxm5eXl2lPoCsIDg4mMPAy/v4OjmTrZGp5Kk9euXrYHy/YHy84eFaZp5Rn4HX8Atz9pTKp6RYhWXD/jTkLXssTxnSCK9lw+LxgZ4zg9CUY0FrtszPn8z9g1V86gv0kn00pfcbb39+fOnXq4O9/PWZCQrpgT6ygloda/dPQKA1b7ag8vPKzICVT8NgAWeqEg6txd4PGgfDLYcGhczCyPU4LFl1d0Bvg+R+VqfaMYZJJPaFbpPKuezZNsPwAtG5AiXvGirahpXtg6R4dtb0lX9zjOt0uhLK22HZKkHAZJvesObH/EtLhyaWCnw8Jtv4t2B0rOHIe/r4E59Mg5SpczVHP371wz7crqage0nA8UsLTPwjOXxaM70olTn7ogBblzhUcHExISAjBwY7Z4FresUOZ47wZDAa2bt3KsmXLWLFiBYmJibRv35477riDcePG0aaN5nIOtDhvzuLXv9RHPztfEB4o+WyqpG1Y6fmiE2HS54LL1wSdG0u+eUBS29v58rqapXvUbHS+XhDVQHVqwgNVWkI6DH5P1eV7dxoY39W+a+yOgQmf6wjylex9WfMIpeFcjl+AkfN0eLqp9uZoR0bOYtoCwaZoQd/mksXTqu4ejsrgj7/hnq91BNSS7Hn5+n7jC+nwyLeCw+eUGfdTgySPD6RUnZKWBQPfE6RfE7wx2sB9fZ1/DyWRfg16va2cYf34sIHuka6Vp7J45nvB8oNlb9g+npJAHwj0hUAfaBAAXSNUmJqmwTVn0KtxHaNu8HSTbHle0rAM+/4dQ/WM81bmlTchBE2aNGHkyJE8++yzDB48mOzsbJYsWcI777zDd999R2JiIoGBgTRo0KDCN1JdqYorb4pYIN/FMthPy/pqr9m2U8oMafkBCA9Us7TFcSoJ7v5CkHZN0CFcsmiaxL8GDNwA2jdU+9K2RKsZ7Z8PQadGqs6e/1EQnSjoESl5bbT9H8qQ2vDVdriSIxjaVhJS27H3oKFhzhfb1Or70LbYPeHgCjo3gm/3QFyKoEX9sjsTuhF5f4PgZKJgQncYYjbfW9tbOatKy4Ij5wW7YgRHEuCWlpRoFfDmr4J9cYLWoZJ3xpc+2HM23h7q+3TsgiAnnxrhqOb8ZXhpudqn9NIIAze3lLRrCM3rQcNACPJV+/90AnILlNlzvl5wNUdw6argbGF9bTwh+GanYNEu2BcvSMxQ36YgX2tvyxo3FgYDPLZUtYd7+6j4nZWHfStvjsZpK28lsWfPHpYtW8by5cuJiYkhIiKCO+64gzlz5lS06GqHtvLmXDKuwZPfK0+UAA/0lbw0UlqZBZ5JhgmfKROrtmGSJf+oPjP1jiQhHR5aJDiaIHDXSe7sBkv3CNx0kjVPVNyL5wMLBJuj1Uf7of6OkVmjavPZVvgrQfBA38rbX6Q3QJ93BElXBJ9PNZTqjKeq8eFG+HCjjlB/yaZnb0yz7dK4kgM9ZqlVqZX/NNCxmBABP+5T5rG5BYLGdSX/nWLbyuLwObj9U4GUVWuV62gCjPpIh7tO8ueLkpAb3DLvjV8EC/4U9GkmWfJgyd1JKeFqLlzOgsvX1P9pWRCTItgbp55pboFlZ9XLXYWT6BYJ3SKVE4uA6rUDxGUkXYHdsTCqvesnNkpi1WF4fKkOPy/J1ucrN8xHdV15c8jgzZxDhw6ZBnLHjh1zZNHVgqo4eDt//jweHn/g5pbrMPtcV6I3wAcbBB9vUUq+ZxMVqy248IWPTVEDt0tXlcngkn+UL/bZjUZ2HsxYJlh1+PpH8cGbJC/fWvZXPyUlBYPBgE6ns2hDX2+HN3/VcVMLtbKpcWOz4Tg8+M11XTagleTZoWqmvSwU145KY9spmPqVjjo+kj3/ZxmXsTqQkw9DP1CrDA/1l7xUA52XfLcHXlyuo3mIZMPTJZuPHk2Ahxer/S9e7pK3x0nGFUYgSklJoUBv4IGlQRxP9GBcZ8n7E6pWfY77VHDgrODpwQaeHOxqaZzH5Sw1qZKdL1g0zcBNFVzAyCuAoxdUHMC9cYJ9cXD5mmVDEULSqj50j1SDuWFtS16dtYW9eqg6cTUHRn0kiE8VvHuHgTurqFOxfD0MeV8Ql+qq98W+wdv58+fR6/W4ubmZHDlWhPKOHRw2osjJySE6Opr27dszc+bMGjlwq6qkpqaSnp5u1TCqK246FYT1f1MM+HpKdscKRn8kOHwOzqYqU8lLVwUt66s9JjV54AbKkcm8iZIZww0IIQkPlDw5uHydnatXr5KRkWHVhowf6z2xqoOqceOSfBVeXKY6Um3DJG46yZaTglEf6Xh4keBkYullFNeOikNKNRv/0SZ13VEdqHYDN1CdyzduU+/cV9uUu/yahtHL5B1dS9/3164h/Pq4pH9LSW6B4JkfdLz6syCvQLWh7/fA8UQPantJXhxZtQZuAPf2UTIt2SPId40n8Uph4U7IzlfWLf2aV7w8T3fo0him3wxf3CM58Kpk4zMGZo83cEdXSWSQREpl9r9ol+DJ73RM/FyU+9tTXj1U3ZASXl6hBm4AP+539bad4vlhH8SlCoJ8JdNucrU0ZSc1NZXk5GRSU1Ndcn27Bm8fffQRM2fONP29f/9+GjVqRNu2bWnZsiXnzp1zmIAaGsUxvB2sfEzStJ7kYobgzs8Ed/xPcDFD0Kye5Nt/VPbye9VFCHj0Fvjjecmvj0v8HGS21TwE6vurDta+OMeUaSSvQG1i1gaFrkdKeGGZIDVL7S9a/qhk0zOyMFC2ZN0xwfC5gieWCmKSK369S1eVR9RhHwrGfKJjT5wy9Z3Qrep11MvKwNYwOEpSYBC8tlLgWJuXqk1cilpJ0QlZ5vh8dXxg/n2SJwepilq0SzDhc8GZVE++2qdWS54aUjX32g5vB8F+kqQrgg3HXS2Nc7iWBwv+VIOCh/s7xxGPEOobM6E7/OdOye/PS/a8bOC/kw1M6ycJqCU5dE7w/E81630qjR/3KS+3bjqln/fECs6luVoqa7LzYO5G1XAeG+i4fklNoMwOS8yZPn06ffr0oWfPngDcc8895Ofn8+qrr7Jr1y4SEhIYPXq0o2WtFlRFhyXKLW4a/v61cHevhtPWJVDXF8Z2Uc5JTl1SAbibBku+m37j7zWwh4Ba5TcxAfDx8cHf3x9/f3+LNiQERF8UnLgoqOdPhc1mzJnxk+Dfa3RsioabW1Aj9yxWFb7dDV9tV57AFk6ThPqrzvXwdsopQ2oWnEoSnExSDgfOXxZENbDem1JcOwLlzOC3Y/D2WsGrKwV//K0jNUuZzY3qADPHSBsxFasXnRvDkt1qprl5SMX3nFYXvt6u3Mff3BKm9Cp7PiGU46UO4ZIt0RCfKlh1wp/cAjdahhh4946quZfHXQdXsgV74gSpWXBHNXKwU1YW74L1x3REBElmjqm85+DrBS3qQ/+WygnXykMQnagmBno1LVsZJemh6s6pJJi+SFBgEDw3VKITyly7Tq2y109l8eU2+O24jvBAyX/uVO9N5WOfwxJ/f3+Cg4MJCgpySKy38o4d7Kqqs2fP0rp1a0AtP//xxx+8/fbbPPHEE/zrX//it99+s6fYcpOZmclTTz1FWFgY3t7edOrUie+++65MeS9dusR9991HcHAwPj4+9O7dm02bNtk8d+PGjfTu3RsfHx+Cg4O57777uHSp+ti9+Pj4UKtWLby8bsxpDX9v+Hyq5P9GGri1vdo0rQ3cHIuXlxfe3t4229BNLdSU5/ZTjrtedCIsP6iOT1wUjP5Y8PtJx5WvUXZikmHWavUBmTFc0rrIgKNlffh0smT1EwYGR0kMUvDjfsHA9wQvrxBczLh+btF2JCUcOQ+vrxT0/Lfg0W91bI4W6A2CrhGSt8cZ2PuKZO5E5Ua8utOoLvxzgHpf3lotyMx1sUCVgMEAyw6o4/Fd7VseGdhamVFGNVBmcwAzb3d9vLCSuLunRCcku2LKZlJcncjXw5fb1HN48CbpsufQuxm8dbtqUx9s1PHrX2XLV9L3rDqTkw+PLVFOgW5qIXmkP4zroupn+cGqtTqZcQ3++7tqQ88MuR42pLrg4+ODr68vPj6umVW2a/CWm5trGmnu3LkTg8HA4MFql2FkZCSJiZWjqcaNG8fChQt5/fXXWbt2Ld27d2fSpEksWbKkxHy5ubkMGjSITZs2MXfuXFauXEn9+vUZPnw4W7dutTh369atjBgxgvr167Ny5Urmzp3Lxo0bGTRoELm5NeDLW03Q6ZSd/CeTJaEBrpamZtG3cK/DsQuC1EzHlPmf9cqLXP+Wkk6NJBnZgvsXCD7apDqDGpVDvh6e/l45JOjTTPJACXG02obBl/dKVjxq4KYWkny94Nvdgv7vCt5cJUg2216SfBW++AOGfygY/bGOhTtVrK5Qf8mjt0g2PWtg2SOSST244cJ7TL8ZIoKUSd28TVV3L4qj2BULCemC2t6SoRUIB9s4CJY/InlqsIF/jzXQs4qtIhQlrA6m+538pWDFQapU57kirDqsnmmwn3T5quLEHvCPfqpin/1B7X2vqbz5q7J+CPaTvH+Xir06rK2KqxefKjhw1tUSXud/fwiu5Aha1ZeM6eRqaaofdo11GzduzLZt27jllltYuXIlnTp1MkWqT05OrpSo9WvWrGHDhg0sWbKESZMmATBgwADi4+N5/vnnmTBhAm5utqeDvvrqK44ePcqff/5J7969TXk7duzIjBkz2L17t+nc559/npYtW/LTTz+ZltebNGlC3759+frrr3nkkUecfKcaGlWberWhdagkOlGw/TQVVsT742HjCWWv//poScNA+NcqWLJb8N4GweHzkvfukpq76Ergo82Cw+cF/t6qzstiGtW5MSyaJtkdI3nvN2U69vUOFTh+Yg84lwZbToLeoAYunu7KY9wdXZXTgxs9ppPRecn98wVfb1cmdTdy7Lef9l93NmOPybY5tTzhqWrkvfHFEZJTl+BMsuDp7wXf7ZHMvL16x/ozGOB/W9Uzvb+vrPAzdQQvjZTEpMDmaMGD36i98A1q2CTu6r/UN1IIyQcTJPUK94L6eMKIdmr1e9kBZdHgapKuwPwd6vj5YfKG1/nOwK4qmzJlCm+++SZdu3bls88+Y8qUKaa0ffv20bJlS4cJWBwrVqzAz8+PO++80+L3+++/nwsXLlgMwGzlbdWqlWngBuDu7s6UKVPYs2cPCQkJACQkJLB3716mTp1qYRfdp08fWrZsyYoVKxx8V84hKyuL7OxscnJyXC2KRjUlJyenxDZk3Ou2/VTFVhKkhDnrVBl3doWm9cDLHf49VjLnDgOe7pKNJwRjPr7xTJGqGgfOwidb1PFbY8vfGerZFL5/SLJomoGOjSTZ+YL5O1QwXr1B0KmRZNZYA3tflnw0SdK/5Y0/cDMyoBUMaXPjOy/JyoV1R9XxHXaaTBalNF1UlYgMhrVPKk+/3h7KM/LIuYK31wqyqqnhzpaT8HeSwM9Llmv/ojNx08HciZJW9SWXrgr+sVBwLa/486tTGyoLZ1OvewJ+pL/13vPxhaaTvx6uGg7A5m1Spp1dIySDolwtjX1kZWWRmZlJVlaWS65v16fy5ZdfZubMmTRs2JA33niDJ554wpR29OhRxo8f7zABi+Po0aNERUVZbTbt0KGDKb2kvMbzbOU1hjkwllHcuSVdoypx+vRpzp49y8WLF10tikY15eLFi5w/f77YNtTPuO/tdMVMg/44BbtjBZ7u1uEM7uoGyx6WNKwjiUsV3P6J4JfD9l9Lo3iycpW5pN4gGNNJcltH+8oRQnUkfn5U8tW9Bvo3zeSu9qksuOssP/9TMrlnzQ24+9ooiZe72hN1o7bjNUfgWp6gSbAKruwIStNFVQ1Pd+Xpd+MzkqGFA/bPtgqGvC9Yd7T6mVIaV93urmLvbm1vZbYd5Cs5dkHwzPeiWBP76taGSiKvAB7/TnA1Vw2Gnh5i3aB6NYWwAMmVHMHmaBcIaUZsCny3Vx2/MNw5Xkorg9OnTxMdHc3p06ddcv1ym03m5eXx+++/c/fdd/Piiy9apf/yyy8OEaw0UlNTadrU2ui9bt26pvSS8hrPKymv8f/izi1rfIdjx44RERFhYU6am5tLdLR6iwIDA2nc2PLLdurUKa5duwZAx46WPaeUlBTT6mDjxo0JDAw0pen1etOgsnbt2lZ1lJiYRHb2NVNec9PSzMxMkpOTTfcXEGA51R4bGwuAp6cnDRtaRuVNTk4mM1NteGrYsCGenp6mtOzsbNM+yICAAKv6PHv2rCnYYdF6SEtLIyNDeTwIDQ2lVq3rX4u8vDxTPfj5+VGvXj2LvAkJCSbvPU2aNLFIy8jIIC1N+c6tV68efn7XYwro9XrOnlXG4bVq+RAaamnjkpiYSHZ2NlByHQYFBVmZEBvr0MvLi7CwMIs08zoMDw+38GB07do1kpKSAKhTp47FMweIjz+LwaDHw8PDKmBkamoqV65cAaBBgwZ4e1/fRJSbm8uFCxcA1V6KBiw9f/48+fn5FBQUUJT09HQuX74MQNuQEDzd/LiYITiTLIkIzOf8+fOA2thbv75lHV68eNE06xkREYFOp8NggHfXK00+pk0GOWmpXBGWddg2zMAnt51j5qb67E/w4YmlgsPnJC+OkHi4QVJSkum9KVqHWVlZJkdDgYGB1KlTp0gdxmMwGGzWYUpKiikmUFhYmMVG95ycHFMnwN/fn6CgIJt1qNO5ERFh2b4vX75Meno6APXr17fY/Jyff70ObbXvCxcumPbdFm3fV65cMemnktt3LUJDLT2QJCYmMXOdL/Gp/jQIkLw55npnwF4dIQR0CE7mlQHqXouatNdUHfFgnzA+/qMWs1YLBkUpV9nVVUfodDoiIiIs0r7fowd0DGySxrVrnvj6Xg+6ad6+y6ojzCkoKCA2NtZKzxoMBuLj4wHw9vamQYMGFvlcpSPy0y/y0k0wonUw723x5/xlwcOLBbe0kjzS4yIhPtlVXkcYg2d7uEmGNI4nNlZf5foRbw714elfQll3TPDeBmWWV1RHmFPVdURp/YgFhxpy+JwybZ87UZKeZq0jdDrllfuTLbB4ezZRfoku0xHv7YhEbxAMaCXp0cSyHxESEuIwHWHevkvWEX4UURHExcWZ2ktUVJRFO8zIyCAuLo78fNtLmEePHkWv1+Pt7U2rVq2s6sEoU4sWLSzeZaNOKivlXnlzd3dn1KhRnDrlQNdydlKS+/3SXPOXJ29x55bV/X9BQQGyyPSalJL8/PxiO8YFBQWm9KIYDAZTmsHG1FLRcuvVq0dgYCD+/v4YDHoKCgqKlcmYZqtcvV7l1euto44aDIYbtFzrvMZybT0383JtyWRMsyWTebnlvwsowgkAACAASURBVNeCMslkbx0KIahTp46VAjTm9Xa/7g3Q6HWyLOWay7v2KBxNEPh6Sia0T7EpL4CvRx6zhp5jalelXL/aLpj8pXKIYS5TUUq715KeTUXq8Hq59j+b0tpLSeWW9163nvZgdbQ/Asmc8QUWs+sVfeeMmHdyHFFuddURU3tkExmkTL2M8Y6qq44oWu65NNh31gOBZGDTdJvvsj3l+vv7mwboxemIsr7LRakMHdGvSQ4bnpY8PlDi6Sb5/aRgypJQ5u8NIDvX/nIrQ0cYV92Gt7pGHa/cKvm9bxNyjXfGq7yfbFGOYoqWq8Inqe9ZVdcRJT2bHTEefP6Heibv3ikJDyxeR4ztrI53n/Uh+ap0iY44nujGr38peZ8fJkst1/xey6MjispUUrm28ur1+mL738a+O9ge7Ofl5RWb17xcW3VYHso9eNPpdISHh5tG4K4iKCjI5sqXcRbE1mpZefMaZ9CLO7eka5jj7u5uc0Do4eGBh4eHzTgj7u7upvSi6HQ6U1rR2UjAqtywsDBCQkIICgpCp3PD3d29WJmMabbKdXNTeW05gtHpdDdoudZ5jeXaem7m5dqSyZhmSybzcst/r+5lksneOvTw8KBevXoWq0pFy71uOiks7rWkco3yFujhvQ0q3z09cwjyEzblNZbr5enOo/0y+d8UA35eKgjpqI8Ex5K8iq2H0u61pGdTkTq8Xq79z6a09lJSueW51+Sr8M4mNRt7V4cM+jSzzOeod67oikZN1RG1PHW8cZt6b77eAScTq6+OKFru8sLwAF0aZhNWx/Zkpz3lGmfRi5PXvNzSnmtRKktH1PKEZ4dK1j0l6ddckq/X8c2BYKYta8zWv+0r19k64u8k5UhKCMmUbllV+ns/rgs8eot6r174SXDkoqdFuUFBQabvWVXXEcU9m/RcL2ZtVCtc9/ZWTp+KlmsuU/MQaB+mRy8FW+PquERHzN+n5B3TSdImrPRyjfdaXh1RVKaSyrWV183Nrdj+t3nfvW7dulbWEZ6ensXmNS+3rItExSFkeYd7wKxZs9iyZQvr168v1qOjs5k+fTpLly7l8uXLFpX/3XffMWnSJHbs2EGfPn1s5h06dCjnzp3jxIkTFr+/8847vPTSSyQkJBAWFkZCQgLh4eG88847vPDCCxbntm7dmsaNG1vFtDMYDCbTCSO1a9e22fAql01A+ZZlNTTKw5HzMPpjHX5ekoOvKTPGsvL9XnhhmY66vpI/ZijzsbJyJhkeWiQ4fUmZ87w2WjKlJ9XWlt5VSAnTFgo2Rwtah0pWPlb9Yu9UVx5aJFh/TNCzieS76dV3H4gRKaH/uyo48AcTDIzt7GqJqi5Swuoj8OYqwaWr6sGPbC95dVTV8pj47A+CZQcEw9tK/je16m/UMxjgkW/VexXkq/RZeGDp+aoDegNM+VKwM0bQpoFk+aNl8/r5zU54baWOdg0lvz5euc/wzzNw9xc63HWSTc9KIoJKz1M5uAMjXC1EuccOdo0oPD09OXnyJFFRUTz33HO89957vP/++6Z/H3zwgT3FlouxY8eSmZnJsmXLLH5fuHAhYWFh9OzZs8S80dHRFh4pCwoKWLx4MT179jSNpBs2bEiPHj1YvHixxZL5rl27OHnyJOPGjXPwXWloVF/ahkGgjyQzV3CoHLF2cvLhw0KTsUdvKd/ADaBZPfj5n5KR7VVssVd/1vHcj6JKeNWqTizZo1xte7pJPpyoDdwqk1dHSZM3whvBecneODibpjwSGlcENGwjhAqjsOlZybR+EjedZM0RwaD3BIt2ulo6RUI6rDykjh++peoP3EDFfv1ggqRNA0lqlmDaAkFmNfXwWZSPN8POGIGPp+Tju8sermFUB/BwkxxNqFxvzeZepO/uSRUauFVf7Fp5K20VSQhh0z7Y0QwdOpR9+/Yxe/ZsmjdvztKlS/niiy9YvHgxkydPBmDatGksXLiQM2fOmDZT5+bm0rVrV65cucI777xDSEgIn376KatWrWLjxo3079/fdI3ff/+dIUOGMHr0aB599FEuXbrEiy++SEBAAPv27bPYlAzayptGzeafSwSr/xI8MUjyjA2vV7b4chu8tVpHWIBk83P2xw2SEr7YBu+sFRikoHuk5PvpZYtNVtOJSYZb56lg3K/cauAfN7laoprHJ1vg3fU66tWWbH5WUrsaByef8ZPgh32Cu7pJ5txRPTr7VYXjF+DVlYL98aqz+8NDBno0KSWTk3lzleDrHYJeTdXKcHXiYgbc9rEg+apgUGvJ5/dU77hiu2Ng0hfqG/f+XQbGdSlf/unfCH47Lniov+SlEZXzLNcfg4cW6ajlIdk6QxJSu1IuW0Zq0MpbbGxsif9iYmLsKbbcLF++nKlTp/Laa68xfPhwdu/ezdKlS00DN1AbBPV6vcVmQC8vLzZt2sSAAQN4/PHHGT16NBcvXmTt2rUWAzeAW265hTVr1nDx4kVGjx7N448/zoABA9i0aZPVwK2qEh0dTUxMjMlrj4ZGeTl//jxxcXGltqGbmhfueyujP6OrOWpTOcCTgysW8FUImH4zLJ4m8fGU7I0T7Imzv7yaQr5ehQXIzhf0bS55oK/zrlXWdlQT+cdN0CRYknxVMG9T9bWbvJanQgSA42K7mXOjt6E2YfDjQ9JUd++sdW0cwMtZsHSPOn6kmqy6mdMgAL64R4Xl2BQteGetqLZtKC0LnvxODdzGdZHlHrgBjC9sVz8fVOaXzkZv5kV6Wj+q2MDNfqKjozly5IjJa3xlY5dhTFF3wK7Cz8+PuXPnMnfu3GLPWbBgAQsWLLD6vX79+ixcuLBM1xkyZAhDhgyxV0yXk5ubixD5CGHtVUdDoywYvZeWtlDfrzA46OHzcCUH/EtZPfhym+DyNUHTepLxdnyIbNGnOdzWUcWSWbZfzRZrFM9HmwWHzytX0/+507krlWVtRzURL3d4fbTkvvmC+TtgQnflZKC6sf4YZOYKGteVdI90fPk1oQ3pdDBjmGT1X3DgrGD9Mcnwdq6R5ZudkJ2v9lbd3KL086sinRrBf+6UPL5U8MU2QYDOm2HNL1erNiQlPP+jIPGK+l7OHGOf7ANaQR0fSdIVwZ9npFVAb0ez/ACcviSo4yOZ3r/61Hdp5ObmFuvxvTKo0K6G6Ohotm7dSkpKCtOmTSM0NJQLFy4QGBhoEWtHw7UYPSXpdDfOi6NRueh0bri5SZtes8wJD4SmwZKYFMHOMyXvd0nNVCaTAM8Okbg70PfR+K6S7/YK1hyBf40BH8/S89REDpxV5noAb411voOEsrajmsotrWBwlGTjCcG/VsE3D1Q/5yXL9iuBx3Vxjuw1pQ2F+KuVio+3wJz1gsFRjtWRZeFaHiz4Uz3Eh/pXv7ZozuiOcCbZwIcbdXywrR4Na+fRtoGexAxIz4b0a+pfhvE4W1j+Xfjvai7c2xueG1a5/amvd8CmaIGnu+TjSRJfOw2/PN3V5OY3O9W7elML591H0f3spU3mVifc3d2RUtr0Vlkp17cnk16vZ/r06SxYsAApJUIIRowYQWhoKA899BCdO3fmzTffdLSsGnbStm1bIBFtz5uGvRQNHFsS/VpATApsPyUY1rb4D8Onvwuy8gTtGkpGOHhWuVsERARJ4lPVrLXm7c6arFxlLqk3CG7vJLmto/OvWZ52VFN55VbJH3/DtlOCDcclQ6uRw48L6bDjjDp21Ep6UWpSG3qov+Tb3RCTLPhhn+Tu4v2wOYUf9sLla4JGdSW3tq/cazuDJwfB6UuSX/8SPP1reOkZiuHT3yVjOkGL+qWf6wj+Oq/MZwFevfW6m317GddF8s1OwbpjkJlLuZ2ElZXFuyAhXRDqL7mnt3Ou4SpUv9p12GUgM2vWLJYsWcK7777L0aNHLZaeR4wYwbp16xwmoIaGRvWin3Hf2+niz7mQDot2qePnhzneVE8IGFcYlNS4EqBhyVurBfGpgrAAyb/sNMHRcDyRwZgcxsxcXb28pq44CFKqkAeNyhYGVaMEanvD4wPVu/nhRsG1vMq7dr4evtimdOf0myp/1c8ZCKHMJ7s0vq7v3HSSIF9J03rq94GtJeM6S+7vK3l6sIE3xxiYO9HAwgcMrPyngUGtJQYpmLO+cr4rmbnw+FJBvl5Nhk7pVfEyO4ZD03qSnHzB2iMVL88W5vvZn6rgfnYNa+xaeVuwYAGvvvoqzzzzjJVXySZNmhAbG+sQ4TQ0NKofvZqpD2JsiuD8ZduxdeZuFOQVqE6es/ZRjOsCH2xUKwEX0iGsTul5agrf7oale1TA3ffukgRoVu5Vin8OkCw/AOfSBF9ukzw20NUSlY6U8FPhRIkzHJXUVCb3gvl/Ss6lCebvkPxzQOVcd/VfatUkyFdyZ7fKuWZl4O0B3z8kSbqi9J6fV/ligr40UrLlJGw4LtgXJ+kW6TRRAbUnOT5V0LCOZM54x5iuCgHju0jeXS9YfkBwZzfHv69fGPezB0vu6Orw4ms8ds13JyQk0Lu37TVQb29vK3eXGhoaNQd/b7VBHGx7nTyTDD/uV8czhjtvH0WjutCziURKwYqDzrmGo8irJF9CUsLcjfDyCqX6H+kPvZtVzrU1yo6vl+okgpq9vpDuYoHKwIGzEJsiqOUhGXEDmNhVFbzc4bmhqi3873dBWpbzrykl/G+rUsz3973xVk083NT+7Nre5Ru4gXIiNKG7On7byZ5AzyTD19vV8ZtjJAE+jiv79s4ghGRnjOD8ZceVC5Bitp/9uWE3xqptVcOuwVtISEix4QBOnjxJeLj9tsQajicxMZGUlBQuX3bwG6pRY7h8+TKpqallbkP9mqv/t522/jK+/5tydTw4StLVyY5rjW6Rlx1wrbvtkvhqO7R7XfDUd4IsJwaR1Rvg5Z8FH2xUav+JgZLnK3nTfXnbUU3mto7QI1KSnS/495qqb/prXHUb0d55e2igZrah0R2gbZjkaq7g483Obwu/n4ToRIGvp2SqA8z0qhoVbUNPDpJ4e0j2xws2HHewcIVIqeLr5esFA1pJBkU5tvyGdaB3U3VsDMDuKD7eLLiWJ+gQ7vj97FWFxMREEhISSEysxGjnZtg1eBs5ciSzZs0iISHB9JsQgoyMDObNm8fo0aMdJqBGxUlKSiI1NZX09GowfatRJUlPTyctLa3MbcjowerP02DuSfdoAqw+osz1KsNb18j2UMtDEpMsOHTO6ZcrN0t2w8xfdeTpBT8fEoz5RHAq6f/Zu+/wqKr0gePfm5lUQiCBhBAgoYQQSmiiFLGAylJsYaXaQMCy9l1FUVZcEUV0f+paVrEAFrAsIhZEREVBBFEkQCD0ngBJKCGkzsz5/XGZm7nJAElmkkl5P8+Th2HOnDPn3nnnzD33nnuO99+noBju+kBj/lp930+/3sHfB1X/7HEVjaP6TNNg2rUKP02fYGFNFS2fuvEgPLPEs7grKIavNuqPb+hZtd/r+hhDfn7w6JkFld9fAweOVe37/ffMVbcxF+HVqz01hacxFN0IYz3MWd9q2Oznfn1lLN8KP23XCLAonrimar5Tw3t6/+TmgWP6sHyAR6pwZI2vHTlyhIyMDI4cqYIf7HKoVOftqaeewmaz0alTJ/7617+iaRqPPfYYXbp0oaCggH/+85/erqcQohbp1gpCAxXH8zRS00ued97kfV03SIyu+nqEBmKsj7Rwfc36FVm8Qb8SBvqPaLMwxc6jGte+qnn1TOiJPLjpbY1lW/Rppv97Y908m14XdY7BmGHwyS+8f5C4+RCMfUtj9s8af3lJY/L/KjdEc9kWOFWg35fTp6136yh0l7TXJ4Mqtmv8e1nVtWV/7IPf9mj4WxQTLqmhwxVqgDsvVzQO0dvsheu9W3ZBMUz/6szC1pdAm6beLd9pcBfvntwstMGUz/Srhf3jFRfHe16mcK9SnbdmzZqxbt06xowZwx9//IHFYiElJYUhQ4awevVqIiJkmqmapE2bNrRo0ZJmzappXltR5zRr1oyYmJhyx5C/BeMgbuWZWSfX7Iaft2tY/RQPXlV9BwXOs4tfpug/LjXB8i3w9080lNK4qY/i3yMUX9+nuDheHyZ3/0d+TP1c87i+6SdgxBsav+/TF+H+YILvFvuFiseR0NdAbByiSDusMf8375W7OxNufVcjt1CjWZg+g94nv2sMeEHj2SX6GlflVbK2G1W6yDvU7xhyXn37fIPG5kPneXElOe91u747Vb7uo694I4bCguCeAfrn8X/faeR7cSbQt36G/cf076XzPaqC68nNzzw8uVlsh3vna6zaqd/3+tjQut3xb9OmDe3bt6dNmzY+ef9KN7PNmjXjjTfe4MCBAxQVFZGens7s2bOJjq6G0+miQsLCwggNbUBISB0c/yCqRUhICA0aVCyGnEMnV+3Qh2TMWqr/OIy+COKaVEk13erXDqLDFCfzNX7YWn3vezard8Lf5uvrqyX3UDx1rT60pGmovijzfWemBv9gjcYN/9UqPURq22EY/rrGjqP6Ojuf3qm4yDe/M4bKxFF9F94A/nFmwop/L/POhBWHT8LN72hkn9bXWVz+d8Vnf3NwURtFoU3jzZ81Lp2l8cZPnHepgiM5sPLMxER/reIhk1C/Y6hLC7i2m76Pn1vq/atvO4/qsyiCvsZcXeWtGLq5L7RorDiSozFntXfqln4CXluhfwaPDa38YtzlZZzc3Fj5k5t2Bzz06ZnRHRbFW7d4vhZdTRcWFkajRo0ICwvzyftXqvM2cOBA0tLS3KZt376dgQNrwbzGQogq1f/MEgC/74WvN8H6/RpB/iWdk+pi8YPkMwsG+3ro5Pr9MPE9fZmEQZ0Uz99gXuPO4gd/H6SYM95B4xDFpkMaV7+i8X0FO51rd+tX3A7naMRHKT77m6KDnFertcZeBB2b6ycgXvBwyNyJPL3jduiERpumirnjFQ2DoGcsfHy7Ys44Bx2aKXIKNGZ+48flz2t8vI6zDtlc9Cc4lEavOEXrKhreJUo8NEjhb1Gs3KG5nc3XE6+fWZdrUCdFfJR3y66LAq0Y927/d4XGcS+cWJmxRKOgWOOi1opru3le3vn0awfNwhQn8jR+dH9Yf05KwdTPNRZv0EfVvH6jMn77RdWpVOdtxYoV5OTkuE07deoUP/30k0eVEkLUfm2bQkwjRZFd49GF+kHBuH4Q5YMTVc4rAiu26dMY+8LWDBj3rj4LV/94xStjzz6F8oAO8PV9iu6t9AP2CfP8eG5p+e55WroZbn5XI6dAP6D+351K1rir5Sx+8OSZSQsW/Ealh8ydLoRxc0quxr4/QdE0tCRd02BAIiy5X/HvEQ5aNFYcztF4ZKEfg1/WWJaKaWIDWdut+sU2gRvP3Ac5c6lmmhCqshwOmPG1xmd/6p/lnZfLZ1le13XTT6ycKtCMRakra/Uu+Hqjhp+mePLa6pnsw+KnLxsAFR86qRQ8/bVmrBn64ijFlZ2qoJKiDK+PTs/IyKiXwxlqssLCQoqKiiguPs/4FyHOori4uMIxpGklV99yCzUaBinu8tFQnPgo6NZKYXN4dzKQ8tqdqV/tyCnQuCBOMfsWRaD13HlaNIZP7lCM61dyZvfGtzWOnmMZzffXwF0f6lf2ruqk+GCionENao4rE0dC17stXNNNX7fwyS8qPjtckQ3u/EBjwwGNRsGK9yYoWoa7f63FD/56AXz/D8XUYQ5jYobb3/fjhjc01u3VX7fxIOw8qhFoVQzt6tHmlZvEENw7UBEaqNh8SOOrTZ6VVWiD+z/WeGulfuD+6BAHPWO9UMkazJsx5Oenz6oI8N6vVHrNNJsd/vWF/hnc2JtqHXboPLn54zYqNCz7xeUa76zS6/zccMU11XClsKYoLCykoKCAwsIqXN/nHM5z+FBi8eLFLF682Pj/9OnTiYyMNL0mPz+fFStW0KNHD+/VUHgsLS2NoKA9BATYfHZzpajdDh48iM1mw2q1ViiG+rdXfPL7mbO5l3l3kdGKuqGnIuWAxsI/NCb0r75O5KET+myPWbkanZor3h2nCAkoX94AKzx5raJXa8Uj/9NYu0dj2H/glTHmWf2U0m+af+UH5xTfiunX1bzFUSsbR0L32FDF8i3w+z6NL1IU13UvXz67Q58gZ+UOfTKBOeMVCeWYqyHIHyZeAiN6Kd78Cd79Bf7YpzHiDX2dRsuZ07+Du+gTOFQHiSFoEgp3XKr493caL3yrMbizIqDcR3Mlcgrgjvc0ft2tD3mbdYNieE/v17em8XYMXZYA/dopVu/S+L/v4P9GVvz35f01sO2IRniIMu5xrS4JzSCphT5M/6uNilv6nj/Pmz/Bf77Xf2+mXeNg5IVVXMkaJi0tjeLiYvz9/enWrfp7reW+8rZlyxY+/fRTPv30UzRN44cffjD+7/z77rvvSExM5NVXX63KOgshaolL4qFRsKJFY8X4i31bl2u6QYBFsSVDY2tG9bzn0VNw41sa6Sc12kbqVzsaBVe8nKu7whf3Kjo0U2Se0hj7lsbrK/ThTjY7PLKwpOP24JUOnkmueR034bnmjeCeM/eMPrOkfIu6KwXTvtD4aqM+/fsbN6sKX1lpFAyTByt+elgx5iKFxU+xfKvGt6l6zFXHRCXCbMIlENlQsf+Yxvy1Fc9/+CSMfEPvuDUI0Dv09aHjVhU0rWQm0EV/wpb082QoJStXP/kG+j10vhgt4brm2/m8/ys8+43efXj4Lw6f/7bXR+XuvE2ZMoVTp05x6tQplFL8+OOPxv+df1lZWfz444907VpN4ydEuYSHh9OwYUNCQ0PP/2Ih3AgNDa1UDIU3gOV/16fBL+/VpqrSOASu6Kg/dk5tXpVO5MEt72jszdbXv/pwovn+oopqFwmf360Y3lOf1n3WUj8mvadxx/v6FO9+muKZZAf3X0mNXRi1snEkSkzoD7ER+gx3r5bjHpsXl2t8sEa/J+X/RiouS6j8ezcLg2eHK759QDG4s36w1zayetdzkhjShQTAA1fqn8F/ftA4VVD+vNuP6DPRph3WiGyo+PgOxSX1aJKJqoihri3h6q76sGbneqbl9fxSjVMFGp1jFKN9dAXrmm5g9dNHp+w8evbX/e8P+Odivetw9wDF3QOqqYI1THh4OBEREYSHn2XseRXTlPLWuuoCwOFwcOqU+aaUhg0b4lfVi9+c1/dABRbuEaIOWr4FJr7nR9NQxZopVXd1KrdQHyq54YB+cPTpHd6biU8p+HgdPPGFfm8bQKBV8coYxaDO3nkPUbM54zjAovj2QXXWRXzn/AL/+lL/7Zl+vcPri7Pvz4bQIIho4N1yRfkU2+EvL2rsztK4b6Di7+UYbvfbHpg4T7//tm2kYt54RStZmtcr9mbBlf+nYXNozJ/koF+78+dJOQDXv66v+fm/Ox30al3l1TyrifM0lm/V+NvlismDy8bSkk1wz3wNh9IY108x7ZrqmVSlalmBIb6uRIX7Dh71KL799lumTJnCpEmT2L9/PwDr1q0jMzPTk2KFEKJKXNYBmjRQZOVq/OzlabadCoph0jy949Y4RF8Y25tTqGuavlbeZ3cp2jRVNGmgX9WTjlv9cUVHuCxBn8l1+lfuj54+/7Ok4/aPq7zfcQN95kPpuPmOvwXjIPutlZxzMiPQD75vOjNxUs9YxcI7pePmTa2bwtgzM4E+9835JxVyOPQhzUrpa376suMGJUMnF/1JmVlMf0yD+xboHbeRvRRPXF0XOm61V6U6b3l5eVx11VUMGTKEWbNm8e6775KVlQXACy+8wHPPPefVSgohhDf4WzAmeaiKoZPFdrj7Q/0+ktBA/ax2Va2v1qUFfP93xa9TfP+jL6qXpsET1yisfoof0jR+KLU+0w9p+qK5AOMvVtwjS6/WWX/pDN1bKfKLNV5efvY2be4vcPf8kplo509ShEvH2+vuu0LRIECRclBjyXlmAl24HjYc0O85nDLE94PgBiZCWJAi46TGmt0lz6/epc9Ua3NoXN1V8exw8/qkovpVavc//vjj/P777yxcuJCTJ0/iOvJy0KBBLF++3GsVFEIIb3KeXfxuC5z04khi54x+36fpU6e/fauiWyvvle+Onx+VmmVO1H7tIuG2/vrj6V9pFNr0x+v2wl1nDrSSeyj+OUzOkNdlmoZx4P/ROn1ZElcOBzy7ROPJL/1QSuOmPoo3blIE+fugsvVA01CYdKn+eTz/rUbxWdbmzCmA55bqX8z7rlA+Wf+0tCB/jOn+nROX/LFPH05ZaNNnmH1xVMkss8J3KvURfPrpp0yfPp3k5GSCg81Tp8XGxhpDKEXNsGPHDvbt20d6egWnQBLijPT0dA4cOFAnYqhzDCRG60POvtzonTKVgqmfa3yZUjKjn+tU/kJXl+KoJrh3oCKyoWJPlsa7q/SF4G+bqx9oDUzUp36va2fIJYbK6t0WrkhU2B0az7tMllFkgwc/0XjzZ/25h//iYPp1cvBd1TE08RJoGqrYm63x0W/uX/Pycn35mLZNfT8Tsyvnyc1vNsPve2HcHI28Io3+8YpXxyr8ZRZjQD+u3rp1Kzt2VNH9F+dRqa9wZmYmnTu7v8HCz8+P/Px8jyolvCsvL8+niwmK2s/XC1J6k6aVTG1enmmRy+OFZRoLftNnfHxplGJAB68UW+fUpTiqCRoGwaNn7nl65QeNW97VZ627sLXitTp6oCUx5N7kwQo/TfHNZo31++FUAYyfq7F4g76G2wsjHNw9oObORFudqjqGQgPh/iv07+XL35dd0mPHEZi3Wn/8xDWVW6OvqvSMhdZNFHlFGqNm6+1JrzjF7Fvkaq2rvLw8Tp8+TV6ebyYCrFTnrUWLFmza5H4w78aNG+vtwplCiNrhuh5g8VP8uV9jl4fzK72zCl47M2X7jGTFMFkpRVSj5B7QI1Y/2Mo8pZEYrQ/ZDfbx0hyienWIhr+eWaftqS81Rr6p8ctOjZAAxTvjFDdc4Nv61TejL9I7QVm5Gm+vLHleKXjyJ6K21wAAIABJREFUS31Y85UdFZfXsBN9mlZy9c3u0EhqoXh3vO+X+hFmlVoq4KGHHuL9999n6dKldO3aFX9/f/744w8iIiK45JJLGD9+PP/617+qor41niwVIETtMH6Oxo/bNO4ZoHjoL5W7WfzzP+GBj0sWK62va94I39p0EEa+qdEsDD65o2bcPyOqX/oJGPCCPmwW9KF7c8Ypklr6uGL11Fcb4Z75fjQIUPw0WV/nc+lmuPMDPwKsiuUPKmKb+LqWZaWf0JegaBkB8yfW9Ylt6tFSAdOmTSMmJoaLLrqIXr16oWka48ePp0uXLkRFRfHoo49WptgKyc3N5YEHHiAmJoagoCC6d+/ORx99VK68n332GWPGjCE+Pp7g4GBat27NjTfe6Hbs6uWXX46maWX+Bg8e7O1NEkJUo79ecPZpkctjxTbzjH5/u9yLlROiApJawspHFN/9XTpu9VlM45JJbNo0VXx2l3TcfGlYEnRrqThdpPHK9xr5RRhLe9xxKTWy4wZ6HK15TPHlPXW941Z7VWqkbcOGDVm9ejUvv/wyX3/9Ne3atSMkJIQpU6bwwAMPlJnEpCoMHz6cdevWMXPmTBISEpg/fz5jxozB4XAwduzYc+Z97rnniI6O5vHHH6dt27YcOHCAZ555hp49e7JmzZoy9/O1bduWDz/80PRc48aNvb5NQojqc2VHfVrkQyc01uxW9Isvf971+0tm9Luuu8zoJ3yvaaivayBqgocHKfq0VfSIhbAgX9emftM0eGSIYuxbGh+uhdNFGodOaMQ0Uvztct8vDXAuDQJ9XQNxLpUaNulrS5YsYdiwYUaHzWnQoEGkpqayf/9+LJaz36l99OhRoqKiTM+lp6fTunVrbrnlFt5++23j+csvv5ysrCw2b95crrrJsEkhao/HFmnMX6sxvKfi/0aWrynceRRueEPjRJ7GpQmKt2+pWTecCyGEqDnGzdFYsa3k7N5rYx1yb3SNUY+GTQJ8/vnnjBgxgosuuoiuXbua/rp161bZYstl0aJFhIaGMmLECNPz48ePJz09nbVr154zf+mOG0BMTAwtW7bkwIEDXq1rTZCVlcXx48fJycnxdVVELZWTk8OJEyfqXAw5Z51cupkyM4K5k34Cbn5H77h1b6WvlyQdt/Krq3Ekqo/EkPBUdcfQ5L8oNE3/renbVjE0qVreVlShrKwsjh49SlZWlk/ev1KHHc8//zyPPPIIkZGRxMfH06BB9Q6K3bx5Mx07dsRqNVe/a9euRnq/fv0qVObu3bvZt28f119/fZm0Xbt2ERERQU5ODnFxcYwePZqpU6eWe3hoamoqcXFxhIWV3IxQWFhIWloaAOHh4cTGxpry7Nixw5iCtHRnOCsri0OHDgH6unrh4eFGmt1uN64SNmzYkLZt23Lo0CGCgo4SEGAjLy+f/Pw8I6/rFcrc3FwyM/Wp9yIiImjUqJHpfffs2QNAQEAALVq0MKVlZmaSm5sL6LORBgSUTE2Un5/P4cOHAWjUqBERERGmvPv378dut2OxWMrsh2PHjnHy5EkAoqOjTfu8qKjI2A+hoaFERkaa8h46dIiioiKAMjOgnjx5kmPHjgEQGRlJaGjJmCO73W6sVRgcHEJ0dDNT3sOHDxvLYZxrHzZp0sT0mUPJPgwMDCQmJsaU5roPW7Zsib9/yby8eXl5HDlyBNCH7Lp+5gD79u3H4bDj7+9Py5bmmxyys7ONH6nmzZsTFFQylqawsNBY66Zhw4Y0bdrUlPfgwYMUFxdjs+krAFutVmObTpw4wfHjxwH9hIhrO1BcXMzBgwcBCAkJoVkz8z7MyMigoKAAgLi4ONPZpZycHLKzs93uQ4fDwb59+wAICgqiefPmpnKPHDlifG9K78PTp09z9OhRQP/ONW7cmJ6x+r0he7I0PliRxaCEHLf7MCsri4OZp7lvcQsyTgYQH6VPBBASAAUFBWRkZAAQFhZGkybmGxmc+9DPz0JcnDm+jx8/zokTJwBo1qwZISEhbvehu/hOT083prouHd+u+/Dc8R1MdHS0Ke/hw0eqrI1wbqvFYjF9rtJGlKitbYSfnx9xcXGmtKpoI7Kzs432KDs7u8rbCPM+3IfD4ThrG+E8cx4TE0NgYMm4M2kjStSE4whnDFmtVoKCgqq8jYgIDuH2S6L5MkXx1HX6EHtpI3S+P44IpVQTwd69e4146dixoykOT548yd69eykuLgbA39/ftL2bN2/GbrcTFBREhw7mqUQPHjxo1Kl9+/am73JFlxyoVOft9ddf57bbbuPNN9885/DEqpKdnU3btmVXwHV+mZ07p7xsNhsTJkwgNDSUBx980JTWv39/Ro0aRWJiIvn5+XzzzTfMmjWLVatW8eOPP5ZrOKTNZqP06FSllPHhO3+ISudxppfmcDiMNIebmRbOVa7DYTeed1cnZ5q7cu12O0opt5+5w+HwqFx3dfVWuZqbm5HKX6690vV1VyfXTtC5yq34ttqw2+0ebqv3Phug0uW61ulc5drtZT8b1zqdq1xnnZxrvr2wTOObtAYMbHvM7Xc6t0Dx6JJo9p8IIDrMwXu3YdzIfb59aLPZsNlsWCxlt6W8n427bfVGHLrfh1XXRpyNtBElamsb4e57U1VthGv+qm4jSpfrcDgqvK3SRpjrVB+PI6YMVUwZWvH6ShtRtccR7vLb7fazHn+7Hru7U1RUhMPhcBvfruW624cVUanOW3Z2NmPHjvVKx23FihUMGFC++bX//PNPunfvDuA2uJzOlVaaUooJEyawcuVKFi5cSKtWrUzpTz/9tOn/Q4cOpXXr1jz00EMsXryY5OTk876H1WotUydN04wzIu6+gFar1XTGxJWfn5+R5u7LULrc2NhY/Px2Y7EUkJt72njeXZ2cae7KdX7e7j53Pz+/Glmuu31bsXLL1qm85bqrkzPN3ba6llvxbbWaXnO2OnmyD5s0aWJ6zbnKdd3Win42rnU6V7nni5dzletap+Se8MIy2JARQlZ+EK2Cze9ZZIMpXzUmLTOQsEA7795STEzjgPOW61pfpZTbWCrvZ3O+eDlXuRWNQz8/T+Lw3N9lZ57wcPNZc2kjStTWNsJdWlW0EZGRkeTl5XHq1Cn8/PyqpY1wLfdsB2ae7ENpI8rWqSrLjYyMNDrh0ka45q0bbUTpOp2rXHf5LRbLWY+/ncfuDoeDxo0bl7k6HxAQgN1ud5vftVx3+7AiKjVhyZAhQ7j66qu5++67K5q1jIyMDL7++utyvXb48OFERETQt29f7HY7v/32myk9NTWVLl268Oabb3L77beftzylFBMnTmTu3LnMmzePm266qVz1OHLkCNHR0UyePJnnnnvOlCYTlghR+4yZrfHrbo1/XOXg3itKnnc44MFPNBZv0Aj2V3w4SdEz9uzlCCGEEKK2qJ0TllTqyttLL71EcnIyrVq1YvDgwabxoBXVvHlzJk6cWKE8SUlJLFiwwBiz7LRp0yYAunTpct4ynB23OXPm8M4775S74+bK9x0yIYQ3/PUCxa+7NT77U+Oegfo9CUrBU1/pHTern+K/N0nHTQghhBC+VaneR3x8PFdeeSXJycmEhIQQFhZm+it9g6q3JScnk5uby8KFC03Pz5s3j5iYGHr37n3O/EopJk2axJw5c3jzzTcZP358hd5/3rx5APTp06diFRdC1EhDukBIgD5xyXr9HnNeXwFzV+tDGf49UnF5h7PnF0IIIYSoDpW68jZ58mReffVVunfvXmYmluowZMgQrrrqKu666y5ycnKIj49nwYIFLF26lA8++MA0DnjChAnMmzePXbt2GbPc3HfffbzzzjvcdtttJCUlsWbNGuP1gYGB9OjRA4CVK1cyY8YMkpOTadu2LQUFBXzzzTfMnj2bgQMHcs0111TrdleWfsOx/ueLCWZEWUopTp8uIDDQH3//kq9hYWExW7bsp6jIRnh4KAkJ5tm4vv12PYcPH6e42M6ECVeZxklv3ryPn37ajFKKK6/sTmJiyWxRRUXF/Oc/XwEQGxvJyJH9TeUuXryGHTv02dDuvHMwoaElM/Zt336Izz/XvyOXXNKJvn07mvK+9NJiiovtREY2Yty4K0xpy5b9yYYNuwEYN+4KoqJKxocfOJDJhx/+BEDv3gkMGGBe+Ob115dw4kQuDRoEcf/915rSfvxxI6tWbQHgppsup02bktnQsrJyeO01fSh2t25tuP5680mW2bOXcujQMfz8NKZN09eJbBAIg7vAgi+3ct9Dv9OsoWINlxAQ1YYnrnZwXXfIyytkxoxPAEhIiOHWW83bOnfu92zfrs9aNnXqKEJCSmabS0nZw0cf/QzA1VdfyMUXdzLlnTJlHkpBy5ZNuOeeq01pn366ij/+2AXAP/5xPZGRJSfHduxI5+23lwEwcGBX/vKXnqa8Tz/9MadO5RMeHsqjj95gSvv663X8/HMqoH/mrvswI+MYL730BaB/NsOHm2fvffHFxRw+fBx/fytPP20etfDTT5tZsuR3AG6+eQBdupTMLnb8+CmeeeZ/ACQlxXHLLQNNed9661t27tTjcPr0GwkIKLlv4Pffd/Dpp78AkJzchz59Eo00u93OY4+9D0Dr1lHcdZfLzADA/Pk/kZKiz9D2yCN/JSKioZG2desB5s79HoBBg3pwxRXm2X2ffHI++flFNG0axsMPDzelLV68htWr9VmD77lnGK1alcxUd+BAJq++qsdhv36JXHedOQ6ff/4zsrJyCA4O4Mknx5rSvv8+hWXL/gT0703HjiX3Yh87dornntNPXHbr1oaxYy8z5f3vf5ewd68+Y+Izz9xsavPXrElj0SL9uzxixMX06tXeSCsqKuaf//wQgPj45kya9BdTue+99wOpqfqZjccfH0lYWMlMaZs37+P9938EYOjQXlx2mXn0y9SpH1BcbCM6OpwHH7zOlPbZZ6tZu3Y7AA88cC3Nm5fcD7lnz2HeeGMpAJde2plhwy40TaDx/POLOH48l4YNg5k6dZSp3G+/Xc8PP2wEYOLEQbRvXzIrX2bmSV54YREAF1wQX6Y9fOWVrzh4MAs/P41nn73VlPbLL1v44gv9lo0xYy6le/eSydPy8gr5178WAJCY2JLx46805Z0zZzlpafrsedOmjTG1ERs27GbBAr2NuPbai9y2EQ6HomXLptx7r7mN+OSTVfzxx04AHnoouVa3ETk5eUY727lzbJW0EbGxkdx552Cg5L4xaSN0daGNcDVz5v/O2UasWpXG9OkVHzbp2g755LhaVUJERIR69NFHK5PVa06dOqXuu+8+FR0drQICAlTXrl3VggULyrzu1ltvVYDas2eP8VxcXJwC3P7FxcUZr9uxY4caOnSoatGihQoMDFRBQUEqKSlJzZgxQxUUFLitl91uVydOnDD92e12b29+hWzYsEGlpb2mdu9+WSn1hfx5+a+4eFGZ5+bNe0DNmHGTeuaZm8ukTZs2WgUEWBWgli590pS2Y8cbRizeeONlZfL26dPBSLfZnO/7pVLqS/Xf//7NSJs790Gl1Ndn/paoU6cWGmlXXNFdKfWN6S85uZ+Rnp7+oSlt4cKpRtojj1xfJm9ISKACVFJS6zJpt98+xMibkvL6meeXKqWWqp9/fsFIe/jhG4znnX9xcVEKUNHREUqpb01/jz8+xsi7fPlzSqllxt/WrW8babfeepUpTallqlevBAUoi8VPKfWd8ffLjm9V+BWTjLxNr3lYzVr6jVJquVJqucrO/sxIGzr0IuN559+QIRcZ6dnZi5RS3xt/8+c/bqS9/PLdpjSlvld+fn4KUL16dSiTduutg4y8aWlzTWnffTfLSHv88RvL5I2OjjjTrjUrk/bQQyONvCtXvmRKS0mZbaTdfvuwMnmTktooQIWEBJVJmzXrdiPvwoVPmtJWry6pb3Jy/zJ5r7iip5Gem/uVKW3OnIeNtDfeeMCUVly8zEi7+OIuZcodPXqAkb5nz4emtK++mmGkTZ8+vkze8PCGClAJCS3LpN17b7KR97ffXjOl/fbba0bavfcml8mbkNBSASo8vGGZtOnTxxt5v/pqhiltz54PjbTRoweUyXvxxV2M9OLiZaa0N954wEibM+dhU1pu7lcubUTPMuUmJ/d3aSM+MaUtXPikkTZr1u1l8oaEBJ1pI9qUSbv99mEubcRsU9rKlS8ZaQ89NFIp9b3auXO2Skt7Xe3cOVvFxTVzaSPM5T7++I1G3u++m2VKS0ub69JGDCqTt1evDi5thDnt5ZfvNvLOn/+4KS07e5FLG9G7TN6hQ3tXuo2wWOpHG5Ge/kmVtxEXXNDOiCFpI+peG+H6d742IjQ0WFXGhg0b1Lp169SGDRsqlb+0ivYdKnXlzW63c9VVV1Umq9eEhoby8ssv8/LLL5/zdXPnzmXu3Lmm5/bu3Vuu94iPjy/3ZCqifvnjj51MmfIeKSl7uPnmAbzwwm2m9Kee+phduzKIiGjIlCm3AwGAPxBAQEBzior06WmLitoAvQEN8CMgIN0oo6goArgCfXSzM/15YBsASl2N68VzTTtkPHY4koChLmmnXWrXBBhcaotmuzweALgufFIy0U1hYWs3eZ1nnRq6SVvk8vhiwPXqWojL4zaA+SweOK/+BQCDSqX97PL4AvT95JTm8jgGKN1WOdd70YCSM+N92ioaBS/m+Jn/923XhIcG/eXM6wCOuZTRtNR7gr5fnS4FXGdUPOLyOAEwn00u0dBN2nsuj/sAruM3XadPbu0mr3NURJCbtG9cHl8AuF59cF2np4WbvM71jPzcpP3h8jjJlH76tGt9I93kdV136HLAdQ3R/S6PE0vldZ3uuZGbct9yedwPfV855bs8busmr/M7FuIm7XOXxxee+XNq6PK4pZu8zvi3uklb7fK4W6n0vS6Pm7nJ63rbwgDMA2x2uDzuVCqvaxsR7qbcV10e98fcRpxweRzvJq/zDo1QN2kfuzzujbmNcB3VEwsMJDe3CcXFxWdmbQtyeV3pcn9wedyjVPo2l8fN3eR1fnaam7TNLo87l0p3bSOauMnrSRvhbIfqdhsBGS6Pq6aNsNsbcurUhWdiyHkVTdoIXe1vI8zO10bUztFolZptcuTIkXTv3p3HHnusKupUq9XE2SZ3796Nv/9K/P2Lyiy2Kc5u48Y9fPfdBjZu3Mu0aWNo27Zk323YkE6PHncCMH78KN599xWcnTPwp3fv/vz2229omkZxcbHpsvqHH37I888/T3h4ODNmzDAtKH/y5EmmTJlCQEAAPXr04NZbbzXVadGiRRw+fBir1cqECRNMcbV9+3bWrl2Lpmn07duXdu3aGWk2m41FixahaRpRUVFceumlpnJ//fVXY5HNoUOHmhY6PnToEIsXL8Zut9OpUyeuuMLcaXGmhYWFceWV5mFC69evZ+/evWiaxsCBA033w2ZnZ7Nq1SpAP1HSuXNnU97vvvuO/Px8goKCGDTI3Hnbtm0bO3fqw4R69+5tWiQzNzeXlStXomkaLVq0ICkpyZR3zZo1xmKjpct9asFPvLZ4Fb3iGvPmfcm0bFEy1Kq4uJiVK1cC+rIJ3bqZh86kpKQYC7b279/fNFXwkSNH2Lp1q7GtpRdA/eknffhow4YN6dnTPKwpLS3NWFj1wgsvNC3sefz4cWOiptjYWFq3bl1mW4uKiggMDCxzL/Du3buNBVC7detm+mxyc3NZv349oC9qm5CQYMr7xx9/cPr0afz8/Ojf3zzk7MCBA8Yisp06dTJ9Nlu3bmX9+vVYLBaSkpLKfOYbN240FiS++OKLTd+bw4cPs327PnSmffv2psWXlVLGZxMWFmYsKeP6vs5Fby+66CLTArPZ2dmkpupDw+Li4sosIrt69WpsNhvBwcFceKF5SM7OnTuN702PHj1o2LDkYOzUqVP8+ac+rCkmJob4+HhT3nXr1pGfn4/VajW1AaAvBu1cRLZz586mRZ0LCgqMmZYjIyPp2NE8jHnDhg1GfF9yySWmodUZGRns2KEfnCUkJJh+D+x2O7/8og85a9y4MV27mocxp6amGmuo9u7d27QIdVZWFlu26MOY27RpU2bJnVWrVuFwOGjQoAEXXHCBKW379u3G4ss9e/Y0LXR88uRJUlJSAH3B4bZt27J7925jsrLMzEwKCwsJCAgocw/63r17jUWSk5KSTAsS5+Xl8fvv+rC9Zs2alVlMd/369cZCx6XbykOHDrFrlz6MOTExkaioKCOtuLiYX3/9FdDXnS09edrmzZuNNqJv376mNuLo0aOkpeknntq1a1dmAeuff9ZPWIWGhpZpI7Zt22a0Eb169arVbURhYSFr164F9Ha2KtqInJwcEhISsFqtxprB0kbo6kIb4Wrt2rXnbCMOHTrExRdfTEW5tkPu1p2uqIr2HSrVedu0aROjRo3ijjvuYNiwYWVWugfcPlcf1MTOm06WCjibvLxCfvxxY5mx0k8//bExvvujj55j1KiR6FdtwigstBMaGkrjxo2ZNGkSzzzzjCnvt99+S35+Pk2aNKFfv35yr2EtYbM72JyeQ1KLRlj8KrbuihBCCCFERVVL581Z2LkWlXO9ma8+kc5b7TJ58hxmz15GTk4eOTmLCQ1thrOD9sUXq7juOv0G1ylTppTpoGVmZtK0adMKL64ohBBCCCEEVNM6b0888YQcsIo64eDB45w8qY/j3rSpKX37XmSk9e07gHfffZdu3brRqVOnMnkjIyPLPCeEEEIIIURVqdSVN3F2cuWtZtqz5zCff76WBx649syJhyZAHCtX7mTQoMGMHj2aadOmlbkfQAghhBBCiKpSLVfeRO2yZ88e/P0PYrUWEx3dzNfVqXaTJ8/hhRc+RylF374D6NPnOpwzYfXvH0NGRgaNGzc+dyH13J49e4ybc9u0aePr6ohaSuJIeEpiSHhKYkh4ytcxJJ23eiAnJ4egoNMEBNjO/+I6qFOnRJwXmN944zv69LnRSNM0TTpu5ZCTk+MyPbcQlSNxJDwlMSQ8JTEkPOXrGPL1WD4hvGbt2m2MHPkchw5lo6/dEQtcyqhR/6RHjx7MmDGDmTNn+riWQgghhBBCVI7c8+ZlNfGeN5vNBnyPpuXX2Snr3333O26//TXsdgdPPnk/06Y9j77umvAGm82GUgpN07Ba5YK9qByJI+EpiSHhKYkh4Slvx1BF+w5y5a0esFqtWK3WOttxA+jcOdb4An355Sqk4+ZdVqsVf39/+aETHpE4Ep6SGBKekhgSnvJ1DEnkijrAj969R/HOO83ZuHEj06dP93WFhBBCCCGE8DoZNullNXHYpK5uLRVw9OgJoqIaA4FALyDCxzUSQgghhBCiYmTYpCjjxIkT5OTkkJub6+uqeMXixWto1+4OPvhgDXAJ0nGreidOnODYsWOcOHHC11URtZjEkfCUxJDwlMSQ8JSvY0iGTdYD+/btIygog4AAG6Ghob6ujkf++GMnycnPopRi4sR/07nzDfTo0cPX1arz9u3bZ0yLK0sriMqSOBKekhgSnpIYEp7ydQzJlTdRq/Ts2Y5Jk0YAkJycTIcOHXxcIyGEEEIIIaqHXHmrB2JiYrBYIrFYCn1dFQ9Z0LTuvPLKYPr1G8ott9yCpmm+rlS9EBMTg91ur9MzloqqJ3EkPCUxJDwlMSQ85esYkglLvEwmLPGu33/fQXBwIJ07JwAXAY18XSUhhBBCCCG8oqJ9B7nyJmqsjz9eybhxLxMT05S1a3+jaVPpuAkhhBBCiPrL15eDhHDLZrMza9ZnFBQUsXt3Os88829fV0kIIYQQQgifks6bqJGsViuffz6HZs2acdttt/Hss8/6ukpCCCGEEEL4lAybrAc2btxIUNB2/P2LadOmja+rUw5WoCetWjVj/fr1NG/eXCYm8bGNGzca0+J27drV19URtZTEkfCUxJDwlMSQ8JSvY0iuvNUDSilqw7w0OTnOCVW6As0AfUYf6bj5njOGakMciZpL4kh4SmJIeEpiSHjK1zEknbd6IDg4mKCgIAICAnxdlbM6duwUHTv+jfvv/5DcXJmYpKYJDg4mJCSE4OBgX1dF1GISR8JTEkPCUxJDwlO+jqFau1RAbm4uU6dO5ZNPPuHYsWMkJiby6KOPMnr06PPmnTt3LuPHj3eblpGRQXR0tOm5jz76iJkzZ5KWlkZERAQjR47k6aefJjQ0tEx+WSqgcsaNe4l5834AYNKkScyePdvHNRJCCCGEEKJq1ZulAoYPH866deuYOXMmCQkJzJ8/nzFjxuBwOBg7dmy5ypgzZw6JiYmm55o0aWL6/4cffshNN93ExIkTefHFF9m+fTuPPPIIW7ZsYdmyZV7bnvpMKUW3bm0IDg7C3z+AadOm+bpKQgghhBBC1Di18srbkiVLGDZsmNFhcxo0aBCpqans37//nKueO6+8rVu3jl69ep31dXa7nVatWpGUlMS3335rPD9//nxuvPFGlixZwpAhQ0x55MpbZUWyc2dTtm/fztChQ31dGSGEEEIIIapcRfsOvu5RVMqiRYsIDQ1lxIgRpufHjx9Peno6a9eu9cr7rFmzhoyMjDJDLEeMGEFoaCiLFi3yyvsIK9CN+Ph46bgJIYQQQghxFrVy2OTmzZvp2LEjVqu5+s7pOjdv3ky/fv3OW87VV19NZmYmjRo14vLLL+epp56iS5cupvdxLdfJ39+fxMREI/18UlNTiYuLIywszHiusLCQtLQ0AMLDw4mNjTXl2bFjB3l5+pWybt26mdKysrI4dOgQALGxsYSHhxtpdrvdqFfDhg1p27YtBw4cwN//MBZLIXa7g/z8PCOv6xXK3NxcMjMzAYiIiKBRI/PEIXv27AEgICCAFi1amNIyMzPJzc0FoEWLFqbJUfLz8zl8+DAAjRo1IiIiAtDPNPj5+bFjh5W8vO34+/vTqVMnU7kZGRkcPXoUgHbt2pnuMywoKGDbtm1GfVu1amXKu337dvLz89E0rcxnmJmZSXp6OgC612RdAAAgAElEQVRxcXE0btzYSLPZbKSmpgIQFhZWZnmF3bt3G2dIunTpYtqHx48fZ//+/cZ+aNq0qSlvSkoKACEhIbRv396Utn//fo4fPw5AYmIigYGBRlpOTo6x/5s1a1bmvszU1FRsNhuBgYFlhgKnp6cbn2t8fDwNGjQw0vLy8tixYwegDxlu2bKlKe+2bdsoKCjA4XAQHh6OxWIx9vPRo0fJyMgAoHXr1qZ4KSoqYuvWrYD+mbdu3dpU7q5du4x4SUpKMp1dys7O5uDBgwC0bNnSNJTZ4XCwadMmAEJDQ2nXrp2p3L1793Ly5EkAOnbsaIrDkydPsnfvXgCaN29OVFSUKe/mzZux2+0EBQXRoUMHU9rBgwfJzs4GoH379oSEhBhpp0+fZufOnQBERkYSExNjypuWlkZhYSFWq5XOnTub0g4fPsyRI0cAaNOmjc/aCFd79uwhJycHgM6dO5va2RMnTrBv3z5Anwk2MjLSlHfjxo0opQgODiYhIcGUduDAASMOw8PDTd+r3Nxcdu3aBUBUVBTNmzc35d2yZYsxLbO0ETWzjbBYLKbfT6iaNuLAgQOcPn2avLw8LBaLtBF1rI04duwYAB06dCAoKMhI82Ybcfz4cex2OxaLhcjISGkjzqgrbQRU/XGE3W4nODiY0NBQU8xUto1wfk/Lq1Z23rKzs8s0JoDRKXDunLOJjo7m8ccfp0+fPoSFhbFp0yZmzpxJnz59+OWXX4xGzlmOs9zS7+Vs5M/HZrOVmU5UKUVxcbGR7i6PM700h8NhpDkcjjLppcs9duwYQUEnCQjQv5TO593VyZnmrly73Y5Syu2QVIfDUaFyT58u4NJLp3DXXTfQq9dobDb322q328+6ra770G63l8nr3Ifulhoob7lV/dmcrdxzxYu7bS0uLsZms7m9xO66rZUp15melZWFv7+/0VCdq1zXbT1fuaWVdx+6y+9ap9LOt61FRUU4HA638e2NfehuH5W33JoSh67lnm1blVL4+/uXSbPb7UZdnD+MFSn3bNsqbUTZOvmijXCXVhVtxLFjx0z7T9qImhWHnrYRnpRb3jbCGUP+/v40bdpU2giXcutCGwHVcxxx+vRpioqKTJ03T9qIivB5523FihUMGDCgXK/9888/6d69O8A51/4637pggwcPZvDgwcb/L730UoYNG0ZSUhJPPPEEixcvLld55V1/zGq1lnmtpmlG41X6CqLzOXeNG4Cfn5+R5u5Ldq5y/fwsxvPu6uRMc1euMxjdBaWfn1+Fyp069QPWr9/FpEnPcdttmdx3331ut9disZx1W133obs6Ofehu8+pvOVW52fjWu654sXdtjq383z7sDLlnq0hO1e5zrznKtfTfXi+bS3tfNsaEBCA3W6vkn3ocDjcfublLbemxKFruWfbVqXUWbf1bMpTruu/pcuVNsL3bYS7tKpqI1xfI21EzYpDT9sIT8p1/fds5UobUT/aiKo+jjhb586TNqIifD5hSUZGBl9//XW5Xjt8+HAiIiLo27cvdrud3377zZSemppKly5dePPNN7n99tsrXJchQ4awfv16Y4jCm2++yZ133klqamqZy/AXXngh/v7+rF692vR8TZywpKCgAE37AU3LrxFrvSmlmDjxFd59dzlBQUFs3LixzKV/UbMUFBSglELTNNNQFiEqQuJIeEpiSHhKYkh4ytsxVOuWCmjevDkTJ06sUJ6kpCQWLFiAzWYznXlwjmEtPaa2vJRSph2VlJRklOvaebPZbKSlpZlmuqzJ9MAKBMpedvYFTdN4551pjBjxdw4dSpeOWy0gP3DCGySOhKckhoSnJIaEp3wdQ7Vytsnk5GRyc3NZuHCh6fl58+YRExND7969K1zmnj17+OWXX+jTp4/xXO/evWnevDlz5841vfZ///sfubm5DB8+vFL1F35ANwYPHsKECRN8XRkhhBBCCCFqBZ9feauMIUOGcNVVV3HXXXeRk5NDfHw8CxYsYOnSpXzwwQemsbETJkxg3rx57Nq1i7i4OACuvPJKLr30Urp27WpMWDJr1iw0TWP69OlGXovFwqxZs7j55pu54447GDNmDDt27GDy5MlcddVVpvvmREUkAA19XQkhhBBCCCFqlVrZeQP47LPPePzxx3niiSc4duwYiYmJLFiwgNGjR5teZ7fbjVkSnZKSkvj444954YUXyM/PJyoqioEDB/LPf/6zzNS1N910ExaLhZkzZzJ37lwiIiK45ZZbmDFjRrVspzfk5uaiaafx8ysgODjYJ3UoKirm5ptf5MEHx9Knz9U+qYOovNzcXGNpB9ep2IWoCIkj4SmJIeEpiSHhKV/HkM8nLKlrauKEJSkpKQQF/UJAgK3MWiPV5amnPmLatPlomsZLL73Efffd55N6iMpJSUkxplYuvV6QEOUlcSQ8JTEkPCUxJDzl7RiqaN+hVt7zJmoXu93OsmV/AvqUrZdccomPaySEEEIIIUTtU2uHTYryi4qKwmqNwGIp9Mn7WywWVqx4hRdf/IOCgkJ69Ojhk3qIyouKijrrOi1ClJfEkfCUxJDwlMSQ8JSvY0iGTXpZTRw2qfseyPPRe2tAf6Cxj95fCCGEEEKImkeGTYoaqC3ScRNCCCGEEMIz0nkTVcLhcDB16gdkZBQAHXxdHSGEEEIIIWo96byJKvHaa0uYMeMTOnWaxGefLfZ1dYQQQgghhKj1ZMKSemDLli0EBu7C37+Y2NjYKn+/nJw8pk79AIATJ07SpEmTKn9PUbW2bNliTIvbqVMnX1dH1FISR8JTEkPCUxJDwlO+jiHpvNUDxcXFWCw2/Pzs1fJ+YWEhbNz4Gq+9tglNs3LZZZdVy/uKqlNcXExxcbGvqyFqOYkj4SmJIeEpiSHhKV/HkHTe6gF/f3+sVisWS/VNLBoXdwGzZo2rtvcTVcvf39/0rxCVIXEkPCUxJDwlMSQ85esYkqUCvEyWCnAaAIRW4/sJIYQQQghRu8hSAaIGiEQ6bkIIIYQQQniXdN6E1/zyyxYuvngyn3yyScaTCyGEEEII4WXSeRNe85//fMXq1WmMGnU7n376qa+rI4QQQgghRJ0iE5bUAxkZGVitmVgshURERFTJexQX29i+/RAAUVFR/PWvf62S9xG+kZGRgd1ux2Kx0Lx5c19XR9RSEkfCUxJDwlMSQ8JTvo4h6bzVA0ePHiUo6BgBAbYq67z5+1tZv/5VfvjBSmbmMQIDA6vkfYRvHD161FjTRH7sRGVJHAlPSQwJT0kMCU/5Ooak8ya8RtPiuOKKzr6uhhBCCCGEEHWSdN7qgXbt2qFp+/DzK6jCd9GA1lVYvvCldu3a4XA4asCSF6I2kzgSnpIYEp6SGBKe8nUMSeetHggNDQUaoHewvEspxfHjuURExJ95D1EX6TEkhGckjoSnJIaEpySGhKd8HUNy2kF45OefU4mJGceECS+zdetWX1dHCCGEEEKIOks6b8IjL7/8BYWFxbz77nxSUlJ8XR0hhBBCCCHqLBk2WQ8UFBSgaYVoWhEBAQFeK1cpRXx8cxo1akiDBg1leYA6rKCgAKUUmqYRFBTk6+qIWkriSHhKYkh4SmJIeMrXMaQppVS1v2sd5nA4OHXqlOm5hg0b+vTG2JSUFIKCfiEgwEabNm28XLo/ubl92bZtJxdccIGXyxY1RUpKijEtbrdu3XxdHVFLSRwJT0kMCU9JDAlPeTuGKtp3kGGTwkOxhIY2ko6bEEIIIYQQVUyGTdYDERER+Ps3wmIp9HLJGuDtK3miJoqIiMBut2OxWHxdFVGLSRwJT0kMCU9JDAlP+TqGau2Vt9zcXB544AFiYmIICgqie/fufPTRR+XKe/nll6Np2ln/Dh8+fN7XDh48uKo2zetatWpFdHQ0kZGRXilPKcWSJb9jszUFgr1SpqjZWrVqRevWrWnVqpWvqyJqMYkj4SmJIeEpiSHhKV/HUK298jZ8+HDWrVvHzJkzSUhIYP78+YwZMwaHw8HYsWPPmff1118nJyfH9FxeXh6DBw/mggsuIDo62pTWtm1bPvzwQ9NzjRs39s6G1ELLl29g2LCniIubw6xZLzBy5EhfV0kIIYQQQog6r1Z23pYsWcJ3331ndNgABgwYwL59+3j44YcZNWrUOS9ldurUqcxz8+bNo7i4mIkTJ5ZJCw4Opk+fPt7bgFruP//5CoB9+w74dCIWIYQQQggh6pNaeeS9aNEiQkNDGTFihOn58ePHk56eztq1aytc5jvvvENoaCijRo3yVjXrrPvuu5phwwbSunVrrr/+el9XRwghhBBCiHqhVl5527x5Mx07dsRqNVe/a9euRnq/fv3KXd6OHTtYuXIlEydOJDQ0tEz6rl27iIiIICcnh7i4OEaPHs3UqVMJDi7f/V6pqanExcURFhZmPFdYWEhaWhoA4eHhxMbGlqlTXl4eQJlpSLOysjh06BAAsbGxhIeHG2l2u53NmzcD+jSjbdu2Zfv27QQG7sNqLcJisZKfn2fkdb1CmZubS2ZmJqDfjNmoUSPT++7ZsweAjh1b8NVX35Gbm2d8BgcOHODYsWMAdOjQwbTuRW5uLrt27QIgKiqK5s2bm8rdsmWLMeVq6auiGRkZHD16FIB27dqZPp+CggK2bdtm1Lf02OPt27eTn5+PpmlGbDhlZmaSnp4OQFxcnGkYrM1mIzU1FYCwsLAyyyvs3r3bmNK1S5cupn14/Phx9u/fD0CLFi1o2rSpKa9zIfOQkBDat29vStu/fz/Hjx8HIDExkcDAQCMtJyfH2P/NmjUrM7Q3NTUVm81GYGAgiYmJprT09HTjc42Pj6dBgwZGWl5eHjt27ACgSZMmtGzZ0pR327ZtFBQUYLfbCQoKwmq1kpCQAMDRo0fJyMgAoHXr1qZ4KSoqYuvWrQA0atSI1q1bm8rdtWsXubm5ACQlJZmu4GZnZ3Pw4EEAWrZsSZMmTYw0h8PBpk2bAAgNDaVdu3amcvfu3cvJkycB6Nixo2ldw5MnT7J3714AmjdvTlRUlCnv5s2bje3s0KGDKe3gwYNkZ2cD0L59e0JCQoy006dPs3PnTgAiIyOJiYkx5U1LS6OwsBCr1Urnzp1NaYcPH+bIkSMAtGnTxmdthKs9e/YYw8o7d+5samdPnDjBvn37AIiJiSlzH+3GjRtRShEcHGzEidOBAweM73JISAgdO3Y00qSNKFFb2wiLxUKXLl1MaVXRRmzfvp2CggKKi4uxWq3SRtSxNqI6jiPS09Ox2WxYrVZiY2OljTijrrQRUPXHEc74KR3HlW0jnN/T8qqVnbfs7OwyjQnoXzxnekW88847AEyYMKFMWv/+/Rk1ahSJiYnk5+fzzTffMGvWLFatWsWPP/5YrmGDNpuN0svpKaUoLi420t3lcaaX5nA4jDSHw1EmvXS5+fn5KFVAQICNwEDNeN5dnZxp7sq12+0opbDbmwF+poMku91uvG/pcl3ra7fb3db3bNvqWm7pOrnuQ3flOvehpmmVLreqP5uzlXuueDnbPrTZbG7j8VyfTXnKdabn5eXh7+9frnJdt7Win3l596G7/K51Ku1821pUVITD4XA75Nob+9DdPipvuTUlDsvzXVZKmeLEydl+gH7QWdFypY2o2W2Eu7SqaCPy8/NNbYC0ETUrDj1tI6rjOMIZQ/7+/tJGlCq3LrQRUD3HEe5e40kbURE+77ytWLGCAQMGlOu1f/75J927dwdw+0VyOldaaTabjXnz5tG5c2e397U9/fTTpv8PHTqU1q1b89BDD7F48WKSk5PP+x5Wq7VMnTRNMxqv0lcQnc+5a9wA/Pz8jDR3X7LS5TpnyNRfbzE9X7pOzjR35VosFpTSsNvj3KY537d0ua71dRfQzjR32+tabuk6ue5Dd+U696G7eChvuVX92Zyt3HPFy9n2oetrXJ3rsylPuc4GxzWOzleu67aerVxP9+H5trW0821rQEAAdru9Svahw+Fw+5mXt9yaEofl+S4rpc66ra7bVtFyXf8tXa60Eb5vI9ylVUUb4VqOv7+/tBE1LA49bSOq4zii9Ozh0kaUlFsX2gio+uMIZyesdJ09aSMqQlMV7e55WUZGBl9//XW5Xjt8+HAiIiLo27cvdrud3377zZSemppKly5dePPNN7n99tvLVeYXX3zBddddx4svvsgDDzxQrjxHjhwhOjqayZMn89xzz5nSKrpKevX5HqjYZVlXDoeDqVM/YOzYG+jSRe4LFEIIIYQQwlMV7Tv4/Mpb8+bN3c7weC5JSUksWLDAGHPq5BzDWnpM7bm88847BAQEcPPNN1eoDuC+N19XffPNHzz77P949tn/8cgjfzJz5kxfV0kIIYQQQoh6pVb2PpKTk8nNzWXhwoWm5+fNm0dMTAy9e/cuVzmHDx9myZIlXH/99aabGc9n3rx5APVq+YC33lpmPK7IZDBCCCGEEEII7/D5lbfKGDJkCFdddRV33XUXOTk5xMfHs2DBApYuXcoHH3xgGhs7YcIE5s2bx65du4iLM9+rNW/ePGw221mv/K1cuZIZM2aQnJxM27ZtKSgo4JtvvmH27NkMHDiQa665pkq3syZ5770HmTt3G199tYphw4b5ujpCCCGEEELUOz6/562ycnNzefzxx/nkk084duwYiYmJTJkyhdGjR5teN27cOObNm8eePXvKTDPaoUMHioqK2L17t9ubBXfu3Mn9999PSkoKWVlZaJpG+/btGT16NP/4xz9MU7A61cR73jIzM7FYVmCxFJaZ/r/8AoErqaUXa4WHMjMzjRuOS0/9LER5SRwJT0kMCU9JDAlPeTuGKtp3qLWdt5qqJnbeUlJSCAr6hYAAW5m1RsqvA5Bw3leJuiklJcWYWrn0ekFClJfEkfCUxJDwlMSQ8JS3Y6iifQe5jCLKwQ8ouzyAEEIIIYQQovrUynveRMXExcXh57cbP7+CCuWz2+0MGjSNYcOu5LbbLqZx47LDREX9EBcXh8PhqFczrArvkzgSnpIYEp6SGBKe8nUMybBJL6uJwyZ1FV/nbdGiXxk+/FkArrvuOj7//PMqqJcQQgghhBD1kwybFF6ze/dhI3DuvPNOH9dGCCGEEEKI+k06b+Ks/vGPZDZu/Jm7776bQYMG+bo6QgghhBBC1GsybNLLauKwSZvNBnyPpuWb1sA7v2jgwiqqlahNbDYbSik0TcNqlVtlReVIHAlPSQwJT0kMCU95O4Yq2neQqK0HUlNTCQraVcGlAjSgU1VWS9QiqampMrWy8JjEkfCUxJDwlMSQ8JSvY0iGTQqTrKwcli37E2gNNPBxbYQQQgghhBBOcuWtHggLC8PfvwFWa/F5X/vUUx/xyitfMXjwL7z++hseLOot6pKwsDBsNpsMMREekTgSnpIYEp6SGBKe8nUMyT1vXlYT73nTnX+pgN27D9Ohw13YbHZCQkLYuXMnzZs3r57qCSGEEEIIUc/IUgGi0lq3jmLu3Idp1aoVkydPlo6bEEIIIYQQNYhcefOy2nzlTdeT/PwIAIKDg6u0RkIIIYQQQtRnMtuk8EBjoAXSZxNCCCGEEKLmkc5bPbB79278/Q/i719EdHR0mXSbzY7VagE6V3/lRK2we/du4+bctm3b+ro6opaSOBKekhgSnpIYEp7ydQxJ560eOHXqFEFBpwkIsJVJy88vpEePB7jhhkE88sjlNGzogwqKGu/UqVPGmiZCVJbEkfCUxJDwlMSQ8JSvY8jXN2IJH3v55S/Ztu0QM2bM4Y477vB1dYQQQgghhBBnIVfe6oEuXboAR3A3YUlBQRH+/lbsdgePPfZYtddN1A56DAnhGYkj4SmJIeEpiSHhKV/HkMw26WW1b7ZJf3btiuOHH1YxadKk6q6UEEIIIYQQ9ZbMNikqqD3t2rWjXbuOvq6IEEIIIYQQ4hx8fTlI+FQI0MbXlRBCCCGEEEKUg1x5qweOHz+On18OFksBoaGhrF69lcOHj5OcfA+aJv13cX7Hjx/H4XDg5+dHeHi4r6sjaimJI+EpiSHhKYkh4Slfx5B03uqB/fv3ExSUQUCAjZCQEO69dzbr1++if/9VLFy4kKioKF9XUdRw+/fvN6bFlR87UVkSR8JTEkPCUxJDwlO+jiG57FLPLF26nvXrdwGQm5tL06ZNfVwjIYQQQgghRHnUys7bqVOnmDx5MoMGDSIyMhJN03jyyScrVMbRo0cZN24cTZs2JSQkhL59+/L999+7fe3y5cvp27cvISEhNG3alHHjxnH06FEvbEn1aNGiBVFRUTRp0oQhQy7g889fICEhgX//+981YBZMURu0aNGC2NhYWrRo4euqiFpM4kh4SmJIeEpiSHjK1zFUK5cK2Lt3L927d6dbt24kJCTw9ttvM23atHJ34AoLC+nVqxcnTpxg5syZREVF8dprr/H111+zfPlyLrvsMuO1P/30E1deeSXDhg3j7rvv5ujRozzyyCOEh4f/f3v3HhTVdccB/Lu6C8tDWBF8AAK+QFEMPhBJB8FBRQ1oJFGbpCo1tjZqIpkivlrFhGAedVrMRNPEOBKp+IxaIZTUEZ0URUOjETX4QCiKylt5KOCyt3843HDdXV4L7i5+PzM76jnnnnv28vO4P+/Zc5GdnQ1LS0tJ36b/qIAeAIKhVltCLueqWSIiIiIiY3kuHhXg7u6OyspKyGQylJWVYceOHe06/quvvsKlS5dw+vRpBAQEAAAmT56MF154ATExMTh79qzYdtWqVfD09MTBgwfFZGfQoEH41a9+hZ07d+Ktt97qvDf2THgAsAHzNiIiIiIi82Ls20EdIpPJIJPJOnz84cOH4eXlJSZuACCXy/Gb3/wG586dQ1FREQCgqKgIP/zwAxYsWCC5S/Xiiy/C09MThw8f7vibeMbKyx8AUADwNPZQiIiIiIioA57L+y+XLl1CYGCgVvno0aMBAJcvX4aLiwsuXbokKX+6bWZmZpvOd/nyZbi7u8POzk4sq6+vR25uLgCgd+/ecHNzkxxz/fp1PHz4EADwwgsvSOrKysrEBNPNzU2y001jY6M47l69emHw4MG4cuUKxo17DUuXvo6FC/uiZ8+eAICRI0dKktL79+/jf//7HwDA2dkZTk5OkvNevHgRgiDAysoKnp7SJPDWrVuoqKgAAHh5eUGpVIp1NTU1yMt7sklK3759MWDAAMmxV65cEXft8fb2ltTdvXtX/H7hkCFDYGtrK9bV1dXh6tWrAAAHBwcMHDhQcuy1a9fw6NEjyGQyrZ9haWkp7ty5A+DJnVyVSiXWqdVqXL58GQBgZ2eHQYOkz8K7efOmeHt71KhR4vUEnmwfW1hYCODJmuinN4T56aefAADW1tYYNmyYpK6wsBCVlZUAgOHDh0uW5FZVVSE/Px8A0K9fP/Tv319y7OXLl6FWq2FpaYnhw4dL6u7cuYPS0lIAwNChQ2FjYyPWPXz4ENevXwcA9OnTB66urpJjr169irq6OvTs2ROjRo2S1JWUlODu3bsAAA8PD9jb24t1DQ0N+PnnnwEA9vb28PDwkBybl5eHmpoaAICPj49kaUB5eTlu374NAHB1dUWfPn3EOo1Gg5ycHACAra0thgwZIum3oKAADx48AACMGDECFhYWYt2DBw9QUFAAABgwYIDWLquXLl1CY2MjlEolvLy8JHW3b99GeXk5AGDYsGGwtrYW62pra3Hjxg0AgJOTE5ydnSXH5ubmor6+HnK5HCNHjpTU3bt3D8XFxQCe3NE31hzRXH5+PqqqqgBwjuAcwTmiOc4RT3COeIJzxBOcI37R0Tmi6e9pWz2XyVt5eTkcHBy0ypvKmi5u06/62jbVt0atVuPprxYKgoDHjx+L9bqOaap/mkajEes0Go1W/dP9Ll26FHV1DUhI2AWFwhHz588Xx6Cv38bGRp39CoIAhUKhVdfY2Cge25F+9b3X5v0+/V6bX0Nd/TZdQ113advab1f/bPT121K86LuGarVa5/roln42bem36ZWdnQ2FQiF+CGip3+bvtb0/87ZeQ13HNx/T01p7rw0NDdBoNJJ/RHX129FrqOsatbVfU4nDzpojcnNz4evr265+OUeY9hyhq64r5oiffvpJUs45wrTi0Bw+RzTFkEKhgKenJ+eIZv12hzkCeDafIwoLC3H37l3Jf4wYMke0h9GTt5MnT2Ly5Mltanv+/HnJP/iGaGnZ5dN1+tq2demmXC7X2WfT5KVr4xC5XK5zcgOAHj16iHW6/pI177exsRHe3t7Izv4B9vYqLF68GA0NDTrH37xfXYGnUCggCILO8fbs2VM8tiP9Nv9VX79Pv9fm11BXv03XUNfPqa39duXPpqV+W4oXfdeweZvmWvrZtKVffRNZS/02HdtSv4Zew9be69Nae68WFhZobGzskmuo0Wja/ffGFOPQ0DlCH84RvzDXOUJXXVfNEc3bcI4wrTjk5wjtfk3lZ/M8zRFd/TlCX3JnyBzRHkbfbfLu3btITU1tU9uIiAitu2BlZWVwcnJq126TAwYMQGBgIPbv3y8pT01NRVhYGNLT0zFt2jSkp6dj+vTpSE1NxcyZMyVt586di8zMTPGWeRNT3G3y+vXrKCoqwr179/DrX//aaOMg83X9+nWo1WrI5XKtZRpEbcU4IkMxhshQjCEyVGfHkNntNjlgwAAsWbLkmZ7Tx8dHXO/aXFNZ05rcpl9zcnK0krecnByttbumatiwYZygyCCMH+oMjCMyFGOIDMUYIkMZO4bMcrdJQ82ZMwe5ubmSRwKo1WokJSXB399f/DKxi4sLJkyYgKSkJMl626ysLFy9ehURERHPfOxERERERPR8MvqyyY5KS0tDbW0tqqursXjxYsydOxfz5s0DAMycOVPcxeXNN99EYmIi8vLy4O7uDuDJDk3jxo1DVVWV+JDubdu24dixY1oP6T558iSmTp2K8PBwLFu2DCUlJVizZg3s7e3N7CHdRERERERkStqbO5ht8ubh4SFuR/u0/As3qjMAABDiSURBVPx8cUvRyMhIJCYmSsoAoLi4GDExMUhJScHDhw/h6+uL999/H1OmTNHq79///jc2bNiACxcuwNraGmFhYfjkk0+0tggFmLwREREREVHbPDfJm6kyxeStsLBQ/GLl08+BIWoLxhB1BsYRGYoxRIZiDJGhOjuG2ps78HbQc6CyshIVFRXigxuJ2osxRJ2BcUSGYgyRoRhDZChjxxCTNyIiIiIiIjPAZZOdzBSXTdbX10MQBMhkMq0NVojagjFEnYFxRIZiDJGhGENkqM6OIbN7zht1PU5OZCjGEHUGxhEZijFEhmIMkaGMHUNcNklERERERGQGmLwRERERERGZAS6b7GS6vkKo0WiMMJJfNF9H26tXLyOOhMwVY4g6A+OIDMUYIkMxhshQnR1DuvKElrYk4YYlnUytVqO2ttbYwyAiIiIiIjNkY2MDuVz3PTYumyQiIiIiIjIDTN6IiIiIiIjMAJM3IiIiIiIiM8DvvHUyjUaj9cVDmUwGmUxmpBEREREREZEpEgRBa4OSHj166H1IN5M3IiIiIiIiM8Blk0RERERERGaAyVs3VlNTg6ioKDg7O0OpVMLX1xd79+419rDIRFVXVyMmJgbTpk2Dk5MTZDIZYmNjdbb98ccfMWXKFNja2kKlUiEiIgI3b958tgMmk3LixAksXrwYw4cPh42NDVxcXDB79mz897//1WrL+CF9Lly4gJdeeglubm6wsrKCg4MDAgICkJSUpNWWcURtsWPHDshkMtja2mrVMYZIl5MnT4pfeXr6lZWVJWl7/PhxBAQEwNraGo6OjoiMjERJSUmXjo/JWzcWERGBxMREbNy4EWlpafDz88Nrr72GPXv2GHtoZILKy8vxxRdfoL6+Hi+//LLedrm5uQgODkZDQwP279+PnTt34tq1awgMDERpaekzHDGZku3bt6OgoAArV67Et99+i4SEBJSUlGDixIk4ceKE2I7xQy25f/8+Bg4ciPj4eHz77bf4+uuv4eHhgQULFiAuLk5sxziitigqKkJ0dDScnZ216hhD1Jr4+HicOXNG8ho1apRYf+rUKcyYMQP9+vXD0aNHkZCQgOPHjyMkJAT19fVdNzCBuqXU1FQBgLBnzx5J+dSpUwVnZ2dBrVYbaWRkqjQajaDRaARBEITS0lIBgLBx40atdnPnzhUcHR2FBw8eiGUFBQWCQqEQYmJintVwycQUFxdrlVVXVwv9+vUTQkJCxDLGD3WEv7+/MHDgQPHPjCNqi7CwMCE8PFxYtGiRYGNjI6ljDJE+GRkZAgDhwIEDLbbz8/MTvL29hcePH4tlmZmZAgBh27ZtXTY+3nnrpg4fPgxbW1vMnTtXUv7b3/4Wd+7cwdmzZ400MjJVbdkVVa1WIyUlBa+88grs7OzEcnd3d0yePBmHDx/u6mGSierbt69Wma2tLby9vXHr1i0AjB/qOEdHR8jlcgCMI2qbpKQknDp1Ctu2bdOqYwyRoYqKivDDDz9gwYIF4twEAC+++CI8PT27NIaYvHVTly5dwogRIyQBBQCjR48W64naKy8vD48ePRLjqLnRo0fjxo0bqKurM8LIyBQ9ePAAP/74I0aOHAmA8UNtp9FooFarUVpaim3btiE9PR2rV68GwDii1pWUlCAqKgoffvghXF1dteoZQ9QWy5cvh1wuh52dHUJDQ/Gf//xHrGv6HK0vhrryczaTt26qvLwcDg4OWuVNZeXl5c96SNQNNMWNvtgSBAGVlZXPelhkopYvX47a2lqsX78eAOOH2m7ZsmVQKBTo27cv3n33XWzduhVLly4FwDii1i1btgxeXl546623dNYzhqgl9vb2WLlyJf7+978jIyMDCQkJuHXrFoKDg5Geng6g9Rjqys/Z8tabkLlqaQkcHxpOhmBsUWv+/Oc/4x//+Ac+/fRTjBs3TlLH+KHWrFu3DkuWLEFJSQmOHTuGFStWoLa2FtHR0WIbxhHpcujQIRw7dgznz59vNQ4YQ6TLmDFjMGbMGPHPgYGBmDNnDnx8fBATE4PQ0FCxTl+cdGX8MHnrpvr06aMz66+oqACg+38KiFrTp08fALrv3FZUVEAmk0GlUj3rYZGJ2bRpE+Li4vDBBx9gxYoVYjnjh9rKzc0Nbm5uAICZM2cCANauXYtFixYxjkivmpoaLF++HG+//TacnZ1x//59AEBDQwOAJ7uZKhQKxhC1m0qlQlhYGD7//HM8evSo1Rjqys/ZXDbZTfn4+ODnn3+GWq2WlOfk5ACAZKtTorYaMmQIrKysxDhqLicnB0OHDoVSqTTCyMhUbNq0CbGxsYiNjcW6deskdYwf6qgJEyZArVbj5s2bjCPSq6ysDMXFxdiyZQt69+4tvpKTk1FbW4vevXvjjTfeYAxRhwiCAODJXbWmz9H6YqgrP2czeeum5syZg5qaGhw6dEhSnpiYCGdnZ/j7+xtpZGTO5HI5wsPD8c0336C6ulosLywsREZGBiIiIow4OjK2999/H7GxsfjTn/6EjRs3atUzfqijMjIy0KNHDwwePJhxRHr1798fGRkZWq/Q0FAolUpkZGQgLi6OMUTtVllZiZSUFPj6+kKpVMLFxQUTJkxAUlISGhsbxXZZWVm4evVql8aQTGhKI6nbmTZtGrKzs/HRRx9h6NChSE5OxpdffomkpCS88cYbxh4emaC0tDTU1taiuroaixcvxty5czFv3jwAT5YuWVtbIzc3F35+fhg7dizWrFmDuro6bNiwARUVFbhw4QKcnJyM/C7IGLZs2YLo6GhMnz5dZ+I2ceJEAGD8UIt+//vfw87ODhMmTEC/fv1QVlaGAwcOYN++fVi1ahU+/vhjAIwjap/IyEgcPHgQNTU1YhljiPR5/fXX4ebmhvHjx8PR0RHXr1/Hli1bkJeXh7S0NEyZMgUAcPLkSUydOhXh4eFYtmwZSkpKsGbNGtjb2yM7OxuWlpZdM8Aue4IcGV11dbXwzjvvCP379xcsLCyE0aNHC8nJycYeFpkwd3d3AYDOV35+vtguOztbCAkJEaytrQU7Ozvh5ZdfFm7cuGG8gZPRBQUF6Y2dp/+pYfyQPjt37hQCAwMFR0dHQS6XCyqVSggKChJ2796t1ZZxRG2l6yHdgsAYIt02b94s+Pr6Cvb29kLPnj0FJycnYc6cOcK5c+e02n733XfCxIkTBaVSKTg4OAgLFy4UiouLu3R8vPNGRERERERkBvidNyIiIiIiIjPA5I2IiIiIiMgMMHkjIiIiIiIyA0zeiIiIiIiIzACTNyIiIiIiIjPA5I2IiIiIiMgMMHkjIiIiIiIyA0zeiIiIiIiIzACTNyIi6jZOnz6N2NhY3L9/X6suODgYwcHBz35Qrfj666/h5OSE6upqo41h0qRJiIqKMtr5iYiobWSCIAjGHgQREVFn+Mtf/oJVq1YhPz8fHh4ekrorV64AALy9vY0wMt0ePnwIT09PREVFITo62mjjOHXqFKZOnYqcnBx4eXkZbRxERNQy3nkjIqLngre3t0klbgCQmJiI8vJyLFmyxKjjCAoKgpeXF7Zs2WLUcRARUcuYvBERUbcQGxuLVatWAQAGDRoEmUwGmUyGkydPAtBeNllQUACZTIZPPvkEH330ETw8PGBlZYXg4GBcu3YNjx8/xpo1a+Ds7Ax7e3vMmTMHJSUlWufdt28fAgICYGNjA1tbW4SGhuL8+fNtGvP27dsRHh4OlUolKT9w4AD8/f1hb28Pa2trDB48GIsXL5a0qaqqQnR0NAYNGgQLCwu4uLggKioKtbW1knYajQaffvopfH19YWVlBZVKhYkTJ+Kf//ynpN2CBQuwZ88eoy7fJCKiljF5IyKibmHJkiV4++23AQDffPMNzpw5gzNnzmDs2LEtHvfZZ58hMzMTn332GXbs2IHc3FyEh4fjzTffRGlpKXbu3ImPP/4Yx48f17pDFh8fj9deew3e3t7Yv38/du/ejerqagQGBorLNPW5ffs2cnJyMHnyZEn5mTNnMH/+fAwePBh79+5FamoqNmzYALVaLbZ5+PAhgoKCkJiYiHfeeQdpaWlYvXo1du3ahVmzZqH5NyIiIyOxcuVK+Pn5Yd++fdi7dy9mzZqFgoICyXmDg4NRW1srJrtERGR65MYeABERUWdwdXWFm5sbAGDMmDFa33nTR6VS4ciRI+jR48n/Z5aVlSEqKgrDhw/H0aNHxXa5ubn429/+hqqqKtjZ2eHWrVvYuHEjVqxYga1bt4rtpk6dimHDhmHTpk3Yt2+f3vOePn0aALSSy9OnT0MQBHz++eewt7cXyyMjI8Xfb926FRcvXsTZs2cxfvx4AEBISAhcXFzw6quv4l//+hdmzJiB77//Hrt378b69esRFxcnHj99+nSt8YwZMwYymQyZmZkIDw9vy6UjIqJnjHfeiIjouTZz5kwxcQOAESNGAABeeuklSbum8sLCQgBAeno61Go1Fi5cCLVaLb6USiWCgoJavYN1584dAEDfvn0l5X5+fgCAefPmYf/+/SgqKtI6NiUlBaNGjYKvr6/k3KGhoZKlomlpaQCA5cuXt3odFAoFVCqVzvMREZFpYPJGRETPNQcHB8mfLSwsWiyvq6sDABQXFwN4kmwpFArJa9++fSgrK2vxvI8ePQIAKJVKSfmkSZNw5MgRMTF0dXXFqFGjkJycLLYpLi7GxYsXtc7bq1cvCIIgnru0tBQ9e/ZE//7923QtlEqlOC4iIjI9XDZJRETUAY6OjgCAgwcPwt3dvcPHV1RUYMCAAZK62bNnY/bs2aivr0dWVhY2b96M119/HR4eHggICICjoyOsrKywc+fOFvt2cnJCY2Mj7t27p3UOXSorK8VjiYjI9DB5IyKibsPS0hIAnsndo9DQUMjlcuTl5eGVV15p9/HDhw8HAOTl5WHkyJE621haWiIoKAgqlQrp6ek4f/48AgICEBYWhvj4ePTp0weDBg3Se44ZM2Zg8+bN2L59O957770Wx3Pnzh3U1dWZ3OMUiIjoF0zeiIio2/Dx8QEAJCQkYNGiRVAoFPDy8kKvXr06/VweHh547733sH79ety8eRPTp09H7969UVxcjHPnzsHGxgabNm3Se7y/vz+srKyQlZWFWbNmieUbNmzA7du3ERISAldXV9y/fx8JCQlQKBQICgoCAERFReHQoUOYNGkS3n33XYwePRoajQaFhYX47rvv8Mc//hH+/v4IDAzEggULEBcXh+LiYoSFhcHS0hLnz5+HtbW1uDsnAGRlZQGA1u6XRERkOpi8ERFRtxEcHIy1a9ciMTERX375JTQaDTIyMiTPd+tMa9euhbe3NxISEpCcnIz6+nr0798ffn5++MMf/tDisRYWFnj11Vdx9OhRxMfHi+X+/v7Izs7G6tWrUVpaCpVKhfHjx+PEiRPiHTobGxt8//33+PDDD/HFF18gPz8fVlZWcHNzw5QpUyQ7be7atQtjx47FV199hV27dsHKygre3t5Yt26dZDxHjhyBj4+PmAATEZHpkQnNHwZDREREz0x2djb8/PyQlZUFf39/o42jqqoKzs7O+Otf/4rf/e53RhsHERG1jMkbERGREc2fPx+1tbVISUkx2hiankl38eJFyOVclENEZKr4qAAiIiIj2rJlC/z8/FBdXW20MdjZ2WHXrl1M3IiITBzvvBEREREREZkB3nkjIiIiIiIyA0zeiIiIiIiIzACTNyIiIiIiIjPA5I2IiIiIiMgMMHkjIiIiIiIyA0zeiIiIiIiIzACTNyIiIiIiIjPA5I2IiIiIiMgM/B8Xi4MMNx325gAAAABJRU5ErkJggg==\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 1], data1, 1, \n", " title='First Order Velocity Residuals(1$\\sigma$)',\n", " y_label='meters/sec') " ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Again, as expected, the residual falls within the theoretical performance of the filter, so we feel confident that the filter is well designed for this system. \n", "\n", "Now let's do the same thing using the zero order Kalman filter. All of the code and math is largely the same, so let's just look at the results without discussing the implementation much." ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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Gl5cXb731FsePHyc5OZnXXnuNefPmldrXsnw2w4cP55133mHXrl1kZWUxZcqUUtsGBQXxyCOPXPQ9FJHLZKsiZsyYYQNsM2bMKFVWWFho8/Lysk2YMKFUWd++fW3h4eGlllssFtuZM2fs/lkslstqS1pami0lJcWWlpZW9h2Ra5piQ5xRbIgzig1xprxiY/v27TbABtjat29vy8/PtysfPXq0UT5nzpyr+trlac2aNUa7e/ToYbNarXblf/vb34zy4nVsNputW7duxrIffvjBbpvk5GSbl5eXDbDVrl3blpeXd8XtzMzMtN155512bSn+FxkZaYuOjna67ZWcv4rURFViaLRZs2YxY8YMXnjhBV566aVS5W5ubtx1110sXbrUboS3hIQENmzYwD333HNV2xMYGEhwcHCp/hEiig1xRrEhzig2xJnyio2dO3caj8eNG2fXJxmKxiZxtG5VV9y/G2DEiBGlrhw/8MADds/Xr1/PsWPHjH6zjRo1ol+/fnbr1K9f35gX9ty5c0Y/8CsREBDADz/8wK5du3jqqacYPnw4EyZMYNWqVezbt69UP2UR+fMq/TbjN998kxdffJE77riD/v37s23bNrvym2++GSi6Bblz584MGDCAadOmkZeXx4svvkhgYCBPP/10ZTRdREREpMqxlejr6ugW2ZJJoM1BH+GqqmRSvnfvXp588kkA5syZA2AMXAXQvHlzFi9eTPPmzY1bgXNycjCbzaVu5S0eSAsc39L9Z3Xq1IlOnTpdtfpEpLRKvzK7fPlyAFatWsUtt9xS6l+xiIgIfv75Z9zd3bn33nsZPXo0LVu25Jdffik1kqeIiIhITVVyAM2PP/64VJ/+Dz74wOG6Vd1tt91mPH7vvfeYO3cuH330EefOncNisTB79myjfPr06dx6662YTCa6desGFI1ivmDBArs6d+7cyYYNGwAIDQ0tNZKyiFRtJlt1+kmuDDTptIiIiNRENpuNjh07GtPHdO3alSeffJLatWuzaNEivvjiCwBq1apFYmKi3bRKVU1mZiZHjhzhpptuAqB79+78/PPPRrmrqyvjx49n27Zt7NmzBygaOPTEiRPGXLpr166ld+/eQNFV6QceeIBevXqxb98+PvzwQ7KzswF47bXXeP755ytw70rT+atI2SiZdWDv3r3GNAoXzgknNZtiQ5xRbIgzig1xpjxjY+vWrfTo0cPh1DzF5s2bZ9d/tiqx2WyMGDGCpUuXEhQURHx8PK6urhw5coSuXbuSnp7ucDs3NzeWLVtG//797eqaMGECH330kdPXu+WWW1i3bp2RAFcWJbMiZaO/DBEREZFrzK233sqqVato2rRpqTJ/f38++OCDKpvIQtEV1OzsbAoKCjh58iQbN24EoFWrVmzdutUYtKmkDh06sHr1artEtriu+fPn88orr5SaytHDw4OHH36YNWvWOE1kDx48yBNPPMGNN97I9ddfz8iRI9m4cWO16m8scq3SlVkHYmJiMJvNuLm5ER4eXl5NlGpIsSHOKDbEGcWGOFMRsWGxWFi5ciVbtmzBbDYTGRnJ0KFD8fHxKZfXK6v09HQWLVrE/v37WbhwoV3ZN998w+OPP87w4cOZNGkSLVu2tCs/evQov/76K2azmXbt2nHjjTdedH54KBoEauXKlSQlJREQEMAdd9zhdOwVm83GrFmzHM60ATB06FAWL16Mp6fn5e/wJejKrEjZKJkVERERkUrRqVMno69rVFQUbdu2NcrMZjNwdUcYLov333+/1NVrV1dXLBaL8Xz06NF8+umnV+01df4qUjb6yxARERGRcpeTk1Nq2UMPPWQ8XrdunV2Zm5tbpSWy+fn5zJgxw3g+ffp0MjMzyc7OZsGCBXh7ewOwcOFCjhw5UiltFBElsyIiIiJSjjZv3sywYcNo0KCB3VywAKNGjeKZZ54hOjqaxx9/vJJaWNrKlStJS0sDYMiQIbz88ssEBATg6enJmDFjmD59urHuokWLKquZIjWeklkRERERKTffffcdX331FWfPnmXJkiV2ZXXq1OH111+nVatWldQ6x+Li4ozHAwcOLFU+aNAgh+uKSMVSMutAQkICx48fJyEhobKbIlWMYkOcUWyIM4oNceZaiw2bzcamTZvs+pQCjB8/HoDAwMDKaNafUnKArNjY2FLlx48fd7iuiFQsJbMOZGZmcvr0aTIzMyu7KVLFKDbEGcWGOKPYEGeupdj44YcfaNeuHbfffjs//vijXVmbNm1Ys2YNiYmJPPHEE5XUwrLp1auXMTLye++9Z/eDQ3Z2NrNmzTKeO5omSEQqRuX0qhcRERGRKis7O5sff/zRbgqbkJCQi25z8OBBoGgU4LvuusuurHfv3uXW1vLQrFkzBg0axLJly0hLS6Nt27YMHToUX19fvv32W06dOgVAWFiY3S3HIlKxNDWPA/n5+dhsNkwm01WdO0yqP8WGOKPYEGcUG+JMVYwNq9XKa6+9xhtvvEFWVpax3N3dnQceeIDZs2ezcuVKbr75Zlq3bm2UWywWWrZsSePGjbn77rvp3bs3zZs3x9fXtzJ246pISUmhW7duHD161GG5n58fa9eupXPnzlftNTU1j0jZKJkVEREREWw2GxMmTOCjjz5yuk7xPKuTJk1i3rx5xvJz584xY8YMFi9ebIwC7OXlxfDhw3nxxRcJCwsr9/aXh/T0dKZPn87ixYvJzs4GwMXFhYEDB/Lqq6/azYvrSGJmDi4mEw0DvC7r9XT+KlI2SmZFREREhHXr1tGrVy8ATCYTo0aNomfPnuzfv5/58+dz/vx5Y93atWuTnJyMj48PZ86coUePHuzZs8dhvUFBQaxfv5527dpVyH6Uh7Nnz7Jv3z7MZjMRERHUr1/f4XpWq429iWdYdyiVtYdSOHzqHGO7NuPFuy6e9P6xvc5fRcpCfWZFREREhPfee894PGTIEO644w6GDRsGwP3330/nzp2x2Wx4e3vz448/4u3tDcDkyZONRNbNzY0777yT2rVrs3z5cs6ePUtaWhpDhgzh4MGDuLq6VvyOXQV+fn5069bNYVlOgZlNMemsO5TC+sNppJ/PN8pcTHA6O9/hdiJy5XRl1oGzZ88afVj8/PzKq4lSDSk2xBnFhjij2BBnqlps1K9fn5SUFON5q1atOHTokHHu1Lt3b9auXQsUTU3TrFkzkpKSaNKkCRaLBX9/f7Zs2UJkZCQAGRkZ9OjRg3379gGwfPlyBgwYUMF7VT6Ss3JZdyiVdYdS2HIsgwKz1Sjz9XTjL62C6NkmmL+2Dqauj8dl16srsyJloyuzDsTGxlJYWIi7uzsdOnSo7OZIFaLYEGcUG+KMYkOcqWqxYTabAfDw8KCgoIAjR47w22+/cdNNNwFFSdWF665evdqYV3bixIlGIgtQr149Xn75Ze6++24AVqxYUS2TWYvVRnJWLvEZOWyPPc26QylEJZ21W6dxHS96tQmhV5sQujSri4ebkk+RiqBkVkRERKSGycvL48svvyQqKorXX38dgMjISH755RcKCgoYMGAAr7/+OhEREQCcOnWKVatWAUVJbWhoKFB0dblY8boltWnTxnhcct2qptBiJTEzl7iMbBIycojLyCb+//+feDqXAovVbn2TCTqGBtDz/yewrUJ8jXlpRaTiKJl1ICQkBIvFUm37dUj5UWyIM4oNcUaxIc5UZmx069aNXbt2YTKZePTRR2nZsiXjxo3jl19+AWDr1q1s2LABFxcX9u/fz/Tp08nNzQVg1KhR1KpVC4DGjRsbda5Zs4ZRo0bZvc7q1auNxyXXrSw2m41jaef55Ug6x9PPE5+RQ3xGDifP5GKxOu955+5qIrSuNxH1a9O9dTDdI4IJ9K0a0ymJ1GTqMysiIiJSwRITE9m+fTtms5nIyMgKH+n3X//6F88//zwAs2fP5rnnnqOwsJDu3buzZcsWp9s1aNCAnTt30rBhQwByc3Np1KgRmZmZALz11ls89thjeHh4sGLFCkaNGmXMV7t3716uu+66ct6z0swWK7/FZbL2UAprD6UQn5HjcL1a7i6E1fUhrJ43TQOL/i9+3jDAC1eX8r/yqvNXkbJRMisiIiJSQRISEpg6dSrLli3Dav3j1tWbb76ZN954g65du1611yosLGTZsmUsXLiQr776Cl9fX6MsIyODJ554gsmTJ3PzzTcbt8hmZWXxwAMP8MMPP5Sqr23btixdupTWrVvbLf/3v//N3/72N+O5t7c3np6eRoILMHjwYJYuXXrV9u1SzuYVsjE6jXWHUtgQnUZWbqFR5uHqws0t6tGuoR9N6/2RvAbX9qz0W4V1/ipSNkpmRURERCpAXFwcXbt2JSkpyWG5h4cHy5cvp0+fPqXKLBYLP/74I0uWLCEpKYmAgAAGDhzIiBEj8PHxcVjf1KlTmTNnDgAffPABjz766GW3dffu3fz3v//l5MmTBAQEMGjQIPr06ePwPMpmszF16lTmzp3rsK6ePXvy/fff2w0gVR5OnM5h3aEU1h5KZdvxDMwlbhuu4+1Oj4gQercNplt4EL6eVbOnnc5fRcpGyayIiIhIBbjjjjuMPqTBwcGMGTMGPz8/Pv/8cw4ePAhAUFAQ8fHxeHl5GdslJSVx1113sXv37lJ1hoSE8P3333PLLbcY0/wU27NnD506dQIq5sro1q1bef/999myZYtx+/S4ceO4++67y6VfsM1mIyrpLKsOnGLtoRQOn7I/72sR5EOvtiH0bhNCxyZ1KuQ24Sul81eRslEy60BUVJQxVH7JIeZFFBvijGJDnFFsCMCRI0eM23MbNWrEnj17SE1NpbCw6PbX5557jp9++gmARYsWGQMp5ebm0rlzZ6KiopzWXatWLcLDw5kzZw49evSwK/v73/9Oz5496dGjR6XfQnu1JGbm8L/fk/h+z0mOpp43lruYoHPTuvRuG0LPNiE0C3R8xboqUzIrUjZV8x6LSmY2mzGbzdfMQV+uHsWGOKPYEGcUGwKwceNG4/HEiRMJCgoiKSkJs9mMu7s7zz//vJHMbtiwwUhmFy9ebCSyYWFhzJs3j169erFv3z6eeeYZNm3aRF5eHvv372fevHmlktnXXnutgvawfGXlFrLqQDJLd59ke+xpY7mnmws92wTTu20If20VTB0fj0pspYhUNCWzDnh6euLi4oK7u3tlN0WqGMWGOKPYEGcUGwKQn59vPA4JCQHsY6N4GRTNAVvsk08+MR5/9dVXdOjQgVq1atGlSxdWrFhBkyZNjNGCExISKCgowMPj2kjoCsxWNh5JY9mek/x0KIUCc9GAWSYT3NysHoM7NuKO9vXxq6W/LZGaSsmsA44m/RYBxYY4p9gQZxQbAtCqVSvj8VdffcXYsWPtYuOll15yuG5MTAwAAQEBjBkzhgEDBvDvf/8bAD8/P/r27cvXX38NwOeff17tE1mbzcaeE2f4fvdJVuxLIjPnj1GIw4N9GdypEXdf34iGAV4XqUVEagr1mRUREREpZxaLhebNm5OQkADAI488wrPPPoufnx+LFi1i+vTpFBYWYjKZOH78OE2bNgWK+teWHP24bt26JCYmGgNE3X777WzatAmA+Ph4mjRpUrE7dpWczzezYHMsS3cnEldiHthAX08GXd+QwR0bEdnQ75q/XV/nryJloyuzIiIiIuXM1dWV2bNnM3z4cAA+/vhjPv7441LrTZw4kZLXGXr27MnixYuN55GRkZw6dYpmzZqxdu1aI5ENDw8nNDS0nPeifBw4mcXk/+42klgvd1f6RoYwuFNjuraoh5urEjkRcUzJrIiIiEgFGDZsGGfPnuWJJ56w60Nb7MYbb2Tp0qVs2rSJ33//HZPJxOTJk+2SWXd3d7788kv27dvHN998YyyfNGlStbtqabPZ+HRLHP9ceYhCi42G/rV4uk9r7mhXH58qOg+siFQtus3YgaSkJCwWC66urjRs2LC8mijVkGJDnFFsiDOKjZrBarVe9q2gKSkpfPLJJ6xbt47CwkIiIiJ48sknGTt2LNu3bwdg06ZNdOvWDYCZM2cyY8YMp/X179+f77//vloNMnY6u4Bnv9nLusOpAPSNDGH2kOsI8K7efX6vlG4zFikb/ezlQFpamjEnoE48pCTFhjij2BBnFM2tuOgAACAASURBVBvXroSEBN59912WLFnCqVOnqF27NoMGDWLKlCnceOONTrcLCAigW7du9O/f34iNtm3bMmnSJHbu3MmgQYPw8/Mz1n/ppZcICwvjlVde4dixY8byunXrMnHiRF588cVqlchuO57BlC/3kHI2Hw83F6b3b8PIm8Oq3ZVlEal8SmZFREREymjTpk0MGDCAs2fPGsvOnTvHkiVL+Pzzz5k3bx4TJ04std28efN49dVXycjIYMWKFdStW9coGzp0KN27d6dx48alths9ejSjRo1i+/btJCUl4e/vT9euXY2BoKoDi9XGO+tieHd9DFYbNA/yYd7wTrRt6HfpjUVEHFAy60DLli2x2Wz6hVBKUWyIM4oNcUaxce05deoUAwcONBJZDw8POnToQExMDGfOnMFmszFp0iRat25Nz5497bZNTk7m1KlTAKxevZqZM2casVGrVi2HiWwxFxcXbrnllnLaq/KVnJXLlC9/Z0fsaQCG3tCYmYMi8fbQqaiI/Hm6Ad8BHx8ffH198fHxqeymSBWj2BBnFBvijGLj2vPBBx9w5swZoGi04RMnTrBjxw6SkpJ48sknjfX+/ve/U1hYaLft5MmT8fLyYsiQIdx///01IjbWHUrhzrmb2BF7Gh8PV+bcfz2vD+2gRFZErpgGgBIREREpg4iICKKjo3FxcSEuLs5uShyr1Urjxo1JTk4GYP78+UyYMMFu+4yMDOrVq1ehba4M+WYL/1p5mE+3xAHQrpEf7w7vRLPAazt5vxI6fxUpG/1liIiIiJRBamrRCLxhYWGl5nZ1cXGhXbt2xvN33nmHC68b1IRENjY9myHztxqJ7MPdmvHdY7cqkRWRq0r3dziQk5Nj9G/y9vau7OZIFaLYEGcUG+KMYuPaU69ePTIzM0lISODo0aP4+fkRHBwMFM2dGh8fb6w7fvx4rFYrrq6upeq5FmPjxOkcVked4u2fjpBdYKGOtztvDO1AzzYhld00EbkGKZl1ICYmxhgqv0OHDpXdHKlCFBvijGJDnFFsFElLS+Obb77h5MmT+Pv7M3DgQCIiIiq7WQabzcbOnTvZvHkzZrOZyMhI+vbt6zAJHTJkCLNnz8ZisdC2bVuGDRvGZ599hsVi4Z///CdHjhwBoFu3bnZ9aC90LcSG2WJlz4kzrDuUyvrDKRxJOW+U3dSsLnOHdaS+f61KbKGIXMuUzIqIiEi5KSws5Nlnn2X+/PkUFBQYy//2t79x55138umnnxpXNSvL3r17GTduHL/99pvd8tDQUN5++22GDBlit3zixIm888475ObmUlhYyOLFi4mLiyMuLo4TJ04Y6z333HMV0v6KdiangI1H0lh/OJWfo9PIyv1jkCtXFxM3hNVhwHUNeOCmMFxdNIq3iJQfDQDlQGJiIhaLBVdX14sOkS81j2JDnFFsiDM1OTZsNhvDhw/nq6++crpOREQEv/76KwEBARXYsj/s27eP2267zW6+2AstXryYBx54wG56pR9//JFBgwZhNpsdbjNr1ixeeOGFi752dYkNm81GTOp51h9OZf2hVHbGn8Za4uwxwNudv7YKokebEP4SHoS/t3vlNbaa0wBQImWjZFZERETKxY8//kj//v2BorlYH3/8cXr16sWBAwd44403SElJAWDatGn885//rJQ2du3ala1btwJFifXkyZPx8/Pjs88+Y+3atUbbIyIi2LlzJ+7ufyRq27Zt44033uDHH38kNzcXFxcX+vbty5NPPkmfPn0qZX+uFpvNxu6EM/zf7ydZdziVxMxcu/KI+rXpHhFMz4hgOjapoyuwV4nOX0XKRsmsiIiIlIuBAweyfPlyoOjq5siRI42yo0eP0rZtWwoLCwkMDCQpKckuUawIe/fu5frrrwcgPDycPXv2GHO+Orqq/PHHH/Pwww+XqqewsJCsrCx8fX2pVat69w89cTqHZXtOsnTPSWLTs43lHm4udG1Rjx4RwXSPCKZxnWtjwKqqRuevImWjPrMiIiJSLnbs2AFA3bp1GT58uF1Zy5Yt6du3LytWrCA9PZ24uDjCw8MrtH2//vqr8fjRRx81ElkAk8nE1KlTjWTWZDIRFxfnsB53d3cCAwPLta3l6Xy+mR/3J7N0dyLbjp82lnt7uHJHZH3ubN+AW1vWw9tDp40iUrXoqCQiIiLlovjmLxcXF7v+psVKjhRcGTeKWSwW47HVauWFF17g/vvvp3379gB4eXkZ5QMGDGDWrFkV3sbyYrHa2HI0naW7E1kVdYq8QisAJhPc2qIe93RszB3t6uPjqVNFEam6dIRyIDo62hgqv3Xr1pXdHKlCFBvijGJDnKnJsdGpUydWrVpFeno6S5cu5d577zXKEhISWLVqFQB16tShadOmFd6+ktPhTJs2DavVyrFjx/jiiy8AWLBggVF+6623XvXXr4zYiEk5x7e7E1m25yQpZ/ON5c2DfBjSqTF3d2xEowCvi9QgIlJ1KJl1IC8vj8LCQrtfbEVAsSHOKTbEmZocG48++qiRsD700ENERUUZA0C99tpr5OcXJVNjxozBw8OjwtvXtWtX2rRpw6FDh7Bai65MLl26lNWrV7N8+XLee+89ANzc3Bg9evRVf/2Kig2bzcay30+yYHMc+09mGcsDvN0Z2KEh93RqTIfG/g6vnouIVGVKZh1wdXU1hsoXKUmxIc4oNsSZmhwbAwcO5K677mL58uXk5OQwY8YMZsyYYbdOs2bNeP755yusTTExMcTGxtKnTx9MJhPvvPMOd9xxh5FQFhQUcMcdd9htM2PGDOrXr3/V21IRsZF2Lp/nl+5j7aFUANxcTHSPCGZIp8Z0jwjC063mxaWIXDs0mrGIiIiUm7y8PCZOnMiiRYuMq5/FunXrxn//+19CQ0PLvR0Wi4WHHnqIL774guDgYGJjY42Rh1esWMHYsWNJS0uz28bDw4MZM2Ywbdq0annVcnXUKf6+dD8Z2QV4uLrwRM+WjLgpjLo+FX8VXC6Pzl9FykbJrIiIiJS7hIQEvvjiC5KSkvDz82PgwIF07ty5Qttw77338t133wEwf/58JkyYYJTl5eXx7bffsnnzZsxmM5GRkTz44IPVcpTic3mFzFx+kG93JQLQpoEfb9/fgYj6fpXcMrkUnb+KlI2SWREREbmm2Gw2fv/9dzp27Gi3fM+ePfTt25epU6cyceJE/P39K6mF5Wfb8Qye/novJ8/kYjLBo7e3YGrvcN1OXE3o/FWkbJTMioiIyDVj7dq1vPDCC2zfvp1t27Zx00032ZXn5+fj6elZSa0rP3mFFt5cE83Hm2Ox2SC0rhdv3Xc9nZvWreymSRno/FWkbDQAlAOpqanGgAzBwcGV3RypQhQb4oxiQ5xRbFyZvLw8Dh48iNlspmXLltSte/HkLD4+nu3btwPw+uuv8+2339qVV6VE9mrFRlRSFk99tZfolKIk6P4bQ5l+V1t8NUesiFzjdJRzIDk52Zj3TSceUpJiQ5xRbIgzio0/Jysri1deeYVPPvmEzMxMANzd3bn33nuZOXMm4eHhpKen4+7ubne78MiRI3nhhRcIDg7mnnvuqazmX5YrjQ2L1cYHG48xZ+0RCi02An09+Oc919G7bUg5tFZEpOpRMisiIiJVyunTp/nrX//K/v377ZYXFhbyxRdf8MMPP9CvXz/+7//+j2nTpvHiiy8a63h6erJ9+3ZCQ0Or5QjElys+I5unvt7LrviiRL9P2xD+eU976vlWnSvPIiLlrUr0mT137hyzZs3i999/Z8+ePaSnp/PSSy+Vmotu9OjRLFq0qNT2rVu35vDhw3bLrqTPQVZWFjabDZPJdE0ODiF/nmJDnFFsiDOKjbJ74IEH+O9//wsUTY8zaNAg/Pz8WLZsGRkZGXbrBgUFER8fj5eXV2U09Yr8mdiwWm18tfMEs1YcJKfAgq+nGy/d1ZZ7b2h8TSfvNYX6zIqUTZW4MpuRkcFHH31Ehw4duPvuu/n444+druvl5cX69etLLbuadLIhzig2xBnFhjij2CibpKQkvvrqKwACAgLYsmULAQEBNGzYkLfeeouePXuyc+dOoOgq7PDhw8nLyyt1LpCSkkJycjL+/v40bdq0SiZ6ZYmNMzkFfLMzkSXb44nPyAGgS7O6vDm0A6F1vcuriSIiVVqVSGbDwsLIzMzEZDKRnp5+0WTWxcWFm2++uQJbJyIiIhVlzZo1WCwWADp27MiAAQMIDAxkx44d+Pn5MXPmTPr37w/A0KFDmTt3rt32Gzdu5NVXX+Wnn34ylrVr146nnnqK0aNHV8mk9mIOnMxi8a/x/G/vSfIKrQD41XLj8R7hjO3WDFeX6rU/IiJXU5VIZqvbF4uIiIiUj5K3WB4/fpz4+HhiY2P57bff6Ny5M61atTLKCwoK7Lb97LPPGDNmDFar1W75gQMHGDt2LDt27OD999+v8ucdBWYrKw8k89mv8UafWIA2DfwYdUsYg65viLdHlTiFExGpVNXuSJibm0v9+vVJS0ujQYMG3H333bz88suXHKq/LEp+OXp4eFy1eqX6U2yIM4oNcUaxcWnnz5/n119/pXfv3oSFhRnLAwMDiY+Pp2/fvkafwR9++MEob9KkifE4Ojqahx9+2EhkmzVrRo8ePThw4IAxVc8HH3zArbfeyoMPPlgRu3VJF8bGqaw8/rs9nv/uOEH6+XwA3FxM9GvfgIduCeOGsDpVPhEXEalI1SqZ7dChAx06dKBdu3ZA0a1Eb7/9NuvWreO3337D19f3ottHRUURFhaGn5+fsSw/P98YPKpOnTo0adKEQ4cOGUPle3t7k5OTY7x+Senp6Zw8eRIo+kKtU6eOUWaxWDhw4ABQ1HG/efPmdtvGxsZy9uxZACIjI3Fz++OjOHPmDPHx8QA0bNiQoKAgu2337duHzWbDy8vL7hdqgBMnTnD69GmgaGCsWrVqGWXnz5/n2LFjAAQHB9OgQQO7bQ8ePGjsd9u2be3KkpOTSU1NBaBFixZ273VeXh7R0dEA1K1bl9DQULttjxw5Qm5uLiaTieuuu86uLC0tjaSkJKDodvOAgACjzGw2ExUVBYCfnx/NmjWz2/b48ePGL/jt2rXD1dXVKMvMzCQhIQGARo0aERgYaLft3r17AfD29iY8PNyuLCEhwZgGIiIiwm5OwqioKOP2t8aNG1O/fn27baOiojCbzXh6ehIREWFXlpSURFpaGgAtW7bEx8fHKMvJySEmJgaAevXq0bhxY7tto6OjycvLw9XV1Yj/YqmpqSQnJwPQtGlTuz5YBQUFHDp0CMDoN1bSsWPHOH/+PADt27e3G2AiIyODxMREY1/r1atnlFmtVmOUUV9fX1q0aGFXb1xcHFlZWQC0adPG7gQ+KyuLuLg4ABo0aFBqOooDBw5gsVioVasWrVu3titLTEw0Bn8JDw/H2/uPfmLZ2dkcPXoUKBoQpmHDhnbbHj58mPz8fNzc3IiMjLQrO3XqFCkpKUDRCfCljhElxcTEkJOTQ2FhIVA0dUjxsULHiCI16Rhx9uxZYmNjAQgJCaF+/fp23ylubm5V6hhx9uxZPvnkE1JTUwkKCmLkyJF2f5MVcYz45ptveOedd8jLy+PEiRPcfPPN1KlTh8zMTHbt2sXUqVN5+eWX8fLy4ptvvuGFF14w6hk1apTx+L333sNsNgNwzz33sHDhQmrXrg3Ap59+ytixYwF49dVX6dGjB40aNbJrU3kfI6D0eUTxd8bB9EI2nXJhQ8xpLNaicTmDa3vSs6knfVr4EBbsT/Om9j/a6xhR5Fo4RpQUHR1d6vtLRJyrVsns1KlT7Z737t2bjh07cu+99/Kf//ynVPmFzGYzFw7ebLPZjJPQ4i/BC7cpLr+Q1Wo1yi68pQm47HovbFPJeosTpwvrtdlsuLu7lyqzWCxXVK+zfS1Z74X7WvI9dFRv8b46+jX5cuutKp/NhW13VK/ZbHY46uDFPptLvYfFn42jsovVW7ztpep15HLfQ0fbl2zThS61rwUFBVitVruTCkf1/tn30NF7dLn1VpU41DGidL1V5bO5nDisCscIm83G66+/zuzZs43EBeD5559n5MiRzJkzh9q1a1fIMaKgoMBIKD755BMmTpzI2LFjefPNNwF4++23mTdvHh4eHmRnZxt19OnTh/bt2xvPly9fDhT9oDR58mS793jMmDHMnTuXvXv3Eh0dTVJSUqlktqKPEWaLlZ+OZbP8yHlOnP3jc+vSrC4P3dKUnhGBHNi3F7DqGFHDjhEicvmqVTLryODBg/Hx8WHbtm2XXNfNza3UgdBkMhkH8+JfNf39/bFYLLi6uhq/MDri4uJilDk6Mbmw3gvbUlx+YZtK1uvohN7d3R2bzeawXldX1yuqt+T/zuq9cF9LvoeO6i3eV0dfQpdb76XewwuV12fj4+PDuXPnMJlMTt/Dku0u6WKfzaXeQ3d3dyMmy1JvyX11Vu+VvoeX2tcLXWpfPTw8sFgs5fIeWq3WMv/dXG4cWiwW/P397V5bxwiM16kpxwhH+1ryOyU7O7tKHCOmTJnCu+++W2rdgoICFixYQFRUFOvXr7+qx4jk5GQWLVrE008/bdemRx55hPnz5zNs2DAGDBiAyWRi5MiRnDlzhk8++QQonSR17dqVf/3rX3avV5wQBwYGUrdu3VLvYUREhHE1rfhK6YXtLc9jRDGr1cbyfUnMWRtDbHpRcu7pamJA+2DG/bUVEfWLrvqWPA7qGHFtHyMc1Ssil6dKzDNbUnp6OkFBQQ7nmXXEarVSu3ZtBg4cyBdffGG3XPN0iYiI2Pvll1/4y1/+YjwfPnw4vXv3Jioqig8//NC4rXjWrFl2t/QWM5vNrFixgs2bN2M2m2nbti3Dhg2zu/X2QnPnzuXZZ5+lsLCQr776ivvuu8+uPCcnx67bQLE9e/bw/vvvs2XLFgoLC4mMjGTcuHH069ev1Pd5hw4d2LdvHwCHDh2yu427oKCApk2bkpycjIuLC+np6Xa3/VcEm83G2kOpvLkmmsOnis5P6vl48OhfmnN/5yb4eymJEZ2/ipRVtb8y++2335KTk6PpekRERC7De++9Zzx+5513ePzxx43nI0aMoHPnzlitVubPn8/zzz9vd/Vow4YNjB492uhLWOzpp5/m1Vdf5fHHH3d49ax9+/bGldV58+aVSmYdJbJQNDXPf/7zn8varwcffJBnn33W2I/FixcTGRlJSkoKU6dONfoNDxw4sMIT2S1H03l9dTS/nzgDQO1abjx6e3PGdG2Gj2e1PxUTEak0VebK7MqVK8nOzubcuXOMHTuWoUOHGl92d955J2lpaYwYMYJhw4bRsmVLTCYTGzduZM6cObRo0YLt27fbDZahX7ZERERKa9SoEUlJSfj5+ZGWllZqhOW+ffuyZs0aAI4ePWoM3rR582Z69uxZajqckmbMmIGLiwuDBg2yG6jHZrPRo0cPbr31Vh577LFSA1hdDZmZmbRr184YDAigfv36pKamGn0e3dzc2LJlC126dLnqr+/IrvhM3lgdza/Hiwau83J3ZUzXpoy/vTkB3hrZWkrT+atI2VSZZLZp06bGyHsXio2Nxd/fn4cffpg9e/aQkpKCxWIhLCyMwYMH8/e//91udEbQwUBERMSRkJAQUlNTCQkJITk5udSV1Pvuu49vvvkG+ON2XZvNRseOHY0+p7fddhtPPfUUfn5+LF68mIULF9rVMWbMGBYsWFAh+1PSgQMH6NevnzHKckmenp4sWbKEe++9t9zbcTDpLG+uiWbd4aLRez1cXRhxUxMmdm9BcO1al9haajKdv4qUTZVJZq+2KzkYHDt2zBj46cLpBKRmU2yIM4oNcaaqxUb37t35+eefAVi9ejV9+vQxytLS0mjWrBnZ2dn4+PiQmpqKt7c327dvN7rzXH/99ezYscNuoJpJkybx/vvvG8+9vb1JSUm55JR55SErK4uFCxeyePFikpKS8Pf3Z9CgQUyYMKHU9GRX2/G087z10xFW7Cu6pdnVxcS9nRrzRK9wGgV4lVq/qsWGVD4lsyJlo44aDpw/f/6ioxhLzaXYEGcUG+JMVYuNcePGGcnsiBEjePXVV+nduzcHDhxg+vTpxvQ3I0eONPqy7tmzx9j+nnvu4bXXXiM4OJjHHnsMgPHjxxvJbEREBKtWraqURBaKRo+eMmUKU6ZMqbDXjEvP5v2fj/Ld7pPGPLF3dWjI1F7hNA9y/j5UtdgQEalulMyKiIjUIPfddx/z589n8+bNZGRkMGHChFLrBAcH849//MN4XvJW5JkzZ2KxWAgNDWX8+PG4urrazbXZsWNHwsLCyncnqoi9J87w4S/HWHngFMX3ufVqE8xTvVvTtqHz0Z1FROTqUDLrQMlJ2EVKUmyIM4oNcaaqxYabmxvLly9nxIgRrFy5slR5eHg433//PaGhodhsNkwmE507dzbKvby8OH/+PCdPnmTnzp3cdNNNzJs3zyi/6aabKmQ/KovNZuPnI2l8uPEY246fNpb3iAhmUveW3BB2+SMlV7XYEBGpbtRnVkREpIbauXMnn3/+OSdPnsTPz49BgwbRr18/du/ezfz580lOTmbVqlUAdOnShd9++w0oGiX4mWeeoXnz5nz22WcsW7YMKEp0ExMTqVu3bqXtU3kptFhZsS+JDzceN+aJdXMxMfD6hjx6ewta169dyS2Ua4HOX0XKRsmsiIiIGGw2G5GRkRw6dAiA/fv3065dO3bt2sXtt99OTk6O020//PBDxo8fX1FNrRDZ+Wa+/O0En2w6TlJWHgA+Hq4M79KEsd2a0dDBwE4if5bOX0XKRn8ZIiIiNVh6errdc5PJZPSj9ff3Jzo6GoAbbriBDRs20LZt21J1BAYGsnDhwmsqkU07l88bq6O59V/rmbXiIElZeQT6evJs39ZsndaTFwa0VSIrIlLJdGXWgYyMDKxWKy4uLtSrV6+8mijVkGJDnFFsiDNVNTZ++ukn3nzzTTZv3syJEyeoU+ePvp5nzpxh6dKlDBs2zBjRuJjNZuPnn39my5YtFBYW0rZtW+6++248PT0rehfKRWx6Nv/ZdJxvdyVSYLYC0CzQh/G3N2dwx0bUcne9aq9VVWNDKo+uzIqUjQaAciAxMdEYKl9fLlKSYkOcUWyIM1U1Nv7v//6P1atXA7BgwQKefvppoywgIICxY8c63M5kMtG9e3e6d+9eIe2sCDabjW3HT/PJ5uOsO5xqjEzcITSAx/7SnN5t6+PqYrp4JX9CVY0NEZHqQsmsiIjINS4mJobmzZvj6vrHVcXJkyczb948mjVrRmBgYCW2rvIUmIsGdfp4UywHk88ay3tEBPPo7c3p0qyu3bREIiJStSiZdaBx48bGbT8iJSk2xBnFhjhTmbGxfft2Zs6cycqVK1m+fDkDBgwwylq3bs2WLVu46aab7JLcmiAzu4DPt8fz2a/xpJ7LB6CWuwtDOjVmTNdmtAz2rZB26LghInJl1GdWRESknOzZs4dNmzZhNptp27YtvXv3rtDEccWKFdx1110A9O7dmzVr1lTYa1dFR1PPs2BLLEt3J5JXWNQfNri2Jw/d2pQRXZpQx8ejklsoNZ3OX0XKRldmRURErrIDBw4wbtw4tm3bZrc8LCyMN998kyFDhlz114yNjaVWrVo0aNDAWNavXz+aN2+OxWKhT58+2Gy2GnfbrM1mY8vRDD7ZfJwN0WnG8naN/Hi4WzP6t2+Ih5sSBRGR6khXZkVERK6igwcP0rVrV86cOeN0ncWLFzNy5Mir8noJCQk888wzfPfdd0yePJm5c+falR8/fpywsLAadyvx6ewC1h5MYcGWWA6fKjofMJmgV5sQHu7WjJvUH1aqIJ2/ipSNklkn2xbTwUNKUmyIM4oNKfaXv/yFX375BYBWrVoxceJE/Pz8+Pzzz1m3bh0Avr6+JCYm4u/vf8Wvl5GRQWhoKLm5ufj4+JSaZqemyDdb2BWXyaaj6WyOSedAUpYxKrG3hytDbyjqD9s00KdyG1qCjhtyISWzImWj24wd2L9/vzFUfocOHSq7OVKFKDbEGcWGAERFRRmJbIsWLdi1axfHjh2jsLCQN954g9mzZ/Pll19y/vx5lixZwqRJk8pUf05ODvHx8bRp08ZYVq9ePcaMGWNcma0pV2BtNhtHUs6zKSaNTTHp7Ig9TW6hxW6d1iG1GdypEcM7N8Hf272SWuqcjhsiIldGyayIiNQYsbGxfPTRR2zevNkYlOmRRx7h5ptvviq3nP7666/G4/Hjx+Pr+8eouCaTiaeeeoovv/wSgK1bt152MmuxWJg5cybvv/8+QUFBREVF2V2peeWVV3jzzTepVavWFe9DVZZ6Lo8tR9PZFFN09bV4JOJigb6e3BYeyG3hgXRrGUiw37X9fohYLBYyMjLIz8+/9Moi1URQUNBlf58pmXXA19fX+KVUpCTFhjij2Kj65syZwzPPPIPF8sfVu23btrFgwQKGDRvGwoUL8fT0vKLXMJvNxmMfn6LbWUvGRl5ensN1L8XV1ZWNGzeSkZFBRkYGK1eupH///kb5tXxbcVx6Nt/tTuSngylG39ditdxd6NKsHre1DOS2VoG0DqldrfrB6rghVyI3N5e0tDQCAwMJCgqqVrEv4ozFYuHkyZMEBwdfVkKrZNaBFi1aVHYTpIpSbIgzio2q7bPPPmPq1KlOy7/88ktq1arFp59+ekWv0759e+PxokWLmDBhgl1sPPPMMw7XLclms/H777/TsWNHu+VPP/00W7duZdiwYTRv3vyK2lnVnc838+P+ZL7dmciOuNN2Ze0a+dGtZRC3hwfSKawOtdyr723VOm7IlTh9+jQNGjTQjyFyTXF1daVRo0YkJSURGhp6yfU1AJSIiFzTzGYzzZs358SJEwBMmTKFadOm4efnx+LFi5k6dSq5ubkAHDp0iIiIiD/9Wjabjfbt2xMVFQUUTY3zzDPP4O/vz+LFi3nnnXew2Wy4JkRFLgAAIABJREFUurqSkJBAw4YN7bb/+uuvmTlzJocOHSImJsYu2bFarSQnJ9OoUaM/3b6qzGazsT32NN/sTGTlgWRyCoquoLuY4LbwIAZ3bMRt4YHU872yq+ciVVlZzl9PnDhxWSf7ItXR5ca3rsyKiMg1bf369UYi269fP+bMmWOUPfroo5w9e5bnnnsOgIULF/Kvf/3rT7+WyWRi7ty59O3bF4vFwsqVK1m5cmWp9aZPn14qkYWiaXQOHjwIwLvvvmvXVhcXl2sykU3MzGHp7pN8uyuRhNM5xvJmgT7ce0NjhnRqTH1/9X0VEZHSlMyKiMg17dixY8bjwYMHlyofPHiwkcyWXPfP6tmzJ8uWLWPMmDGkp6fblbm7uzN9+nT+8Y9/sHXrVjp06GD0rQUYN24cL7/8MjfccAM9e/Ys0+sePHjQbmCr22+/vcrejZRbYGF11Cm+2XWCrccyjCl0fD3dGHBdA+69oTE3hNVRH0AREbkoJbMOxMXFYbFYcHV1pWnTppXdHKlCFBvijGKj6vL29jYeJyQklCovvmoL4OXldVVec8CAASQkJPDtt9/y448/UlhYSKtWrXjyySeJiYmhS5cu7Nq1i/fff5/HHnvM2K5evXocOXKExo0bX/ZrHT58mAkTJrBx40a75eHh4bz99tt2A0VVtpSzecxdF8Py35M4l//HAFi3NK/H0Bsbc0e7+nh71JxTEx03RESuTNX8ybaSZWVlkZmZSVZWVmU3RaoYxYY4o9iourp3725cofzwww/tktf8/Hxefvll43nv3r2v2ut6eXnx4IMPMm3aNKZNm8b9999PcHAw3t7e7Nq1C4B33nkHq9Vqt11ZEtno6Gi6du1aKpEFiImJ4a677uLrr7++sh25Cmw2G1/uSKDXWxv57/YEzuWbaRTgxZSe4Wx6rjtfjL+Zezo1rlGJLOi4IeLMwoULMZlMDv8VD6TXuHFjHnnkEWObo0ePYjKZWLJkibFs8+bNzJgxg7Nnz1b4PkjFqFnfGiIiUiXl5+dz8OBBzGYzLVu2vKpTzTRp0oS7776bpUuXkpaWRmRkJCNGjCAgIICvvvqKuLg4AEJCQhg6dOhVe12A3bt3ExsbS1hYmLGsY8eO3H777Zw7d44nn3ySKxmH8bHHHuP06aLRfps1a8aECRPw9/dnyZIlbN68GZvNxrhx4+jXrx+1a9e+4v35MxIycpi2dB9bj2UA0CE0gL/1bc3Nzevh4qLbiEXEuU8//bTUoHzF4w0sX74cf3//i26/efNmZs6cySOPPIKfn1+5tVMqj5JZB9q0aVPZTZAqSrEhzig2/pz/x959h0dR/A8cf1+SSyMdCKGlEHqRJggIhhZ6B0F6laYiRZoKSBPUACJFUJqEgIIKIgiIQJASJEhPDCUQQjoEUiD17vb3x/2y32wugfQEmNfz5PFuZ29u9hj39nM785mEhASWLl3Kpk2b5KBMrVYzYMAAPvvsM2rWrFko77Nu3TquXLlCcHAwiYmJbNy4UVFuYWHBTz/9lOtF2p8nLCyMd955hzNnztCrVy/27NmjKP/tt9+wtbUt0JzQwMBATpw4AYCrqyuXL1+WL9bGjx/P22+/zS+//EJCQgI+Pj5MnDgx/weUD1qdxNYzd/H68wYp6TrM1UZ81KkWo990w1gEsYA4bwjC89SvX5/XX38927Ksy5cVp6SkJMUUFqHkiGHG2TA1NZX/BCEz0TeEnIi+kXdxcXF4eHjw5ZdfyoEsQHp6Ort27eKNN96Qh+MWlJOTE2fPnmXMmDEGAWvHjh05deoUHh4ehfJeoL/Le/fuXQAOHDhAeHi4om/Y2dkVOLnRmTNn5McTJ05U3HXIPBQv677F4WZ0Iv2/PcuSg/+Rkq6jZbWyHJn6FuPaVBOBbCbivCEI+Zd1mHFWn376KXPnzgWgatWq8jDl06dPy/vs2rWLFi1aYGlpibW1NV26dOHKlSuKeoYNG4adnR1XrlzB09MTa2trOnXqVDQHJeSZuDMrCIIglIgpU6Zw+fJlQH83tlevXtjZ2bFv3z5iY2OJi4ujX79+3L59G7VaXeD3c3R0ZPPmzXh5efHvv/+Snp5O7dq1cXNzK1C9ly5dIjg4mAEDBsjb1Go1kydPZufOnUyZMoUKFSoUtPkGNJr/JVDKbvhc5m3p6emF/v7ZSdPo+NY3mLUnbpGulbA2M+GT7nUY1KyqyEwsCMUoKU3z/J2KWGHMgddqtYpzHYCJSe7qnThxIo8fP2b9+vXs37+f8uXLA1CvXj0AFi1axGeffca4ceOYN28eqampfPnll7Ru3ZoLFy5Qq1Ytua6UlBR69+7NpEmTmDt3LlqttsDHJhSOQg1mU1JSCAkJoUaNGhgbGxdm1YIgCMJLJCoqil27dgH6oMvPz4+6desCsHLlSjw9PTl//jyhoaHs27evUOey2tvb07FjxwLXo9Pp6NSpE8eOHcPBwYFu3bophp3NnDmTjz/+uMiCuIwLMgBvb28mTJigWIpn+/bt2e5bVK7cj2P2L1cJikoEoGMdR5b0aSDWiBWEElB3/pGSbgIhywueSb1FixYG29LT03MV0FapUoWqVasC+iHJmZPrhYSEsGjRIqZOncrKlSvl7Z6enlSvXp1Fixbh4+Mjb09NTWXx4sUMHz68IIcjFIF8DzNes2YNixcvlp//+++/VK1alXr16lGzZk1FtsgXTXx8PHFxcSK7oGBA9A0hJ6Jv5M3Ro0flX9snTJggB7KgD24zZxj+448/ir19uWFkZCQnInn06BE7d+5UlJuamqJSqfLUNx49esTy5cupX78+9vb2uLq6MmXKFG7evGmwb5s2beQ7B35+fvTv358zZ84QEBDA7Nmz+eqrr+R2jh49uqCHm6PkNC2f//EffdefISgqkbJlTFkzuDHfj3hdBLLPIc4bgvBs27dvx9/fX/GX2zuzz3L48GG0Wi0jRoxAo9HIfxYWFrRp0wZfX1+D1/Tr16/A7ysUvnz3hk2bNinGqc+ePRsHBwfmzZvH119/zZIlSwwSbLwoQkJCSE9PR61W07Bhw5JujlCKiL4h5ET0jbxJTEyUH2ceypUhc+KnzPuWBEmS8PPz47fffmP58uWKO60ffPABFy5cYMqUKQwePDjb1+e2b1y5coUuXboQFRUlb4uLi2PNmjV8++23bN26lWHDhsllKpWKVatW0aNHD3Q6Hfv27WPfvn0G9c6ZMydPy/3khV9wLHN/vUpIbBIAfRpVYn7PejiUEXNAc0OcN4SiErioc0k3oVDUqVMnxwRQBREdHQ3knEQq6zx2GxsbypQpU+jtEAou38FsaGionCo7MTGRv//+mx9//JF+/fphb2/P/PnzC62RgiAIwssl81I1Bw8eZOzYsYryzHdjM4aJlZRx48axZcsWALp3785bb70llzVr1oyAgIACDyV+9OiRQSDr5uZGeHg4aWlpaDQaRo0ahaurK61bt5b36dq1K7t372bs2LEGd/eMjY2ZM2eO4i53YbkWFs+WM3fZeykcgIq25iztW5/2tQt/brAgCHn3qq3ZnFflypUDYN++fVSuXNmgPOs5Xcz5L73y3dNTU1PlhBx+fn7odDp5DpKrq6viC/lFU7FiRbRarZj3KxgQfUPIiegbeePp6UmFChWIjo5m7969LFmyhKlTp2JhYcFvv/3GJ598Iu87cuTIEmwpdOjQQQ5mf/jhB0UwC8+/yMlN39i0aZP8vdm8eXN8fHyoXr06jx8/5qOPPmLLli1otVqWLVvGwYMHFa/t378/nTt3ZteuXZw+fZr09HTq1q3L6NGjs71Iy680jY5D1yPZdjaES6Fx8vahbzgzp2ttrM0LnqTrVSPOG4JQtMzMzABITk5WbO/SpQvGxsYEBwfTu3fvkmiaUEjyHcw6Oztz6tQp2rZty2+//UajRo3kzIkPHjx4oRcmdnR0LOkmCKWU6BtCTkTfyBtTU1PmzZvH+++/D8C8efNYtGgRZmZmPHnyRN6vT58+NGrUqMjbk5iYyK5du/j+++/Zs2cPrq6ucln//v3ZsWMH77zzTr4SUeWmb2RONLJjxw6qV68O6JNVbdy4kb/++ovQ0FAOHTpEbGwsZcuWVbzeysqKd999l3fffTfP7Xue6IQUfM7dY+f5+zx8kgqA2lhF9wYVGf2mGw2r2hX6e74qxHlDEIpWgwYNAPj6668ZNmwYarWa2rVr4+7uzoIFC5gzZw63b9+mc+fO2NnZERUVxfnz57G1tRWjTF8Q+Q5mhw0bxsKFC9m3bx9XrlzBy8tLLrtw4UKhLXQvCIIgvJwmT55MZGQkS5cuBfQZKjMvIePp6Ym3t3extGXNmjXy3eBNmzaxZMkSuczMzKzIk1BFREQA+h+Ka9SooSgzMTHBw8MDb29vJEkiKirKIJgtbJIk4R/ymB/8QjhyPQqNTgKggo0ZQ99wYXBzZ8pbmxVpGwRBEAqqQ4cOzJo1C29vbzZs2IBOp+PUqVO0bt2aefPmUb9+fVavXo2Pjw+pqalUrFiRZs2a0aNHj5JuupBLKkmSpPy8UJIkvvjiC86ePUvz5s35+OOP5SUBevXqRfv27Zk6dWqhNjYvdDqdQdIQa2trxbIFgiAIQsm7dOkS69evVwyRHTduHD169CiSc3ZSUhLGxsby8DOAyMhIqlatilarpVevXvz222+F/r7PUqNGDW7fvo2JiQmRkZHyfC7Qf982adJEXpP3/v37RZbQKTlNy2+Xw/nB7x7/RSbI25u7OjCilQud6zmhNhbfo4JQVPJy/Xr//v0SzykgCEUlt/07X8FsWloavr6+1K5dG2dn53w1sKiJYFYQBEHILDQ0lK+//pqtW7eyatUqRo0apSjfsGEDzZs3p0mTJsXethkzZshrHQ4bNozNmzdjamqKJEls3LiRSZMmAdC0aVP8/f0LPRlJaGwSO/65x0/+94lP1t8dN1cb0adRZYa3dKFeJdtCfT9BELIngllB0CvSYFan02Fubs6hQ4fo0KFDvhpY1AoSzF6/fp20tDRMTU2pX79+UTVReAGJviHkRPSN4vfo0SN++eUXwsLCsLW1pUePHs+c4nLu3DlatmwJ6LMQnz9/vljamZu+ERwcTN26dUlLSwOgUqVKtG3bloCAAK5cuSLvt2PHDoYOHVpobYuMT2bV0Zv8/G8Y/z+SmCr2Foxo6cLA16tiZymW2ClK4rwhZCWCWUHQy23/ztecWSMjI6pUqUJCQsLzd34BabVadDodWq22pJsilDKibwg5EX2j+Gg0Gj7++GPWrFlDSkqKvH3GjBn06NGDzZs3o9FoSE1Nxc3NTS5/4403aNy4MYGBgdSpU4eUlBTMzc2LvL256Rvu7u54e3szdOhQNBoNERER7Ny5U7HPlClTGDJkSKG0KT45nQ0ng9ly+i6pGh0AbWqUY2RLV9rVdsTYSCxDURzEeUMQBKFg8p0AauzYsaxbt45evXq9dCnlzc3NMTY2lpceEoQMom8IORF9Q0+n03H+/Hn5bumbb76JpaVlodUvSRJjxozJMTHUgQMHqF69OsnJyQwYMIBdu3bJZSqVim3btlG5cuUiT6CUWW77xsCBA3FxcWHZsmX8/vvv6HT6ILNZs2ZMmzaNd955p8DDi1M1Wrz97rH2xG3ikvTDiZu52jOnax2autgXqG4h78R5QxAEoWDynQDqq6++4ptvvsHCwoJevXpRsWJFxZesSqVi2rRphdbQvBJzZgVBEIqXt7c3ixYt4vbt2/I2Ozs7Jk6cyGeffaZIuJRfR48epVOnToA+y+/kyZPx9PQkICCAlStXEhMTI++rVqsJDQ3FycmpwO9b3OLi4oiOjsbGxoaKFSsWuD6dTmL/lQi8/rxB2GP9eovVHa2Y3aU2Hes4FvocXEEQ8kcMMxYEvSKdMws8NyhUqVQlOmxGBLOCIAjF5/PPP5eXtslOp06d+P333zE1LdgczH79+rF3714AZs+eTePGjRk0aBAAt27dol69eqSnp6NSqZg9ezYzZsxQZAZ+FZ2+9ZBlh/4jIEI/NaiCjRnTOtZkQNMqmIjMxIJQqohgVhD0ijyYvXfv3nP3cXFxyU/VhUIEs4IgCMXj0qVLigzA7du3x9PTk8DAQHbt2oVGowH0I3o++uijAr1X5cqViYiIwMjICJ1OR/ny5QkLC5OD5N69e7N//34AgoKCqFWrVoHeD/RDm0+dOsWOHTvk4dO9evWif//+BQ7Oi1JARDzLDwVx6tZDAKzNTJjY1p0xb7phYfpyTQ8ShJeFCGYFQa9IE0BByQaqgiAIQumxdu1a+fH8+fNZuHCh/Hzs2LG0bdsWgHXr1jF9+vQC/aiY8furiYkJaWlpPHjwgIMHD9K3b18AxdzDjDmnBREbG8uAAQPw9fVVbP/xxx9xdnZm7969JbKUz7OEPU5ixZ832Xc5HEkCtbGKYS1c+KB9DRzKlN7gWxAEQRDyKt93ZjMEBQVx8uRJHj58yNixY3FyciIiIgJ7e3ssLCwKq515VpA7s2FhYWi1WoyNjYtsYXrhxST6hpCTV7lvuLm5ERISgoWFBQ8ePKBMmTKK8g4dOnD8+HEAbt++jbu7e67qvXz5Mlu2bOHatWscP34clUpFt27dOHToEAANGjRgzpw59O3bFwsLC8LCwqhRowYpKSnY2NgQHR1doGzFaWlptGnT5plL+Njb2+Pv7//MYyqOvhEZn4xfcCxnbsfy+5UI0rT6QL5Xw0p81KkWzmULLwmXUHhe5fOGkD1xZ1YQ9Ir8zqxWq2X8+PFs27YNSZJQqVR07doVJycnJkyYQOPGjVm0aFF+qy9RsbGxpKeno1arxZeLoCD6hpCTV7lvJCfrEwrZ2Nhkm7k4cwKjjH1zY9KkSZw7dw6Aixcv0rRpUyZMmCAHs8HBwdy5c4erV68SEBDA0qVL5aV6Ro0aVeBld3766Sc5kK1QoQJeXl507NiRwMBA5s6dy/nz53n8+DFLly5ly5YtOdZTFH0jJjEFv+BYzt2JxS84lpDYJEV5K/eyzO1ahwZVbAvl/YSi8SqfNwRBEApDvsd6LV26lJ07d/LVV19x/fp1Mt/g7dq1K4cPHy6UBgqCIAilW40aNQCIjo7mzJkzirLExEQ5+DQ1NcXZ2dng9RqNJtu7n2PGjAH0y5dcu3YNgJ49e9KjRw8AkpKSmDdvHi1atGDs2LHcuXMHAGdn52cmo8qtTZs2yY937tzJsGHDcHJyon379hw5cgRbW32guGvXLp48eVLg93uWR0/T+ONaJPP2XafDCl+aLz3Ghz9eZtf5+4TEJmGkgoZVbJno4c5P41vgM+4NEcgKgiAIL71835ndtm0b8+bNY/r06QZZi93c3Lh7926BG1dSatSoId9tFoTMRN8QcvIq940xY8Zw+vRpAAYPHsw333xD586dCQgIYObMmTx69AiAt99+GxsbG8VrV6xYgZeXFzExMdy/f59KlSrJZYMGDUKn0zFo0CDs7OwAfSb93bt3M2nSJLZv307WmTLNmzfnp59+wtHRscDHFRQUBOjvyrZr105RZmdnR9euXfnxxx9JSUkhNDSUunXrZltPXvuGJElEJaRw5X485+7o774GRSmHHapUULeiDS2rlaWle1mauTlgYy7WKn3RvMrnDUHISW7/fzhx4oSck6GopaSkYGFhwYwZM/Dy8iqW9xRyJ9/BbHh4OC1btsy2zNzc3GC8/4sku2FyggCibwg5e5X7xpAhQ1i9ejVXrlwhLCyMfv36GexjbW2d7d3S+Ph4oqKiANixYwezZs2Sy2xsbJgwYYLBaywsLNi2bRsLFixg165dhIeHY2NjQ69evWjRokWhBQYZ6+I+efJEvpDJ7OHDhwb7ZudZfUOSJMLjkrkensD18HiuhccTEBHPwydpBvvWdrKmxf8Hr2+4OWBnKZI5vehe5fOGIOTEz89P8Xzx4sWcOHFCzr2QIacfEIVXS76DWUdHR+7cuWPwazXAjRs3xNwPQRCEV4SZmRmHDx+md+/e2Q4XLleuHLNmzWLp0qV8//33iqBw5MiRfPHFF/To0YPmzZvn6X3d3Nz4+OOPC9z+nHh4eLBjxw6ePn3KmjVrFIH2P//8w7FjxwCoWrUqrq6uz61PkiTuP0rmWng81yPiuR6u/3uclG6wr7GRihqOVrzuak/LauVoUc2BslY5B8yCIAgvixYtWiiely9fHiMjI4PtOUlLS8PY2BhjY7EE2asg38Fst27dWLp0KV26dMHJyQnQDwuIj4/nm2++oWfPnoXWSEEQBKF0c3Jyws/PjyNHjuDt7U1YWBg2Njb07t2bixcvyoFgt27dGDJkiPw6d3d3YmJi5Pmnpcl7773Hjh07AJg9ezZnzpzB09OTgIAAOfkh6BNV5XTR9CRVw65/QjlxI4br4fEkpGgM9jExUlGzgjUNKttSv7IN9SvbUqeiDeZqcSEmCILwLIcPH5anfJw5c4Y9e/YQHR3NnTt3MDMzY+HChZw8eZLQ0FCsrKxo0KABixcvNhhdmpyczLJly/jpp58ICQnB2tqahg0bsnz5cpo1a5bte+t0OmbOnMmaNWvYtGkTI0aMKI5DFrLIdzC7aNEiDh06RN26dWnXrh0qlYqPP/6Y69evo1armTdvXmG2s1g9ffpUnsOSdYkJ4dUm+oaQk9LcN5KTkzl8+DBhYWHY2trSqVMn+UfIwmRkZMQbb7xBly5dFEN9//77bzZs2ADA3r17FcEsUCoDWdDfHZgzZw7Lly8HYP/+/ezfv1+xz1tvvcW0adMMXhuXlMbWMyFsOxtCfPL/7ryaGhtRy8ma+v8fuDaobEstJ2vMTETg+ioqzecN4cW2cuVKVq5cCeincGSeW3r37l3atGkDQN++fVmzZo3itb169eLixYuAfvmozLZt28ann34KwDfffKOYVpKYmEidOnUA/cgWHx+fwj2oZ5gxYwZvvfUWmzZtQqfTYW9vT2hoKGq1moULF1KhQgUSExPZs2cPbdq04dSpU3JAm5aWhqenJ/7+/kyfPh0PDw/S0tI4e/YsoaGh2QazycnJDBs2jGPHjnH48GHat29fbMcqKOU7mK1QoQL+/v4sWLCAgwcPYmxszJUrV+jRoweLFi3CwcGhMNtZrG7fvi2nym/YsGFJN0coRUTfEHJSGvuGJEl4eXmxfPlyOQkTgFqtZujQoaxevdogIVN++fn54eXlxe+//86xY8fkCyWA1q1bM2HCBLp3706XLl0K5f2Ky+eff06VKlX4/PPPiYiIkLdbWloyZswYvvjiC8USQDGJKWw+dZcd5+7xNE2fHLGStQld3S2oX8GC7m2aYmqS74UEhJdMaTxvCC+HhIQEwsPDAUhNTVWUabVauezx48cGr33w4IFcntXTp0/lsqQk5ZJgkiTJZZlzChSHevXqsXPnTsW2Bg0aKAJ1rVZLly5dCA4OZs2aNXIw+8MPP3DmzBm8vb0ZNmyYvH+vXr2yfa8HDx7Qs2dPIiMjOXPmDPXq1SuCIxJyK9/BLOgD2oxf2wVBEITSZdq0aaxevdpge3p6Otu2beP69ev4+voWyh2hO3fu8OuvvwL6X+4zB7NGRkYv7HeFSqXivffeY/z48fj6+srJptq3by9nWAYIj0tm48lgfvK/T6pGB0Cdija8186dStoYdFoNarVaBLKCIBQLGxsbKleuDBgmqDM2NpbL7O3tDV5bvnx5uTyrMmXKyGVZE5ipVCq5rFy5cgU7gDzq37+/wTZJkli7di1btmzhv//+UwT1T58+lR8fOnQIW1tbhg4d+tz3uXXrFi1atMDOzo5z584p1lEXSka+g9n27duzfv16ateubVB28+ZNJk6caJB17EVRvnx5tFqtmDguGBB9Q8hJaesbZ86cUQSygwcPplOnTgQGBrJhwwYSExO5cOECX375JQsXLsx1vTExMfj4+NCnTx/c3Nzk7X379sXa2hpLS0uqVq1aqMdSGqjVajw9PQ2233nwhG99g9l7KRyNTj+HtrGzHe+3q0772o6oVCoiIihVfUMoPUrbeUN4eUyfPp3p06dnW+bm5mYwfDizrNMpMhs1ahSjRo3Ktsza2vqZ9Ral7ILKZcuW8cknn/DBBx+wdOlSypUrh5GREbNnz1bceX7w4AGVK1fOVSb8s2fP8vDhQ1asWCEC2VIi38Gsr68vCQkJ2ZYlJiZy8uTJfDeqpGVe51AQMhN9Q8hJaesb69atkx9//fXXfPjhh/LzYcOG0aRJE7RaLd999x3z5s3DxOT5Xwc///wzgwcPRqPREBcXpwiCLS0tOXPmDHXq1MlVXS+6/yITWHfiNn9ci+T/Y1hauZfl/XbVaeleVnFRVNr6hlB6iL4hCIUju0B0x44ddOnShW+++UaxPT4+XvG8fPnyXLt2LVfvM3LkSMzNzZkxYwY6nY6PPvoo/40WCkWRjHeKjIzM9dppiYmJzJo1i06dOlG+fHlUKhWfffZZtvtevHiRjh07YmVlhZ2dHf369ePOnTuF2HJBEISXw+nTpwGwsrJi4sSJirLXXnuNzp07AxAVFZXjeTQjW2+Gli1botPph9Bu377doLxBgwYvdSCbptFxIeQR437wp+vqUxy4qg9kO9Zx5NfJrdj5bgtaVS9XaOvcCoIgCPmnUqkMhlhfuHBBTm6VoWvXrsTHxxvMuc3JkiVLWL58OTNnzswxZhGKT56uOn777Td+++03+fnixYspX768Yp/k5GR8fX1p3LhxruqMjY3lu+++o2HDhvTp04dNmzZlu19QUBBt27alUaNG7N69m5SUFObPn0+bNm24fPmyQTsEQRBeZRqNfgkYc3NzTE1NDcozJ35KT/9ftt2EhAR27tzJpk2bGDVqFLVr10aj0VC7dm1cXV0ZOXIkFSpUYOTIkS9l0JaSriX0URIhD59yLzaJkNj//TciLlm+C6tSQfcGFXmvXXXqVCycJFqCIAhC4enRowdeXl7WWbu7AAAgAElEQVQsWbKEVq1aERgYyOLFiw3WBR85ciQ//PADY8aM4fr163h4eKDRaPDz86NJkyaKjM0ZZs+ejbW1Ne+//z5Pnz7lq6++KqajErLKUzAbGBjInj17AP2vHcePH8fISHlz18zMjAYNGmSbdCQ7Li4uPH78GJVKxcOHD3MMZufPn4+ZmRkHDhyQL8KaNm1KjRo18PLy4osvvsjLoQiCILzU6tWrR2RkJA8fPuTQoUN069ZNLouNjeXgwYMAWFhYKL7Yg4KCmDRpEqAfDZP57mvHjh1Zvnw5TZs2LZ6DKEIPElO5EPKIkNgk7sU+lYPWyPiUZ76ujKkx3RpUZFJbd6qVtyqm1gqCIAh59dlnn5GWlsb69etZunQp9evXZ+vWrWzfvp3Lly/L+5mamnL06FGWLFnCTz/9hJeXFzY2NjRu3Jg+ffrkWP/kyZOxsrJizJgxPHnyhPXr17+UP/KWdiop6zixXDIyMuLcuXM0b9680Brz8OFDypcvz4IFCxS37TUaDTY2NowYMcIgI2bnzp25e/cuN2/eVGzX6XQkJiYqtllbWxsE39kJCgqSU+Vnl+BKeHWJviHkpLT1jd27dzNo0CBAn61yyZIldO7cmYCAAObPn8+VK1cAGDhwID/99JP8uqioKFxcXEhLS8u2XgsLCw4dOoSHh0fRH0QRiEtK49uTwWw7EyJnHc7K2twEt3JlcClbBteylor/lrMyzfPFSmnrG0LpIfqGkFVerl/v37//UibcEwTIff/O9+SmjHlTxSE4OJjk5GRee+01g7LXXnuNo0ePkpKSoljrLzsBAQG4uLgohtelpqYSFBQE6C/4nJ2dSU1NJT09HZ1Ox61bt+R1tLKuAffw4UM5G5qzs7MivblWq+X69euA/iRUrVo1xWvv3r0rJ9CqV6+eYp5ZXFwc9+7dA/TJIbIOob569SqSJGFhYUHNmjUVZffv35fXk6xVq5biM3ny5AnBwcEAODo6GmRhCwwMlL9U69atqyiLjIwkJiYGAHd3d6ys/ndHIiUlhRs3bgDg4OBg0PFu3rxJcnIyKpXK4N/wwYMH8tqNLi4uiqUuNBoNAQEBgH5IZObMqaBfCiTjhF+/fn1FNsjHjx8TGhoKQOXKlQ1SxGdcyFtaWlKjRg1FWWhoqLzuWu3atRXzLZKTk9FqtaSmphIVFYWTk5PitQEBAWg0GszMzAwuTCIiInjw4AEA1atXVyyHkpSUxK1btwAoW7YsVapUUbz2xo0bpKSkYGxsTP369RVlMTExREZGAuDq6oqtra1clpaWxn///QeAra2twdCa4OBgnjx5AujnO2b+soyNjZWzElapUoWyZcvKZTqdTk6WYGVlhbu7u6LekJAQOcFCnTp1FMNc4+PjCQkJAfTZBx0dHRWvvX79OlqtFnNzc2rVqqUoCwsLIzY2FoAaNWoo5uY/ffqU27dvA/pkDlkTqwQFBZGamoqJiYnBmnBRUVFER0cD+iyPzztHZJZxjsgYqpv53FiS5wh3d3eaN2/O+fPnefz4Me+99x7ZSUn5353IJ0+eMHz4cDmQtba2ZvDgwdjZ2bF7925CQkJITk6mf//+hIWFKc4vpf0cUa1mbbafu8+Gk8EkpuiHYLvYqnGzV1Ozkj11q5bHpawlrmXLYGep5urVqwBYWhpRo4by/8dnnSMSEhK4e/cuoF++zsnJSfGdIs4Req/iOQIMryMyf6c8fvxYXEfw8l9HZHeOyOzGjRsiMZgg5EGBM3UcOXIEX19fHj58yLx583B2dsbf3x9XV9dCm8ea8cXk4OBgUObg4IAkSTx+/Pi5KbI1Go1BwhJJkuSL0Iw5ZiYmJkiShImJCRqNRjGfLDOdTpftBWyGrPVmbUtGedY2Za5Xq9VmW68kSajVaoMyrVZboHpzOtbM9WY91syfYXb1Zhxrdnczclvv8z7DrIrq38bY2Fg+xpw+Q41Gk+0vqM/6t3neZ5jxb5Nd2bPqzXjt8+rNTm4/w+xen7lNWT3vWNPS0tDpdNkuVVEYn2F2n1Fu631efzExMVFcUJb0OWLNmjUsWbKE33//3WAfIyMjdDodR44c4dGjRzg4OBAaGiovqWZvb8/ly5flC/NFixbRpk0b/P39iY2NZffu3YwYMUKur7SeI5JT0zh2N5l9v5/iwRP9GoO1nayZ2KoSlVX6KS7OzpUMAqb8/ttkd6yZv1PEOcKwTVm9zOeIrIyMjOS2iOuIV+M6Ijf9UBCE3Mt3MJuUlETv3r05duyYfHKZNGkSzs7OeHl5UbVqVby8vAqtoZB92u3clGUwMTEx2E+lUskn84yL0My/yN66dSvbkz3ov4QyyrK7MMlab9a2ZJRnbVPmerP7slar1fKFUVbGxsYFqjfzf3OqN+uxZv4Ms6s341iz+zfKbb3P+wyzKqp/G1dXV/kX1Zw+w8ztzuxZ/zbP+wzVanWOaxE+q96M1z6r3oJ+hs871qyed6ympqZotdoi+Qx1Ol2e/7/JSz/MetelpM8RxsbGjBgxgtdff524uDjCw8MxMjKiRYsWnD9/nuPHjzN69Gj5Qu306dPy4xEjRijuMJmZmTF58mRGjx4NwNGjRxXBbGk7R+h0En+HPGXT+ViinugvGKs6WDDDsxa9GlYiPj6O0NCn2dab8RlmV2/m9ma04XnHmvk7JSAgQJwjeHXPEVlVrlxZHr0hriNejeuI3PRDQRByL99zZqdNm8a2bdvYsmULnp6e2NjYcOHCBZo0acLmzZtZs2aNYnJ1buQ0Z/bGjRvUrl2bdevWMXnyZMVrZs6cyYoVK0hKSlIMhSnInFlBEIQXXUpKCtWrVyc8PJyKFSty7949xUVSQkIClpaWiguxDRs2yMmfNmzYwIQJExR13rlzRx4u2r9/f37++ediOJK8kSSJkzcf8OXhGwRG6odglrMy5YP2NRjc3BlTE/EdIAhC6SXmzAqCXm77d76/1ffs2cPixYvp27cvFhYWijJnZ2d5nkFhcHd3x8LCItsFja9du0b16tWfO19WEAShKKWmppKUlJTtEMWSYG5uzhtvvAHo56r9+eefinIbGxuDOwqZ5zXu3bvXoM5ff/1Vfpx1/l5pcDH0Me98d45RW/0JjEzAysyEGZ41OTmzHSNbuYpAVhAEQRBeMvn+Zn/w4IFBggS5UiMjkpOT892orExMTOjZsye//vqr4teq0NBQTpw4ke36T4IgCEVNq9Xi7e1NixYtMDc3p0yZMri6urJ48WLi4uKKpQ1BQUHMmDFDsfROhokTJzJw4ECOHj1K165dn1tX+/bt5aHFR44cYerUqURFRZGcnMz333/PggUL5H0zhhuXBreiExm//QL91p/ln7uPMDUxYlxrN/6e1Y4POtSgjFmB00MIgiAIglAK5XuYcbVq1Zg6dSpTpkyR565kDDNetWoV33//PYGBgbmq69ChQzx9+pTExETGjBnD22+/zcCBAwHo1q0blpaWBAUF0axZM5o0acKcOXNISUlh/vz5PHr0iMuXLxskmyrIMOOoqCh57lHWLHPCq030DSFDeno677zzjuJuZWbVq1fn2LFjBplNC1vTpk25ePEiAJcuXaJRo0YFqs/b21sxFzY7I0aM4IcffijQ+xRUdEIKh65FcvBaJP4h+qyhRioY0LQKH3asSWU7i+fUUHzEeUPIiegbQlZimLEg6BX50jz9+vVj6dKltGnTRk6TrlKpuHfvHqtWrcrTr/aTJk2SU8iDfgjznj17AH3qeVdXV2rXro2vry+zZ89mwIABmJiY0L59e7y8vAota3KG6OhoObW8+HIRMhN9Q8gwf/58RSDr5uaGlZUVAQEB6HQ6bt++TZ8+fbhw4UKhzNWXJEnOH5DZuHHjmDx5MmZmZoUSzA4fPpxHjx4xY8aMbDNtDhw4kO+++65A75FfMQkpHLoexcGrkfjfe0Tmn2I716vAR51qUaOCdYm07VnEeUPIiegbgiAIBZPvYHbBggUcO3aM5s2bU79+fVQqFaNHjyY4OJhatWoxZ86cXNeVsZ7c8zRt2pS//vorny0WBEEoHImJiaxbtw7QT4P4+eefcXFxQaPREBERwbRp07hz5w6XLl3i2LFjeHp6Fuj9Nm7cyIoVK7hz5w7h4eFUqFBBLhsyZAipqakMHz5csc5nQXz44Yf07t2b7777jr///pv09HTq1avHuHHjaNmyZa6yxxeWmMQUDl+P4sDVSPxDlAFsUxd7ujWoSLcGTlS0LT13YgVBEARBKB75Dmatra05e/Ysq1ev5uDBg7i7u2NpacncuXOZOnWqQVKoF4mbmxuSJBXrBZvwYhB9QwD4888/5WFgI0eOpHfv3iQkJCBJEjVr1mT58uXyVIndu3dnG8xqNBpOnjxJWFgYNjY2tGvXDjs7u2zf7969e9y6dQsAHx8fpk+fLpfZ2toyderUwj5EXF1d+fzzzwu93tyISUzhyP8HsOezBLBNnO3+P4CtSKVSNJT4WcR5Q8iJ6BuCIAgFU6CsGBYWFsyZMydPd2FfBDY2NiXdBKGUEn1DAH0CvAwtWrQAlH0jYxtAbGys4rWSJLFx40aWLFkiry8J+vNp165dKVeuHKtXr1ZkaB85ciTLly+nbdu21KxZs9CPpzTQ6SR+vxrBrvOhnL/7CF2mALaxsx3dG1Ska4OKpWoubG6J84aQE9E3BCF727Ztk6csnjhxgrZt2yrKJUmiRo0aBAcH4+Hhga+vb/E3UgAgIiKC7777jj59+hR4qlN+FCiY3bdvHz4+Pty7d4+UlBRFmUql4sqVKwVqnCAIr7bHjx+zefNmvL29CQ8Px9ramp49e/Lee+9Rq1atEmtX5nn6fn5+jBs3TlHu5+cnPy5XrpyibP78+SxZssSgzuTkZHkObps2bRg2bJhcVqtWLcLCwqhUqVKhtL+0uRT6mIW/B3L5/v8yQDeqmhHAOlHF3rIEWycIgvDqePr0KXv37uX27dtYWFjg6elJkyZNSqw91tbWbN682SCYPXnyJMHBwVhbl748Ca+aiIgIFi5ciKur64sVzH711VfMnj2b8uXLU716dcqUKVOY7RIE4RV3/fp1OnfuTEREhLwtNjaWNWvW8O2337J58+bnZt0tKp07d8ba2prExES2b99O9+7d6du3LyqViv/++08xWiVjuDGAv7+/IpDt0aMHnTp1IjAwkM2bN5Oeng7AsmXLFMEs8FIGslHxKXx5OIhfL+nvUJcxNWb8W+70a1KZqg4igBUEQSgukiTx9ddfs3DhQuLj4+Xtc+bMoVWrVmzbto0aNWoUe7sGDRqEj48P69atU4xk2Lx5My1btiQhIaHY21SYkpOTMTc3F1MNCkLKJ1dXV2ns2LGSRqPJbxVFSqvVSnFxcYo/rVabq9empKRIycnJUkpKShG3UnjRiL5RPOLi4qTKlStLgPzn4uIimZqays+NjIwkX1/fEmvjxx9/rGifu7u71LRpU0mlUsnbmjZtqjjvtGvXTi4bO3asoj4/Pz+5rGLFiqX23FoYktM00ppjN6Xanx6SXGYfkFxmH5Bm7L4sRccnl3TTioQ4bwg5EX1DyCov16+hoaGF9r6fffaZ4jst65+jo6N09+7dQnu/59m6dasESMeOHZMsLCykDRs2yGVxcXGShYWF9P3330v16tWTPDw85LLU1FRp8eLFUq1atSRTU1OpXLly0qhRo6SYmBhF/T/++KPk6ekpOTk5Sebm5lLt2rWl2bNnS0+ePFHsFxwcLA0aNEiqWLGiZGpqKjk6Okrt27eXLl26JO8DSAsWLDA4BhcXF2nkyJEGx3TkyBFp9OjRUrly5SRASk7Wf/fdvHlTGjx4sFS+fHnJ1NRUql27trR27VpFnSdOnJAAycfHR5o1a5bk5OQklSlTRurRo4cUFRUlJSQkSO+++65UtmxZqWzZstKoUaOkxMRERR06nU5at26d1LBhQ8nc3Fyys7OT+vfvLwUHByv28/DwkOrVqyedP39eat26tWRhYSG5ublJy5Ytk/tkRnuy/mV8Hrn5/HKS2/6d7/UiYmNjGTJkCMbGxvmtotQKCgri+vXrBAUFlXRThFJG9I3isXXrVnk+aZMmTQgKCiIkJISoqCh5SK9OpyuxBEUACxcuZMCAAfLz4OBg/v33X6T/z1ZUvXp19u7dq1iW59q1a/JjExPlwJgWLVrQuXNnACIjIwkODi7K5pcISZL441okHVacxOvPmySna2nqYs/+99/E6+2GONqYP7+SF5A4bwg5EX1DKA1u3brFwoUL5efDhw9n3759rF27Fnd3dwBiYmKYOXNmsbfNxsaGAQMGsGXLFnnbrl27MDIyYtCgQYp9dTodvXv3Zvny5QwZMoSDBw+yfPlyjh49Stu2bUlOTpb3vXXrFt26dWPz5s0cPnyYqVOnsnv3bnr27Kmos1u3bvz77798+eWXHD16lG+//ZbGjRsTFxdHfo0ZMwa1Wo23tzc///wzarWawMBAmjVrxvXr11mxYgUHDhyge/fuTJkyRfFvk+Hjjz8mJiaGbdu2sWLFCnx9fRk8eDD9+/fH1taWXbt2MWvWLLy9vfn4448Vr50wYQJTp06lY8eO7Nu3j/Xr1xMQEECrVq2Ijo5W7BsVFcXQoUMZNmwY+/fvp2vXrsydO5cdO3YA+mu0rVu3AvDpp5/i5+enmH5VFJ+fgVyFvNno0qWLwa8FpUlB7sxevnxZ8vf3ly5fvlzErRReNKJvFI+mTZvKv+5dv35dUabRaCQ3Nze5PCoqqoRaqT/P7Ny5U2rVqpV8R9bR0VHy8PCQ3N3dpYCAAMX+FSpUkADJxMREWrdunUF9Q4cOlY/r6tWrxXUYxeJ6eJz09oaz8p3YFp//Je27FCbpdLqSblqRE+cNISeibwhZlcSd2Y8++kj+7vnkk08UZbGxsVL58uUlQDI2NpYiIiIK5T2fJ+Mupr+/v3z3L+N6oFmzZtKoUaMkSZIUd2Z37dolAdIvv/yiqMvf318CpPXr12f7XjqdTkpPT5dOnjwpAdKVK1ckSZKkhw8fSoD09ddfP7Ot5PHO7IgRIwz27dy5s1SlShUpPj5esf3999+XzM3NpUePHkmS9L87oT179lTsN3XqVAmQpkyZotjep08fycHBQX6eMQpsxYoViv3u378vWVhYSLNmzZK3eXh4SID0zz//KPatW7eu1LlzZ/l5xue7detWxX65/fxyUuR3Zr/++mvWrVvH/v37SUtLy281pZK9vT0ODg7Y29uXdFOEUkb0jeKRcVe2UqVK1KtXT1FmbGxMu3bt5OdRUVHF2rbMjIyMGDx4MGfOnOH27dsEBgYyceJEOTHFL7/8oti/Tp06gH5ZnqwJrOLj4zl48CAAZmZmuLi4FM9BFLGHT1KZ++tVeqw5zfm7jzBXG/Fhhxocn9GW3o0qvxLzhMR5Q8iJ6BtCafDPP//Ij6dMmaIoc3BwkHM4aLVaLl26VKxtA/Dw8MDd3Z0tW7Zw7do1/P39GTNmjMF+Bw4cwM7Ojp49e6LRaOS/Ro0a4eTkpMh4fOfOHYYMGYKTkxPGxsao1Wo8PDwA+O+//wD9sbu7u/PVV1+xcuVKLl26hE6nK/Dx9O/fX/E8JSWFY8eO0bdvXywtLRVt79atGykpKZw7d07xmh49eiieZ1xfdO/e3WD7o0ePePLkifwZqVQqhg0bpngfJycnGjZsaJAV2snJiebNmyu2vfbaa9y7d++5x1lUn19W+Q5mq1evTseOHeUP3sbGRvFna2tbmO0sVs7OzlSrVg1nZ+eSbopQyoi+UTwyzh/R0dHExMQYlF+/ft1g3+J28+ZNFi5cyKNHjwCoVq0aderUYezYsYA+0A0LC1O8JnPW46FDh+Lt7U1MTAy+vr506dJFHnYzaNCgF37JjjSNju//vkO7r3zZdf4+kgS9Glbi+Iy2TPOsiYXpyzdFJSfivCHkRPQNoTSQMi3mrVarDcozbyuKYOR5VCoVo0ePZseOHWzYsIGaNWvSpk0bg/2io6OJi4vD1NQUtVqt+IuKiuLhw4cAPHnyhDZt2vDPP/+wZMkSfH198ff3l1cUyBiOrFKpOHbsGJ07d+bLL7+kSZMmlC9fnilTpshrzedHxYoVFc9jY2PRaDSsWbPGoN3dunUDkNuewcHBQfHc1NT0mdszVp2Jjo5GkiQqVKhg8F7nzp0zeJ+yZcsatN/MzEwxZDsnRfX5ZZXvbMazZs1i7dq1NGrUiDp16sgfliAIQkH17t2bL7/8Eq1Wy7Rp09i6dat8jtm6dSvnz58HoEGDBiVyB3PFihV89NFHgP7u8bvvviuXOTs7s2fPHt566y0cHR0Vrxs4cCBr167l3LlzREdHZ5uN2c7Ojnnz5hXtARShdK2O369EsOb4be4+fApAg8q2LOhZl9ddHZ7zakEQBKG4NWrUiNOnTwPw3XffMXv2bLns6dOn+Pj4APrg5LXXXiuRNo4aNYr58+ezYcMGli5dmu0+5cqVo2zZshw+fDjb8oxlfI4fP05ERAS+vr7y3Vgg23mcLi4ubN68GdD/iL17924+++wz0tLS2LBhA6AP7lJTUw1em3Wd+QxZRyTZ29tjbGzM8OHDee+997J9jZubW7bb86pcuXKoVCpOnTqFmZmZQXl22woiN59fQeU7mN22bRuzZ89m2bJlhdIQQRCKn6+vL+vWrePvv/8mLS2NunXrMm7cOIYOHVqiP1BNmjSJ1atXk5qays6dO/H19aVdu3YEBgYqhjhNmzYt22GqOp2OEydOcOrUKfm4+vXrh6Vl3pd7iY2NxcbGRvHLdOb17nbu3KkIZgFFYqjM1Go1Bw8eZMCAAZw4ccKgvEqVKuzdu5fq1avnuZ0lLSVdy55/w9h4Mpiwx/pfbMtZmTGrSy0GNKmCkdHLP5xYEAThRTR+/HjWrl0LwCeffEJ0dDQDBgwgLCyM5cuXy1N/unXrVmKjCCpXrszMmTMJCgpi5MiR2e7To0cPfvzxR7RaLW+88UaOdWVcN2QN3DZu3PjMNtSsWZNPP/2UX375hYsXL8rbXV1duXr1qmLf48ePy0N7n8fS0pJ27dpx6dIlXnvttSK9/urRo4f8b5p56cCCyPgcn3e3NqfPr6DyHcxqtVo8PT0LrSGCIBQfSZL48MMPWbNmjWL72bNnOXv2LN9++y1//PEH5cqVK5H2ubq6smPHDgYPHoxGoyEiIkL+ZTjDxIkTGTVqlMFr//nnH0aNGmWQHfSDDz5g2bJlTJw4MVdtOHPmDMuXL+fw4cPs27dPMQ+lSZMm9O/fn5YtWxpkU3weBwcHjh07xunTp9m+fTvh4eHY2NjQs2dPBgwYUOi/iha1J6kafM7dY9PpuzxI1P8yXbaMKWPbuDGipStWZvn+mhEEQRCKQYMGDZgyZQrffPMNWq2WVatWsWrVKsU+NjY2fPnllyXUQr3ly5c/s/ydd97Bx8eHbt268eGHH9K8eXPUajVhYWGcOHGC3r1707dvX1q1aoW9vT0TJ05kwYIFqNVqfHx8uHLliqK+q1ev8v777/P2229To0YNTE1NOX78OFevXlWsJz98+HDmzZvH/Pnz8fDwIDAwkLVr1+ZpGtTq1atp3bo1bdq0YdKkSbi6upKYmMjt27f5/fffOX78eN4+rBy8+eabjB8/ntGjR3PhwgXeeustypQpQ2RkJKdPn6ZBgwZMmjQpT3W6u7tjYWGBj48PderUwcrKikqVKvHw4cNcfX4Fle+rjE6dOnHu3Dnat29faI0pLW7duoVGo8HExKREFogWSq+XpW+sXLlSEcja2dlhZWUlz/H09/fn7bff5vjx4yWWoGfAgAE4OzuzbNky9u/fL8/Tady4MdOmTWPYsGEGbbt48SIdOnTg6dOnBvXFxcUxadIk0tLSDBJcZOfRo0ccOHAA0N99zRzMqlQqfv75Z8X+eekbKpWKNm3aZDvn50Xx+GkaW8+GsO3MXRJSNABUtrNg/FvVGPh61VdqTuzzvCznDaHwib4hlBarVq2iTJkyrFixwiCxa82aNdm1axd169YtodbljrGxMfv372f16tV4e3uzbNkyTExMqFKlCh4eHjRo0ADQzwM9ePAgM2bMYNiwYZQpU4bevXvz008/0aRJE7k+Jycn3N3dWb9+Pffv30elUlGtWjVWrFjBBx98IO83c+ZMEhIS2LZtG15eXjRv3pzdu3fTu3fvXLe9bt26XLx4kcWLF/Ppp58SExODnZ0dNWrUkOfNFpaNGzfSokULNm7cyPr169HpdFSqVIk333zTINlTblhaWrJlyxYWLlxIp06dSE9PZ8GCBUyePDlXn19BqaTMs77z4Nq1awwaNIgJEybQvXt3gwnHYDgJuTjpdDqDycXW1taKNR9zcuXKFdLT01Gr1TRs2LComii8gF6GvpGamkrVqlV58OABAN988w0TJkxArVZz6tQpBg4cKK8zdvr0ad58882SbC4Ajx8/JioqChsbGypVqpRjgN2qVSv8/PwA/d3TadOmYW9vj4+PD7t27QL0yRDu37+Po6MjkiRx7tw5fHx8GD9+vGIuUFpaGk5OTlhYWDB27FgWLVr0zDa+DH0jN6LiU9h06g47z4eSlKYFoFr5MkxuW53ejSqhNs53XsGX1qvSN4S8E31DyCov16/379+natWqhfr+MTEx+Pj4EBwcjIWFBR06dKBTp065un4WhMKU2/6d7zuzGSfd6dOnM3369Gz30Wq1+a1eEIQicvToUTmQffvttxW/jr311lt88cUX8vDdHTt2lIpg1t7e/rlLV1y9elUOZGvVqsWZM2cwNzcH9KnqbW1t2bBhA2lpaWzdupXZs2ezfft2+VjNzMzo1asX3t7ehIWFYWtry9y5c5k8eTJlypQp0uN7EYQ8fMrGv4P55d9w0rT6u+T1KtnwfrvqdKrnhLGYEysIgvDCc3R0ZNq0aSXdDEHItXwHs/Pnz39p1wcUv44KOVDHfGAAACAASURBVHkZ+kZERIT8uEOHDgblmbdFRkYWS5sKw4ULF+THY8eOlQPZDG+//bacOS9j3x49eqBWq0lPT2f9+vWsXLlS8Zrdu3fz9ddfs3fv3ucOvXkZ+kZWOp3E5bA4tp0J4cDVCHT/P46nuasDk9u541Gz/Ev7PVCYXsa+IRQO0TcEQRAKJt/B7GeffVaIzRAEobjY2dnJj69du2ZQnnnbi7RedOYZE5mHQ126dImZM2cqkidk7Fu2bFnmzJmDj48Pd+7cybbeiIgIOnXqhL+/f6mY05aamsqNGzdIT0+nWrVqz71jnVdpGh3/3I3lSEAURwOjiU7433ID7WqVZ3K76jQTS+wIgiAIglAKiAHwgvCK8fT0xMLCAoAtW7bIQ3MBHjx4wNy5c+Xnffr0Kfb25VfTpk3lx5s3b5bXfCtTpgzHjh1TBLuZ961Vq5YcyFaoUAEfHx8ePHjAyZMnadmyJQDx8fEsXry4OA4jR4mJicydO5fKlSvTsGFDXn/9dSpUqMCQIUO4efNmgep+mqrhj2uRTP3xEk2XHGX45vPsOBdKdEIqVmYm9GlUiQMftGbr6OYikBUEQRAEodTIdwKo0q4gCaAE4WX3/vvvs27dOvl527Ztsbe3588//5QzAbu7uxMUFISJyYuxtMrdu3dp06aNvB7eG2+8ISeAGjJkiLx4uYmJCWFhYVSoUAGA9u3by2u+/vXXX4ph1gkJCbi6uvL48WNMTU158OABNjY2xXxk+kzMHTp0yHFdNjs7O/766y9FkP48sU9S+eu/aP4MiObU7YekaXRyWTkrMzzrVqBTvQq0ci+LmYnITCwIglAcSjoBlCCUFrnt3yKYzcbDhw/R6XQYGRmV2DqbQun0svSNpKQkunXrxsmTJ7Mtd3R05NixY9SvX7+YW5Y/58+flxdINzIykpfxyY6XlxczZsyQn1euXJmIiAjKlStHTEyMwRzQ4cOHs2PHDkCfZCojtX9WRdk3Ro0axQ8//ADog/GePXtiZ2fH/v375SDd2dmZ27dvo1arc6zn/qMkjgRE8WdANBfuPZLnwAK4lLWkcz0nOterQKOq9iKhUyF6Wc4bQuETfUPISgSzgqBX5NmMX2bh4eFyqnzx5SJk9rL0DUtLS44cOcI333zD+vXrCQkJAcDKyorhw4czd+7cUvsFKUkSSUlJigzDTZs2pUqVKoSFhWFsbIyzs7N8TBmsra1ZunQp77//vmK7mZkZAE+fPiU5ORlLS0tFeUbm58z7Zqeo+kZ0dDQ7d+4E9Mfg5+dHvXr1AP2dY09PT86fP09oaCh79+5l4MCBitdLksQ/dx+x8WQwJ248UJQ1qGxLp7oV6FzfiRqOViKZUxF5Wc4bQuETfUMoCCMjI7n/CMLLJC8r4ohgVhBeUWZmZsycOZMZM2YQFhZGWloaVapUMcgCXJguX77MqVOnSEtLo06dOnTq1CnXw5jj4+NZt24d27Zto2PHjqxfv14uMzY2Zu7cuSQkJDB8+HAqVqzIkSNHOHXqFOnp6dSpU4eBAwdiZWVlUK+Hhwd3794lOTmZVatW8cknn8hl58+f588//wT0d3Dd3d0L+Ank3bFjx0hPTwdg/PjxciALYGNjw6JFi+jSpQsAf/zxhxzManUSRwKi2HgymCth8QCoVNDCrSyd61XAs54Tle0sivloBEEQhMLi4OBAZGQk5cqVw8LCQvwgKbwUtFot4eHhODo65mp/Ecxmw9nZWR72IwiZvYx9w8jICGdn5yJ9j8DAQN59913Onj2r2F61alW8vLwM7iZmR6VSsWTJEpKTk3nw4AErV65UBN6TJ09W7N+1a1e6du363Hrfe+89tm3bBsCnn37K2bNn6dSpE4GBgWzfvl1OHDVp0iSMjXOeO1pUfSPzcLNatWoZlNeuXVt+nJCQQEq6lj3/hrHp1B3uxSYBYGZixNuvV2Fc62q4lhNr5ha3l/G8IRQO0TeEgrCwsKBy5crExsbKU04E4WXg6OiY65srIpjNRmEvdSG8PETfyLugoCBat27N48ePDcru37/PoEGDSEpKYtSoUfL22NhYQkNDady4sbzNxsaGAQMG4O3tTZMmTYiOjsbFxaXA7Xv99deZN2+enK34jz/+4I8//lDs06ZNG8U82+wUVd/IPNz70KFDvPvuu4ryjLYamVuT5NaWN5cfJ/ZpGgB2lmpGtHRlREsXylnlPERaKFrivCHkRPQNoaCMjY1zfQdLEF5GIgGUIAhFqkOHDvIar9WrV+f999/H3t4eHx8feQivpaUl9+/fx9ramvHjx/Pjjz/i5uZGQECAYthUcHAwxsbGuLq6FmobJUni+++/Z8mSJdy/f1/eXqZMGcaMGcPy5csN5tIWl7S0NFxcXIiKigJg8eLFTJ06FUtLS/bv38+YKbOgVnusXvPESK3/FbOKvQXjWrsxsFlVLE3Fb5aCIAgvCnH9Kgh5I4JZQRDyJD09nb179+Lt7U1YWBjW1tb07NmTMWPGULZsWcW+N27ckIfBurq6cvXqVaytrQF9ADlixAg5U/CqVauYOnUqHh4e/P333wAcP36cdu3aFduxaTQa/v77b8LCwrCxsaFdu3bY2toW2/vnZN26dYrEVaamplhWqY1J/S5Y1noTlZF++HP9yjZMeMudrvWdMDEW5zpBEIQXjbh+FYS8ET/ZZyNzBq1nzZETXj2vet8ICwuje/fuXL16VbH91KlTLFmyhN27d9O5c2d5+7lz5+TH7777rhzIAty+fVtxh/Xs2bNMnTqVyZMnc/XqVUaPHk21atWK7mCyYWJiQvv27fP12vz2DY1WR0KKhvjkdOKT04lLSiM+OZ2E/38en5xOnGNrWs/Zzq174RiZW2FkboWJTXm5Dsv4EFZP6knHBlVFApBS6FU/bwg5E31DEAShYEQwm43r16/Lqc4bNmxY0s0RSpFXuW8kJyfTuXNnAgMD5W2Z13RNSEigT58+nD17Vp7rqtFo5H0zD9MdN24cmzdvVgReGRd1/fr1o2fPniU2rDe/8tI3IuOT+eu/GP4KjMYvOJY0bc7r4v6PA+bODv97qtNim3Cb8W2qMfGdieJCuBR7lc8bwrOJviEIglAwIpgVBCFXdu7cKQey1apVY+PGjXTo0IHbt28zffp0Dhw4QEpKCkuWLOGXX34BoEGDBvLrt2/fzgcffICxsbF8xzXzLIeMfdVq9Uu3Zp4kSQRGJvBXYAx//RfNtfB4g32szEywtVBjY6HG1sIEOwtTbC3U2Fqq5e12FvrHthZqqthbUNaqVwkcjSAIgiAIQukggtlsWFtbo9Focr3+pfDqeJX7xtatW+XHPj4+tGjxf+zdeVxV1f7/8ddhnudJRBxRcR5zKMvUTDMtLcvsamXeyrK0Qcusb3Yzm351m+e6palpqdcms8EptcF5HhEUBAUBEWQ8w+8PLjsOcBICBeT9fDx8CHvtvc4653xYZ3/OXnut3gDExMTwxRdf0Lx5c06cOMHy5ctJT08nODiY4OBgQkNDSUtLY9u2bVxzzTVMmzaNnj17EhQUREZGBlB8hffOO++sledVU8rGRqHZyh/xGfy49wQ/7Uvl+Ok8Y1+TCbpFBzIoNpxBsWE0C/HGVfe4XrQacr8hf02xISJSPZoASkQqpXHjxiQnJxMWFsbJkyfLlU+YMMFIeLdt28aaNWt46KGHsNlsdsORKzJz5kxmz5593tp+oWTlFbHmQCo/7j3J2gNpZBf8Oczaw9WJfjGhXBUbzoDYMC2VIyIi5ej8VaRq9FWgiFRKyT2sp0+fJisrq9wsvwkJCcbP3t7eXHrppcYw4latWnH69GlSU1PtjnF1dWXGjBnMmjXrvLb9fLLZbPxy6BSfbkxg7cE0zNY/vx8M8XFnUGwYg2LDuSwmBA9X3dcqIiIiUlOUzIqcRzabja1btxpL2PTp0wdPT8/abtbfcvXVV3P48GEKCwuZNWsWr7zyCiaTiRMnTjBt2jRWr14NFN9P27JlS5ycnLjxxhvp1q0b//znP/Hx8eHLL79k3bp1FBYW0q5dO2677TbCw8Nr+Zn9PWcLzCzdmsQnGxOISztrbG8d7lM8fLhdOF2iAnBy0uzCIiIiIueDhhmLnCeLFy9m1qxZ7Nu3z9gWGBjIpEmT+L//+z/c3Wt2mGlRURGrVq0iMTERPz8/Bg4cWG7d1+rYt28fHTp0MIYLd+vWjXbt2jF//ny7iZxK1ou9WB1Lz+XTXxNYvDmR7PziYcQ+7i6M7hHFP3o3pWWoT+02UERE6i2dv4pUjZLZCsTHxxsTMjRv3vx8NVHqocrGxiuvvMLDDz/ssHzw4MF8/fXXuLm5VbtNNpuNd955h9mzZ5OSkmJsd3d357bbbuPll1/Gx6dmEqy33nqLyZMnOywfOnQoX3311UU3mYnNZmPD4XQ+2ZjAz/tPUtJrNg/x5va+zbihexRpyYnqN6RC+kwRRxQbUpaSWZGqubjOOGvImTNnjHXfREqrTGzs3r2bRx55xPj90ksv5eqrr2bfvn188cUXmM1mfvjhB/7973/z6KOPVrtNTzzxBHPmzCm3vaCggPfff5+dO3fy888/V2vd1ry8PObNm4erqyvLly/n6aefZuvWrUa5t7c3kyZN4rnnnruoEtncQjPLth3nkw0JHErNMbZf0TqU2y9txhUxocYw4jj1G+KAPlPEEcWGiEj1XDxnnSJ1xFtvvWUMu50+fTovvPCCUXbPPfdwxRVXGPs98sgjODv//UmBNm3aZJfIXnfddUbi/NFHH5Gbm8tvv/3Giy+++LcnWcrNzaVVq1akpKQQGhrK0aNHGT58OPv27SMpKQk/Pz+6detWI1eZ64rEjFzm/XaUz/84xpn/DSX2dnPmxu5RjO/bTEOJRUREROoADTOugNlsxmazYTKZLqqrTFJ9lYmNmJgYDh8+jJubG2lpafj5+dmVDx48mB9//BGA/fv306ZNm7/dnjvuuINPPvkEgDlz5jBjxgyjbNu2bfTo0QOr1UpERASJiYl/O55vueUWPv/8cwD++9//ct111/3tNtdFp3ML+e1IBr8dSWdj3CkOnvzzKmzTYC9u69OMG3tE4efh+OqJ+g1xRLEhjig2pCwNMxapGvWcFdAHijhSmdjIy8sDwM/PD19f33LlUVFR5fb9u9atWweAp6cnU6ZMsSvr2rUrQ4YM4bvvvuPEiRMcOnSI2NhYh3XZbDZ+/PFHvv/+e1555RW7socffhgnJyceeughunfvXq021wVn8ov440gGvx5J59e4dPadOEPZr/X6xYRwx6XN6N86rFIzEqvfEEcUG+KIYkNEpHrUi4rUsFatWnH8+HFOnTrFunXrjGHFUDxk99tvvwXA2dmZ6Ojoaj1WYWEhUJzMVrTkT+nZjEv2dWTMmDEsXrwYgNGjR9OnTx+jrEePHsyfP79aba1NZwvMbEooTl5/i0tn1/EsrGWS15gwH/q0DKZPi2B6tQgmyPviGTYtIiIicjFSMitSwyZMmMDatWsBGDduHG+++SZDhgxh3759TJ8+ndTUVABGjhxJUFBQtR4rNjaWpKQkMjIyWLlyJUOGDDHKsrKy+Oabb4DimY3PNVPm0KFDjWR27ty5dslsfXQsPZfl24+z+kAqO5OyMJfJXpuHeBvJa+8WwYT61uxSSSIiIiJyfume2QqcPn0aq9WKk5MTAQEB56uJUg9VJjYKCgro3bs327dvd1iPl5cXv/76K506dapWexYvXszNN98MFF+FfeGFFxgyZAh79+7liSee4I8//gBg/PjxfPrppwAkJibyxhtvMG3aNEJDQ+3afdNNNzF+/Hiuv/76ak1MVVvScwr4dlcK/912nK3HTtuVNQnypE+L4P8lsCFE+HvU6GOr3xBHFBviiGJDytI9syJVoyuzFTh69KgxVb4+XKS0ysSGu7s7K1asYMSIEWzatKlceVBQEF9++WW1E1mAUaNGcdlll7F+/XrS09OZOHFiuX0CAwN58sknAViwYAG33XYbZrMZLy8vuxmO3d3dWb58ebXbdKHlFpr5ce9Jlm9PZt3BNOMKrJMJLm0VwrWdGnFpqxCiAv/+0kSVoX5DHFFsiCOKDRGR6lEyK3IeRERE8Ouvv7JixQrmzp1rLGEzbNgwxo8fj7+/f408jouLC19//TVjxoxh5cqV5cqbNGnCsmXLaNWqFQCXXXaZsWzQhx9+yJNPPlkvr8CaLVbWHz7F8u3JrNxzgtxCi1HWsbE/13WJZETnSML8avbqq4iIiIjUHRpmXIG0tDQsFgvOzs52wzBF6mps2Gw2fv/9d+bNm0dSUhI+Pj6EhIRwzTXXcPXVV9vt+8ADD+Dv78/kyZMJDw+vpRZXnc1mY0dSFv/ddpxvdiZzKufPCa2ig7y4vkskI7o0plVY7awBW1djQ2qfYkMcUWxIWRpmLFI1SmZFLjJJSUn069ePhIQEevXqxa+//orJdO6lZeoqq9XGf7cf581Vhzly6qyxPcjbjWs7NeK6Lo3pFh1Qr5+jiIgI6PxVpKo0zFjkItO4cWNjfdvff/+dTZs2cckll9Ryq6rOZrOx7tApnl+xn30pZwDwcHVicLsIru8aSb+YUFyd9eEuIiIi0lApmRWpx/Lz89myZQuXXnqpsc1kMjF9+nTmz5/PtGnT6NmzZy228O/ZlZTFcyv2sTEuHQBfDxcm9W/J+D7N8HFXtyUiIiIiGmYsUm99+OGHzJo1i4yMDOLj4+3uf7XZbPVy2O2x9Fxe+uEAX+9IBsDN2YnxfZpy35WtCPR2q+XWiYiInF86fxWpGl3iqMDOnTuNqfJrYvkUuXjUpdjYvXs3x48fB+DFF1/k5ZdfNsrqWyKbnlPAG6sOM//3oxRZbJhMcH2Xxjx0VWuaBJ3fJXVqSl2KDalbFBviiGJDRKR6lMxWwGazGf9ESqut2CgqKsLZ2dnum9lHH32U999/n8GDBzNu3LgL2p6aklto5uP18by79gg5BWYA+sWE8NjQtrSPrJnliy4U9RviiGJDHFFsiIhUj5LZCnh6euLq6oqLi14esXehY6OoqIh58+bxzDPP8MorrzBy5EijrFGjRsTFxdGoUaML0paaZLZYWbw5iVd/OkhqdgEA7SP9mDE0lstiQmq5dX+P+g1xRLEhjig2RESqR/fMitRhK1euZMiQIQB06tSJbdu21esYzi+y8P3uE7yx6hBxacXL7EQFejLt6jYM7xSJk1P9Gh4tIiJSk3T+KlI1+ipQpA4bPHgwPXv2ZNOmTTRq1IjTp08TFBRU282qEpvNxpajmSzZmsQ3O1LI/t9w4kAvVyYPiOEfvaNxd3Gu5VaKiIiISH1Tr5LZNWvWcOWVV1ZY9uuvv9K7d+8L3CKRmnHy5EneeOMNcnNzeeWVV4ztJpOJ119/HavVSt++fWuxhVV3/HQeS7cksXTbceJPnTW2Nw7w5KYeTbjjsmb4ebjWYgtFREREpD6rV8lsiTlz5pRLajt06FBLrRGpHrPZTNeuXUlJScHV1ZWHHnqIqKgoo7w+fUmTW2hmxa4TLNmaxK9H0im5icHLzZmhHRpxY/coejUP0nBiEREREam2epnMxsTEnNcT/MTERCwWC87OzjRp0uS8PY7UP+cjNlxcXLjjjjuYM2cOAOvXr2fMmDE1UveFYLXa+CMhgy+3JLFiVwpnCy1GWZ8WwdzYPYohHSLwdq+X3U2lqd8QRxQb4ohiQ0Skei7us8u/KSMjw1j3TR8uUlp1YsNms/Hzzz/zySef8J///AdX1z+H2D7wwAMUFhYyZcoUu6uydVlSZi5fbE5iydYkkjLzjO1Ng724oVsUI7s2rjdrxNYE9RviiGJDHFFsiIhUT71MZu+77z7GjBmDl5cXffr04cknn+Syyy6r7WaJ/KUHH3yQ1157DYAhQ4bwj3/8wygLDw/npZdeqq2mVVqh2cpP+07y+aZEfjmUZgwj9nV3YVin4mHE3ZsGYjJpGLGIiIiInF/1ammebdu28emnn9K/f3+Cg4M5fPgwL730EgcPHuTbb7/l6quvNvataGrzY8eO0bRpU/z8/IxtBQUF7N+/H4DAwECio6PJz8/HZrNhMplITEwkNzcXgM6dO9vVd+rUKY4fPw5AdHQ0gYGBRpnFYmH37t1A8ZTqLVq0sDs2Pj6eM2fOANC+fXu7NeZOnz7N0aNHAYiMjCQ0NNTu2J07d2Kz2fD09KR169Z2ZYmJiWRkZADQpk0bPDw8jLKcnBzi4uIACAsLK7c+6d69e41viNu1a2dXlpKSQmpqKgAtW7bEx8fHKMvPz+fAgQMABAUFlft2+eDBg+Tl5WEymejUqZNdWVpaGsnJyQA0bdqUgIAAo8xsNrNnzx4A/Pz8aN68ud2xR44cMd7jDh064Oz854y4mZmZHDt2DIDGjRsTEmK/dumOHTsA8PLyIiYmxq7s2LFjZGZmAtC2bVvc3d2NslOnTpGUlARAREQEERERdsfu2bMHs9mMu7s7bdu2tStbunQpN9xwAwDDhg3jm2++Mcpyc3M5dOgQAMHBweWuzh44cID8/HycnZ3L3R+emppKSkoKAM2aNcPf398oKywsZN++fQD4+/vTrFkzu2Pj4uLIyckBoGPHjnZT/6enpxvP1ewVzA+HsvlySxLpZwuNfTqFu3NtuyDGXdkZT7c/X/+EhASysrIAiI2Nxc3NzSjLysoiISEBKF4rNywszK5Nu3fvxmKx4OHhQZs2bezKkpKSSE9PB4pvN/Dy+vPK79mzZzl8+DAAoaGhREZG2h27f/9+CgoKcHFxoX379nZlJ06c4OTJkwA0b978nH1EaYcOHSI3NxebzUabNm0wmUzG3536iGINqY84c+YM8fHxQPGXVBEREXafKXFxcQ77iOTkZNLS0gBo1aoV3t7eRlld7yOioqIIDg42yqxWK7t27QLAx8eHli1b2tXbEPsIKH8ekZKSYtTbtGlT9RE0zD6itH379pWLTS3NI+JYvboy27VrV7p27Wr83q9fP0aOHEnHjh2ZPn26XTJbEbPZTNnc3WazUVRUZJQDdh232Ww2ysuyWq1GmdVqLVdett6ybSkpL9um0vVaLJZyxxYVFWGz2eyGqZawWCzVqtfRcy1db9nnWvo1rKjekuda0dW6ytZ7rtewrPP13ri6uhrHOHoN9+zZw5dffsnjjz9Oz549jbIePXpw/fXXc8kll3Dvvff+5XNds2YN69ato7CwkNjYWOOEraLH/Kv3vPRzrep7nltg5ufDZ/gpPo+9p5KM7WG+7tzYPYr2HqcJ93HBx8fLLpEt26ayzhUvhYWFWK1Wu5OKyjzXc9Vb8lwreo0qW++54sXT09OuTH0ExuM0lD6iouda+jOlqKgIs9lc4YlpTcT3hewjKvsaVnR8Q+0jynJ2djaOUR/RcPuIiuoVkcqpV8lsRQICArj22mt59913ycvLK3cyWZqLi0u5jtBkMhmdeelvNUsfU1FnD+Dk5GSUVXRiUtl6y7apdL0VfVi7urpis9kqrNfZ2bla9Zb+31G9ZZ9r6dewonpLnmtFH0KVrbeuvDfneq6//PILDzzwAFB8NWLevHl29c6aNavCxy2pd+/evdx6660cPHjQrtzf35/777+fm2++udxj/tV7Xvq5OnrPy76G+1LO8Pkfx1i6NYnsguIPWicTXNkmjDGXRHNlm1CcTBhXXc4VL2Wd6zV0c3PDYrGcs96qvjeurq5YrdYq/93UxThUH1G+3rry3lQmDkvvU1p147tkIqGq1Fty7F/VW93XUH2E+oiy9aqPOPdrKCKVU6+GGTtyzz338N5775GXl2d8A17RMGMN05DzLS8vj6ioKDIyMggLC+Po0aN2V2X+yvbt2+nXr58xpK8ir776KlOmTKmp5hrOFpj5akcyn/9xjB1JWcb2xgGejOnZhBt7RNHI3/EXRSIiIlJ9On8VqZp6n8xmZmbSsWNHQkND2bZtm7G9Op1BTk4OVqsVJycnu3s6REpiY9u2bXz00Ud06NCB6dOn2+3z5ptv4uLiwj/+8Y8qxU+/fv1Yv349AF26dGHq1KkEBQUxf/58Fi1aBBRfkTh27Bjh4eE19pzWHUxj+pc7OXEmHwBXZxNXtQtnTM9oLmsVojVhK0n9hjii2BBHFBtSlpJZkaqpV8ns2LFjiY6OpkePHoSEhHDo0CFefvll4uLiWLFiBYMGDTL2rU5nsGPHDmMCg7KTNUjDtmPHDpKTk7n22muxWq1ERkaSkJBQ7WFBe/bsMSZtiYmJYceOHXZD5u+9917eeecdAJ5//nkeffTRaj0eQG6hmTnf7eOz34onuGgS5Mm43k0Z1S2KEB/3cxwtZanfEEcUG+KIYkPKUjIrUjX16i+jU6dOrFy5kokTJzJo0CBmzpxJu3bt2Lhxo10iK3IuNpuN3NzcCidfOJfQ0FCuuOIKoHhYcclMoNWxadMm4+c777yz3L3f9913n/HzH3/8Ue3H25yQwdDXfjES2dv7NuOHqVdw1+UtlciKiIiISL1QryaAeuyxx3jsscfO++OEhYU5nEhD6reEhAReffVV5s2bR0ZGBq6urgwdOpSpU6dy5ZVX2u2bnJzM66+/zsGDB1m6dCnwZ2w8/PDDjB07lrFjx9ot/fB3lR4gUdG3r6VjsTqDKQrMFv794yHeXxeH1QaR/h68NLozl7YKOffB8pfUb4gjig1xRLEhIlI99WqYcVVomIaUtX79eoYNG2asy1fW7NmzmTlzJlCcMHbu3NmYsXfz5s107979vLVtx44ddOnSBShec3Hbtm1269I9+OCDvPrqq+XaWRV7k8/w0OLt7D9R/HdxQ7conhrRDj8PzZwoIiJSF+j8VaRq9JchDUJaWhojRowwElkPDw/69etnt1j5E088wbJly4DiqfMnT54MFE+6tHXr1vPavs6dO9OrVy+geMH0/v3788UXX/Dzzz8zYcIEI5F1cXFhwoQJVarb47Ee5QAAIABJREFUbLHy1urDXPfWevafyCbY2433xnXn5Zs6K5EVERERkXqrXg0zFvm7PvjgAzIzMwEYMGAAixYtIiQkhLy8PMaNG8eSJUsAePHFFxk5ciQA48aNIyUlhbvuuotGjRqd9za+/vrr9O/fn7y8PH777Tduuummcvs888wzVWpL/KmzPLR4O9uOnQbg6vbhPDuyo+6LFREREZF6T8OMpUHo2rUr27dvByAuLo4WLVoA8Pjjj/Pcc8/Z7Xv06FGio6MveBsBNmzYwPjx4zly5Ijddh8fH/71r38xderUCheNL8tqtTHvt6M8t2If+UVWfN1dmDWiPaO6Na7U8SIiInLh6fxVpGqUzFZg7969xlT57dq1O19NlAsoKiqK48ePExERQUpKirE9Li6O1q1bY7VajW1/dX/shYgNi8XC999/z7p16ygsLCQ2NpYxY8bg5+dXqeOTT+cx/cudrD98CoBLWwXz0o2diQzwPMeRUh3qN8QRxYY4otiQspTMilSNhhlXoKioiKKiotpuhtQQi8VirAN74sQJ4uPjad68OQAtW7Zkzpw5vPfee8THxwPFS+84ciFiw9nZmWHDhjFs2LAqHZeVV8SnGxP4YN0RsgvMeLg6MWNoLON6N8XJSVdjzzf1G+KIYkMcUWyIiFSPktkKlCQ+Jf9L/bZ27VoSEhKM3//5z3+yaNEigoODMZvNFBUVGYlsr169/nKIcV2MjfScAj7eEM/cjUfJLjAD0KVJAK/c1JkWoT613LqGoy7GhtQNig1xRLEhIlI9GmYsFx2z2YyLy5/f01itVtq0acPhw4eNbZ6envTs2ZNDhw7ZDTtesmQJo0aNuqDt/btSz+Tz/rojzP/9GHlFFgDahPsyeUArrunYCGddjRUREalXdP4qUjVKZuWiYDab+eqrr3jjjTdo3bo17733nl35N998w969e5k9e3a5uCjxr3/9iyeffPJCNLdakjJzeW/tERZtTqTQXHyvb6cofyZf2YpBseEaUiwiIlJP6fxVpGqUzMpFITs7m8aNG5OdnY2npydJSUkEBQWV2y8+Pp5XX32VefPmkZmZiYuLC0OHDmXq1KkMGDCgFlpeeQmnzvL2msMs3Xocs7X4z7ZH00DuHxjD5TEhmqVYRESkntP5q0jVKJmVeik7OxtfX1+7bQ888IBxZXbhwoV069bN4fE2m43c3Fw8PDxwdnY+382tloMns3lr9WG+3pHM/3JYLm0VzOQrY+jdIkhJrIiIyEVC568iVaNktgIpKSlYLBacnZ1p1KjR+Wqi/A3fffcdr776KvHx8ezdu5fVq1cbS9iEhITQunVrRowYcd46/QsVG6dyCth1PItFfyTy/Z4TxvYBbcO478pWdG8aeN4eW/4e9RviiGJDHFFsSFlKZkWqRrMZVyA1NdVY900fLnXLq6++yo8//ghAs2bNSE5Otiv39fVl9uzZ3H///TV6xbKoqIivvvqKJUuWUFhYSMuWLZk+fTrBwcHVqtdms5GaXcDu41nsOp7F7uNn2JOcRUpWvt1+QztEcN+VrejQ2L9ajyfnj/oNcUSxIY4oNkREqkfJrNRZJ0+eJDw83G7b1KlT+fHHHzGZTOUSWSgefjxlyhTy8/OZPn16jbRj9erVjB8/nqSkJLvtr7/+Ok8++SQzZsyoVOJss9k4fjrPSFhLktdTOQXl9jWZoHmINz2bBnFnv+a0DvetoEYRERERkYZLw4wrkJOTg9VqxcnJCR8frdN5oRw8eJDExEQSEhL46quv+Pbbb9m9ezdt27Y19rFarXTs2JG9e/cC0KNHDx566CGCgoJYsGABc+fOBcDFxYWjR48SGRlZrTZt3LiRAQMGUFBQPuEsMWvWLJ566imH5TsST/PqTwfZnniazNyicuVOJogJ86V9Yz86RPrTobE/7SL98HHXd031ifoNcUSxIY4oNqQsDTMWqRols1KjDh06xLvvvsvatWspLCwkNjaWiRMnMmjQIIdXL7/77juefvpp/vjjj3Jl99xzD++8847x++7du+nYsSMArVu3ZseOHXh4eBjlU6ZM4fXXXwdg9uzZzJw5s1rPp2fPnmzevBmAyy+/nGnTphEUFMT8+fN5++23AXB2diY+Pp4mTZrYHZtbaOblHw7ynw3xxsRNrs4mWof7/i9p9aN9Y39iI/zwdKvbk1CJiIjI+afzV5Gq0aUfqTGvvPIK06ZNw2q1Gtt27drF4sWLueaaa1i8eDHe3t52xzz77LM88cQTDutcv349ZrMZF5fiUN2yZYtRNmHCBLtEFmDSpElGMlt6379j27ZtRiLboUMHfvrpJ1xdXQHo27cv3t7evPTSS1gsFj7++GO7q7PrDqbx+LJdJGXmATCya2PuuLQZbSJ8cXdR4ioiIiIiUl36mkdqxLx583j44YftEtmSBBSKr76OHz/e+H3Xrl3079/fLpHt1KkT06dPZ/jw4ca23bt3G8lpWRUNKqjJgQY7duwwfr7tttuMRLbExIkTy+2bebaQhxZvZ/zHf5CUmUfjAE/+c0dP/n1zFzpFBSiRFRERERGpIUpmK5Cfn09eXh75+fnn3lmwWCw8+eSTxu+PPPIIp06dIjc3lwULFuDn5wfA0qVL2bp1KwBOTk6sXbvWOGbSpEls376dF154ga+++orvv//eKHvzzTeNJLlHjx7G9o8//rjce1R6SHL37t2r9bxKD+kpLCwE7GOj9H20JicnvtqRzKBX1rJ063FMJri9bzN+ePByrmwTVq12SP2gfkMcUWyII4oNEZHq0T2zFdixY4cxVX7nzp3PVxMvGqtWrWLgwIEAXHXVVfzwww925TNmzOD5558H4P777zeutHp7e5Obm4uTkxPHjx8nIiLC7riBAweyatUqAPbv30+bNm0AuOyyy9iwYQMA3bp148EHHyQ4OJj58+czf/58AFxdXTl69Gi1ljrYv38/sbGxALRo0YKdO3dy+PBhIzbefPNNPvzwQ5x9Q7hsyhskFBXPONw63Ifnb+hEt2itBduQqN8QRxQb4ohiQ8rSPbMiVaN7ZqXaEhISjJ9HjBhh/JySksJNN93E+vXrjW3x8fHGzwEBAeTm5hIUFFRuCR6A5s2bGz+fPXvW+PmNN96gX79+nD17lq1btzJu3Lhyx86ZM6faa/a1bduW/v37s2bNGo4cOULPnj0ZNWoU3t7e/PDDD6xZsxafrsMI7H87CUWeuDqbmHxlDJP6t8TNRR86IiIiIiLnk5LZCgQFBWGxWHB21v2NlVF6UqfSyWpYWBjHjh2z27f00gMtW7YkOTmZU6dO8euvv9K3b1+jrKCgwBhq7OTkZDdTcNeuXVm1ahW33XYb+/fvt6vfz8+PZ599lsmTJ9fIc3vzzTe59NJLycrKYt++fTz77LMAuAY3IfzWF/CIagdA96aBPD+qIzFaD7bBUr8hjig2xBHFhohI9WiYsVTbyZMniYqKwmw24+fnx6ZNm2jdujVQvDzOc889R25uLgD/+c9/uP3224Hie17vvPNOoHgY7wcffMCVV15JfHw8Dz/8MP/973+B4qu9y5cvL/e4VquVVatWsW7dOmMZoBtvvLHcjMnVtXPnTiZMmMCWLVswubjhd8ko/PvcjMnFFTcnG08M78A/ejXFyanipYdEREREKkPnryJVo2S2gcjKymLTpk0UFhbStm1bWrRoUSP12mw2hg0bxooVK4xtHh4e3HjjjQQHB/Pll19y/PhxoPhKbUJCAp6enkDxxBfdu3dn7969xrGurq4UFRUZv7u5ubFhwwa7iZ9qWn6RhbTsAk7lFHAqp7D4/7K/5xRw4nQuZ4v+/HO5IiaEOTd0onGA53lrm4iIiDQcOn8VqRoNM77Ipaen8/jjjzNv3jzy8vKM7QMGDOC5557jkksuqVb9JpOp3L2p+fn5fPbZZ3bbPD09Wbx4sZHIQnHS+/333zNs2DB27doFYJfI+vj48Pnnn9doImux2tickMEPe0+y7mAaKVn55BSYq1RHqK87TwyLZUTnSEwmXY0VEREREakNujJ7EUtLS+Pyyy8vd19pCXd3d77++muuuuqqStUXFxfHokWLmDFjhl0St3PnTkaPHs3EiRM5cuQI8+fPN157k8nENddcw+zZs+nSpUuF9RYWFrJ06VLmzp1LUlISfn5+XHPNNUycOJGwsOova5NfZGH9oVP8sPcEP+1LJeNsYbl93JydCPFxI8TXnRAf9+KffYp/DvZxI9TH3SgL8HTVkGIRERGpcTp/FakaJbMVOHjwIGazGRcXF+Pez/ro1ltvZcGCBUDxJE1jx44lKCiIL774giNHjgAQHBzM0aNHz3mf6cyZM3nuueew2Wz8/PPPDBgwwK7cZrMZCe7Zs2fZsWMHBQUFtG7dmsaNG5+HZ/fXsnKLWHXgJCt3n2TtwTTyiixGmb+nKwPbhjG4fTitw30J8XXH192lUldZL5bYkJqn2BBHFBviiGJDylIyK1I1GmZcgby8PGPdt7rGZrOxdetWEhMT8fX1pU+fPnh5eZXb78SJEyxevBgoXgJn69atxlI3//rXvxg+fDg//PAD6enpLFy4kIkTJ9odf/bsWebNm8e8efNISkrCarVS8r3HW2+9VS6ZLZ0Ient7281MfKGkZOXx496TrNxzgt+PZGC2/vk9TaS/B4PbRzC4XTg9mwfh6vz3PhTqcmxI7VJsiCOKDXFEsSEiUj1KZitgMpmMf3XJ4sWLmTVrFvv27TO2BQQEcPfddzNr1iw8PDyM7WvXrsVsLr4XdOLEiXZrtrq5uTFr1ix++OEHAH788Ucjmd22bRsvvPACGzduJDExsVwbnJ2dGTJkyHl5flVhs9k4lpHL7uNn2J2cxYbDp9iZlGW3T5twXwa3D2dwuwg6NParkfezrsaG1D7Fhjii2BBHFBsiItWjZLYCnTp1qu0mlPPqq6/y4IMPltt++vRpXnjhBTZv3sy3336Lu7s7gLEUDkB0dHS540qv21oyMdR//vMfJkyYUG7fkJAQMjIysFqtWCwWJk2aRGxsLJdddlm1n1dlWKw2jqTlsDs5i93Hz7AnOYs9yWfIzrefuMlkgu7RgQxuH85V7SJoHlKzS/RA3YwNqRsUG+KIYkMcUWyIiFSPktlaYrFYWLlyJWvXrjWWyxkzZgz+/v7l9t27dy8PPfSQ8full17KkCFDOHDgAIsWLaKoqIiff/6ZV155hRkzZgDYLb2zbNkyJk+ebPfN77Jly4yfS/YdNmwYLi4uxhXd2NhY5s2bR/fu3UlNTWXatGnMnTsXi8XC7Nmz+f7772v2RQEKzVYOnsw2Etbdx7PYl5Jtd89rCTdnJ9o28qV9pD9dmvgzoG04ob7uNd4mERERERGpezQBVC3YuHEj48ePJy4uzm67t7c3s2bN4uGHH7ZLPO+77z7efvttAB555BFeeuklo2zDhg3069cPm81GVFQU8fHxuLi4YLVaiYmJMSZ6uvfee5k5cya+vr48+uijvP/++1gsxQnitm3bjJmGmzRpQlJSEgCbN2+me/fuxmOZzWZiYmJISEgAICUlhYiIiL/9OuQWmtmXks3ekiuuKVkcPJFDocVabl8vN2faNfKjQ2N/2kX60SHSn5hwn79976uIiIhIXVOXz19F6iIlsxfYli1buPzyy+2GAZf1zDPP8MQTTxi/t23blgMHDuDq6kpaWlq5q7dDhw41rpLu2bOHdu3aAbBo0SLGjBnzl+256aabWLRokfF7dHQ0iYmJhISEkJaWVm7/u+66iw8++AAon+z+lay8ouKrrf8bJrw7+QxH0nKwVhB9fh4utI/0p0Pj4uS1faQ/zUO8cdZyOCIiInIRq6vnryJ1lYYZl5GcnMz3339Pfn4+bdq0YcCAATU6McOUKVOMRLZXr148/PDDBAcHs2DBAj766CMAZs2axe23305UVBTw5z2tPj4++Pn5lauz9NI3JfsCXH/99Tz77LM89dRTxtDh0ry9vXnxxRfttvn6+gKQkZFBampquXVeDxw4UG7fsnILzWw9eprtiZnFQ4WTs0jMyKtw3xAf9+KkNdKf9pF+tI/0p0mQZ52dDCMtLQ2LxYKzszOhoaG13RypQxQb4ohiQxxRbIiIVI+S2f9JTk5m6tSpLF261Bh+C9ClSxdeeuklBg0aVO3H2L17Nxs2bACgTZs2rF271piwacCAAQQEBPDyyy9jsVj46KOPeOqppwBo1aoVx44dIzMzk9WrV9sti5OXl8e3334LFM803KxZM86cOcNTTz3FvHnzuOyyy4iLi+P9999n3bp1FBQU4O/vz5AhQ5gyZQrOzs52bbz22mvZu3cvVquVadOm8dFHH+HiUhwmS5YsYd26dQDExMTQqlUrALLzi9h8NJM/4jP4/Ug6O5Oy7JbFKREV6GkkrcVXXP0I8/Mot19dlpycbCyjoBMPKU2xIY4oNsQRxYaISPUomaX4w6Rv374cPXq0XNn27dsZMmQIixcvZtSoUdV6nK1btxo/33777UYiW+Luu+/m5ZdfLrfvhAkTWLVqFQDjxo3jzTffZOjQoRw4cIDp06dz4sQJoPhKbHBwMGazmcWLF5Oens4333zDu+++y+zZsyvVxkmTJvHqq69SWFjI3Llz+eWXX7jqqqvYt28fv/zyCwBO7t5ce9cMnluxn9/jM9h9PKvccOFIfw96NAui4/+S1naRfgR4uVXtBRMREREREXFAySzFQ39LEtng4GDGjh1LUFAQy5YtY+fOnVgsFu644w4GDhxY4WzDlVV66Gzpq78VbSu97+jRo/n3v//Nli1bSE5OrjCp9vT05MknnwTAxcWFO+64g//3//4fN9xwg93Q43Np1qwZn3zyCePGjcNisRAfH8+Hny3GPSqWwIF34dGkA25hzVl6ygS/xBvHNQnypFfzYHo1D6J3i2CiAuvuUOHqaNq0KVarVfeuSDmKDXFEsSGOKDZERKqnwU8AlZSUZHyYhISEsHPnTho1amTUMXr0aJYuXQrAG2+8weTJk/92m/bv309sbCxQvBzOrl278PLyMsrvv/9+3nzzTQBmz57NzJkzjbLU1FSuu+46fvvtt3L1mkwmvvvuO4YMGWJsS09Px2QyERQU5LA9uYVmTp4p4OSZ/FL/CjhxJp9DianEn8ig0NkTk0v5K6otQrzp1SKIXs2DuaR5EJEBnlV/QURERETEoAmgRKqmwV+ZXb9+PVZr8VIwEydONBJZACcnJx5//HEjmV29enW1ktm2bdtyxRVXsHbtWo4cOUKfPn2YOnUqISEhLFiwgM8//xwAV1dX7rzzTrtjw8LC2LBhAytXrmTu3LkkJiYSHx9PcnIyNpuN06dP2+0fHBwMgM1mIzkrny1HM9l6NJPDqTmc+F/imp1fflIoO+7+lFxbbRrgxmVtIujdovjqa32711VERERERC4uDT6ZLSgoMH4uPXPvxrhTNA7wJDw8vMJ9/6433niDSy+9lOzsbHbu3MmECRPK7fP8888b67fm5uaycOFC1qxZw9y5cxk6dChDhw4FYO3atTzxxBNMnDiR4cOHA1BotrI35YyRvG45msmJM/kO2+Pl5kyEnwdhfu6E+3n872cPwv3cifDzINzPg1BfdzxcnR3WISIiIiIicqE1+GS2devWxs+LFi1i6tSpHD55hrvnbcHJBJe7xBnlbdq0qfbjdezYkTVr1nD77beza9cuu7LAwEDmzJnDPffcY2y7/vrr+fHHH4HiyZn69u1rlF1xxRUs//5nth7N5M1fEtlyNJMdiacpMFvt6nV2MtE+0o9u0YG0j/QjMsCT8P8lrD7uLhflva3ni9lsxmazYTKZjFmeRUCxIY4pNsQRxYaISPU0+J6zd+/etGvXjr179/L7779z6623Mmj4DYS4eRB/Br6yRuF3yQ2c+WNJuaG/f1e3bt3YsWMHv/zyC2vXrqWgoIDY2FhGjhxpdw8twD/+8Q8jmf32229p2q4rv8al89uRdLYezeTIqbPl6g/wcqV7dCDdmgbSvWkgnaL88XJr8G91jdizZ4+xjELnzp1ruzlShyg2xBHFhjii2BARqZ4Gn+GYTCZefPFFhg8fjs1mY+HChSxcuBCcXQi6ahK+na8m8Mo7aNNnEM1atT53hVV43Msvv5zLL7+clJQUPvjgA9q1a8eGDRto3LixsV//ISMYcuM4QrsP4RenRsx/flW5umLCfOje9M/ktUWIt662ioiIiIjIRa3BJ7MAw4YN47PPPuOf//wnubm5xRstZjK+f4PCE4cJGTyJVI8mjHp7Ix+M70GTIK+/rrCK3nnnHZ555hkAXnvrHa4Ycx8b407x65F0jqSdhZY3s+80QC7OTiY6NvanT8viWYS7NQnE38u1Rtsjjvn5+WE2mzUcTMpRbIgjig1xRLEhIlI9DX5pntLS09P55JNP7Ib+3nnnneT5NObe+Vs4lVNIgJcrb97SjctiQqrcJrPZzM8//8wll1xCYGAgANn5Rfx3/S5uu/oSbDYbPp0GEzzkzxmTTSboEFmcvPZpEUyPZoH4eih5FREREbnYaGkekapRMltJKVl53DNvCzuSsnAywePXxHLnZc0rPZx32bJl3H333aSlpfH+++/TYcAovticyHe7U8gvspKzZzUeTdrj4hdG2whfI3nt1TxYV15FREREGgAlsyJVo2S2CvKLLDzx3918uSUJgOu7RPLcqE54utkvW1PykpZOdDdv3kzPnj0B8G/ZhYAbZxtlzYK96BcTSp+WxWu4Bvu4/+02ioiIiEj9pGRWpGp0k0YVeLg689KNnejY2J9/fbOX/25P5lBqDu+N605UoBdJSUl8+umnLFy4kBdeeIFhw4ZRYLbw875UFu204BbaDJegxri164+PuwvDOzdidI8mdG0SoAmbREREREREqkBXZitw5MgRY0KGFi1aVLjPb0fSuW/+VtLPFhLk7cabY7uSvvdXRowYAcC1I0fT845ZLNuWRGZuEQA2q4VeLUO5qUcTrukYoeVy6qHKxIY0TIoNcUSxIY4oNqQsXZkVqRplUxXIzs421n2riNVqJf/YLt6+Lppn1qay+/gZxn30B9MGxeDt68/Z7Cx+2naYnTFHMJlMhPm6c2P3KEb3aELzEO8L/GykJp0rNqThUmyII4oNcUSxISJSPUpmq+j333/nlltuIT4+nunTp/Pl7DnMWLqLZduO8/wPcXhf/SABIdF4BIYzKDacm3pGcXlMKC7O+kZNRERERESkpmiYcQUsFovxs7Oz/eROaWlpREZGYjabiYiIIDExEWdnZz7ekMALK/bTNNiLm3s24fqujQnRRE4Xnb+KDWnYFBviiGJDHFFsSFkaZixSNUpmK2Cz2diwYQOffPIJffv2ZcKECXblo0ePJjs7m9tvv50bbrjBGB5UYLbg5uykyZxEREREpMqUzIpUjZLZCuzbt4927doB0K1bN7Zs2WJXbrFY9A2qiIiIiNQoJbMiVaO/jArExsbSo0cPAA4dOkRKSopduRJZERERERGR2lWvktmcnBymTp1KZGQkHh4edOnShc8//7zGHyczM5OpU6fy7rvvcuLECRo1alTjjyH1U2ZmJunp6WRmZtZ2U6SOUWyII4oNcUSxISJSPfVqNuNRo0axadMmnn/+eVq3bs2CBQu45ZZbsFqtjB07tsYe59ixY7Rp0wZXV1e8vLzOuX92djbLly8nMTERX19fhg4dSsuWLWusPVJ3HDt2zFhGITAwsLabI3WIYkMcUWyII4oNEZHqqTfJ7HfffcePP/5oJLAAV155JUePHmXatGncfPPNF3z4r9Vq5dlnn+Wll16yu7/BZDIxYsQI3n//fcLCwi5om0RERERERBqCepPMLlu2DB8fH0aPHm23/Y477mDs2LH8/vvv9O3bt0Yeq3Hjxlit1nPebP/AAw/w1ltvldtus9lYvnw5Bw4cYOPGjfq29SJS2diQhkexIY4oNsQRxYaISPXUm2R29+7dxMbG4uJi3+ROnToZ5edKZvfs2UPTpk3x8/MzthUUFLB//34AAgMDiY6OJiQkxCg/dOgQubm5AHTu3NnYvnHjRiORdXJy4pZbbmHkyJHs37+f1157jbS0NPbv388DDzzA008/TYsWLezaEh8fz5kzZwBo37693fM6ffo0R48eBSAyMpLQ0FC7Y3fu3InNZsPT05PWrVvblSUmJpKRkQFAmzZt8PDwMMpycnKIi4sDICwsrNy9wHv37jWGO5XM5lwiJSWF1NRUAFq2bImPj49Rlp+fz4EDBwAICgqiSZMmdscePHiQvLw8TCaT8X6VSEtLIzk5GYCmTZsSEBBglJnNZvbs2QOAn58fzZs3tzv2yJEjxhXxDh062F2Zz8zM5NixY0DxyULp9xRgx44dAHh5eRETE2NXduzYMeP+pbZt2+Lu/ud6wW5ubsTHxxvti4iIsDt2z549mM1m3N3dadu2rV1ZcnIyaWlpALRq1Qpvb2+jLDc3l0OHDgEQHBxMVFSU3bEHDhwgPz8fZ2dnOnToYFeWmppqTFLWrFkz/P39jbLCwkL27dsHgL+/P82aNbM7Ni4ujpycHAA6duxod0KVnp5OUlISAFFRUQQHBxtlVquVXbt2AeDj41NuWH1CQgJZWVlA8YRqbm5uRllWVhYJCQkANGrUqNzohd27d2OxWPDw8KBNmzZ2ZUlJSaSnpwMQExNjdxvA2bNnOXz4MAChoaFERkbaHbt//34KCgpwcXGhffv2dmUnTpzg5MmTADRv3vycfURpjvoIgFOnTnH8+HEAoqOj7b7Yslgs7N69GyieqVJ9xMXRR5w5c8boI8LDw4mIiLCrW31EMfURfyp5b5ydndVH0DD7iNIOHDhQLjZFxLF6k8ymp6eX68ihuNMrKT8Xs9lM2ZWIbDYbRUVFRnlFx5SUl/bOO+8YPz/44IPMmDHD+CC/5ZZbaNeuHQUFBSxfvpzp06f/Zb1l22Qquur5AAAUPUlEQVS1Wo2y0guqlygqKsJmsxnr25ZmsViqVW9Fz7VsvVar1a6s9GtYUb0lz7Wi9XcrW29V3puSuhzVC1S63r+KF0evodlsrvBb9r96bypTb1FRUYVlf1VvybHnqrcilX0NKzq+dJvKOtdzLSwsxGq1VnjbQE28hhW9RpWtt67EofqI8vXWlfdGfUT5etVHqI8oW6/6iL9+DUWk8upNMgtU2IlVpqyEi4tLuf1MJpPRmZe96luyraLO/rfffgPA3d2dm266ye7EpEWLFlx77bUsWbKE7Oxsjh07RseOHR3WW7ZNTk5ORllFH9aurq7YbLYK2+vs7Fytekv/76jesidhpV/Diuotea4VvUeVrbcq701JXY7qBSpd71/Fi6PXsPQ+pf3Ve1OZeh2tb/xX9ZYc+1f1Vvc1PNdzLetcz9XNzQ2LxXJeXkOr1Vrlv5u6GIfqI8rXW1feG/UR5etVH6E+omy96iPO/RqKSOWYbBV9BVkH9enTB4vFwh9//GG3fc+ePXTo0IH33nuPu+66y9h+vhedbtGiBfHx8fj4+JCZmVmuMxs/fjzz5s0DYMuWLXTr1q1GHldERERELk7n+/xV5GJTb67MduzYkYULF2I2m+0Sx5J7csreI1QdO3bsMO75qOj+Fii+Vzc+Pp6cnBy+/PJLxowZY5SdOnWK5cuXA+Dh4VHuXgqpvyoTG9IwKTbEEcWGOKLYEBGpnnrzNc/IkSPJyclhyZIldts//fRTIiMj6dWr1wVtT+mrwHfeeSdz5sxh+/btfP7551xxxRXGpAxjx47F19f3grZNRERERETkYldvrswOHTqUq666ikmTJnHmzBlatWrFwoUL+f777/nss89qdI1ZLy+vcleAK2rPiBEj+Oqrr8jNzWXmzJnMnDnTbp/w8HCeeuqpGmuX1L7KxIY0TIoNcUSxIY4oNkREqqfe3DMLxVPCz5w5k8WLF5ORkUHbtm2ZMWOG3RDfEhfinoP8/HzuuecePv3003JlHTp04Isvvii39IKIiIiISEV0z6xI1dSrZLYqLmRncPjwYebPn09iYiK+vr4MGzaMgQMHVmqGZRERERERUDIrUlVKZkVERERE6gCdv4pUjf4yREREREREpN7RjAMVOHbsmDEhQ3R0dG03R+oQxYY4otgQRxQb4ohiQ0SkenRltgKZmZlkZGSQmZlZ202ROkaxIY4oNsQRxYY4otgQEakeJbMiIiIiIiJS72gCqAoUFBRgs9kwmUy4u7ufryZKPaTYEEcUG+KIYkMcUWxIWZoASqRqdM9sBfSBIo4oNsQRxYY4otgQRxQbIiLVo695REREREREpN5RMisiIiIiIiL1zkU7zLiiW4GtVmulji19r4Kvr2+NtUnqP8WGOKLYEEcUG+KIYkPKquhc9SKd3kakRly0E0CZzWbOnj1b280QEREREfnbvL29cXG5aK8/iVSLhhmLiIiIiIhIvaNkVkREREREROodJbMiIiIiIiJS71y098xardZyN9GbTCZMJlMttUhERERExDGbzVZuwicnJyecnHT9SaQiF20yKyIiIiIiIhcvfc0jIiIiIiIi9Y6S2VJycnKYOnUqkZGReHh40KVLFz7//PPabpZcQNnZ2UyfPp3BgwcTGhqKyWRi1qxZFe67detWBg0ahI+PDwEBAYwaNYojR45c2AbLBbNq1SomTJhA27Zt8fb2pnHjxlx33XVs2bKl3L6KjYZl+/btDBs2jOjoaDw9PQkKCqJPnz589tln5fZVbDRsH374ISaTCR8fn3Jlio2GZc2aNcbtb2X//fbbb3b7/vTTT/Tp0wcvLy9CQkK4/fbbSU1NraWWi9QtSmZLGTVqFJ9++ilPPfUUK1asoGfPntxyyy0sWLCgtpsmF0h6ejrvv/8+BQUFXH/99Q73279/P/3796ewsJDFixfz8ccfc/DgQfr160daWtoFbLFcKO+88w4JCQlMmTKF7777jtdee43U1FR69+7NqlWrjP0UGw3P6dOnadKkCXPmzOG7775j7ty5NGvWjHHjxjF79mxjP8VGw3b8+HEeeeQRIiMjy5UpNhquOXPm8Ouvv9r969Chg1G+du1ahg4dSnh4OMuXL+e1117jp59+YuDAgRQUFNRiy0XqCJvYbDab7dtvv7UBtgULFthtv+qqq2yRkZE2s9lcSy2TC8lqtdqsVqvNZrPZ0tLSbIDtqaeeKrff6NGjbSEhIbasrCxjW0JCgs3V1dU2ffr0C9VcuYBOnjxZblt2drYtPDzcNnDgQGObYkNK9OrVy9akSRPjd8VGw3bttdfahg8fbrvtttts3t7edmWKjYZn9erVNsD2xRdf/OV+PXv2tLVr185WVFRkbNuwYYMNsL399tvnu5kidZ6uzP7PsmXL8PHxYfTo0Xbb77jjDpKTk/n9999rqWVyIVVmxmuz2cw333zDDTfcgJ+fn7G9adOmXHnllSxbtux8N1NqQVhYWLltPj4+tGvXjsTERECxIfZCQkJwcXEBFBsN3WeffcbatWt5++23y5UpNsSR48ePs2nTJsaNG2f0JQB9+/aldevWig0RNMzYsHv3bmJjY+06C4BOnToZ5SIAcXFx5OXlGbFRWqdOnTh8+DD5+fm10DK50LKysti6dSvt27cHFBsNndVqxWw2k5aWxttvv83KlSt59NFHAcVGQ5aamsrUqVN5/vnniYqKKleu2GjY7rvvPlxcXPDz8+Pqq69m/fr1RlnJuaej2NC5qYiSWUN6ejpBQUHltpdsS09Pv9BNkjqqJBYcxYvNZiMzM/NCN0tqwX333cfZs2eZOXMmoNho6O69915cXV0JCwvjwQcf5PXXX+fuu+8GFBsN2b333kubNm2YNGlSheWKjYbJ39+fKVOm8N5777F69Wpee+01EhMT6d+/PytXrgTOHRs6NxUBl3Pv0nD81fDScw09lYZH8dKwPfnkk8yfP5833niD7t2725UpNhqmxx9/nIkTJ5KamsrXX3/N5MmTOXv2LI888oixj2KjYVmyZAlff/0127ZtO+f7q9hoWLp27UrXrl2N3/v168fIkSPp2LEj06dP5+qrrzbKHL3/igsRJbOG4ODgCr/hysjIACr+VkwapuDgYKDiq/UZGRmYTCYCAgIudLPkAnr66aeZPXs2zz77LJMnTza2KzYatujoaKKjowG45pprAJgxYwa33XabYqMBysnJ4b777uP+++8nMjKS06dPA1BYWAgUz4Lt6uqq2BBDQEAA1157Le+++y55eXnnjA2dm4pomLGhY8eO7Nu3D7PZbLd9165dAHbTpEvD1rJlSzw9PY3YKG3Xrl20atUKDw+PWmiZXAhPP/00s2bNYtasWTz++ON2ZYoNKe2SSy7BbDZz5MgRxUYDdOrUKU6ePMnLL79MYGCg8W/hwoWcPXuWwMBAbr31VsWG2LHZbEDxVdeSc09HsaFzUxEls4aRI0eSk5PDkiVL7LZ/+umnREZG0qtXr1pqmdQ1Li4uDB8+nKVLl5KdnW1sP3bsGKtXr2bUqFG12Do5n5555hlmzZrFE088wVNPPVWuXLEhpa1evRonJydatGih2GiAIiIiWL16dbl/V199NR4eHqxevZrZs2crNsSQmZnJN998Q5cuXfDw8KBx48ZccsklfPbZZ1gsFmO/3377jQMHDig2RACTreQrIGHw4MFs3ryZF154gVatWrFw4UI++OADPvvsM2699dbabp5cICtWrODs2bNkZ2czYcIERo8ezU033QQUDx308vJi//799OzZk27duvHYY4+Rn5/P//3f/5GRkcH27dsJDQ2t5WchNe3ll1/mkUceYciQIRUmsr179wZQbDRAd911F35+flxyySWEh4dz6tQpvvjiCxYtWsS0adN48cUXAcWGFLv99tv58ssvycnJMbYpNhqesWPHEh0dTY8ePQgJCeHQoUO8/PLLxMXFsWLFCgYNGgTAmjVruOqqqxg+fDj33nsvqampPPbYY/j7+7N582bc3d1r+ZmI1LJaXOO2zsnOzrY98MADtoiICJubm5utU6dOtoULF9Z2s+QCa9q0qQ2o8F98fLyx3+bNm20DBw60eXl52fz8/GzXX3+97fDhw7XXcDmvrrjiCodxUbYrVWw0LB9//LGtX79+tpCQEJuLi4stICDAdsUVV9jmzZtXbl/Fhtx22202b2/vctsVGw3Lc889Z+vSpYvN39/f5uzsbAsNDbWNHDnS9scff5Tb94cffrD17t3b5uHhYQsKCrKNHz/edvLkyVpotUjdoyuzIiIiIiIiUu/onlkRERERERGpd5TMioiIiIiISL2jZFZERERERETqHSWzIiIiIiIiUu8omRUREREREZF6R8msiIiIiIiI1DtKZkVERERERKTeUTIrIiIiIiIi9Y6SWRH5/+3daUjU2x/H8ffcchnNnBajTEyFsiYLDYfJBzkTFra4EEVRYEULBG0TJbZAWYStUhZhtKEJubRgYVgRLURqEQgKEYEVbWRaiaIZmf4fXO5wh2n7X6pR+bxgQM+cM98vv2efOWd+P+mmKioqyMzMpKmpye09u92O3W7/8039wOnTpwkKCqKlpcVjPcTHx+NwODxWX0RERP4MQ1dXV5enmxAREXf79+8nPT2dp0+fEhYW5vLew4cPATCbzR7o7Ova2toYNWoUDoeDDRs2eKyP27dvM3XqVGpra4mMjPRYHyIiIvJ7aWdWRKQHMpvN3SrIAuTn5/Pu3TuWLVvm0T5sNhuRkZFkZ2d7tA8RERH5vRRmRUS6oczMTNLT0wEIDw/HYDBgMBi4desW4H7M+NmzZxgMBvbt28eePXsICwvDaDRit9t5/Pgxnz9/ZuPGjQQHBxMYGMisWbN4+/atW93i4mLi4uLw9/enX79+JCYmUl1d/VM95+bmkpycjMlkchk/e/YsVquVwMBA/Pz8iIiIYMmSJS5zmpub2bBhA+Hh4Xh7ezN8+HAcDgetra0u8zo7Ozl8+DDR0dEYjUZMJhMTJ07k0qVLLvPS0tI4c+aMR487i4iIyO+lMCsi0g0tW7aM1atXA3DhwgUqKyuprKxkwoQJ31135MgR7t69y5EjRzhx4gSPHj0iOTmZpUuX0tDQwKlTp9i7dy/Xr19320HNyspi/vz5mM1mSkpKKCgooKWlhUmTJjmPNX/Ly5cvqa2tZfLkyS7jlZWVzJs3j4iICIqKirh8+TJbt26lo6PDOaetrQ2bzUZ+fj5r1qyhvLycjIwM8vLySElJ4d+/hlm8eDFr167FYrFQXFxMUVERKSkpPHv2zKWu3W6ntbXVGf5FRESk9+nr6QZERMRdSEgIoaGhAMTExLj9ZvZbTCYTpaWl/PXX399VNjY24nA4GD16NBcvXnTOe/ToEQcPHqS5uZn+/fvz4sULtm3bxqpVqzh06JBz3tSpUxk5ciTbt2+nuLj4m3UrKioA3MJ2RUUFXV1dHD16lMDAQOf44sWLnX8fOnSImpoa7t27R2xsLAAJCQkMHz6cOXPmcOXKFaZPn86dO3coKChgy5Yt7Ny507l+2rRpbv3ExMRgMBi4e/cuycnJP3PpREREpIfRzqyISC8yY8YMZ5AFGDNmDAAzZ850mffP+PPnzwG4evUqHR0dLFy4kI6ODufL19cXm832wx3O169fAzBkyBCXcYvFAsDcuXMpKSnh1atXbmvLysqIiooiOjrapXZiYqLL0ery8nIAVq5c+cPr4OXlhclk+mo9ERER6R0UZkVEepGBAwe6/O/t7f3d8fb2dgDq6+uBv8Onl5eXy6u4uJjGxsbv1v348SMAvr6+LuPx8fGUlpY6g3JISAhRUVEUFhY659TX11NTU+NWNyAggK6uLmfthoYG+vTpw9ChQ3/qWvj6+jr7EhERkd5Hx4xFRITBgwcDcO7cOUaMGPGf179//55hw4a5vJeamkpqaiqfPn2iqqqKXbt2sWDBAsLCwoiLi2Pw4MEYjUZOnTr13c8OCgriy5cvvHnzxq3G13z48MG5VkRERHofhVkRkW7Kx8cH4I/sLiYmJtK3b1/q6uqYPXv2/71+9OjRANTV1TF27NivzvHx8cFms2Eymbh69SrV1dXExcWRlJREVlYWgwYNIjw8/Js1pk+fzq5du8jNzWXHjh3f7ef169e0t7d3u8cXiYiIyK+jMCsi0k2NGzcOgJycHBYtWoSXlxeRkZEEBAT88lphYWHs2LGDLVu28OTJE6ZNm8aAAQOor6/n/v37+Pv7s3379m+ut1qtGI1GqqqqSElJcY5v3bqVly9fkpCQQEhICE1NTeTk5ODl5YXNZgPA4XBw/vx54uPjWbduHePHj6ezs5Pnz59z7do11q9fj9VqZdKkSaSlpbFz507q6+tJSkrCx8eH6upq/Pz8nHd/BqiqqgJwu7uyiIiI9B4KsyIi3ZTdbmfTpk3k5+dz/PhxOjs7uXnzpsvzZX+lTZs2YTabycnJobCwkE+fPjF06FAsFgsrVqz47lpvb2/mzJnDxYsXycrKco5brVYePHhARkYGDQ0NmEwmYmNjuXHjhnMH19/fnzt37rB7926OHTvG06dPMRqNhIaGMmXKFJc7Oefl5TFhwgROnjxJXl4eRqMRs9nM5s2bXfopLS1l3Lhxzi8EREREpPcxdP37AX4iIiL/0YMHD7BYLFRVVWG1Wj3WR3NzM8HBwRw4cIDly5d7rA8RERH5vRRmRUTkl5k3bx6tra2UlZV5rId/nolbU1ND3746gCQiItJb6dE8IiLyy2RnZ2OxWGhpafFYD/379ycvL09BVkREpJfTzqyIiIiIiIj0ONqZFRERERERkR5HYVZERERERER6HIVZERERERER6XEUZkVERERERKTHUZgVERERERGRHkdhVkRERERERHochVkRERERERHpcRRmRUREREREpMf5H8euP+6S/QzMAAAAAElFTkSuQmCC\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf0 = ZeroOrderKF(R, Q)\n", "data0 = filter_data(kf0, zs)\n", "plot_kf_output(xs, data0.x, data0.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "As we would expect, the filter has problems. Think back to the g-h filter, where we incorporated acceleration into the system. The g-h filter always lagged the input because there were not enough terms to allow the filter to adjust quickly enough to the changes in velocity. On every `predict()` step the Kalman filter assumes that there is no change in position - if the current position is 4.3 it will predict that the position at the next time period is 4.3. Of course, the actual position is closer to 5.3. The measurement, with noise, might be 5.4, so the filter chooses an estimate part way between 4.3 and 5.4, causing it to lag the actual value of 5.3 by a significant amount. This same thing happens in the next step, the next one, and so on. The filter never catches up.\n", "\n", "This raises a very important point. The assumption of 'constant' is an assumption of constant-ness between discrete samples only. The filter's output can still change over time.\n", "\n", "Now let's look at the residuals. We are not tracking velocity, so we can only look at the residual for position." ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plot_residuals(xs[:, 0], data0, 0, \n", " title='Zero Order Position Residuals(3$\\sigma$)',\n", " y_label='meters',\n", " stds=3)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "We can see that the filter diverges almost immediately. After a few seconds the residual exceeds the bounds of three standard deviations. It is important to understand that the covariance matrix $\\mathbf P$ is only reporting the *theoretical* performance of the filter *assuming* all of the inputs are correct. In other words, this Kalman filter is diverging, but $\\mathbf P$ implies that the Kalman filter's estimates are getting better and better with time because the variance is getting smaller. The filter has no way to know that you are lying to it about the system. This is sometimes referred to a *smug* filter - it is overconfident in its performance.\n", "\n", "In this system the divergence is immediate and striking. In many systems it will only be gradual, and/or slight. It is important to look at charts like these for your systems to ensure that the performance of the filter is within the bounds of its theoretical performance.\n", "\n", "Now let's try a second order system. This might strike you as a good thing to do. After all, we know there is a bit of noise in the movement of the simulated object, which implies there is some acceleration. Why not model the acceleration with a second order model? If there is no acceleration, the acceleration should just be estimated to be 0, right?. But is that what happens? Think about it before going on." ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf2 = SecondOrderKF(R, Q, dt=1)\n", "data2 = filter_data(kf2, zs)\n", "plot_kf_output(xs, data2.x, data2.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Did this perform as you expected?\n", "\n", "We can see that second order filter performs poorly compared to the first order filter. Why? This filter models acceleration, and so the large changes in the measurement gets interpreted as acceleration instead of noise. Thus the filter closely tracks the noise. Not only that, but it *overshoots* the noise in places if the noise is consistently above or below the track because the filter incorrectly assumes an acceleration that does not exist, and so it's prediction goes further and further away from the track on each measurement. This is not a good state of affairs.\n", "\n", "Still, the track doesn't look *horrible*. Let's see the story that the residuals tell. I will add a wrinkle here. The residuals for the second order system do not look terrible in that they do not diverge or exceed three standard deviations. However, it is very telling to look at the residuals for the first order vs the second order filter, so I have plotted both on the same graph." ] }, { "cell_type": "code", "execution_count": 28, "metadata": { "scrolled": true }, "outputs": [ { "data": { "image/png": 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z2cy4ceMYN24coC2H/9FHHzFv3jzeeOMNJk+ezJQpU8jOzkYpRUZGhsM8qOrYFuKIiYm55LG5ubkAtG7d2mm67Zt/23H2nH0jb+vdsFgsDo8RHR3t9DFat25d64DMVp4zZ85c8tizZ88a8lR9TGdqU9aqbIsxvPrqqzWWp6CgoNblqI1NmzZdchGQur6/wcHB7Ny5k6VLl7J27VrWr18PaHMfH3zwQR577LFGX06/sesgaPXQNverLk6ePEl8fDzFxcX88MMP3H///SxbtoxOnTpx2223GY61ve9PP/10jee0ve9xcXHs2rWLZcuWsX79elavXg1owePixYt56KGHajxPfepmfXzyySfMmDEDX19fxo4dS0JCAgEBAfrCN5s3b6524R4bT09PNm7cyJ/+9CdWr17N4sWLAa1+zZ07l8cff5yAgIBGKa8QonnJkEUhxGXL09OTWbNmsXDhQqByrybbBWe/fv1QStX4YxMaGgpo32Jfiu38tqGAVf3yyy+G4+rDljctLc1penWP7cw111wDaMGIfdDnzFdffQXAsGHDHNKq65GoT1ltefbt21fj+zNnzpxal6Ox1Of9bdeuHa+//jrp6ekcOHCA559/nvDwcJYtW8af//znFlHGpubr68vQoUPZsGEDQUFB3HfffXo5bGzlyc3NrfF9t+/R6tatG//973/JzMxk9+7dPPHEE1itVhYsWMCbb75ZY5nqUzdtw4Gr29jaWZC7ZMkSvL292b17N2vWrOGZZ57hT3/6E8uWLSMxMbHGMtoLCwvj2Wef5cyZM/pCJ4mJiTz//PM88MADtT6PEKJlkYBMCHHZs83RsQVYgYGB9OjRg4MHD5KVlVWrcwwePBiADRs2XPLYfv36ARiWfLfJyclh7969+hL79WVbXdDZcKoTJ07UqrfLZuTIkXTq1InU1NQaL2APHjzIxx9/jJeXF3fddVejlNVisbBt2zaH+22v99atW2v9OM2lpve3vLxcfz7OVoA0mUz06NGDBQsW8OWXXwJa78ml2IYQXipgtgkKCiIhIYFz586RnJzskL5p06Zqy9jU2rRpwx/+8AcKCgochi025H338vJiwIABPProo6xatQq49GtbU93Mzc1l7969Dvfb5mo5+x87duyY020tjh07Rvfu3R3+561Wq9P6XxudOnXi7rvvZvPmzQQGBtaqHgkhWiYJyIQQbm/VqlV8+eWXTodTnT9/Xh/2Zr8YxyOPPEJpaSnz5s1zegGVnZ1tmF8zZ84cgoODeemll/R9z+zZhvIBzJ49G7PZzAsvvMCxY8cMxy1ZsoS8vDxmz57tdL5Vbd1+++36Y9jvCWa1Wlm0aFGdhpZ5enry0ksv4eHhwa9//WunF3aHDx9m8uTJlJWVsWTJkksuuW5v6NChJCYmsmXLFpKSkgxp//znPx3mjwHcddddhIaGsnz5cqdziaxWq9OAqDlMnTqV8PBwVq1apc8ttFmxYgUnTpxgzJgx+nygAwcOGN4jG1uvTNVFZZyxLd1el0B73rx5KKVYtGiRIZC7cOGC3is3b968Wp+vMS1YsIDo6GjeeustQ8D40EMPYTabWbhwodNtLEpLSw3B2q5du5z2btX2tZ0yZQphYWGsXLmS3bt3G9KWLVvmtLera9euBAcHk5SURHp6un5/UVERv/71r50+Tnx8PMnJyYYedqUUy5cv59ChQzWW0ebkyZNOF7HJzs6mpKSkVvVICNEyyRwyIYTb++6773juuedo3bo111xzjb7C3smTJ/n0008pKipiypQphg2P582bx549e3jppZdISEjQV5HLysri5MmTbNmyhbvuuouXX34ZgIiICFauXMmMGTMYMWIEEyZMoFevXuTm5rJ//37Onj3LyZMnAe3ia8WKFTz44IP0799f34ds8+bN7Nixg65duzrd/6ku4uPjeeKJJ/h//+//0a9fP26++WZCQkLYsGEDOTk59O7dm/3799f6fGPHjuW9995j3rx5TJ8+nYEDBzJs2DC8vb05ePAgGzZsoKysjEWLFukr9NWWyWTi9ddfZ+zYsdx00036PmT79u3jq6++Yvz48fq8KptWrVqxevVqpk2bxuDBgxk9ejQ9evTAw8ODlJQUduzYQWZmJsXFxXUqS2MIDAzkjTfeYObMmYwcOZKZM2fSvn179uzZwxdffEHr1q155ZVX9OO/+uorHnnkEYYOHUrXrl2Jiori7NmzJCUlYTKZWLRo0SUfc/To0Xz44YdMnz6dG264AT8/P+Li4rjjjjuqzfPb3/6Wzz//nKSkJPr06cOECRP0fcjS09NZvHixPly1ufn7+/O73/2OhQsX8sc//lHv0eratStvvPEG8+bNo0ePHowfP54uXbpQVlZGSkoKW7duJTIyUl9wZ+XKlbz44ot6L29YWBjHjx9n3bp1+Pj48Jvf/KbGcgQGBvLvf/+bm2++meHDhxv2ITtw4AAjRoxgy5Ythjxms5lHHnmEZcuW0a9fP6ZNm0Z5eTlffvklbdu2pW3btg6Ps3DhQu6//3769+/PTTfdhNls5ttvv+XQoUPceOONrFu37pKv2b59+5g2bRoDBgygZ8+etG3bloyMDJKSkigrK+PRRx+t7csvhGhpmml5fSGEaDIpKSnqn//8p5o6darq0qWLCgoKUmazWbVu3VrdcMMN6j//+Y+yWCxO865bt05NnDhRRUZGKrPZrKKjo9XVV1+tHnvsMYf9r5TS9sC64447VNu2bZXZbFZRUVFqxIgR6pVXXnE4dsOGDWrs2LEqNDRUeXt7q4SEBLVo0SKVnZ3tcGxN+0w52z/JZuXKlapfv37Kx8dHRUREqNtvv12dO3fukvtWVefMmTPqt7/9rerZs6cKDAxUPj4+Ki4uTt15553qu+++c5rHtn/VnDlzajz37t271fXXX68CAwNVYGCgGj16tNq+fbu+71vVPcBs537wwQdVp06dlI+PjwoKClKJiYlq9uzZ6pNPPjEca9uHrOq+V7VR3T5kNdm1a5eaOnWqioiIUGazWcXGxqr7779fnTt3znDcoUOH1MKFC9WAAQNURESE8vb2VnFxceqmm25y2Mesuj2uysvL1e9//3vVoUMH5eXl5bBHlbO9r5RSqqioSP31r39VPXr0UL6+viowMFANGzZMrVy50uHYS72Pda1T1e1DZl+2tm3bKpPJpPbt22dI279/v5ozZ45q3769vt9ejx491K9+9Su1ceNG/bidO3eq+++/X/Xu3VuFhYUpX19flZCQoObOnat++uknwzlr+j/64osv1LBhw5Sfn58KDQ1VkydPVocPH662TlmtVvXkk0+qjh076u/9okWL1MWLF6t9L958803Vp08f5e/vr1q1aqWmTp2q9u/fX239r/oenzlzRv3+979XQ4cOVdHR0crb21vFxMSo8ePHq88++8zpayyEcA8mpexmrQshhBBCCCGEaDYyh0wIIYQQQgghXEQCMiGEEEIIIYRwEQnIhBBCCCGEEMJFJCATQgghhBBCCBeRZe9rwWq1OuzpYzKZMJlMLiqREEIIIYQQoiVSSlF13UQPDw88PJz3hUlAVgtWq5WLFy+6uhhCCCGEEEIINxQQEFBtQCZDFoUQQgghhBDCRSQgE0IIIYQQQggXkYBMCCGEEEIIIVxE5pDVgrPFO2oaByqEEEIIIYS4Mjlbf6KmxQAlIKsFZy9gTSulCCGEEEIIIYRNTQGZRBRCCCGEEEII4SLSQ+bGfv75Z8rLy/Hy8qJLly6uLo5wQ1KHRENJHRINJXVINAapR6KhXFmHJCBzY0VFRZSVlWE2m11dFOGmpA6JhpI6JBpK6pBoDFKPREO5sg7JkEU3ZjKZ9B8h6kPqkGgoqUOioaQOicYg9Ug0lCvrkEkppZr9Ud2M1WolPz/fcF9QUJAs6iGEEEIIIYQwqGvsIBGFEEIIIYQQQriIBGRCCCGEEEII4SISkAkhhBBCCCGEi8gqi24sIyMDi8WCp6cnkZGRri6OcENSh0RDSR0SDSV1SDQGqUeioVxZhyQgc2Opqan68pzS+Ij6kDokGsoldej71yH7JIz9M8iKam5P2iHRGKQeiYZyZR2SgEwIIYT7sFphw2NQXgS9b4HWPV1dIiGEEKJBJCBzY3FxcVitVll+X9Sb1CHRUM1ehwovaMEYwIWjEpBdBqQdEo1B6pFoKFfWIQnI3FhoaKiriyDcnNQh0VDNXodyzlTevpDcvI8tmoS0Q6IxSD0SDeXKOiRfIwghhHAfufYB2c+uK4cQQgjRSCQgE0II4T5yz1beloBMCCHEZUCGLLqx8vJylFKYTCa8vOStFHUndUg0VLPXIUNAdkxb5EPmjLg1aYdEY5B6JBrKlXVIaqwbO3jwoL48Z58+fVxdHOGGpA6Jhmr2OmQ/ZLG8SPs7LK7pH1c0GWmHRGOQeiQaypV1SL5WFEII4T7sAzKQhT2EEEK4Pekhc2PBwcGUl5dL17yoN6lDoqGavQ7ZhiyGJ0DWcW0eWecxzfPYoklIOyQag9Qj0VCurENSa91Yhw4dXF0E4eakDomGatY6VHoRCjO1251Gw67jsrDHZUDaIdEYpB6JhnJlHZIhi0IIIdxD7jntt3cQxFyl3ZaATAghhJuTgEwIIYR7sM0fC42FyC7abQnIhBBCuDkJyIQQQrgH2/yxkHbQqrN2+2IGFGa5rkzCPVmtkH/e1aUQQghA5pC5tRMnTuiTDzt27Ojq4gg3JHVINFSz1iFbD1lIO/AJhOAYyDsHmcfAf2DTPrZoMi5ph75cAjv+CXPWQYcRzfOYoknJ55loKFfWIQnI3Fh+fr6+X4IQ9SF1SDRUs9YhvYcsVvsd0VkLyC78DLESkLmrZm+HSgpg95va7ZNbJSC7TMjnmWgoV9YhGbIohBDCPTgEZInab5lHJuri8Foou6jdzj7p2rIIIQTSQ+bWevbs6eoiCDcndUg0VLPWIfshi6D1kAFkSEDmzpq9Hdq7svJ29qnmfWzRZOTzTDSUK+uQBGRuzNPT09VFEG5O6pBoqGarQ1Zr5bL3ekAmKy1eDpq1Hco+Bae2Gv8WlwX5PBMN5co6JEMWhRBCtHwFaWAtA5MnBLXR7rMFZNmnoLzEZUUTbmTf+9rvmAHa74sZUJLvuvIIIQTSQyaEEMId2OaPBbcFz4qPrqDW2ibRpfmQdRKiurqufKLls1orhysOmg+fL4KibMg+Da1luJsQLYbVCt/8DQovQEAUBERAYJR2O7Dib59gMJlcXdJGIwGZG8vOzsZqteLh4UFYWJiriyPckNQh0VDNVoeqzh8D7cM4sguc26MNW5SAzC01Wx1K2Q45p7ULua4TYeeLFQHZKQnILgPyeXYZOf0tbHmq5mM8fSqDs4AoCIysCN4iofPYyjnGdeDKOiQBmRtLSUnRl+eUxkfUh9Qh0VDNVoecBWSgDVu0BWTCLTVbHbL1jvWYBt7+ENYBUn+UlRYvE/J5dhnJOqH9Dk/QtqW4mKH9FKRrv0sLwFKifS7YPhvsBUbVKyBzZR2SgEwIIUTLV3XJexvbh64EZKImJQVwcI12u+/t2u+weO23LOwhRMuSk6L9ThgFE59xTC8trAzS9EAtHS5e0G7XIxhzNQnI3FhMTIzetSpEfUgdEg3VbHVID8ic9JCBBGRurFnqkG3vsfCEyk3EJSC7rMjn2WXEFpCFtnee7u0P3nEQFteoD+vKOiQBmRuLiIhwdRGEm5M6JBqq2epQjm3IYtUeMltAlgxKXVaTvK8UzVKHbMMV+95WWUfCO2i/s2TI4uVAPs8uI5cKyJqIK+uQfI0ghBCi5atuDllYB20p/NICyP+l+cslWj597zET9Lml8n5bD1lOClgtLiiYEMKpnNPa72YOyFzJbQOy/Px8Fi9ezLhx44iMjMRkMrFs2bJa509PT2fu3LlERETg7+/PkCFD2LhxY9MVWAghRP2U5ENxjna7akDm5Q3hHbXbMmxROGPbe6zjtcb6ExwDHmZtf7u8VFeUTAhRVXlJ5ZdroY07JLElc9uALDMzk3//+9+UlJQwderUOuUtKSlh9OjRbNy4keeee46kpCSio6MZP348mzdvbqISCyGEqJfcc9pv3xDwDXZMtw1bzJCATFRhtcLe91W0ep4AACAASURBVLTbtsU8bDw8K7+Bl5UWhWgZbPOFzf7g38q1ZWlGbjuHLC4ujuzsbEwmExcuXOC1116rdd7XX3+dAwcOsH37doYMGQLAqFGj6NOnD4sXL+a7775rqmI3qn379unLc/bp08fVxRFuSOqQaKhmqUO51cwfs4noDEeRHjI31aR16PS32pBE295jVYXFQ9ZxbVhjhxGN+9iiWcnn2WVCH64Y1+xzgl1Zh9y2h8xkMmGq5xv1ySefkJiYqAdjAF5eXsyePZtdu3Zx7ty5xiqmEEKIhrpkQCYrLYpqVN17rCpZaVGIlsVFC3q4mtv2kDXEgQMHGD58uMP9vXv3BuDgwYPExMTUeI6DBw8SFxdHcHDl8JmSkhKOHDkCQFhYGO3bGytTcnIyhYWFAA6R94ULF/RAsH379oYN6SwWCwcOHAAgKCiIjh076vc/9dRTzJ8/n3379gHQo0cPvLwq39acnBxOn9a+bWjbti2RkZGGx92/fz9KKfz8/OjSpYsh7cyZM2RlZQGQmJiIr6+vnlZQUMDx48cBiIqKok2bNoa8hw4d0r9l6N69uyHtl19+IT09HYCEhAQCAwP1tOLiYo4ePQpAeHg4sbHGC7Cff/6ZoqIiTCaT/n7ZZGRkkJqqzQOIi4sjNDRUTysvL+fgwYMABAcH06FDB0PeEydOkJ+fD0DPnj3x9PTU07Kzs0lJ0RqImJgYh1V4bK+9v78/nTsb975ISUkhOzsbgK5du+Lj46On5eXlcfKkNkwmOjqa1q1bG/IePHiQ8vJyfHx86Nq1qyEtNTWVjIwMADp16kRAQICeVlhYSHJyMgCtWrWiXTvjnJujR49SXFyMp4cHkZnfURjUAeUfD2hzK3/5RRu7HR8fT0hIiJ6vtLSUw4cPAxASEkJ8fLzhvMePH6egoACAXr16GZaNzczM5OxZbRhCu3btaNWqchiC1Wrlp59+AiAwMJCEhATDeU+dOkVubi4A3bp1w9vbW0/Lzc3l1KlTALRp04aoqChD3gMHDmCxWPD19SUxMdGQdvbsWTIzMwHo3Lkz/v6VF2sXL17k2LFjAERGRtK2bVtD3iNHjlBSUoKXlxc9evQwpJ0/f560tDQAOnTo4NI2wubkyZPk5eUBjd9GlJeXYzKZDHUbGrmNsFvy3mkbYbfSorQRmkZpIzw96dmzpyGtKdoIf39/iouLKS0tZd++fY3XRpQUoA6twQQkBw4kJD3doY34pdSPNkDe6f1UHQwrbYTGXa4j/P399fbI9j8n1xHu10YEHt1NNKBCY7HvdmmO6whPT0+8vb0N9b++1xG2/9PauiIDsszMTMLDwx3ut91ne3FrUl5ejlLKcJ9SirKyMj3dWR5belVWq1VPs1qtDunOzvv880/z4YcfsnHjRv72t7/Rv39/hzLZn9dicVxFqqysDKUUZrPZIc1iseh563Pe6p6r/XmrPlf719DZeW2vobPe0dqetzneG2fnram+VPcalpeXO90Po6b3pjbnLSsrwzfnEG23LYLYwXD3hkue1/651vU9r+1r6Cy/fZmqutRzLS0txWq1Gj4YnZ23vq+hs9eotudtKfWwoW2E7XxxccbJ143aRtgFZE7fG9smoPmpWItyKStzPoJC2ojan7esrMxpWlO0EZ07dyYjI4PTp09TVlbWeG3EoSRMZYUUB8SQG5RIoJMyFfpoAZpX/tkazyttRMu/jrAFMkVFRXrgJNcR7tdGeBVoAbEKaW8IyJrjOsLZFwMNuY6oiysyIANqHO5Ym6GQXl5eDseZTCa9QbKPru3zOGuwADw8PPQ0Z/84Vc+bnp7OZ599AUBpaTGxsbGYzWaHMtmf11llMpvNKKWcltfT01PPW5/z2v+u7rxVn6v9a+jsvLbX0Nl7VNvzNvV7U915a6ov1b2G9sfYq+m9qc15LRYLQQXaN5P2Q3VqOq/9c63uvA19DS/1XKu61HP19vbGYrE0yWtotVrr/H/TEuuhW7QROZVL3jt9b/xCITAaCtLwKzxHiX8HaSMaoY1wluZWbUTFcMXsuAmYvb2dlkmFaD1Q3hcdV1mUNsLxvC22jbAj1xHG87pbG+FbrPUeVx2y6I7XEXVhUnUN4VqgCxcuEBkZydKlS2u19H2bNm0YPnw4H3zwgeH+Tz/9lEmTJrFhwwbGjRun32+1WvVuaJugoCCX7wafnr6De+99mOnThzBnzl1AD67gGFvU1f8Wwu43wMMLllyQDXVFy/VsL8hNgbu/hNiBzo95a5K219S0V4x7TYkrU9ZJeL4vYIKFBxy3S7ApyYe/VaT9LkVbyVMI4Tp/T4SC83DvJojp7+rS1FtdYwe3XdSjIXr16qWPNbVnu6/qeNiWKiqqFWvWPMadd14HpACbgSysVisvv/wyJSUlLi6haNFsS4Rbyyv3eBKipbFaIK9ioaXqLqqhctiiLOwhoPq9x6ryCQL/ivk8srCHEK5VVqwFY3BF7UEGV2hANm3aNI4cOWJY3r68vJx3332XQYMGOUzObalSU1NJS0vjwoULFfcUAtt5/vk/MH/+fK6++mr279/vyiKKlizjiH4z9ZjUE1E/KSkpnDhxQp+w3ujyz4OyaD25gdHVHycrLbqtRq9DVivsq1hdsd/sSx8vKy1eFpq8LRJNT9+DLAD8Hdd6aGqurENuHZB9/vnnrF69mnXr1gHaijyrV69m9erV+uomd999N15eXvoKQQDz5s2jR48ezJw5k5UrV/LVV18xa9Ysjh49ypNPPumS51Ifubl55Ofn66tWafcVsHTpC4DW41cZrAlh52ImFFbWjcJ0+QAT9ZOdnU1WVpa+Clijsy15H9xW28i3OnoPWXLTlEM0mUavQ5fae6yq8IrV8rJkc2h31uRtkWh6+h5k7V0yjcKVdcitJxzNnz/fEGh9+OGHfPjhh4C2hGt8fDwWi8WwEhiAj48PGzduZPHixSxYsIDCwkL69u3L559/zsiRI5v9eTSmkJAAtm79G7Nn/4PRo/ty3XXtAQU0rGIrpcjIyCAgIMCwNKpwUxeOGv70KpEPMNFC6SssXmJPmoiK5Ygzj4OlHDzd+uNNNIRt77Ge08Hsd+njpYdMiJbBtgdZ2JU1XBHcPCCz7RtQk7feeou33nrL4f7o6Gjefvvtxi9UM0pI6Ag4Lt3au3cHvv/+HxVB6GEgDegH+LNz504GDRpU7eovJSUlDvsJvfbaayxatIicnBw++ugjpk+fbkj/7LPPiIuLIzEx0ekKQaIFyjAGZDHhvtUcKETNunbtilKqzitK1Vpu5QqLNQqOAbM/lBVqF9YRnZqmPKLRNWodKimAQ0na7b631y6PBGSXhSZvi0TTc/Gm0K6sQ249ZPFK5+3tjbe3t9OlOH18zPj62ja+ywI289VXKxkyZAhTp07VN1S0WbhwIR06dCAgIICioqKKe8uAbIKCSsjJ0RZ9OHp0A7AHSAbSKC/PZ9q0afTs2ZP+/R1Xw6lu3wfhYlUCMnOJLOoh6sfHxwdfX1+HL3IaTU4tAzIPD2hVEYTJPDK30qh16FASlF3U6kK7q2uXJ6xiyGK2DFl0Z03eFomm5+KAzJV1SAKyK0RR0UXuuus3AKxdu5bVq1dXpFiBAjIzz3Lq1CksFgvJyR8AG4D1wDa6drXQvn0kY8f2JTY2AEgFjgC7OHr0HUpLSwHo1q0t2mqPORXnhVmzZtGuXTsmTpwo47pbEtuQxYBI7fdFmWsoWii7TaEvSRb2ELbhin1vq/0cFFsPWc4ZbbirEMI1XByQuZKML7tC+Pn58M9//op7732R3r07cP/9/YGv0VZmVHTp4kNwsD+JiTEUF18AKle36dOnA6dPv+70vKGhAfz1r7PZv/80Y8Z0BvZVpJiAAPbt+55z586Rk5NNSIjxG4ekpCQ+/vhjevXqxYwZM4iPj2/05y2qYeshixsGh9bAxQzXlkeI6tgCstDYSx+rB2SysMcVKesknN4GmKB3HfaiC2oDnj5gKYG8s5UBmhCiedkv6nGFkYDMjRUUFGAyXcRkMuHv73/J46dMGcyQIV0pL7fg4WG8AH/00Zt47LFZdR43GxPTij/8YZaTFEVZWQ7t24eRlZVDt27t8PDYCJiBYCCIr79ewzvvvANA//79DQFZdnY2n3zyCb1796Z79+61en6ilorz9H2diqIH4HdoDeV5adIYiHrJy8vTx9wHBwc3/gPoPWS1CchkLzJ31Gh1aN8q7XfCKAiJqX0+Dw9tEYELP2tBnQRkbqnJ2yLRtMqKoCBNu+2iPchcWYfkGsyNnTlzFi+vVLy8vOjQoUOt8kRFhTq932xu/KpgNnvxzTePo5QiN/dixb1lQCaQyU8/7dGP7dUrG/geLVgLZvfu3dx9990APPzwwzz77LOGc7///vtERkbSsWPHWj93UcHWexAYTWqpPwlAWW6qNAaiXk6ePElZWRlms5k+ffo07smLc6EkV7tdmyGLkRUrLV74GZRyybLJou4apQ5ZrbC3IiCr7WIe9sLitXojC3u4rSZti0TTs3355h0IfmEuKYIr65Bcg4kmZzKZCA0NdLj/s8+WcvjwGQ4fPktkpDdwvuIHfvppjX5cnz5haIuI+AH+lJd7M3v2bCwWC/3792fPnj2G865bt460tDTi4+MZNmwYfn61WPb4SmKbPxbRhXJvLUD3sl30CtGS2D6g/cLBuxbbbYQnACYoztGG4QZGNWnxRAtyehvk1mHvsapkpUUhXMvFe5C5mgRkbiwiohUeHll4eLjn2iy+vt7065dAv34JDmnjxvXjH/+4m/37TzFwYCu0RUQ0586lY7FYAIiLC0Kbt6YFa+DPK6+8xKefrgfgl19+MQRkX3/9Nc888wzR0dHMnTuXESNGGB73woULhIeHu+1rWiu2+WORXQlrpw3x8irN1b5hvpyft2gS0dHRWCwWPD1r2LS5vuqyoAeA2VcbepZ9SuvtkIDMLTRKHarr3mNVyUqLbq9J2yLR9PQFPVy3B5kr65AEZG4sMjISbUn7y0/PnnH07On8nzIoyI8XX7yfU6fSKo5JMaSfOnUI0Jb+j4o6BpwDfABvDh/+ls8++wyAkSMHM2LEMED7xysuLiYyMhJPT0+mTJnCRx99ZDjv22+/TUpKCuHh4dx1112GeW1lZdp+cG6xD5sekCUSFdcNAJOyaL0K/uE1ZBTCUevWrZvu5PoeZLWYP2YT0aUyIIu/pkmKJRpXg+tQSX7d9x6rSnrI3F6TtkWi6bWAFRZdWYfc4OpRCKPw8CAeeGBCtekrVtxDcnIqeXlFeHhkA5XL7aenH9JvR0WlAp+hBWQ+pKdre3FZLBZMpgLgBOCNthCJmf/85y02bvwGgDvvvNPwmP/973+54447CAkJ4YUXXuCOO+7Q06xWK/PmzSMwMJAePXowf/58Q96ffvqJ/Px8goKC6Nq1q2FfuSbZoPBCZUCGlzf4hmhzdS5mSEAmWpba7kFmL6ILJH8hKy1eSQ4laRuC12XvsaokIBPCtVpAQOZKEpCJy86YMX0ZM6av07Q//vFmHnxwAmlpOcTF2YYzWYBCrNZsbrhhAGlpOXTqFAQcNOTNytIaC09PDwIDt6AFa1rAlp29F4Dc3FxMpjS0YM4L8OLixWLefvvtirKNYv78eRVpnhVl+iNr1mhz5tLS0oiKqhxm9dFHH3HLLbfg6+vLE088wUMPPWQo03XXXYeHhwc9evTgueeeM6S99tpr7NixAy8vL5YvX65981NWDNmnOJ5l5fV/fcLGE6tYFuHFDa3R9iKrWBTh5ZdfpqioiNDQUO666y7DeXfs2MFPP/2EyWRi8uTJREdH62mZmZmsXbsW0Ha8HzJkiCFvUlISubm5eHt7c8stxmWpDxw4wN692us4cuRIYmMre0UKCwv11yg2Npbhw4cb8m7cuFHf7HzWrFmG4QYnTpzg+++/B+Dqq6+mY8eOeprFYtF7QiMjIxk1apTDcz179iwmk4kJEyYYekVTU1PZvn07AD179qRr164Oz7W8vJygoCDGjRtnSNu7dy8nTpwAYNSoUYSFVU5gzszMZPPmzQB06tSJ3r17G/Ju2LCBixcv4u3tzaRJkwxphw8f5vDhwwAMGzbM8N4UFBTwxRdf6K/h1VcbL1y/+eYbsrK0Hvfp06cb0k6cOKG/N1dddRXt21d+YJaVlbFu3TpAG+4xbNgwQ94dO3Zw/rw2N3TChAmGDTfPnTvHrl27AO017Ny5syFv0lffYj1VRkirIq7D6IcffuD0aW3OwejRoytXxIroTMZFK9vWb4KiT+jSpQs9evQw5F2/fj1FRUX4+vpyww03GNIOHjzIzz9rqzRec801FSMRNHl5eWzcuBGAuLg4+vfvb8j79ddfk5ubi4eHB1OmTDGkHTt2jJ9++gnQ6mG7dpVBZklJid5z37p1a4f/m2+//Vav35MmTTJ8aZOSkqLPo+3Tp4+hfgN88sknAISHhzNy5EhD2u7duzlzRgt6x44dS2Bg5VzftLQ0vX537dqVbt26GfJ++umnlJaWEhAQ4FC/f/rpJ44dOwbAiBEjaNWqlZ6Wk5PDpk2bAOjQoQN9+xrb6q+++or8/Hy8vLy48cYbDWlHjx7l0CHtS7XBgwfTpk0bLWHvSorKFOvzesGaNbRt25ZBgwYZ8m7dupULF7T9FidPnmxoI06dOsWP3++Hw2X0a5NNfGGW/uWUxWLR27SIiAiHtmfXrl2cO6etWnv99dcb2ohffvmFnTt3AtC9e3cSExMNedetW6e3EWPGjDGk7d27l5MnteGTo0aNIjS0ckGuzMxMtmzZAkBCQoJDG/HFF1/obcTEicb5dIcPH+bIEW0KwNChQx3aiC+//BLQ2oirrrrKkHfz5s16GzFt2jRD2okTJ9i3T9v2ZsCAAQ5txP/+9z8AoqKiGreNSErCarUSEhLCddcZW4lq2wggIyODbdu2AUgb0VLaiIqALMcjnE0VZapvGzFw4EBiYuqw0mpLoMQlWSwWlZOTY/ixWCyuLpZS6qhSaq38NNPP7t3/UOvWLVGrVv3WIe299/6fGjw4USUmxqjPP19qSDt37k0FKEBNmzbYLm2dUupzNWZMPz09N/cLpdQOpdQupdRu9e67f9XTXnjhMaXUEaVUslLquLJaT+ppgwb1V0qdV0qlKaXSlVIZ6o47ZunpP/+8RymVq9Qv3ym1NFhtuCtST7tneBullgYrdeBDpVSpUqpURUZq6R07dlRKlSulLPrPwoUP63m3b9+u7O3Zs0dPe+CBB1RV3bt3V4AKCgpySHv88cf1vElJSYa0M2fO6GkzZsxwyDty5Eg9vbi42JD22muv6WmvvvqqIa24uFhPGzlypMN5Z8yYoaenpKQY0pKSkvS0xx9/3CFvUFCQAlS3bt0c0h544AE97549ewxp27dv19Mefvhhh7wJCQkKUBEREQ5pS5cu1fOuX7/ekHbs2DE97fbbb3fIO3jwYD29qhdffFFPe+eddwxpubm5etq4ceMc8k6ePFlPT0tLM6R98MEHetozzzzjkNfby6QA1bdrB4e0u+++W8974MCByoRT29WmOf562u9+9zuHvO3atVOAiomJcUj73e9+p+fdtGmTIe3gwYN62rx58xzy9uun/S97e3s7pP3jH//Q8/73v/81pKWnp+tpN954o0PecePG6ek5OTmGtP/85z962j//+U+HvLa0wYMHO6TNnj1bT09OTjakrV+/Xk9bunSpQ15jG2G0cOHCatuIH374QU+bP3++Q97athFr1qzR7sw8rtTSYHVmYVDjtBE3+ip1tvJ/8lJtxMyZM+vdRgQHB0sboRrYRnh7a21E374OadW2EUqpTZs2SRtRocW0EU91UmppsPphw6oGtxGrV692SGtudY0dpIfMjSUnJ+PpeQJPTy/i4q7MLt7mNGBAp2rTbrttJLfdNtJpWmRkCIcPv0R+fhEBAfabYyugjJtvHkavXu3Jzy/Cz68AKNaPCA4uYsCAThQXlxIVVQZU7q9UWlqm3/byKgJ2GR63vPy8Xfoe4Bxk7ADAEhwCaHvRFZt8gYtQuBVtrh1YrVoZTKZCtGGdlazW43Z/bQMu2P1tn3YK+J/d3yaUyreVDvgUoyN2t3dj60HU2D/GLw5lMs6lXI82zNRmv93tn4DP7f4us7udVSUNbKt+ajYBkXZ/26/u+XPF49orr/hd4CTNft7jdiDd7u/DdrdPOclbWPG71EnaMbvbu9HqmE1qldtV8+bY3a6adsju9n5DekqK/ft2wUle++f2NWC/9cZeu9tHHPOqivJ7OnuuZ+1ubwMqhjdG5FU57oSTvMV2v6umnbC7vQv7/0c4XeXxq+a1PbbVSZr967QXbYsPG/vXPt1JXvv6/xVgv+Kkff0+5CSv/WNUTbOvE1sw1h/7+n3MSd7Sit+FTtJO2d3eCdiv4mr/GCnAek6fPk15eXnFHNyCirRyJ+e131/uB8AH9n2g/RnXFW3rFND+b6vmtW8jNqCNbrA5YDw0OwlibPW21C4hy8l57duIbzC2ET9UKfuV2UbARbvbjdxGYK34ncfp06/o9SguLo5q2wi9jDbSRlQ+hovaiLIMuFhRDwLt36cUJ3lr00bkUB8HDx7Ul72v2mva1CQgc2Pl5RbA0vhzjESjMpu96Nq1+jkw99wzrtq0G28cyI03DnSa5uNjpqzsE4qLS7FalUP63/9+F489NovycgsxMRVDhi5ojetVAxL4/PPZ3POmhb7hO4BMuFh5Ifv66wsoLi4jIMDX4by33TaSPn06YLVa6dgx2pDWvn0kr7zyAADdu7fH+GGv+OMfbyYrqwCz2ZPKD1LNuHF9CQ7WVkfr1SvWkB4a6sfzz/8KgISE1mjDTCstWDCR6dMHA+DpqQzpgwZ15tlntT3tBg/uTOVFEHh6WvnHP7Q07TWqTAO4885rK/JASIiPIb1797b8/e/acM5rrumOMbiDv/xlNqWl5bRqFeSQNnXq1cTHR1Q8brAhvX37MJ56ai4AAwYkOOR99NHp5ORcxM/P2yFt7NheBARoebt0iTKkt2rlp5+3e/dYh7wPPngD06bZhnkZ04YM6cSTT84BoH//eEO6l5eVRYsm4uHhSf/+XR3yzplzLcOGaUO1AgI8Dem9erXTzzt8eJW8lnIeH+2LxaqIuukGh/POmDGYLl20CdjR0YGV6QF+dGwTyJNjLDBoPIPG9nXI+4c/zCA/v4jAQD+HtPHj+xIWptXDjh0jDOlRUYF6eXv1infI+5vfTCItLQdPTw+HtGuuSdTz9u5tfP0DArz0tISENg557757DKNH9wLA19dkSO/XL07PO2RIZ4e8trS2bcMd0rQvg7Shwa1aGV+LLl2i9LzDhnVzyPvHP95MYWEJoaEBDmmTJvWndWvtYrJ9+zBDetu2wfp5+/btCJRhtZZgtZZjtVp45JHJZGbm4+3t5XDeUaO663m7d28L1hLYqw3vDRl0DU8+2R2AxMQYh7z33TeOCRO04WOenlZD+tVXd9DOe2AnV/ufhexUPd3T06o/ZmxshMN5b799OFddpQ0BCwkx/k92795GzztihGMbsXz5rTW2EXFxrfTXrGobYTvvVVd1csi7ePG0ijbCxyFt7Nhe+Ptreau2EeHhfnavb3uHvPVtI3x8THpafHy0Q956txHA44/fgcViJSoq1FCPoKz6NgLtf9t23kGDEh3OK22EptnaiJxftARvX9p2jHZoI+zVpo3o2bML9VFeXk55eblLrqtNSinHKzlhYLVayc/PN9wXFBTk8qXRjx//HE/PY3h5eRnGGgtRrQ+eh0O7UONuwzR0AqOfLmdq7hoWeK2Bq8fCxDmuLqFwM2fPntW/lW7UdijnAqx4GDy94LE36rYlw+t/gjM/w00PQq8hlz5euFS961DqSfj3EvD2hUUvgdn70nkqpOXBxsMw6yrwsnXGb/oINn8C/a+FyffU6TkI12uytkg0veR98N7TEBULD/ytEU54FdCmzrmOHDmi95BVnRdeV3WNHaSHzI0lJCRQ9Rt9IWqUofWQ7cyP4XdPmzid6U2mZ8WwiIuyObSouya78MmtGIITHF73/fEi2mgB2YXUSx8rXK7edSi9Ykha2w51CsYAZr9mIjndRG6RlfnXVtwZXtHjn51eXTbRgkkQ5sZyKtr70AiXFqOhQVhDyC6wQlwpLBbI1IYFbMmO4XSm1iWfpSoCssL86nIK0fxsH9Ah9fiAjqxYXevCL41XHtHy2ALuiLZ1ypaeB8npWvv34R67oUlhFSvcZklAJkSzytHmtBMWWfNxlzEJyIS4UmSngdUCZh++PKvNTbg2UXHBNnH4YtXFEIRwodxM7XdIq5qPcyaiYqiK9JBd3mwBdx0DsnV2axz8kgMltoEmtovBvEwol9EnQjQbvYdMAjIhxOUuQ9srpyy8LccueGIyKf48RfHSvRX7ilyUHjLRgtgCsvoMYbFdoGf+AlZrzccK91XPHrKkvZW9Yp2jtR4zAAJDwctbW90z94LzzEKIxmfrIXPxkEVXkjlkbiwtLQ0Pjww8PDwMG28K4VTF/LE0H204V2I0+KtMyk0VqxQV5msXry5erEa4l8zMTKxWa+O3QzX0kGXkQ2EpxFX3cKGR2mIg5WXahXVYVDUHipagXnXIUg5ZadrtiNpP3lcKbh2oCPCGv89SxNivsG4yaXUl46w2j6xV69o/CeFyTdYWiaanB2Su7SFLTU3FYrHg6elJ27Z1+6KnoeTKy41lZWWTk5NDXp4MNRO1UNFDdqRMa2QGd4S8vDyyS2zLxiooKqgmsxDO5eXlNU07ZOuhcBKQ3fqqiZFPe3Aio5q8Hh6VF9Myj6zFq1cdyk7Xh2ATHF7rbCYT3DoQVv2qSjBmYxu2KAt7uJ0ma4tE0yotqZwy4eKALCMjg7S0NDIyqvtwaToSkAlxpagY3rMtT+shG9hB2/Hi/Z8iyTdVbCIp88hEHKkGCgAAIABJREFUS6CUXQ+ZcQhL1kU4VrEgwxvf1rBXjG0Ym8wjuzzp88faNLhX/2IJFNu+l5KVFoVoXrYv33z8wNfftWVxIRmy6Mbi4tpjMhXLxtDi0qxWfchiSGwMnTwVAztAoFcbfs7xJt0STJDHRQnIRJ21adMGpVTjtkPFhVBarN2u0kNm3yu2bh88NgH8nK14LgGZ26hXHarH/LEj52HncZjYGyKDtPsWrzbx8Q/w3C2Kib2RlRbdWJO0RaLp2S/o4eL3rlOnTi6rQxKQuTF/f3/Az9XFEO4gNxPKS8HTi4UzI1noadsP3pcOkSYupISQwC8SkIk68/X1bfyT2r4x9Q922F/quF1ANnMAlJZfIiDLkICspatXHbK9r3WYP/b+LhNvbTfx4xnFc7dobWCgD5RbTWw7BhN7Kxmy6MaapC0STa8FLegREBDgsseWIYtCXAkq5o/RqjV4ehqS4lopslTF18WyF5loCXKqnz92PEP75nLuUMX/TVKEVDfCRV/6XuaQXZbq2ENWboH/VSx3P7Wv0u8f3lm7veVnbaQsYXZDFpVCCNHEZMl7QHrIhLgyVFy85AbG4FcO3nb/+XHhcF7JXmSiBalhyftfjVCM7KJoFXiJc7SqCMgK87QvGvyDGreMwnWUqvMeZNuOwYUCE+EBims6V94/qCOYPRXnckycylR0sNW50mKt3gQEN3LhhRAGLWSFRVeTHjI3VlRURHFxMSUlJa4uimjpKnrI3vo5hj7LTeQUaneXlJTQJqiEzIrNoZUEZKKOSkpKGr8dqmHJ+4hAGNYJurbWrsu/PQZvb3dyDh9fCK7IL71kLVqd61BBLpQUavNNbItwXIJt77FJvcFsN0jA3xsGxGm3tyajDZENCtPukGGLbqVJ2iLR9PQeMtcPWSwsLOTixYsUFhY2+2NLQObGTp06zZkzZ0hNlTkS4hIq5lv8bG1HVDCEVgzzSk1NhYIzZFX0kJXmSkAm6iY1NbXx26Ealry3dzAVbn/Ng79+aiLT2Y4NMmzRLdS5DtmGK4ZGOswxdKawFDYc1G5P6es4DNE2bHFrcsVEfllp0S01SVskml52y+khS05O5vDhwyQnJzf7Y0tAJsTlTim9h+yYasugDsZkby9FmY82kbW8QOaQiRagmh6ys9nw9AYTn1bMBeoZA73bKUotJj7Y7eQ8kbaVFs81XVlF86vj/LEvD0FhqYn24Yr+7R3Th1cMYdx5HMosVC7sISstCtG0Sou1YeXQ4B6y705AblEjlMlFJCBzY2FhoYSEhBAUJHMjRA0KcqCkEAsmTqo2DOpQ+Q1xUFAQISEhLBivNQUBZdJDJurGVocatR2qZg+yA+fgxU0m/r2lckniOwZr9fndnSYs1irn0Ze+lx6ylqzOdcgWkEXWLiA7k6XNE5vS1/mq2j3awo19FL+9Xml1yLb0vfSQuZUmaYtE08qpaOt9/MGv/iscns2Gu982MX6FiZTM+henVatWREZG0qpVzaMzmoIs6uHGWrduDeS6uhiipavoHUtR0ZRiZlDHyqvWiIiKC15VMeZe5pCJOtLrUGMpL4f8HO12lR4y25L3CXYjW27sA3/9TFuUYdMRxZju9oWTvcjcQZ3rUB0X9HjoOrh9kKK6NRM9PeCFW+1Sw2TIojtq9LZINL1GWPLeaoXffmiioMREYmtF29D6F6ddu3b1z9xA0kN2JSos0CZFiytDxfyxZGsMMaGKdmFOjrGtJFZUABZL85VNiKrysgAFXmaHFe6Op2vdGwlRlRfPvmaYdZV2+52dVbo/bHPIstOhvKypSiyaW0bdN4UOC4Dw2n4BLz1kQjSPRlhh8Y1vYecJE/7ein/MUnh5XjpPSyQB2ZXGaoWXH4MXH4VSWYnoiqDPH4txmD9mczg3CCsVF7NFzlZHEKKZ2C/oUWV8mbMeMoDZgxQmk2LLzyZOXrBLCAwFHz9tHmVWWtOVWTSfkmLIqxiTVItNoc/X4bvHM1mw8jvI96+oYHnZUFZaj0IKIWqlgSss/pwGT23QPif+b6IirvlHGjYaCciuNCVF2odZUQGkn3V1aURzqBiu1aVnW6b2cz5ox4IH2apiYycZtihcqZr5Y0pVH5C1bwXXdoGOkYoM+3VpTCYZtni5yawYrugffMm95c5kweC/eTDjXyZtsY5LmPOGiT984sH2X4LB2xdQlV8QCCEan62HLKzuPWSl5fDw+yZKy01c11Vx68BGLlszkzlkbuzEiRN4ep7G09Oz9uNeC+2uVtLPQruEpimcaDkqesjGDG8LMcaks2fPYrFYMFu8yFLBtDLlU5idh3/ttvYRQq9DdWqHalLNCovp+VBQYsLTQ9HeybegK25WBPs5WbQhoi2cO145zE20OHWqQ/r8sUv3jiXt1X77mI17j1Xnms5w4gJsO+bB9WFRkJairbRYh6GRwnUavS0STU/vIat7QPbvLXDoFxNh/oonblJOF+ypq6NHj1JWVobZbCYxMbHhJ6wD6SFzYyUlpZSWllJWVoe5EYaA7EzjF0q0LIX5lT1eTi4qysrKKC0txdtUSq6HNl8nM116yETt2epQndqhmlSzB9nxiuk87cPBx8lXiSH+zlfQq9yLTAKylqpOdci2hcElgiSlYE3FZtDO9h5z5ppOtv3IqPzGXuaRuY1Gb4tE02vAoh63D4KJvRV/m66IaqSFNYuLi/Wf5iY9ZG7M09MDDw/tp9aq9pCJy1tFr0ChXysKy3yJ8DEm2+qPh4cHpT5BUAJ5mbIXmag9+zrUKKoZsjioI2xdbCWnsObsRaXwzVEY37MiQJOl71u8OtWhWvaQHUyFY+kmvL0U43vWrhxDEsDTQ3Eq00Rel2iCQQIyN9LobZFoWiXFldekIXUPyMIC4MXbavdlS215enrqvazNTQIyN9alSxeodiHfakhAdmWp6BXYVdCOswdg9mBjclxcnH77jH8wlEBRjqzAKWrPvg41imqGLHp6QGy49lOd0nK49u8m0vJMfPyAVdsE2H4OmVLVdKMJV6pTHdL3IIup8bC1+7T3eUw3CPat3amDfKFfLOw+DUdLI7kaJCBzI43eFommZRsN4Vu3Pcj2nIb+7ZumKe/Zs5bf3jQB+RrhSmMfkBXkGP8Wlx1Lmm2FxbYM7ljzsV6BWp9/eb7UCeEiSlUbkP1/9s47vq3q7OPfq+W94xnHznZCJiOQBBIIIRDKKISyR1mlLaUU2pcWygv0LYVS2kJpaYEySthllFESVtgkkEGAxNk4sR3vPeSpcd8/zr0a1pUs2bIsxff7+eRjRVf36Ojq6NzznOd5fk8wWEywZJp4/PTnyt06MwcMRrD1KZL6OjGL0wnNdeJxAA+ZwwlvKPljZ84LbdPyuGni9Rtb9VpkOjojyhAk79/fBec8ZOC65ySczsFfH0voBtlYo3uApHlD9ej0QyciWKvE91trHu+jTDeQ+AyRQ5Zk03PIdEaJbqswnABSvV1h//uaxP3vSbR0BW7i0oViQb1mGzRZAaMJMpXFtZ5HFtu0NoDDLmrUBQhx2ngA6jokUuNlls0I7S1Ug35dnWqQNYqNAh0dnfASouR9sxV+9YrYaMtPg0MtMvUQ+zg6gzLQI6YLexzSGJrFAjS+oGBQ9/6caWnib4ZukOmMEmoIS3IamC2up7v74ZkvJB54X2KwKJV5E2BeoUy/Q+Lfm5UnXcIeeh5ZTKN+f1n5AVdjh0+Av13o5KZTZE0BmEDMK4SHL3Gy+sYsQBIbBFY9jFtHJ+yE4CGTZbj1VYkmq8T0XJn/OeXQ2ySJaYPMarVyww03UFBQQHx8PPPnz+eFF14Y9Lwnn3wSSZI0/9XV1UWg5+GhubmZlpYW2tragj9JNcgSlJpTeh7ZoUtfDyl9IvyrYJq2IllbW5trDBlTFJkivQ6ZTgh4jqFh40fQQy32nJEokxFEqsGli8TN+rmNEg4nei2yKCfoMaR+f4MoLCZY4Ix5cOmi0PtiMgpBmLQUE6QpXlo9bDEmCOtcpDPyhCB5/5+t8PYOCbNR5r7zZOLNI9OlhoYGamtraWiI/G8+pkU9Vq1axebNm7nnnnuYPn06zz33HBdeeCFOp5OLLrpo0PP/9a9/MWOGdzxDVlbslPluaGjEZGrGZDKRnp4e3EmqQTZxJuzarBtkhzD2hhpMQKOcxuHTkzVf09rait1uF2MoWYQs0qXnkOkEj9cYCnYe8oc/yXs/BaH9cfpcuGuNTHWbxAe7ZVbo0vdRTdBjyGWQDV6DLCxk5IpNgtYGKJoemffUGTJhnYt0Rp4gJe+r2+A3b4jYiBtOkpkdWM9nWNTW1rrqkOXk5IzcG2kQswbZ2rVree+991xGGMCyZcuoqKjgpptu4vzzzx9UtnL27NkcddRRkehu9KBlkOnKY4ckdd/WUAgckMZzVF4QJyQqBllvF5/strN0RsxODzqxih9Bj7IGMT8Fa5DFm+G8BfDIx/DNQYkVs3Tp+0OCIDxkd62RSEuQOX8BZA+xNpHNAQ9+IDG3Pofl7NQ9ZDo6I0Hr4CGLsgw3vSTR2SdxRJHMD5dGqG+jQMyuuF599VWSk5M599xzvZ6/4ooruOiii9i4cSOLFy8epd5FhsLC8UhSF1IoxpQq6lE0HSQD9HZBZxukZoxMJ3VGjUK7EPQoKinwm26Rk5ODLMtiDCUk4ETCgExVdSfM0MeEzuB4jaHh4idk0eUhywk+b+CqY2XOP0pmcjbQqyzgO1uht1vILOtEDUGNIVl21VUkW9sga++B1Rug32HgxBnOIRtkJgO8shVsHTksN6MbZDFCWOcinZGlrwd6lPVoAA+ZJMF1J8o0dMJ958mYRrg82MSJE0dtDMWsQVZaWsrMmTMxmbw/wty5c13HBzPITj/9dBobG0lLS+OEE07gt7/9bdA1CHbs2EFxcTGpqamu5/r6+ti9ezcAGRkZFBUVeZ2zb98+urtFVdN58+Z5HWtqaqK6WllAFxWRkeFeDDscDkpLSwFISUlh8uTJrseQTF1dvSvetaioyMszaLVaaWwUq5nM9DTSehSJstRMyMqDphrqtm3BMekwxo/39gM3NjZitYofzPjx47FY3En2PT09rny7tLQ0MjO9FdEqKytdxfUGXoeWlhba20WSdF5eHgkJCa5j/f39ruuQnJxMdrb3zkl1dTX9/f0ATJo0yetYe3s7LS1C1jo7O5vkZHeYnsPhoLKyEoCEhETy8nK9zq2rq6Onp2fQa5iVleX1nQMcOHAAgLi4OAoKvBcKntewsLAQs9kd+Nzd3U19fT0A6enpXt85QEVFJU6nA7PZTGFhodex5uZmOjpErld+fj7x8e5CO319fdTU1JBT+S1JQN4U7++1qqoKm82GwWDwqdvSbUoh2d5B9YE6urosJCW5E3ZsNhtVVSLENTExkdxc72tYW1vrqm5fXFzsVZyzo6OD5uZmzWvodDqpqKgAID4+nvx873Ck+vp61+9m4DXs6upyjf2MjAyfMJWKigqcTqfmNWxqaqJTkfgvKCggLs5dNbu3t5faWuFNSU1N9Qlldl9DI8XF3uO7tbXVlcOQm5tLYqJ78e95DbXGd01NDX19QmVw4Pj2vIaBx3cCeXneLtG6unp6esQ1DDhHZGaSlpbmda46vi0Wy6BzhCdDmiMUg6zTGEeT8r55eXmUNYprOCU7tDlisnoN4xMhOR2sbVRv+5L+7EJ9jqgRxk1KSgrjxnkviALNEW1tbbS2tgJiARyOOSIpKWnQOeLgnp0U93YhIyFleo9vdY5YszuFfkcO03NlZirTyFDmCEkSaouVW0T/e2sPIvX16XMEw58jRnIdoY7F/v5+V5/0dUR0zhHm1noKAeKTvDbItOaIxVPg3RtkrNYODhwIdh3h1SXKy8td42XmzJle47C9vZ3y8nLXdRgYqlhaWorD4SA+Pp6SkhKf66D+5qZNm+b1W1bXLcESswZZc3OzyzDxRP1BqxdIi7y8PG699VYWLlxIamoq27dv55577mHhwoWsX7/ex1jSwm63Iw+QwpVlGZvN5jqudY56fCBOp9N1zKlRXCFQu06nw/W8Vp9cx7qtiELSkvgR5BRCUw3Gllr6i0oYiNPpDKpdrf46HA7NvoarXa3di+DbdQy5v1p9Uo8N3BwY2G7on9WOw+EY8mc1tym7ugPCe9Q+GTTcZv1xyWDvoKejy6ddz88a6nfuNQ4DtOtw+H43np81ULv+vhun06n5WYczDu12O3a7HaPR97ME267WZw3HONS+hsMZhw5kWdYMAQ/7HKEkeduT0jzOlakS93YmZw9tjqhrh+ysAozWNoyt9dgz8kKaIzaUwR2vjqOzD/52RiXeS8PYnSP8t+t/jgjULozcHGFoEQt3R3I6Jkuc1zG1T+v2ioXfd+fLrij8oc4RS6bJPLxZLMxMnc3Y9TnCb7sRnSPC2K6+jhi9OSJOjYYY4B1T27U74WALFCuHDYbhrSMcDoff9bfn2l3r3P7+fpxOp+b49mxX6xqGQswaZEBAl2KgYytXrmTlypWu/y9dupTTTjuNOXPmcPvtt/P6668P+t4mk8nnPSRJcu1caP2oTCaT186GJwaDwXVMa4AHatdgMLqe1+qTeszYp1jrCUlgNAqDbOcm4jua6NcYaAaDIah2tfqrDlytATzcdrWuQWjt+vYp2Ha1+uS6vhqf1bPd0D+ryes1/vqk1W5Vi5kpncoqNtt7x1Ltk9Z7kpACXSB392j+hob63Xh+jkDtDjZeArXr77vxN5EOZxyaTCZkWdYcS8G2O9h4CdRuqOMw2Dki0r9lr3Zt/dClyIunjcPUb1fOldh6m8zBFpmiTHDYQ5sjfvemxL82wNtT85nGTuKtLfT4mb8HzhHVbXD3Gok12yVA7Kh+UpHGEbP8X4dYmSOCuYZaxwK1CyM3RyRYhdfCnpHjs3AxGAy09sXxTa3Ynf7ufO12Q5kjFk+BW2XhWTH1WHHY+wG3B0GfI7z75L9dfR0xsF19jjBh6VHUnAfkj6ntflOVwO3PGvnNmTLnHeXbp1DXEUaj0e/623PtrnWuxWLB4XBonu/ZrtY1DAVJDtWEixIWLVqEw+Fg06ZNXs/v2LGD2bNn88gjj3DNNdeE1Oapp57K1q1bXe5fFafT6QptUklJSdFe0EaQ/v5SJGkvgN+B5kX5bnjydyJU8ad/gp2b4MW/QsFkuOa3I9xbnUjy6tsHOfuLW+iSEkm6/RG/oi2eO0Zms5me5x4kYe8X3Gm/lFv+75QRj9fWiX0GjqEh01wHf/sfMMfBrx8Lm9DQPz+Bu9cauDnjLX7U8zTMOAouuCGoc3/7X4kn1ksYJKHsta1KYsFEmZd+FJO3zaglqDH09jPwxduwcCWsvMTnsPo9h/P7+e6D8HTjNaRK3XDtHyBnBOXddIZN2OYinZHnnefg87V+f8+PfQq/W2Pg1NkyD10ylN/zUUDoaqxqKCvgFdY4FEK1HWK2DtmcOXPYtWuXj3t4+/btAEHngnkidrNi55KUle2nvLzcFW8+KKrCYqKS6ZyjxBM3VoOGS1ondmk6IHJsOlLGB1zYVlVVeY2h+DQxNjLooFavhaoTBAPH0JDxVFgMY0L1eUdBnElmfbuymA4gfS/L0NXn/v/PTpI5ZZbMmz+V+eelYlGwuVyiTv9thJWgxpCqkOlHYfG1r8SY+e788BnLS6ZJVMpKPklrfeAX64w6YZuLdEaeQYpC760Xv+eSvMhufu3atYtt27axa9euiL4vxLBBdvbZZ2O1WnnllVe8nl+9ejUFBQUcc8wxIbV34MAB1q9fz8KFC8PZzehioEGWkQtGM9j63AX6dGIeWQZHvVh0mnMDF1AdiKTUIpuc0EFHb9i7pqPjHz81yB7+GG78t8TnZUNrNj0RzpwH3zoVg6ylHhy+eR77G+GKJyWuXi2hxo2kJcAjl8ocVgB5aXDh0TK/WukkLqaD/WOUAJL3fXYoyYO0BJnT5oTvLY+bJlNrUBaMutKijk74UNecGdoG2R5l/6MkV/PwIUnM3lZOPfVUVqxYwY9//GM6OjqYOnUqzz//PG+//TbPPPOMKw70qquuYvXq1ZSVlbmUYE466SSWLl3K3LlzXaIe9957L5Ikceedd47mxwqJlJRkjMbk4L16Aw0yo1HIB9dVQMNByIxsETydkWFfAxQ6qsEI6cWBQ2wSExO9E9qVWmTfmdwBodlyOmMUnzE0VPxI3n+0R+KL/RJLpg19p/SyRTIvf5lBlxxHkrNPLK6VhX1XH/ztA4nHPwObQ8JslNlbLxb4A/n9Kj1UcSQYdAzZ+t0LOI2i0HEmuP98mX47WMK4qlkwEaTFubAB3SCLAcI2F+mMPAE8ZE4n7FMMsunB1FANI2lpaS5lz0gTswYZwH/+8x9uvfVWbr/9dlpaWpgxYwbPP/88F1xwges1DofDpQCkMmfOHP7973/zpz/9iZ6eHnJycjjxxBO57bbbmD59+mh8lCEhJEy7gj9hoEEGImyxrkIUiJ5xZFj7pzM6bNwPCySxm2zKDWyQDZSlJkmRke3qGImu6RyC+IyhoeKvKLRagyzIotBazCmEeRMk9tfnM0cqh6Za5KwC3vgGfr9Woq5DhMecUCJz++lK7TKdiDHoGGquBWRISHbPURqE0xgDMBqATGUwtOgGWbQTtrlIZ2Tp7XbXIBsw34MQU+rul7CYZIozfQ6PKBMnTozsG3oQ0wZZcnIyDzzwAA888IDf1zz55JM8+eSTXs/df//9I9yzKEUtCp3orqvhyiNr0GOuDxU27XdyvqQWUA0xCT1JMda7dYNMJ8K0+YYstvdAY6cwloZrJF26UKbstQLmUI714EGu/OhINpWLnfSiTGGILZ85ePqatQ/W7YREC5w8K/BrdcKEK38s3+cLqmgWXs6ZvofCQ4aIHLE3N8T2gklHJ1pQN98Skr1qkKnsERUumJrNmBIW0+eXsYQ/DxnoBtkhRI69AYvkwGGKw5ga4vaSsvvc1drBZQ9JvPJjPURLJ0JoeMj2K96x3FSZlHiNc0LgtLmwa2c+lEHy+pd5grVUxOUQNy6bidNyMHVlQ1mOWICnjQM/8tWvfgW3vWZgXqHMybP030dECJA/9uinEs98IfGj42VuPjX830dLXC6ZgL25EXu/k3iLHg6nozMsXOGK4zQPG41wZLG7uPtYQTfIxhKaBtkE8bepRiS6G/UhEevcdnQVHABDdoGophgKSg5ZktzDvhobsmwamV1nHR1PZNltkHncpFWDbLL2fTsk4s1w+ClHw/OfQmsDyXQzSyqH5nJoHvhqCdIyRX5DRo773/jJrJyVxx2vy3xTJXGwRWZChENqxiSNqkHmvUKzOWDNNvF40ZSRMY4z8jKxYyBesrFxVxvHzNO/cB2dYaFGQ/hRWFxWAstKxt5ml776jmEqKysxGKowGo3k5wexlaBlkKVlgSUe+nuhuV6vs3IooOwmS9mDq3LU1ta6Eljz8/MhPhHZYERyOki0ddLYmUGO/5QNHR3fMTQUujrAYQMkSHEveMsaxW7AlHDpDeWMh5/dB/2Ksmxrg/jX1uh+3NoolGfbm8W/it3u8w1Gsq//MwsnZ7OhDNZshx8dH6a+jWEGHUMuD5n3/enLCmjtlshKkjl2ysj0TTKZaDdnkWVrZO/uRt0gi2LCMhfpjDyDeMhGk7KyMmw2G2azmSlTRmhS8YNukMUwXV3dmEw9fivD+6AYZA9vTqV8k8RdZ8sYDZIIW6z6Vigt6gZZxHE64b/rqjiz9I9IcxfDSecPua2efkhoFDXIgskf6+3txW63u8eQwYCUmAzWdrKkTsqbdYNMJzA+Y2goqJL3KeleoYIdvWCQZKZkh3m31BIn5jqt+U6WhYHoaaC1NsC+r8XzFbs5fe44NpRJvLlNhMrpDI+AY8jpVEQ98PGQfVkh/i6cPLK5Jo70XGhspKGiASgZuTfSGRZhmYt0Rp4AHjKnE/odIqJhNLBarS6DLNLowdBjBbtNeMGAf2xK4YXNEp99qxzT88hGlUc+lsn59Cmkjmbkz96kq/wA/1oPcojrPFmG5X+W2FPqP98iKJLSAMiS2qnwCeXS0RkB/Cgs/u4smV13ylywIIJ9kSRIToMJ02DusXD8WXDWNTBLqVFZW87K2WA0yJRWS5TrJRxHlvZmcf8ymnwWcFvKhQf1yOKRNYpT8sX7mjoaaOwc0bfS0Tn0CSB5v78JDrtd4vS/jb1cCX0bIYYpKZkOBHkjUhQWZclAJ0LVZr6SPqYbZKPH52Xw9bqt/Ni8EwAJmarnnub/Ou6gtBruOUfGHOTOb1Ur1LbLTIirAYmgPGRqbT4vlJDWTDqpaJYIeozpjEk0x1Co+KlBBkRPEeb8ieJvbTmZSbB4Cny6T4Qt/mTZaHYsiqg/KLycnmHxQRBwDKnhipl5IttfwemErZXi8ZFhGIKBSMgRMbNFUgPrv4WzDh/Z99MZGmGZi3RGnlb/IYt76sApS5gMo7PumDMnjJXlQ0T3kMUwBoPB9W9QlHBFe1wyMgYmZMqkJSjHdINsVGjogJ8/Z+cW43MAyPOXgjmOkv69nGn6nFe2SlzzlER3f3DtfbEfCmgmUeoTu8kZgyfeaI4hRWkxS2qnoiXkj6UzxghpHvKHHw9ZVFEwSfytLQenk9PnigWD2LTQobEaHv41PB96WZmAY0g1yAbkxJY1QnuPRIJZ5rCRLmKfIepbFUkNfLpP/76jlbDMRTojS2839Cr1c7UMsnrx+yoZpZJyozmG9FE7VlAMsl6L2Lkc51GKzKW02FIPtiBX/zrDwu6A656XOL33XSYa6pGT0pBOvQyOOx2Ae1OfJ93cy4d7JC5+TKI1iPrfmw5ITDMo+WMDdpNDQqlFNiWpg9zQNrp1dIaGRg2yT/fBqn9IPLBulPo0kHEFYLKI0O+WOk6bCxtudnLv93QPMiC8Y7IMB/eKnLtw0aStsFiYAauvdPKbM4OPIhgyGSItA8lhAAAgAElEQVS0qsRSz6oj9O9bR2fIqHN9QjLEJfgc3qvUIJueN/Z+Z7pBNlZQDLJuo1hhGyV44jP46/sIj0hiCiCLXU6dEedP70qUHejgetOrAEgnnQ9x8bD4NEjLIr67mbVHrSEtQearSonvPSxR3Ra4zY0HYIqkCnoMY8tYySG7aFYH/3v62JsUdUYBDcn7nTWwtVLi28Yo8UgYjZBXJB7XlpMcBwXpo9qj6KLTY4La/WX42nUVhfae0xIscPx0OD8S+YVKtEGyvYNjJ/RG4A11dA5RAuSPAeytF39Hy0M2mugGWQzT2tpKe3s7HR0dg79YMcg6DMIg6+qH375p4OGPJXpskh62GEFau+Dfm+HnppdJkXpEbsq848RBswVWXAhAwfb/8tolTeSnyZQ1Slz7rORX6KO2HSpbJKYbgldYBOjo6PAdQ2r+R1cQ40pnzKM5hkJFI2TRJXkfboXF4ZCvhC3WlHs93d4d+a5EHVYPg2zXlpBODTiGGocpUhQOEpLEjj64F5Q6UUdY5iKdkcWlsOgbrthrg3LlVjA9L4J98qC5uZnGxkaamyOvaKYbZDFMXV09DQ0NwQ0cRdQjKT2ZyxfL/GSZTFGmTHe/xLpd6AZZBMlIgrcvrOBC0wfiiZWXeBdwnnUMFJWAvZ9JX73AKz+WObJY5p5Vst8izZsOiL9z40IzyJqbm33HkJJDRlcHsiyS53V0/KE5hkLB1g/dygLKQ9SjTFn3TtHeSB0dXMIe4gcny3D1aokjfyexr370uhUVeHrIDu4Fa3vQp/odQ92d7rGR5Q5ZbOmCe96SeH/XcDocIkrY4u6d9bwUmr2pEyGGPRfpjDwBPGTfNghBj4xEmexkn8MRoaqqioqKCqqqIr8W1g2ysYLiISsoSOE3Z8qcPhfOmCcOvf617iGLKLJM7oZnMSDDYUdD8Qzv45IEp14KSFD6OQUde3n5RzIzPVIomq3epxRmwHlHOpmMYpANZzdZMciaGzuZ+38Sb24felM6OoOi1iCzxEO8UICVZXFzhigzyAomir+15eB0IknglMHuFDXJxjSeHjJZhr1fDb9NNVwxNUuEdCtsKYeHP5a4560IXnMlbPGldY3c/rpEnz1yb62jc8gQwEMWZ4JVR8isnI3fzedDGd0gi2Hy8nLJyckhKysIZTLFIPOUIz5znggF+ngvWFMVYQ/dIBsxfr9WYt1OYM9WOLADjGZYcYH2i/MnwhHHi8dvPY0ku91UG/fDknsl/r3Z/fIji+HelW3E2bvFTJYVnL8/KyvLdwwpBlmSvYPOXolKfbNRJwCaYygUPCXvlbtwS5dQ0JMkmUm+9+3RI3u8+N329biEK06bI+bRNdtDrx14SKEaZEVK4eQQ8sj8jqEmfwWhxTg5auJQOjpEFIOsxNJAj01ia0UE31snKIY9F+mMPAE8ZNNy4b7zZH6/avQm0sLCQoqLiyksLIz4e+sGWQyTkZFBWloaqampg79YMcjq7Sk0doowtJI8mJEnY3NIvNukhLh1NAtZUp2w8sqX8MgnEj952oHtLSFzz6KVgaXpTzxXeA1qD8A3n7qefnuHRHe/xK9eMfDgBx6LQFWQJSNH5KIFQWpqqu8YUoz2eGcvcfRTrst66wRAcwyFgkb+2H5lE3V8uhBviBqMJi9hD4AVs8BilPm2QXIlpI9J1JDFBcvF37JS6AtOAMPvGGrS9vh/qRhDI10Q2gtlrp6TKL7kz77V58VoY9hzkc7IoxpkGdEU+uAmKyuL7OzsUTHqdYNsrKAYZLe/l8KCuwyu+lJnKF6yV3YmQ2qmeFL3koWV3XVw62vi5v3Pkncwt9cLJcMlZwY+MTkNjj9bPF73ostQvv10mWtPEN/bn941cNkTEl8fBEeDWq8nuPwxv8QngkHoSGfRoXvIdEYWDcl7ax8UZshMHbyUXuRR88hqRB5ZajwsnS6eGrNhi3Y79Chx1JPnCOPFYYNvtw2vXdVD5qEa22eHbYqdNtIFob1QDLJChGd03U6wOSL4/jo6sU5Pl3vDP8039KGscWz/pnSDbKygiHrU2sTOkVqH7Mx5YDHJpMaDnK3nkYUbax9c+4xEr03iO5PbWVorZO5Zfp5mDQ4fjjlF1BTraodP3wBEVNcvV8rccYYTSZL5dJ/EWX83sPXLMOSPqW+ghC1mSh0u1SMdnRFBw0O2rAQ++5XM49+PwhjAAcIe4N7YWrNtjIYtquGKBiMkJsOMo8T/dw9T/aLJV2GxtBr67RJZSTITI7mJnSl0uJN7m0gwOdhTL3HdcxL9ei6Zjk5wqPnCiSleOaEAnb2w/M8GZt0u0TlGK0uEbJB1dXWxZs0afv3rX/P973+f8847j2uvvZYHH3yQHTt2jEQfdfzgdDpd/wZF8ZC1kEK8WSY5Tjw9IRO23ibz0CUyUq5ukIUTWYZfvSKxv0kiL1XmvuyXkfp6IK8Y5i8JrhGTCU65SDz+4m1RvFvhimPhrxe4V3+TCd1D5ncMKQbZOKmDhk6Jbr1e+KFNQzU8c6/L6xMKIc1DWmjUIFMxRuOWYYEifV9b7rK+ls8UG1v7myR21Y5az0YP1SBLThcbOjMVg2zv18J7NgiaY8hucxeY9sghU8MVjyiOcOJ/aiYYjEgOO4+vasZiknlnh8S9b49Rr2gUMuy5SGdkCSDooYZ7ZyRBSrzP4YgxmmPIFOwL9+3bx5///Geee+45rFYrkiSRnp5OfHw8ra2t9Pb2IkkSc+bM4frrr+fyyy/HYIjGu+mhw549ezGZyjCZTEyaNMn/C/v7wC5W1K1yCuOSvW9kqnGmKy2Gl9UbYM02CZNB5vFTK4l/Q5W5v9Rb5n4wph8OU+ZA2XZ49zm44EbXoTPmQWGGk62VkPl56EWhKyoqsNvtvmNIySMbb+mAXqhsgRmjVBdEJwJsfFuEl/X3wZW3hXSq3zEULO2+IYtRTXahyCXr7RYGQ2YuyXHw4+NhXIqT8WOxWLQqcZ+ifPjCqWJTp6sDKnaJ+SsAmmOouU4YvHEJwtBT2FmjCHpEMn8MxJydPg5a6lmc0cCjl43jj+/AD48fiy7R6GTYc5HOyBJA0EM1yKaPckHo7du3Y7PZMJvNzJs3L6LvHdSq8MYbb2T27Nls2LCB2267jY0bN9LX10dzczPV1dV0d3dTXV3NSy+9xNy5c/nZz37G3Llz2bJFL9YRFSjeMafBRBfxrnDFgdTG6UqL4UQVw/j1qU5mbXtGLC4OOxomzhjkzAFIEpxyCUgGoVy2v9Tr8OFFcNURVqQuZVEUjgKqiofsyHEdLCuRx2YY1lhCLXRcuQfqD0bufZ1O6FASWpWcgj47HH2XxHmPSHT1Ra4rQWMyQa4yV9aWu56+cYXMpQshLXFUejW6dHp4yEAYLyVHischFol24VJYLPDaQbz/fJn3f+Hk7COG2NfhoIowtTZy/HR44ycy2W7hYn2e1NEJRAAP2Z468RsvGWWDbDQJyiDbunUr7733Htu2beOmm25iwYIFmEzezrX8/HxWrVrFU089RXV1Needdx7r168fkU7rCJKSEklISCA+fhD/rmKQ9ZpTAEnTIPvNGxLLVhciI4lCnCEU9dTR5jdnyrxwjZMrsr9SZO5N/mXuByNnPCw4STx++xlwDMh8VXMtUrOCy01TiI+P1x5DikG2qqSDf13hXQNtOGzcDw0d4WlLJ0zY7dDgYYRtXhfS6X7HUDB0tYPDLhbcinelohkaOkXoX2I0KSx6kq/svg8hxPOQRA1ZTPFwD85QDLI9WwetLq85hjTyx0AMlSnZkJNC5HEZZGI73zPQ4aUt8IOnJHpto9AvHWCYc5HOyBOMhyxvdHc1kpOTXf8iTVAhix9//HFIjaampnL77bcPqUM6wVNUVAT0DP5CRdCjyyjuYNkaN7LD8mV6iaPGkMN4Z73wkiWnhbG3YwOnE2TcuS8Li+zwD1Xm/tTAMveDccIq2L5BfDdffgBHr3Afaww9XBHERoomikFGV/gMc6cTfvq8REOnxIKJYmf5HxfrW8qjTmO1MIqQABm2rRcbB0Ea9n7HUDCo+WMpmWLDAijzKAgdtcVBXcIe5V5PN1thbSmYDXDB0ZHu1Cji8pB53DMmzxJlOzpboWa/CGP0g+YYchlkYdoNCgcug6zB6+kmK9zxhihH8qNn4OFLZOLNo9C/cLP7S+HBnnusq2h7NDOsuUhn5Akih2y0PWRTpkwZtffWk7zGAoqHzJSSzBXHyhw31XcRfMpsUUun1KaHLQ6HB96XuPRxiUalDjeb34OWOiFzf9wZw2s8MRmWnSMef/iKy9AGPAyyYUreu95Lsdq7xAfpCYOox5YK4fkA2FwusXa7xL6xXLcpWqgtF38nzoSsfOjvFUZZJNBQWCxTNlEnR2eZGkGBh4fMI05t4wG47TUDD34oja3wNeuAkEUAkxmmKTkYIRSJdqHhIfvzuxI/eU5ic/nQujlsMt0hi56MS4bHvi8Tb5b5aI/ENU8fAp6y3m548a+wdjXcdz28+7w7vFhHZyiov5t0743pJis0WcXaYJoeshg8b775Jg8++KDmsb///e+sXbt22J3SCTOKQZYxLoU7zpA5ba7vS9IS4IQS2CPrwh5D5V/rhUG2oUxi/bcIY+YjVeb+3PDsMB55ohBf6bHCx/9xP98UphpkKoqHrLutg/m/lTj5L8N3VazdLto45wiZU2aJ1erTX0SrC2QMocq3F0x0h8VuXheZhBiNGmRljWJMTMmOYosmp1BIvPd2ucNwEHL9iRaZqlaJbWNpCu3UCFkEt/x9qHlkTqdmDbJ3dwihpGarn/NGGtVD1uK7k7R4CvzrcpkEs8wne6XYD19sqgGnEhrf3wsb1sBfboTXH4XGmtHtm07s0dMFfUoNsnRvASeDBD9f4eTShXL0hqlHgJANsrvuugurVXs27Orq4u677x52p3TCjGKQubwefjhzvsxep/CQybpBFhLPb4L/+6/4OV1/osxZhwMfvSImoLximL80PG9kNMLKS8TjTeuEXDm4PWThEPQAl0EW19dJW7dEdSvDqrfjdMLa7eLx6XNlLl0oFtv/2SpqtemMIrXl4m/+RJh3HJjjxIZM5Z6Rf28NyXvVQzYlmj1kJrOmsEeCRUjgwxgrEq3lIQPhITMYobk2tEV8ZyvY+sS5ihHU3gN7lUjBiBaE9kQ1yHqs7gK3HiyaAk9eIZNoEfUhr14thSW6YFRQN/kmzoQLfwFFJcJA++pj+Psv4fn74eC+0e3jWKWjddC8zKhD3XxLTBWhzB5kJsH1y+HOs6J4Ey4ChGyQ7d69myOO0JY3Ovzww9m5c+ewO6UTHFVVVdTW1lJfP0jcl1qDTE6hodP/73j5DKg0CQ+Zs/6gLhkVJK9+Bb9+VSy+rlkqc+MKWSjVbXlfvOCUi0OTuR+MybNFwrzshHeegb5e98I2xByy+vp67TGkGGSGng4SzDJOWaK6behdVsMVU+Nljp0qdpMnj5Ox9km8+tXQ29UZJg4H1FWKx/kTISEJ5iwW/w9S3MPvGAqGASGLsuzOIZs6jHTLiKDmkQ0Q9jhtzhgrEu10Cnl78PWQxSeKXDIIWCTaZwypxkBmriu38KtKkGWJiVmyZh50RIhLEAtK8AlbVDlmstso++xbide/jmD/womnymXJ4aIcxlV3uNUz93wJj/8fPHEn7PkqKgyEYc1FscLBfXDfT0UoaSzhEvTwzR+LJsrLyykrK6O8vDzi7x3yKrGvr4/+fu0tn76+Pnp6ghCZ0AkLnZ1WrFYr3d2+O3VeKAbZw5tTOPouA+XN2i9LsMC0mXn0y0aMNo9Fvo5f1myDX7woIcsSly2SueVUGQkZ3nlWrMZmLoBJh4X/jU++SCxUyraLUBIQRtQgXtCBdHd3a48hpR3J1se0jF4Av+MmGNRwxZNngcUk7NNLFC/ZM5+PsXybaKK5VtQotMRDplJoTg1b3LnZHYoWAL9jKBgG1CDr6of5RTA+XaYoM/TmIoqqtFhb7vX0CSWQZJGpaZfYWhnxXkWe7k4ltE1yiwF5oqotBsgj8xlDjb75Y19WiDnkiNHyjqlkKK7bVv+L/qMnweorZa4/Ueb8BRHqV7hprhN/PUVVJkyDC2+En9wLhx8vPJiVe+D5P8NDv4avPw2qEPhIMay5KFZQy95Ul41uP0IlgKDHpgNwsCUqbHra29tpbW2lvT3ySuMhG2QlJSW8+eabmsfefPNNpk+fPuxO6YQZRfyhziZuloF2Fy87zkhvmjIB62GLAem1wZ1vSjhlifOPkvnNGbJQhdv7tZg0jSZYceHIvHlmLixcKR5/8pr4G678MRA7wUYhEzYrTRj0lUM0yGQZ3lMc56fNdoq8uj1bOedIiDfL7KkfxST9sY7q3ckrdntx84uhcJo7PGkkcXnIxE06OQ6evVpm/c0ylqA0gEeRgoni7wBhj3gzrFD2YNaMhbBFNVwxMcXlzfKi5AhAEgvIYEUhNBQWv6wQfyNeEHogfpQWB7JgIvz8ZNmlFNprg+5YCl/0U3YAEJEY3/0B3HA/LD5NbOg0VsFrj8Bffw6fvyUiN3TCj1onMojNsqjCj+S9LMNVqyWW3GtgzyHs2AyGkG95V155JTfeeCO5ublce+215ObmUl9fz0MPPcRjjz3GfffdNxL91NFgypTJSFIQu1FqyCIpxJlkkuP8v3TeBKCoEEqrhEE2fX54OnsIEm+GZ66WeXYj/O9psljP2u3w7rPiBQtXulW5RoKl34VvPnXXjBtC/lhhYaH2AUmCpBToaGFacgeQoxS6Dn0xJEmw9mcy63bKHGfZI3Lr4hJJ++VDXHKMCbtTJl+vsDA61JaLv2r4ncqC5VC1D7Z8AMeeLnIX/eB3DA1GX6/IxQEvUY+YIWeC8BD0WIVh6bHze/pcmTe3QedYWJP6E/RQSckQkvdV+4SXzLNch4LPGPIMlwPsDvhaWYceNTEMfR4OfpQWA9FrEzXK+uxC+CMpwD04KnA63cIlWQGk5FMz4eQLYcmZIkT/i3eE0f3Os/Dxa3DqpSIvNUIMeS6KJVSDrKtdfE/hTIcYSfx4yOo6oLNXwmSQoyJveObMmaP23iF/k9dddx0XXXQRd955JwUFBVgsFgoKCvjtb3/LxRdfzPXXXz8S/dTRwGKxYDabMZsHKXiiGGStcgrjkoOo7ZOjS98HwjNJe2oO3HGG7Ko7xuZ1ItQjKVXcpEaSuARYfp77/0PwkKnjR3MMKeFHExOEwTdUDxkIFc9zjgRzkxLD1dcN1WX87+kyvzlTZkK0h6cdqtSWi78DDbLDjoaEZOhohn2Bk2ACjqFAdCgDKi7RpUBqdwR4fbRhtgi1RXArVSosnQ6bb5X547ljIBbXqlGDbCCDhC36jKEB3pnmLpiWA1lJMlNHe9EWQGnRHxXN8HUlbDogcfm/pOj3lLU1itqEJnNwmyUJSeJ+d8P9cMZVIvy5twtefVjI5UcoFm3Ic1Gs0N8nyuiAcC2FsU7oiOPHQ7ZH+TiTxhEVUREWi8X1L9KEbJBJksRTTz3Fxx9/zK9+9Ssuv/xybr75Zj755BNWr46xJMOxgCx7iXqMCyLFqD9TLDLKdlbRN3rh4FHJ1kpYcq/EZ1riUu3N8OHL4vGJYZK5H4x5S0RcPxIUl4S3bSWPbFJCJ0unyxxeFIbFpaeRX7Z9+O3pDB2nE+qUODC1rpaK2QJHnCAeBynuETIakvdXPCmx8G6JDyMg8BgWXMIe5V5PW0yQkRTx3owOqofen4cMYKYif1++S8hfB6K3223kKSGLuanw+nUyX/xaHn2HQIZSKKm5LmjVlpI8ePpqmZR4mc3lEs9tHMH+hQPVIM7KD80DY7bAkcvguntFBAeIHOfn79NUpdQJkcZq7zEXK2GLsuzXIFMLQk/Pi3CfopAhT21Llizh7rvv5p///Cd33XUXxx0XObe0Tgj09bhqibSSTHby4KeY8oRBVmir5qPdUZBlGSWUVsP3n5Bosko8sX6AEIUsw5onRb2Wwqki4TkSGAxw6c1w3R9EHlA4SRI73pMSOnjqSpnrTgy9iY374bt/l3hWXYBoGGSyDJvL4dZXpdjykMQ6LXVivJos2mFJR54ISOJ7UhP8w4lWDbIGqOuQSI33c060oRpkAzxkntS0geNQnkY7/Ujee5KVJzz4TsegHleXMZCS4bOpZfYfORs5cgpFfm17E5R+EfRp8yfAj08QN42vD0Z5bqEaMpo1xFWywSA2Jc/5ifCy7ftaKDKG4FXU0UANV1SJFYOst1usRcEnZHFPnfgtlOSOgWiCQRiyQfbOO+9wyy238IMf/IDKShGGtHnzZhobg4+r1hkenZ2dWK1WuroC7Dgqgh42Qxy9xDEuCIPMkJmNzWAhTrLxxebAictjhb31cOnjEp29Egsmyjx4kewd+ln6Bez9SuSUnHl1ZOO6LXFDrj/W1dXlfwwlKe7U7o4hd23NdolvDkp8VSkJy6vRwyCrLoOeLvod8KOnJZ7dKLFu15DfSidUasvF37wi7RyxzByYplSRV0s4aBBwDPmjr9etDppXBAjBg5p28aOaHN3KyG5Uz2JNuaa35MonJRbfYzi0RWtUb1ZKRuDXBSgS7TWGNAQ9oqqWV2IyLFXC0d9+ZnCPnwezlGl6Z+0I9CucNKs5fAHyx4JhziK44jYxNhqr4dE74MDIlUYa0lwUSzQMNMhaR6cfoaJ6x5JSxXrFA5eHLDfCffJDe3s7bW1tsaGy2N3dzYoVKzj11FO59957eeKJJ2hqEjudf/rTn/jDH/4Q9k7qaFNVVU1tbS0NDQGMJiVc0RGfzJXHyiyZFsQuhMGALVPkIzXurxrzhXv3N8JFj0q0dkvMK5R54vIB1eS7OuGtp8XjpWe580pigIaGBv9jSJWwVmoMdfRCVwhjweGEtxSF3tPmyOLm0dsNkkGoRMoy7C8lzoRLGvqZL6J85/hQorZc/B2YP+aJKoH/1Sdg014VBxxD/njveaFSl5olVNoQvzMQeUIxE+6XWyTGc3eHpoJglvI5Dmm1xc4gcsjAnUf27TafseQ1hgYIetS0wZzfSJz9Dyl6PI3Hni68yl3t8P6LQZ92mGLfHGgKbS6NOAO+g2ExfjL84LcwfooQwHn6DyMWBj2kuSiWqFdysM2KUWONEQ+Zn3BFhxP2KV9VSZSELJaXl/Ptt9/GRh2yW2+9lS1btvDKK6/Q3t6O7LErePLJJ7Nu3QjlG+gMDcW7EZ+Wwu1nyJw2N7jTEhS1osnOKpdkeaxhd0Br1/CKsx5sgYsfE2GKM/NlVl8pkzIwnOqdZ8R1zimE484YVp+jCrUAalcnP3lWYu5vDPz3m+BP31IOjR7FoF3hill5MP1w8VgJW7zoGBlJEoVUy3Qne2SoLRd/8yf5f83UeeIm2tsVUnhWQL7d5va4nfUDIQgAru998miLNoSCl7BHuc/h0+aKyeet0hgTLAkFaxAhiyC8iamZYOtz11LSYkANsi0VYHeKcGbjaOePqZjMcPoV4vGWD6Dq26BOy06BnBQZWZbYPQJRwGHDFbI4TA+ZSmoGXH6rKDrvdIjw/jf/JYRDdIJDlt0hi2pt01gJWfSjsOiU4Q/nyFy3LAbqTkaAkKe3l156iTvvvJOzzz6bhIQEr2NFRUWu8EWdkScnJ5usrCwyMgKEiigeslALBkuK0uJ0w0He+Dr2dndlGS58VOLwOw0c+TuJC/4p8Tf/UVd+efwzidp2iak5Mk9fJZM+UKdj3zewbb2QrjzzB2CKApmgEMjIyPA/hjw8ZFlKqKuQvg+ONQOKQbsMspxCmDJHPP52O8gyhRmwfIZ4SveSRQBZDs5DZjDAUUryoJ9d7YBjaCDdVnj9UfH4mJNh8mzXobJG8b1Hg/RxSOQruZs1vnlkx06F9ESZJqvEJv9pZrGLLA8ue68iSX7VFr3G0ACFxa1KQegjR7sg9EAmHaZIusvw3yfAEZzF/ZfzZd670cm8aA2k6Olyq/cNNYdMC7MFVv1YUQaWxKbM0/e61yhhIKS5KNawtivXSoLJs8RzsRayOMBDZjbCd+fD/5wiR81mS35+PuPHjyc/P0ybESEQ8iVobGxk1qxZ2o0ZDPT09Ay7UzrBkZWVRWZmJunpAW6ESg5ZpyGFho4QksuVXd8SqYpP90FLjIVkbzwAm8vFjbylS+KL/RLfVLkX+rIMK/8iJIh/v1biP1uFaEevzbud/z1N5odLZZ69WvbNv+vrETdiEDXHCqeM4CcaGdLT0/2PIY8csuIssdNfGWRdV59wRfA2yIpniMT4jmbXAuzSReJ1L38ZYwVUY5HWRhE+ajQNXi7h8OPF62r2i7y/AQQcQwNZu1osIrLyYfn5XodUD9mU7BhL7lY9jBrCHmYjrFRul29uPwQ3Gvp6wK78WAfzkIE7j2zPVi8DxjWGUpLdBZeV/KUtihDokaNdEFqLky8S5SHqK2HjO0GdsngqTMsFUzQIlGih5o9piKoMG0kS8vgX3iiKSZfvFHllDdVhaT6kuSjWUL1jWbnu0gsxE7Ko7SGLRnJycsjPzycnZwRryPohZINs/PjxbN+uLVe9bds2Jk0KEP6iE3mU3afX9qZy9N0GyoOtJaUYZJMNtZw9xxZzC+TVG8Ti57yjZN78qZM/n+vkkoXuG3pDJ+yuk/hoj8Qjn0j8/EUDp//NwGG3S5z4J7c3zWSEW74jk5uq8SbrXhQGRXo2LDsnAp8qwnh4yIozxLWrCHL8+IQrgrdBZolzy/QrYYtLpkJxlkxnr8Trgwix6QyT2nLxN2fC4F7dpFSYdYx4vHkIbmaV0i+g9HORc3X2j3ySu2fkyhw9SeawMKStRJRBhD1OniWe+2J/BPsUKdQFYVyCz/epSXEJxCeJ+9JBjdohLQ0ipM0SD6mZdPXBLsU+GPWC0FokpcKKC8TjD19xLzxjmXCHK2pRcgRcdYe4d7Y2wGN3CFEsHf+o+WO5RYXTFuoAACAASURBVG4BnZgLWfT2kH2wGz7dJ/LTdYZgkK1atYq77rqLr75y/3gkSaKiooL777+fc889N6wd1BkmikFWbxfejuxgIxeV3TEjTv64rIbCGIoAqGmDd5W8t6uOk5k9XhQlPsGjTFd6Irz8Iyd3ne3k+4tkFk6WyUiUccoS+5sk2nsG2c2u2OMO4TrzKrGAONRQc8jsNialiwz0iubgcvISLLBylsyZ85VwRadTqGwBZCuxOp5hi4jouEuOkSnOGiCaohN+VG9OwcTgXq+Ke5R+7vK6h0RHq8gbAVGfSMOb/NPl8OIPPQz4WCG3SOz8d7VrLpDmi+hv9jdKtB9qpZiCkbz3xGhy54/u9lVbpEmZI8blgyTxzUFwOCUK0mTyB9EMGTXmL4Wi6SI37q2nBn15nx0e+xR+8WKUlvnQULkcEXInCLGP4hmi/MZz98H6N4eX9H0ooyos5kxw/96s7REruj1kZNnt9R7gIbvnLYlLHzfwZXnkuxWNhJzwcscdd/D+++9z9NFHM3v2bCRJ4oorrqCsrIySkhJuvvnmkeinzlBRDLJWUrCYZFKC2MQExAIjpxAq9wrPhiJNHQv02+Hkw8DaJ/tV7okziR1XsesqbgCyDI1Wmb11kKPlEVOx9cMbj4nzDj/eKw/mkMISJ2pU2fspNHcgSQlY+yRaumRXTpk/5hbCw5d63Fjbm8SCxWgSCosgDLL3nhfFYm39YLZw2WJhRI968ddDndpy8TdQ/pgnhVNFnbu6Cvj6E1j8neDfS5bF76XHKt5PLRh7qGCJE2GfDVXC0E313r3KTILrlomNhqgNUxsq1iAVFj2ZeSRs+0zkkZ1yMV71Qwao+7nCFScOv6sjhsEAp18JD98qQjF3bXEXwtbAbIC/rJOw9klcs9T/PWrUUGsOjsvnHx/BlnIJi1FsrFlM4t5pMcHJh8ksUvZVGjtFiLp6zGKERIvYjAiomJqUIupovvUUfPkBvPcC1FfBGVeKnDMdN2rIYu4E4ZmVJJCdQgV5sPzN0aSnSxjc4OUh67e7lXX1otCCkA2ylJQUNmzYwAMPPMCaNWuYMmUKiYmJ3HLLLdxwww0+Qh86I8fevXsxGsswmUwUF/vJeFYMshY5hewU73vfoORMgMq9yA0H2VkD1l44ZvLw+z3STBwHD10ih7z7KEmQkyL+BeST10ScfXKayCGIYSoqKrDb7dpjSJLEDbO9mbj+DvJTc6lph/JmBjXIfFDDFccVuGte5So7fdY2OLgXJs8mLrY0UWKTYAU9PJEk4SX77+MiGX/hSletvYBjCODLD+Hbb0TO4Nk/Fkb5ALr6wCAJz2pMkj9RjPGaAyIcawD/c8ohuusfrKCHJ1PmCJXCtkYRhpVX7BpDueX7SAaXQTYjTyhVnjA9yq9fTqHYpPjsv8K4mDxLhHFqYDAI+ftN5bCjJnrkvl0oRnGjJZ97X/O/M1aY4TbIKprh9td9XytJMvMnwDVLZE6d46chk0koVuZOEOVjtn0mNvAuu0W7PmIABp2LYhWH3R1hkqvUjUxKFR4ya1t0G2SuGmRpXkb2gSahnpocJ1MQRd7v0tJS+vv7sVgszJ4d2c32IS1/EhISuPnmm3Vv2CjjcDiRJCfOQC5rJbyolZSgikJ7oeSR1e2r4rR1BmaPl3nzp1F+Y/RgRHajaytgvVLQ9juXuyS7YxWn0+n6p0lSKrQ3Q1cHZ8yDrn6ZtEH2XD7aA0WZA+TLPfPHVCRJLM6++VSELXp4GvvssHY7LJlG6ONWJzAdLWKjxmAUmy7BMmcRvPsctNTD/h0wVaywAo6hlnp451nx+KTzIEdbQOT5TXDXWomLjoa7zo6dOcZF/iT45jNN6ftDmmAl7z2xxMOUubDnS+FNyit2jR9Tu7J4U8LlTp7lzsGLepaeJfIk2xpFPtnKS/y+9LACYZDtrJFYdUQUfT6nE1oUD1l2AdefKPPiFvjJiTL9djEv99uh3y65QnEBUhPgO3Nk+mzQ7xCva7YK5dSvKkW0ikp1G2ytgKXTIE3VDJEkOHqF+N5f+AtU7BalEabNC7H7g9zPYpXmOmGUWeLdYX/J6cIg62yDyAsCBo8fQY89HgWhQ3IUjDAOhwOn04kjSNXUcBKWwKCNGzfy8MMPs2vXrnA0FzRWq5UbbriBgoIC4uPjmT9/Pi+88EJQ5zY0NHD55Zczbtw4EhMTWbRoEe+/P4yE9VEgLs6CxWLBbDb7f5GHh2yoBllObxUmg0xpteRyMUcjsgwPfwzlI5VX7XDAG4+KpPOZC+CwBSP0RpHDbDYHHkNJ7lpkt3xH5ndnyUwNID7kcML/vCRx4p8N3iIGWgYZuPPIyryFgq55SuLGfxv49+bgP4tOkNSWi7/Z40MLC7LEw/wl4rGHBL7fMeR0wquPiFDV4hlwzCl+m97fJCHLEpmxur/hEvbQ1rZ3OGFrJTz1+SGWImNV5NGVHfrN5UIwaVAGyN+bzWYsZjMWl0E2iPJnNGKJg9MuF483vhPQOD+sQAyCHTUj3qvQaGsUC3+TmezxWfz8ZJkvfi1z6UK46ji49gS44ST45UrZqwzB9Fz4x8Uyj18uysO8+EOZ938h8/ktTn6/ysmyGe7XvrUdfvq8gcPvlPjeQxJ//1AoHMsyYlNOnWO++Szk7g96P4tV1HDFnEJXZIJb2CPKpe/9SN7vrRNWWLR5iOPj413/Ik3IBtnVV1/N5Zdf7vr/Cy+8wKJFi7j22ms5/PDD+fzzz8PZv4CsWrWK1atXc8cdd/DWW2+xYMECLrzwQp577rmA5/X19bF8+XLef/99HnjgAV5//XVyc3NZuXIlH3/8cYR6P3wmT55McXExhYV+Cpo4nSJvA2hVQhZDQhFfMLY3snyKiAF+I4TCwJHmywq45y0Dpz4g0dWH8ATUHAjfCuiLt8RNNj4RvvP98LQ5yhQWFgYeQ67i0O1BtbfpADRZJdISZI7wTDv0a5ApXrH6Sq8byxnzxHf23EYp+FINOsGhGg3Bhit6cpQi7rF3q2vn0+8Y2rBWhKJa4uGsHxIoMbBMyfmeHGuS9yp5irCHtU1zgWR3wgWPSNz+uiFopdKYwEPUo7Qazn3YwPI/S4Or8pYcLq5XfSW0NogxlJmGwdYnVDgzcyhrFDkmMWXATpsnFEllpTaZH0/NYYpHY2dtlH0+NYcvMy/g7zVY8tPgwqO9oxyS42BajhDQ2lIh8cd3hMLxMXdL3PSSRMu048QLd38pyiqEwKD3s1jFpbDo4ZZUwxSjXfp+UA9ZNP0AoKSkhNmzZ1NSUjL4i8NMyL+4Dz/8kBNPPNH1/7vuuouVK1fy9ddfs3jxYu6+++6wdtAfa9eu5b333uMf//gHP/zhD1m2bBmPPvooK1as4Kabbgrobnz88ccpLS3lxRdf5OKLL2bFihW8/PLLTJ8+nV/+8pcR6X9E6O1yzfZnLU5iybQQB35SiitZ+4KJYkH9xjdSdN1APHhSkbo/Yx4kWWR46h74523ib90wC5Y314kwFBCJ6NEcsx1OVA+Z4mm19onYb3+sVYtBH6aoK4LwLKo3+uwBN8qkVLdhUFbqevr0uaKgbnWbxIe7h/kZdLypLRd/h2KQZReIgriyLHLD/FFXCR++LB6feilkBK727K5BFnqXogJLvCvvScszEmeCWYrT5+uDEevVyGN155AlK4JRnb0SD6wbJAYpMUV4TcFdJFpV98vIAZOZv38oPO0PfhD+bo8oKy8R+WM1+0W+pQbTc8FslGnvkaiOpvW08h1YU/N5u3Rk5MgvOBre+7nMZ79y8ruznJw0UybBLNPQKfH6N5BQNFlI7tv7YaceIgF4CHp47HLGivS9Pw+ZYpCV5Ea4P1FMyAZZXV2dK1mypqaGHTt2cMsttzB37lx+9rOfsWWLhpTtCPDqq6+SnJzsI7N/xRVXUFNTw8aNGwOeW1JSwqJFi1zPmUwmLrnkEjZt2kR1dXiKFI46yiKauERuPdPIaXOH0IaSY7IopYo4k8z+Rin6wiyA+g54W1nPf3+xLDwy6g3+wA545FYhSGANztPjhdMpVOLsNiWkYmn4Oh7tqMWhuzrYVQuz7zDwvYe0F1uexaC/M9fDam+tB4cNzHHahSE1whbjzXCeIlT21BdRFGB+KFBbLv4OxSADtwT+1g/Bbvc9brfBqw+L0KeSIwb9vbR3C68qDMg7jDXU61lTrnlYzbn5qvIQGs8eHrKJ4+Dx7wuP0GOfwc7B7hNqkehdypphgNz6l4rC4twQ0hyjgpQMWH6eePz+i6LkwwAsJpiaAwZJDrjBFXGUotClvQX86BkDv/7PyI3Vwgy4ZCE89n2Zr++QeeYqJ7efLpMQJ8E8xUs2hLDFQxJPyXsVNW8z2g0yVYwk09vy+tuFMvd+z+naqNIZgqiH2Wymt1dsm6xfv574+HgWLlwIQEZGBm1tkRkcpaWlzJw5E9OAoqZz5851HV+8eLHfc5csWeLzvHrujh07GD8+8CjZsWMHxcXFpKa69dH7+vrYvVts52dkZFBU5C0Vv2/fPrq7RSGaefO8k1WbmppchmBRUREZGW7pZIfDQWmpWOmmpKQwebK31GFdXT09Pd2uc42qMpEi6GGzxFN14ACZmZmkpXnL2Rw4IMKXLBaLz2dubGzEEpdCGmBuqmD5TCG08NBHEn88u5v6epH8m5aWRmZmpte5lZWVOBwOjEajz3VoaWmhvV0YRnl5eV7KnP39/a7rkJycTHa29wqturqa/n4RD+NZhPzZLyTsTom5eT0k9tXQd2ArcQATpkFqJuzYCF9+iHPbBrqOOImUFd8TSl+ua1hHT0+P7zUEej9/h/iK3ThNZrqWnUfKgAxU9RrGxcVRUOBd1baxsRGrVXwPhYWFXrHt3d3d1NeLbaL09HSv7xygoqISp9OB2Wz2CcFobm6mo6MDgPz8fK94576+PmpqxOImJSWFceO8jaCqqipsNhsGg8FHiaqtrY3WVrGAyMnJIcmjOHRusg2Io7lLoqyynilF3slkb3/ZTJM1m5Q4B4smybj2e5Rwxb7UcdRUVJCVleX1u3FOnoPhs//i2PcNDTXV5BeIcXjxMTKPfgqf7JX47OtKxqfZfa5hV1cXDQ0i3i0jI4P0dG/PZUVFBU6nU/MaNjU10dkpNi0KCgqIi3PXhOjt7aW2VixOUlNTycrK8nMNjRQXe4/v1tZW1zyYm5tLYmKi65jNZqOqSlwPrfFdU1NDX5+o+eY5vgE6OjpobhbxbtnZ2SQnu+OAHA4HlZXCC5yQkEBenndgvjpHGLs7KbK2iXAxpZSF1WqlsVHsYgY1R5Qc4VLH7Nj0Ps350wEYP348FosFPvoP1FciJyRTOW8FzvLygHPE7sZEIJ+8VNnlZRmJOQKgvb2dlpaWIK5hInl53guIQHOE1WqlLy6VLMB2cB8DM1gOHDjA+PhkINfHQxarc4TksDGxt0s8qSwOl061cfxkGx/vT+amF228cb0Jo8e2b21trWv9UDz9cAxvPy3CWq3t9NeUYwHaLEm01nRS0ZyGJMkcXiTEGioqhIUWHx9Pfr63ikF9fb3r3hoVc8RRy+nf/D6Wxiq6/vNPki7/lVe7ra2t3HaClYwEB8Xjc4DomCPSqg6QAHzeLo4tVaJqQp4jPPAc3645QqGnp4e6OrGOOCwrjeOmiTnCOftYDB+8hFy+i4OlX0NqZkTWETCyc4R6DQfeAz2voc86oqdLCGsBFb1OCmw2Mb6VKB1HRzOVyrnRNkcYersoVmuQKXm26vhOAY6fkEhagvc19JojiosxeITOeo5vn3WEzxzh1Szl5eWu8TJz5kyvcdje3k55ebnrOuTkeK9tSktLcTgcxMfH+4QyVlVVufo0bdo0r/u9OicFS8geshkzZvD000/T2dnJ448/zrHHHuua/KqqqnwG/kjR3Nzsc4MHXM+pFyjc56rY7XbkAbF7sixjs9mw2WzYNXaO7Xa76/hAnE6n65iWQpBWu3V1dTQ0NNDb24Pdbvftk+Ih6zYmUdcuY7P7tutwOLDb7Zohnk6nk95U8SOUGqq46jgZk0GmvkOo7anvqdXfwdrV7C/iGobabp8dntskHp95WAt2ux3jfsVVM2cxnPtT7Jf9mt7MAgy2PlI2roG//wp2bnKFdKrt+nxv7c3EfSxCFZvnnYgjxXfcqOdpfVbPdkP/rHbtPhGea2i322lqaqKhoYGmpibtdhPdBllKPKTHi74cbPWdOtbtFZP54iKrO1wR3AZZWrZmf5kwFafJgrG3C4OaawYUZ8HxYq3Pa6UpmtdhsM8a6LsZzjV0tzv072aw8RKo3dA/q2jX2KhYA+MKXMXMQ/7NGU1w5DIA4revd53b0tIq6haufxOA/lMupd8cP2i75S1i0eLpHQv3HBF6u6F/N93pYmFhrPcNj7bb7UzPEsbLzlro9bgFRPsc4a9duVOJNjCakeOTeG8nVLTAj46uJ9HsYEedhWc3Bmg3fZzwKsoynVs/xdkgFtB9yZl8VSXGREkupMa7r2Ew3+tARmWOMBhoWngmsiSRVL4d9nknXzudTrITezFJtqiaI8yKqMpHzcKoWjI9iM9K+O/393yRzRfOmUjIJH77VdDtqvezlpbWqJwjhvTdKN4xW2Iq/Uazu0+KQSZZ26N2jjCpnr2sPC9F6qG269knn3UEg6/F/K2/PdfuLS0tVFRUuDZFQBj4/s71bFfrGoZCyAbZL37xC55//nnS09N57733uP76613H3n//fZeXKRJIAbQyAx0b7rkgQhwHvk6SJMxmM2az2cdzp56jHh+IwWBwHTNoJNNqtdva2kZ7u/gxmkwm3z4pBtlXrVlc+MJUqtp9+2Q0GjGZTF47OZ59cmSJbQapqZoji+GpK2WeuVomOU5yvadWfwdrV7O/iGsYartrt4uQp5wUJ8dP7sXstGOsKRMHpwpPpFRcQu3pP6TxuFU4ElNF5fgX/wpP3gU1B1zten1vsgxrnkTq76V3XCHWwxZr9kk9T+uzerYb+mc1+fYpjNfQZDLR2dlJe3u7axfYp90BOWQFqWKSrOnwHsOyDFsOih3KZVMH7AopRpYtM0+zvxhN9OSJ3bOEmm+9Dl22SExo9V0Wzesw2GcN9N0M5xq62x36dzPYeAnUbuifVbSb2KYE7nuEKw7lN8eRy0AyYKndj6VN7ID2tLeIUEVZhnnH4Sw5Iqh2x6c5OPdImRNnuG9e4Z4jQm839O/GkV2IjITB2uYTGm0ymShMl0lPcGBzSOys1W43GucIf+3G2RTBheQ06jolfvCUgZUPWMhKhquPFh6Ge9+WaOgI0K6itmjc+xVGZRw5MnL5uloc91TyC/a3PJDRmiOcuUV0zFTSItY8Cf19IbcbyTnCaOvHpHg8y5z5TMuRyU8L7rOG+35/wQKZ150ibNGydztGjffUale9n3V3d0XlHDGk70bJH/O5fypeaamrHZPREJVzRGKrMtEVeEd1fX4wjTf3ZFLV7rsWDtSuZ5+01umD/W78rb891+7d3d00NjZ6OWZU5U6tcz3b1bqGoRByyOK5557LhAkT2LBhAwsWLPAK/SssLOScc84JtckhkZWVpenJUl3NWh6wcJyrMmvWLJ9BGhcX5xOK6Mm0adP8Hhs3bpyPS1jFaDQGbNdoNPq43QHXIrrJKRbVk/J9ZRY1z1PIzs6G1GRY+08kazt0d7J4qtKGOYFJkyZR3QaZGvoWA8MLPMnMzPR7jS0WS8A+aYWSWvsgNV7mskUwbeokkQjsdIpdmUzhejYajUyaPAUmT4El3xG7+BvWiHon/7ydvPlLYPm57kRZEGGOe78Cg5H4865j0kCFQIXBrqE/r3FiYmLAcweGwnmSlZXlE0anEhcXF7Bdz7AFNUxCJT093Tukx+b2kJlNJkrGG9jZAG0O75AVSYL3fmHgoz1OTpyR6y3QpRhkWTPmkqXRL4PBQNLchVC1h9SGcq9jx0+HdT93MjXn/9k77/A4qqv/f+7uqvduyZZlueEm22CDC2Aw1abX0AKEmpAGyZvwhhJCSX4hvAmENCAQMCHBoUNoptim2WCMjcE2lmXZlmVbvfeyu/f3x53Zoi3albZJ2s/z6FlJszNzd/bOnXvuOed7EgHXfZOSkga5hp6Lg3q75+Lj432+hgPJyMhwCRvRiYmJ8XrcgSGvjqSmprqEueh4HAM0bKE1m15Vrw4GWXJyslNYzkDcHjc1U02md20mo3wLtQtXkrX1PbXQkZoFK64kISHBa5v0MaK4GM7BeSUx0GOETlpamku4lc7g19CzPnNycjLJ02eo/KeGKpWn51BDST/ugiLB2lLYVolNhTTSx4iB2MaIHi35KSWdUq10VXE2TJ9azM2T4cs6yamzpFMR+YGhhsxYCOtfIqGqHKF5HArmLmT7FhUauKBI9QuDweC1vXl5npUBwjpGnHstHCpVwgYfvQqnXAKoMSItLYNf/VflZD9xtbSVfAjXGJFnVNe/zZROB4lOImBDGiM0vPVvT2PE5BxIW3gMPV+uIrWrjiSjqyfF2xghhIjMMWIo11AzyBInHeH8nuQ0QCCsVopzs20CbAMJ6xixURNCGz/Fti0mJoa1FXl8WCbIy7EysHiQyxjhgLf+PdgYMWnSJI/b0tLSbHPsr776ysVz561A9IQJEzxei8TERNtity8MqTD04sWLbXljjtxzzz1DOdyQKCkpYfXq1TbvkM727UoYwNsFLCkpsb3PEV/2jSQmTSpCiF7PVrhDDbJYo7SFfvhFXIJSx2mph7rDMEkpY1mt8H/vClZtgP/cKJkXxsTrKxfDRUdJLPrzo1wLD5nqwYiNi4eTLoKjTlRJ19s3wraPlAF2/DmwZKWqnfTWP9X7l53rKtc+SigoKEBK6bkPJWoGuMUMvd1M1GYNlY0CBkyi42NgxcBbx9yvFCpB1b3yhC7sUVkGvT3qOwKMBrzWPYviJ9UV6jXf84PLZ44+BXZtJmX/V8TPPIrY3Vrc8Hk3jPiC6UMmf5IyyKr2uy1q+4OTJDcuk5SMhuHEQdCjTLvF9ZpCRoOKphh0gTh3AmTkIrQ8E5mUSq8piR2aDsBCz7bSyCAuHlZeBc/9UZWBKFlqky43GOCjPXCgUbCrWnLs1DC3VRNV2WNRBt/x08Mrp/y90xL4YNsCVvAZ5e9/whHfGXzMGvR5NhKxKSwOmGQZTUp0q7NNqZ16MMjChpRKaRScDDJwUFiMsBpkoBwn4epDPoUsdnZ2DungQ93PF84//3w6Ojp46aWXnP7/9NNPU1BQwKJFi7zuW1pa6qTEaDab+de//sWiRYu8rkBFEgkJCcTHxzslGjuhGWTNWlHoIfcv3RjR44EBi1RFLbv7Bdc9LagMc22dhFhV3wQp7fH6biZETqRnw4Xfh+t+pQaM/l5Y9wL85ecqnLGrTcm0H3dO0NsfLuLi4rz3odg4pY4I0NnGpGz1kK5w+L6l9FJLp7EGpBXiEpVXxROZecrwt1qg4hu3b6lvh6oIF5SKaDrbbcnhuqDHsCieBVn5iL5eYl97TP1v0WlKidRHzBbYU6vyQEcFuuex2n2B6KMmwqLJkOhHPe6IRZe8T05jt17k1aGmkOPzprtP/bgghF1tERDZBRgEPHKF5JZTrBQOHqwS+cxcqIRwrBZ44ymn2mR6PbKIUC7WFBZ39ecTa5QsDsCazXBITwTD/GMByKn4lI6uwQeJQZ9nIw2r1T7vynMzZkey9H1rozIWDUan501rN1S3qsFhWgRK3icmJpKUlOQkzhEqfDLIiouLeeihh2xqLIOxefNmzjnnHB588MFhNc4bK1eu5NRTT+Wmm27i8ccfZ/369dx4442sWbOGBx54wBZDet1112EymWzqKwDXXnsts2fP5uKLL+bZZ5/l/fff51vf+ha7d+/md7/7XdDaHHI0lcUmUsj2tyi0IzaDzJ7kGGOEv10hmZUvaegQfOcpQXPw7G+3NHTAhvIBxkDtQVWY1RRrr3MzGIXTlFF2wfeV0dDaCBW7AAHnXg9uYpnHFA55ZHMK4PJFknPn2y/6Z/vglAcFj3/kZl+bXO8E7ysCQsBULf90r6v3+l+fwdL7BX94dxStfIaa6gr1mjlOFTcfLkLYJfClVLWDTr7Er0NUNsGpDxlYeF/k1jf0C01JzF0tslGHPglMSbcXeXWz4r1xL5z2R8EfPdUmm2k3yMguINYEp8yCW04ZxiJipLHyKrWwdbAMvvzQ9u/ZBarTf1MVAR9UqxV55vJ8/nqFJCECFg1OXFlCE6lk0sY7/90x+A6jjdYG6OtRRk2Wm5srkqXvD2t5/HmFEGPvTHu0saIgbYhRW6MYnwyy3//+9zz44IPk5+dz6aWX8thjj7F582YOHDhAbW0tu3bt4o033uDOO++kpKSExYsXk5SUxLXXXhvUxr/88stceeWV3HXXXaxYsYJNmzaxevVqrrjiCtt7LBYLFovFSe0kLi6OtWvXsnz5cn70ox9x9tlnU11dzdtvv80JJ5wQ1DaHFJuHLJlsz6HLg+PGIAPlkXrqGsn4dMm+BsEN/xRO6mHB5t+fwRVPGPjJcw4PMz1csXiW0yAwKAYDzF0KP/w/OPFCSEpTYY0Twh1HEgE4SN9Py4P/d77ksmPsm9/aLthbL9hT52ZSofeZXB+KjUzRPCvlrgbZ7ALotwhe/xqaQmz4jxp0r81Q64+5Y95xyvspDHD+95RH1Q/0gtATs0bJ5HucFmPX2qg8km5YXwp3/1fwuXsn2shB85BZktLZoylbz3AzZ+zth4NNwnNtsglT7WNM9siITvGb9GxYruXXv/cfm+jLbO3jRoSHTDPIMibmc+qsMLdFIzbORPs0JYxyYs8YrEmmhyvmjFchigPRlBZt3upI4rD7cEVvizdjHZ+W/q+66iouvvhiVq1axaOPPsrzzz/vEl8ppSQhIYGLLrqIVatWsWDBgqA02JHk5GQefvhhHn74YY/vP3dM4wAAIABJREFUWbVqFatWrXL5f15eHk8//XQQWxd8urq6EKIbIYRT/Qj7G+w5ZFMCZZBJ6TRzyktVRtlFj8AXBwQ/eQ7+ernEjShPQOkzw783qXYsd1Bn8zlc0ROxcXDi+epnDNDT02OLl3bbh8DJIBuIYzHoM+e6cXFoUtZOBS09UTxbTeybapQ4RIY9eWx+oVpN3lkleHen5NJjvBwninuqK9RrIA2yhCR6r7oNae6H7PH4u+CpG2RTRnJBaEfiE9VKdmONMoCnuqoOv7Vd8MIWQVIcHFM8gt2CmlFRJ9PpMwviYySFbrRsls+AM0skb24X3P4KvHSTdKpNhsFA/9KzMG5ZR19xCY+vhZIJcOxUFYkxalh0uip0XFupXo89k1maQba3XoV0hs0rZbVCkzZTzvYsqhAOJp54HOx5h6yDW6Cny6t336fn2UhCL6HhLlwR7AZZu2vx8bCje8gGKCyW2cKbQ90g3+js7LT1oaSk0OZC+xyLlZCQwE033cRNN93E4cOH2bhxI1VVVXR3d5Odnc2MGTNYtGiRW1nIKMHhwIFKTKZDmEwmryqLJx+VQuFwEnSz8tVEuadTucZTnZ+60/Pg71dJrvoHvL1D8Om+4Ccor9kJde2CnBTJSj1lpadLiUKAZ0GPKE5UV1fbhHE8KhTpwh6aQdbVp0LNMpNgb50qOZCeKFk6xc2+jiGLgxGfCIVT1Xe4dzssPNm2SQhYMlmtJO+udRUUieID1RXqtWBSQA9b1Qdms8BUXe1V5codezWv6pScUfR95k9SBlmVe4Ns/kTJC1uES4HoEYcWJpWcnc6fLrPS0oXHhbi7zpZ8VAbbDgqe3SS5conz9kMFMzHnTqO6WvKH9wzEmiTb7x5FfQLAaFS5ZLWVatEJyE2B7GQV9r+7VjI/XOJYLQ1g6adfxPDG/mzOdy8SGxZEwSTlIao/DN98jjzyRI/edJ+eZyMJT4IeOpEasmi1qvEPYLyzQWbzkOVF5v1dXl5Ov1Z825u6eTAYUnLM+PHjufjiiwPdliiBxGJWBgpw0xnJMBxDPyZWrfo2VCkvWarraL14Mvz+WxIpQ6MW9fRGNSJffgz2IsT7digBCQe5+ygBYICH7GcvCN7aLvjlWVb2N6jv4bRZblaz+3qhWXOBeFNYdGRKiTLIyp0NMoCpuRIQlNcN8XOMZbo7ldcRYNyksDbFEZuHbDTdrvnFsOMzj3lkR2pzq68PqnlLsKMJgoLVCp3KQ5aSnc45g8x981Lh1hWSX74meGCN4LTZkjw36tU7apRXY94EiBuNqbu6118bF4WAmfmwt07S0uVlv2CjKSyWW8bx8R4j5x8VQZNlIWDusbD2eQ5+sIHbti7nmet8UPAcDQxmkNlEPSLMQ9ZQpUTSYuJcnv2PfltSVispdl9NYkwzEh8FUTQyMzNIT093X5ehW0+0EYGRoHajtDiQc+bBufPtfwcrSX/HYdhyQBBjlFyxyF244nz3O0ZxITU11XMf0hlQHLpIK1uyv0Gwxlu4YkMVICEx1XdJ3imaR2H/TrBYnDbp8vd7owaZ/9RookbpOZA4nPhlV3zqQ26QchSGLMKgwh7T8yAhRtLeK2yff8TR2aYN8ELd3z5w+SKYX6g+972vO8+m9T5U1qy88UeNdLl7T2RoHb3ZPog9cbVk422SE48IU5vAprC4T+azLMxy926ZeywSQWHbLir2NvCma5oxMPSxKCLp77N5Uj0bZBGaQ2YLVyx2WXFKT4RjiiFnOEJzQSQnJ4e8vDyPtfOCSdQgG8HoncZtYT9t8myJT6Km3YDFta6if3gQ9vBEbRtc+Ijgi4phntcNqzTv2BklkKuPu1JC+dfq92i4os9kZWV57kM6AzxkRZnqgf3CFwEMV9QpKIaEZOjttg/qGrpBVtUq6Oz1/ZBRCE7+mIZPfcgNjZ3Q2i0QYpStlurCHi31tnHYEZMRWx2yL0dq2KI+AUxK5T9bjHxYxqCCTkaDEgQyGiS9ZudSB3of0j1kC4si0CgIBOnaJK+10SZ/HwmewO5q3SAr4LhpYW6MO9KyEMUzATjXsIH733YvIDbUsSgiqT+s5jWJKfbQxIE4yt5HkkytTdBjsvf3RSAFBQUUFhaGpfxV1CAbrWgTgcqeFBb/1sD+hmEez0+D7E9rBVsrBdf/M7CrwBYr7FLPDq5e6jAA6XL3MXFQFM6lxlHIgBwy3UPWaxZcvEBy0VEeku9tCot+GGQGA0yerX7XDWyN9ET4/omS35w/3NWFMUhVEBQWh4lBwM9Os/Kdpaqo+KghIckemlZd4fYtR2o5+l9WjtC4Ky1nxZqczu2vCK5+0kBb9+C7zSqAt2+WPH6VdDFEWrqgXMspPCoAZfIiktRMJWFutUBbk9Mmr/Ucg0znYRWy2JuWPzxF5mAy9zgALo75mEPNsGpjmNsTbHRBj9xCJyE1qxWe2wwHGlFq0KD6k1bmKCLwoLD47k749RuCjeVhaNMIIGqQjVY0g6zBqibTOcMdZPVJdf1hp8KWnrjzTMm8QklLl6pRVu9eAdpvjAZ440eSF79nteViALBnm3qdNNM/ufsogzPQQ6YZZCaD5LcXSO48y8Mswqaw6GP+mM4Uz/XIbl0huWIRJI2Sup8ho7pCvUaQQZaZBD88CX51dgSt7AYKPWxRN4QHcGSh+syHIiz1w2c0hcXO2HSsUnnJfQ1Bmp7nvsTBVm3+OTlbkhWpRsFwMRiUBD44hS1+9xnBwl+HL4Q1tkWFxmVPiiyFRSdmHQ2mWCZRzTyxl7+uEzREkA0ScDzkjz3yIfzvSwbueV2oGqn6gmmkhC3299mNyQEKi+t3C574RPDZvhG6EBVkogbZaMVWgyyFWKMkNWGYx8vIA2OMStRsGdzdlhAL/7haMjFTcrBJcN3Tgq6+YbZBQwhYOGnAQ133pgxV7j6KZxxzyKRkXCrEmiRmq6C61ct+Ng+Zn9Jhej2yqn2Rteo3UuntVqp/EDEGWSRF1wSFfO95ZMumw2e3WXnmuhF6IbTJXwMqlOoID0aWNxo74H+eF+zQ1m22HVQHWDBa88d09LDFFrv1Vd8OjZ0iLPXIrF1dpFrU9zlzdgQXh4pLsBURvz7tE9p7vRQbHw14kLz/okJ9Zn1RJ+KEPWoqlccuMdW++KCxW3sMTR83Qse9IBM1yEYwe/fupaKigkOH3IQRahPZJplCVnIAiq4ajZCjxdR6EfZwJDsZnr5WkpEo+fqQ4LvPiGGFTh5sUrVaXHCUu48aZH5x6NAhz31IR1+Bs1qgpwuDAfrMqkNVNnnYp6cL2hrV774qLOqkZal9pFTKmQ509cGWA/DJHv8OOaapqQSkenD7Kq7iBz71oQH8zwuCP7wr6DMP/t4RiV5aoLrC7ebEWBgX+K8idGghi1UWzSAbwjz+/rcFL20V3PGK4EDlIc6bup9/XlbNd08Y5ZM1m7CH3SDTC0R/UxV6A6O9SuUA1JHO/Omea3xFBHOPBWCF/JQYzLy8FZo77ZuHMhZFJFK69ZD19MNnWjTg8hnaP/UxPVKk76sc8sccJp5SQpkmeR+pNcgASktL2b59O6WlpSE/95AMstLSUi677DLy8/OJjY1l69atANxzzz2sX78+oA2M4pm+vn76+9WPC7qHjJTAxYT7mUcGUJytVKTiTJKP9wie+HjoD5z/eUGw5H7Bh2UDNtjk7vOdiglHGRy9/7jtQzoxsRCrFdnUwhavO04Sa5SkefK81mvL3ikZQ1P5nFKiXgeELW49ABc+YuCu10bxymigqdbC5vQwugDjUx9y4J2d8PJWwV/X2x/Qow7dQ9Zc56B4O4rQPGT7unWDzH8j6menS1LiJF8dErz0VQIWcz+FqV028Z5RixsP2awCdf3C4SFL61QGWVZRfkQIjHhl8hxISiOmt52/LfqSd38iyXB4vPg7FkUsHa3aHE44LWh+tg+6+wV5qdJmxEech0wX4xog6FHVCh29Sh17UgSLOPX29tp+Qo3fBtm2bds4+uij+fDDDznxxBOxOEhTd3R08Oijjwa0gVE8YzIZMRqNGAxuFBU0g6xJBtAg0ycZX30MZt+XthcUwQvfk5wyU3L98fYHd2mNmpz5kJLGrmr4fL+gvUflIDhhk7uPesf8xWDw0occGZBHdscZkq13SeZ4cn4NRdDDkakOeWQO8W36ZO1AE6PXuxJoqivUa5DCFX3uQ6jV7DteUcb0d0/Ac/8Z6SQk2Sfe1e7zyLYcgGtXCX7x0ghcXNBW479pt4cs+otemwzgic+zaOqJ9akPjXhstcjsOWT65HpnVRjCeRuUQWbMCb2qnN8YjTB3KQCn9m9gwoCSqP6MRS5EUhy17h3LyoNYe8L0ulI1VtS2CU7/o+DFLUSe9L3NIHMW9CjTwhWn5HgQAYsQTCaT7SfU+G2Q/eIXv2Du3LmUl5fzzDPPIB068THHHMPmzZsD2sAonpk2bRqTJ0+mqMiNJJWDhyxg9R6OXKZUfRpr4PN3/dp17gTlKXOUt/7zWsF3nzFwyoOCZzd5l03WC0GvmA35jqE+Ubn7YVFUNNFzH3LElkemDDKDAZK9CWvYJO/9zB/TmXiEyllsa4J6+7JxXiokx0ksVkFF49AOPeaorlCvQTLIfO5DwK/+K2joEEzLldxySgRNgIKBTdijwu1ms0VNsNbvDl2TAoY2+dvdqWbE04YYgqTXJuvqN3DJv4vZ1z1a5RUdcBOyOD0PjAZJc5egpi10Tek1Q1+tNr5mRbCghyOa2iK7v7R5n78+pO4nf8YiKVVN0672bnjmd/DIbUqQIhLQn58O+WNSwtpd6veiLElZraC0Wtgl8SMhZLG7056vPEDQY7cWDeGyoB5hzJ49m/nz5zN79uyQn9tvg2zDhg3ceuutJCYmIgYkJuXl5VFTUxOwxkUZBppBtnBmcuAKPcYnwsnfUr9/+IpNaWsoSKnCGVPiJfsaBLe/YuC43wn+vNY5JhyUHPKrmoiik9Q9qMTXqNx98BngIRsUm4dsiC6QWIfv0yFsUQi7l6w8WiB6cPp67eGjYRb0WLMD/vuVwGiQ/P5iV9nzUYd+vT14yEomqEl4bdsg4jiRhpQ2g+w3V6Xy8KVWz6HLg6DXJtMZsWUA/CFdG8A6WmwGQHwMTNXstJ2HQ9eUT/fCvlKtjkz2CDHIxk1UkReWfti5iV++KjjnLwae/2LwXa1W+KJCSa8f/4Dg4j/30fP079Uzpu4Q1BwIevN9wlHyXmNPHRxuEcSaJFctkbb/OdUiCze6qmx6DiQ5ewIONKp7eyjhzWMFvw0yKSWxse5lxZubm4mLi+pRRwSaqMelJ6Rw1twAHnf+8Sp0sbcb1r045MMIoXIIPr1NcueZVgrSJA0dgj+8Z2Dp/Sq/ROe5zdDTL5iZLzl60oAD6eGKxbOicvfBxFaLzMf6BTbJ+yGGLIJD2KJzPbKoQeYHtQfVBDopzf7gDgNNnXDnq1qo4jKYN0TH6YhC95BVV7jdnBhrD/X7sjIkLQoMPV1gVuEMM6emc+784R1uVgHcdZaV6XmSbx09BiZricn2nFwHxeLFk2HJZElsCBcqPt4tKRaa62KkGGRCwDzNS/b1J0zOUX3mwfdUSsNA+i1KBOqOVwSLfiu46FEDT3wiqG/u58m4P5DZYHdRb98RproDA3Ej6JGeAD8/XdVtnKs9VsvriKyQRQ/hiqAWXj6/3cqlR4e4TSMIvw2yuXPn8sorr7jdtmbNGhYsWDDsRkUJAJqHjMQAF3QxGGDller3rR9A9fBWlJLj4Prj4cNbJQ9famVWvqS7X9hWzy1W+OenaiL3naXSVS3SFq4YSKszigv+eMg626BTW/L3V2HREV3Yo6LUKZRkaq56AOtFZKN4QffO5E8KgNTq0NlxGDp7YXqe5ObRHqqoo3vImmqVEeOG+VpEki75PiLQJ37xiQFbBLv2OHj3J9IlJ2hUIoTbPLJ7zpWsvlGybHromlJW1kCc6MdiiIG0CFZaGEjJUkBAZRnfPqKOydlqQfeRD1zvo5pW+PY/DPx7k6C+XZASL7loXh+fTHqIJWInxMZTm6zC6yr3RsAqn8Vij2pwCFnMTYUfLIfbz5A2b+rhFkF3vIOoR7jz4BwVFgcghPoMo7bGYADwey3m5ptv5vLLLycpKYkrr1QT88rKStatW8eTTz7Jiy8O3WsSxT/q6+sxGBoxGAxkZDg8yfr7oE8tFdWaU8i2qtCQgDFxOsxZDDs+gzXPwHfuGPZkL8YI586Hc+ZJNpRL20Slrh2OmwrvfCNdV2K7O6Ny98OkubkZq9Xq2ocGMiCHzCt6uGJ6jn0leCjkTlBenfZm9T1r9cn0h1HUQ+YD1RXqNYjhir70oWXTYc0tkp5+Rn+ook5iiprktjao76F4lstbjiyUPLtJsG0keci00KgWQzqvfwqnz4HcYeYp+zwOjRbSc1RYWkv4PDLVrWBsqoZYIDNPLbaOFFIzYfJs2LeDmB0buO2M87nhn4InPobdVf3EGOHRq2MAKMyEZdMl49Ph9NmSpZPMxL78Z6j5SqU6XPEzOjfvgh37MLRGgIessQYsZtW2dPdGckYSZCVJGjsFe7vSmANqn+7OwC/C+8NhzwbZSKGmpgaLxYLRaGTcuNDW5fP7Drzkkku47777+Otf/8rRRyvf44UXXsgdd9zBPffcw9lnnx3wRkZxT0NDI01NTbS0DHBVd6twRTMGFj2UPKzaXx455VIwxcKBUvjm84AdVgg4bppdMCI/DfY3ws0nS+JjBrx5386o3P0waWlpcd+HBuKPh6w+AOGKoDqDXiTaIWxxbiHcc46Vu84eI56W4VBdoV6DaJD52oeKsoZWr2pEYxP2cJ9HdqS28LT9sBIlGBFoHrKyrnR++ZqBugCIUPg8Do0W3Ah76LR2h0ZB9uMymCKUoIcxdwQoLA7EIWzxlBmSJZMlfRbB2rI41pbF0OGgWv7PayW/vUBy4lQLsa/9DXZvUaJRl/0EimaQNUF9H2m99e5rnYYSW0HoQpuRvOUA/PcraHVwtOuh+3uaYiBBM8LCKX3f1qTOL4TL8+ajMrj+acG/PgtP0/yhtraW6upqamtDX5NlSEsit99+O/v27ePvf/87v/71r3nkkUcoKyvjF7/4RaDbF2Uo6AqLMgUQgZO9dyQ9G447S/3+7rNBVSd6/ruSa451s6E8KncfMhJ1g8yHHLLhSt47ooctltuFPXJT4OqlKuciihfM/fbvIkg1yAbjN28KPt0bllNHBjZhjwq3mydnQ16qZO4EaHIf1Rh5OBSFNgg5+uuGBQM3tcgALnlMMO8eA1tD4DH9aI9gstAEPUaKwqIjMxYqL1JTLeLwXn57geTYSZ1cOq+RP59bRdLAaFqrFV59TC0gG4xw6S2qrhmQmq868URRR2m4dekcDTKNpzcKfrzawCMf2iORZhfAjHESgyAy8sh071huoUtkzNZKeH+XGFmh2WFgyMEjEyZM4LrrrgtkW6L4SWHhBIToclG7dKxBFuOteO9wWXombP0QWhth41twwnlBOpEbpIzWHwsAeXl5SCld+9BA/PGQ2STvA2CQTS4BhDpme3NYhSlGHHWHwGpRq6dpWT7t0tMPf/tA8N1lkiQf9Zk89aG3tsPjHwtWbYSPb5WMS/NwgNGMTdjDvYfMYIDPbnOTGxvJaOq6dTKDSdm4Ri4MAZ/HodGCmxwywPas3lkV3AUnixU+KYcrxAhTWHQkLh5mLoSvN8BXHzPprKk8fpVEyliEiHO+p6xWeP0fsH2jMsa+9WOneYPQPJb5NPLhITNHTgxjXLW+iKblj5kt8KGWmXHyTHtUiFOEyNfpar9wKi3qgh5uFv/KajWFxbzIj2opLi4O21g05KDhjo4OvvnmG7Zu3eryEyU0JCcnk5SURGJiovMGTWGxmRSykoKYyx8bB6deqn7/5HVlmIWKmkq1GhQTB0UzQnfeUUZiYqL7PjQQXcK2q917JW8pA6Ow6Hhe3cvgIH9f0QAvb4VN+4Z/ilFLdYV6HUTQw2KFvfXqq7v/bcGf1grO/rNgh4/y2+76UGMH/FJTVfzeCYxNYwzsfbexxqOwx4izQbRV+DqZzowAhaD6PA6NFjyELM4qUBPWnVXB7RQWK9y2UjI7VqtBNhINMrCHLe7cBGaz+34kJbz9T/jyQ3WzXXATzBggPpechlnEYBSSwwfCGPYHLpL3WyuhtVuQnig50pM6bYqDsEe4sOWPuSosluk1yEZAyHpqaippaWmkpqaG/Nx+G2T19fWcd955pKWlUVJSwtFHH237WbhwoS2vLEoYcfCQZQeqKLQn5iyGwunQ3wvvPxfkkzlQ7iB3bwrAEm0U7+ghi9IKPZ2e39feorYLQ+DCYKa6hi2+8qXgp88beHHLSJvNhpDqCvU6SP7Yl5Vw8h8MnPdXwYo5kvw0VRvwgr8J/vHJ0IS77npN0NgpmDFO8qOTIn9VNGgkpUKq5p0cpMaRY85LRNNuN8imj4AV74hEF2vo7bIVNwYVhgbwTVVwTx9rgktKuki1aB6VkRiyCFA8Wxkj3R2wZ5vrdinhnX/D5vcBAed9V81ZBmIw0J2sjOSu2jCqRXV32he2tZDFtaXqGXfidDAZXXexWkEmhzlk0Wq158kOMMh6zdh0DI6I8KLQ4cZvv+x3v/td1q1bx80338zMmTM91iSLEka0sLJmmUJOsAV3hFAy+H+/S4UDHHMqFE4L8kmxhytG5e5Dg8kEcYlqAtHZbq9LNhA93CIzL3B14abMhY//C/t2qIHfYNCk7wXlESCKFbFUOUjee2H9bvXAL8pSYVJv/Vjyvy/Bu98I7ntD8MkeVcjZV7niN7+GN7fbC0CHsq5SRFIwCdoa1fcxaabL5u4+OOvPgv0N8OVdQQwxDxTapK+edFZGJ1hDIzZeGeudbSpsMUGFec3SDLLyOjWRDaoiaaMWrpicpkoYjEQMBihZolImvvpEhTDqSAlrn4fP1qi/z77W7lFzQ3xODrRXceexdcDs4LbbE/rzMzULEpIAWF+q/nXSTNfFj0v/Lth2ED5clkEehC9ksalGzQ1MMZDrXOpmXz1YrILUeEle6J1OIwq/b/d169bxhz/8gRtuuCEY7YniB319fUAfQghiYhy8RFrIYhMpwRH0GEhBMRy5TIUEvP0MXH93cCV0uzvh4B71ezR/bFj09/fb4qWd+pA7klI1g6wNcjyoctUHUNBDZ8JUNYHpaldehoJip+LQUo7AsK9gYzHbi4sOYpCt0x74y2eoB35GEjx2peRfn0nue1OwfrdgxcPw6LclC4pc93fsQ629MfzyNfVl/GA5zBlGGbpRQ34xlG7xKOyREKuK11ql4KuDoa1DNRRkewsC5SELlGqmX+PQaCEjVzPI6m15NwVpkJ4oaekSlNVISgI4jOq098DzX8BZslpN4rNHoMKiI/OOVwZZ2Zf0tzUj45NUP9r4hkqlADjjaliw3OthYrJyYB+YWsPoIbMJeqgv/mCTyr8yGiQnuFnn7umHnn7BIXN6eA0yPVwxfxIYnc0KPVzxiHEj4znd29trG4vi4nxMpA4Qfs+ak5KSKCpy81SOEnL27t3HgQMHOHTokPMGLWRxxuRkTjgiRCElJ39LTZqr9sHXnwT3XPt2qNC57IKo3P0wOXTokPs+5A5bHpkXYY9AKizqmEz2Gk5aIfDibDAISXuPoN4H4ccxR30VWPohLsHrPVLdCruqBUJITnAwBISAK5fAf38omZar6od5qjXl2Ide2gJNnYKZ+ZIfLo+GswEwTi+q6Pkem6/lhmw7GIL2DIf+PkSvyoX7v++kUuSbVsyg+DUOjRZsSot2A0AIh7DF6uCc9tO9cN8bBt79aAQrLDqSV6gEMKwWWje+y4EDB2hfsxrWv6S2n3a5itwZDJvQShjDLvRFNE3QY4sW5bygCNLcODFtC5PdYQ5Z9JI/1tIFibGS6SPEm15aWsqOHTsoLS0N+bn9NsiuvPJKXnjhhWC0JUqg0AyyUxckc1aoIvqS0+wqi+8/B73dwTtXNFwxPPiitBgMgwzs8veasEd8DEzMVP+KFoh2Q3WFeh1X5NVb/cFu9Tq/EDKTXLfPGKeMsn9dJynMtP+/1cPtfeMyeOgSazRU0RHdA9FY7VEQZ36hMl4jXhZan/CZYjhqeiLGEVRLOOLwIOxx6kzJZcdIit3XBB42H+1RfezIpBGssDgQLRQxee820ko3kbnlXfX/ky6GpWf4dgzNQK7cV8/jHwWjkT6gKxRr+WPnHQkbf2Hlbg81N6flqv9/0+4g6jGUpN/hYlNYdJUGvXop7LhbcseZ0QW6wfD7kfnrX/+a6667jvPPP58zzzyTzMxMl/dccMEFAWlcFO+kpaViMKRgNA7I9NQMMtsEOlQsOh22rIemWpXzc8olgT+HlDYvSTRccfgkJyfbqtIPymC1yKzWwBWFHohukB3co4z9uASm5kJFI5TXw9KpgT3diEeXWR+k/tg6LWH8JC+e9IRYmOeg7rV+N/x4teA350vOmefch4SA848cdutHFxm5qgituR9aGiDT1WOpF4jedjDCQ3D1kKjk9IA20q9xaLTgoRbZd44FCN7k9WMt2n+S1BUWR3jIIqg8svdWE19/kPh6zahZdh4sO9f3Y2gGcmJXPe/tEtywLMQGhNXq4iEDKEhXP+7QPWRbm7Q3mPuVmmuCm9W1YGE22wWLxruv1WAwQOIIkZvIyMjAbDZjMoV+RdHvM+7fv59NmzZRVlbGa6+95rJdCIHFYglI46J4p6CgAHAzOdYMsnprCplWQreKaYqB06+A1Q/Cp2/DUcvdTj6GRVTuPqDk5OT4/ubBPGStjdDXo2LIMwMcn5A1Tk1sm+ugYhcccRRTcuH9XVBeJwjmBGZEUl2hXr3kj/WaYUO5+n25H7fSfz4XtPcIfrxa8HGZ5O5zcnjhC7WaG8UNBoPqv3UHoeGw2zFxVgHEGiU6EVibAAAgAElEQVRNnYKDTZKJAQoFDDiah+xgfzqdNQRM9t6vcWi04KEWWTA50AgHGgWxBgtJHVpyz0gPWQSltDh5jr00ytIzYfmF/h1D+z6yRRsVVT1YrXFBTYV3obVBPT8NRjVe+MA0rQvtboxFJichejrVokkoDbK6gypnOT7J5bnf1QcJMRG8wOSGiRMnDv6mIOF3d7vxxhtpbW3lj3/8I++88w7r1693+lm3bl0w2hnFV6S0iXqc92Qq+0IdDj39SDUwWszw7rOBP35U7j58DJZDpocrZuW7JPYGBF29U/PCXXiU5KlrrPwgmqvkjNWqFi7Aq0FmEPDnyyQ3HC9teSu+8NfLJT8+WWIQkhe2CJb/XnD36wbO/JOgp394TR+16CI4De4Tg+JMMFN7y5eRnEemech2tKVT0xrmtox09JDFlgaXUNaefth+CFrdl64bMh9p3rFTxzcgLP3Kc5sepNjIULPkDPV5lp6h6qP6awXEJyLjlSGT0VfPwVCX9NK9YznjwWji7v8KrnpSeK21OT4D4kySPrOgP1HPIwtxw/VwxfGTXa753f8VLPs/wZodoW3SSMXvWdOmTZv4xz/+wWWXXRaM9kQZLn29KpmfEKosOiIErPg2PHI7lH4B+3bC5ABKyOq1RqLhiqFnMA9ZMBQWHUnTJg5anZbpeYyYROGQ0lit6gLGxHld/Y4xwskz4WQ3csreMBnhp6dKlk6BW/4DNW3qIXzxQkl8dI3EPXpYWL3natsr50im58J4D+FJkYC5rQUTSmHxtBFQ5DWiSc1S9RotZuV5TLWnf1z2uODLSsFfLrcGNA/84zJ1r67Iq4J6ICsvuIrIoWRqCdzxj2F9HpGRA9WdFIp6dlZNCJhojU84hCtKCW/vgNo2wfXHeR6fjQY48QgAibk3ndimw6FXWnQ0yBwwW+C9b6C5S5CaEF009QW/e25eXh7p6RH8xBjraOGKPTKGfkNseGra5E6Ao09Rv6/5FwQqhLW7Ew5qMVZTowZZyBkshyxYgh46adrTUS+cGcU91RXqdRBBj+GyeDK8fbPk0qMlFy+Q/MC7qvTYRjfIGjxX/P3eCfB/F0sWTgpNk4ZCR4Nyi7WZ0hkXrSk0PIxG+5g2QNhDDwX9pipwsV5Wq4NqX/IoUVgcyHDHOy1scaKoY8fhEMfZOUje76xSxlhirGSR+7QsG49dKXnsSklipi7sEWqDzH1B6M/3K2MsI1FyzKTQNmmk4nfvvemmm3jssceC0ZYoflJRUcHBgwepqnJ4yGsGWRMpZCWL8C1+nXgBJCSr+OKt6wNzTCe5+zGYcxAEqqqqXPuQJwbzkIXBIFu7Cx58T7A3WiDajg8FoQ82wQNrhG2CNlQykuDHSw7z48WV1Nf60IfGKnrIYn1VeFTQAkRPs5rsGVPTA5oX4tc4NJrIcC/sMbtA9ZGdAbwcBgN8/L8qzHtc/yhSWHRg2P1IE1opFHUBvfY+4eAh02tDHjfVj+LgKWGQvu/ttnv9BygsrtmpBohTZ6moipHCnj172LVrF3v27An5uf0OWTQYDHz99dccddRRnHHGGS4qi0IIfvKTnwSsgVE8093dg8nU46wGoxlkzTIM4YqOJCarpNq3noZ1L8Lsxep/w0GXu4+GKwaM3t5e3xWF9Byy7na13Opo7VutarIJwTPI9FyHlgbbv57aIPikXDAhXTIlaqMrqivUqxeD7L1v4G8fCLYdhGdvGJ6B4FcfGqtk5QMCejrVgkZymtu3mS1QWgO5qZ7rvoUToU32krICGyUzZvuQrrQ4QNhjlma/B9ooSIyF5UcAn44ihUUHht2PMnSDrJ7uvgA2bDD6+6CpRv2eV8jad5Qx42s4uZTQFZtOEijp+1BRtR+QKvw2xT4mWK3wzk71+8o5I2sBqquri/7+/rAUqPe71956662237dt2+ayPWqQhRndQyZTyAn3A33BSbB5rcot+vBlWHnV0I9ltdoFPaLhiuEhUetQUkJ3h3NZhaZalbtoirVPMgJNquYh6+1S0r7xiUzNhU/Kobw+qrQIaIIemtvLi0G2frd64C8PVeH4sU5MrFpQaKlXYYseDLLv/1vw7jeCX51t5ZpjQ9xGH4jvUQZZ1rho2kJA8FCMeOY4Vfi+oUNQ1y4Db5w3jNKQxeGifR8n5dVxyvdCODbWH1bP1cQU6mU6X2vBJsuPGHzXg01wxsOCU2UGDxoIbchilV4Q2tk7tu2QCrlMjpPRkjR+MCTZ+yiRwcyZM4ABcSOawmJzOAQ9BmI0wspvwz/vh8/fhwUnQ+74oR2rthI6WjW5ex9GqSg+UVzsvU6VE0aTkrbt6VR5ZI4GmS1ccXzw8pbi4lUYbHeHCluMT2RKrgREtDi0TnOdCiMxxSi1Ljd09mJT7vJH7t4TfvWhsUxOgTLI6qtg0ky3b5kzXvLuN0IrED30CaGU8NUhmJQF6YlDPowzFgspVhWuXDDBvUE5VMZsH/IQspgQC8XZsLdeeclyh/nIa+6EK58UHDcVfn5iJ0Y9rG2UhSwOux9pi4mG1vrQFgTU88dyC/mgTCCloGS8JNeHPM1xadDdDwdlBsQRWg/ZYd0gc84fe2eHVt9yhh8hlxHCvHnhW/D3+1IVFRUFox1RAoXmISvIT+HESFj9njwHZiyA0i3w1iq46IceV4e9sicqdx8RJKVqBlkr4DDh1w2ynCCFK+qkZWkGWQPkFdrqsEQNMo3qCvWaN1EtiLhh417oswgKM6NhniEle7waxxo8Ky3qBaK/rBzeqf60Fh5638DSKXLYIak2OtswIJFCMHtaVNEjIKS795ABzC5QBtk3Vb55SryxYS/sOCzoN0t+MVfzjiWnQXygrPVRQno2IJRKrZfQ4oBjyx8rJDsZjpsqWTzZt/s2xghFWVDboIl6dLSGzpj0oLB42mxJZ5//Cr5jnRFmu0YZFM0gWzgrGQIolzssTrtcTUQqdsGDP4bZi2DhyTBxuu+DRnk0fywiSEpRsupdA5QWgy15r5OWrULyNGGPqdp85mCzqt0z5mXXqyvUq5dwxXWl2urlESOrYOeIZ5BaZABztdunsknQ2CHJGkKUw1MblDEGcMnRAZwQaV4VkZRGXOwokUoPN7qHrK0JzP1Oi43nzpfMKpAsmzb803ykyd0fP41ouKI3TDGQmgFtTdz+ZD2949L5w7dCYFQ4CHosnwHLZ/h3zmm58EG9Fkbc36uiJIJtbHe0as9h4fK8WVAEC4qixpi/+GSQnXTSSfztb39jxowZnHTSSV7fK4Rg7dq1AWlclCGgT5QTw51A5kBmHlz2P7D+RbWisn2j+skthKNPhrnHQpwXff6o3H3kkKStGA5UWgy2wqLOAKXFrCRIT5S0dAn21UtbMvyYpbpCvXowyKSED3ar3/196EcZJtkOSoseSEuAKTmSvfWCrw6pkB9/eGkL3PO6MpZuOcXKufOH2lg36GFuKdH8sYCRlKrC8Pt71ZiWZS/upmoEDv8UUsLHmmDcsukSDukKi2N9sPRAeg60NdFR08CXPQGwhgdDSifJ+6EwNRfW7Iyj25BIgrVL5ZEF2yDTwxVzCqKe1gDh0zKXdJDptVqtSCk9/lgHVJyPEjyampppaWmhrc1hcuwg6mEOUPmvgDC1BG64B268D448QYk/1B2EN1fBH34EbzxlXyUayN7tUbn7INHW1ubah7yhG/qOBpnZDI2aQlSIDTIhYKrWJcrHuvS9lIMaZLVt0GuG+BjJ4kHq2/iK331orKJPgNsaobfH49vsYYv+uS/f3Qm3vqT2ueZYyc0nD6mVHlm3WRlkDSLwBtmY7UNCOCgtBmcAK6+D6lZBrElyTDF2D9koyx+DAPUjbY4xQdRxsEnQ2h2gxnmio1Wbtwm29U6gzkOZT29My1Nz9EYRQul7PVxxgNz93z6AzRVgGaGmQENDA3V1dTQ0NAz+5gDjk4ds/Xp7HakPPvggWG2J4ie1tbWYTPWYTCZSU7WYfk3U44evpXL3JJieF772uaWgGM69QYUxfvWxUmFsrIYv1qqfiUcor9nMo+3hG9FwxaDR2Nhokwm29SFvuKtF1lgNVovycqZmut8vULiRvr/3XEl8jGRikE8d8dQdUvl1phiPhvG4NNh8h6SiMXDhnX73obFKYrK6fzrblNLiePcW8fxCyYtbVEkCX9lYDj98VmCxCi5aIPnlmRIh4IsKWP25+t+SKYMexisNNVpRaGM62cM7lAtjug9l5KiQ7xbXRNgDjfD1IZg3ASZmDe3wr3+ljPRFxdo9P4pDFgPSjzSlxZnxddCpcviGe+94pU670bPy+MnL8exvEPzrOivH+eGc03OBD1symEBVaIQ93Cgs7quHB9YYMBkkW+6UpI1Ax9nhw4dtsvfZ2YEe6bzjdyD4Rx99REdHh9ttnZ2dfPTRR8NuVJShIyOlDtlgJCTB4hXwwwfgqttg1jEgDFC5G176Gzx0M7z/nFo1LP9a7RMNVww/ukHmmEPmGK4Y7KQkN8WhZxXA5JyRVXwyKJR9qV6LZ3sVvjEaiIp5hAvdS9bgOWzxuKnws9Os/HC57yGllU3Qb4XTZ0vuv0DahE5f3SZ4aavguc3Dvy/1GmTJWSESOhgrePGQ3fu64EerDazfPbRDf74f/rROffdnlkhVFkOPZoiGLLpH+z6mxqjvI+gForXIoI70iexvEMQYJfMn+neIKTmqhImtPmCwpe+ldKuwqNceWzKFEWmMhRu/RT2WL1/Op59+yjHHHOOyrbS0lOXLl2OxRFKs3OiloCAfIdox6E9fKW0T5VaRTLqXtKyIQQiYPFv9tDXB1g9gy3q1wvPJ6+oHonL3QSInJwer1WrvQ4PhzkMWKoVFsBtk7U1gsXhUEhyT6AbZ9CPdbjZblDEWaJvZ7z40lskugAOlXg2ySdnwQ++p2i5cegyMz5AcPcl5YeKiBZJ/fSZYsxPaeiA1fmjNrm+HVHMLGCE9L/Ahi2O6D2W4Lw4NarFpbSnsrBpaGYSjJ8EViyRJcXDJ0ajIAks/GGPs0QajiID0I+37KJDq+xjqtfcZLX9st7UQgMWTITnOv0MkxMJT10h4Nw02EnwPWXOdisYwmpSir8YaTe5+xQgrBu3IxIkTwzYW+X1Gx3yygfT394fsQ3R0dHDLLbdQUFBAfHw88+fP5z//+Y9P+65atQohhNufmpqaILc8cKSlpZGamkpysuYK6+lCSBW4a0hMDlo5qKCRmgknXgC3PATfullJ5utMKYnK3QeB5ORk5z40GO5yyEKlsAhKVMRoUosP2kOnpx/+sg5++pyIrLzJUNLZbhe+me5eyeGtHbD4t4I/BVhzye8+NJbJGVzYw1cONkFTp/3v46e5hqHOmwBTcyU9/YK3vh76ucpqIUeoVffY9MAbZGO6D+nFoVvcSd+r+dY3noU5XZAS2zgoBNx3ruS2lSqE1RaumJkXvHqRYSQg/Uj7PlL6GjFiCZmH7IMWZdgsH065ohRd+j7IHjLdOzauCEzKr3O4Bb46JBBCcuqs4J4+mGRkZJCVlUVGRkbIz+2Th0xPlNSpqamhstK5UEp3dzdPP/0048aNG7h7ULjgggvYvHkz999/P9OnT+fZZ5/lsssuw2q1cvnll/t0jKeeeooZM5xlrLKyhhioHQlo3rEOGU9aaixBXdUJJkYTzDpa/TRUK1GPmQvD3aoo4N1DFgqDzGBQhntznapFlp5NrBH+ul7Q3S/4wUljtLZW+VeAVKuVae7HsA9KBbVtgs5eGLFjw0gnW6vd58VDBsrQ+mwfGASsmOO6va4NrnhCEGeCZ66TjPMQRSiE8pLd/7bgxS2CS48Z2vdeWgOnawYZyaGfqIxqvIQsztbs97Ia6LeomlPekBLuXyPYWwePfFsSYxxgd41iQY+AkZwOxhgMln5KkhvIzszFag2S/WqxQL2qS/hGrTLIhqOs2R6TTgoEP2TRTf2xd7VwxYVFkBtBIt8jCZ8Msoceeoh7770XULL2559/vtv3SSm5/fbbA9c6D7z11lu89957NiMMVCjlgQMH+PnPf84ll1yC0YdQpjlz5rBw4Sia6GuCHhGfP+YP2fnRh0ckoRtk3Z3qYWIxQ5MWahMKgwxULbLmOlsemcGgcsh2VilFsTFpkA0Srmixwgdl6veo3H0Y0T1kTbXq3jG6fwR/tg++/28DswukS/hPSxdc+Q9BZZOgKEtiGCQE9fwj4YE1ki8OCPY3SIqHEKlWVg3fJip7HxT0kMXuDujpcpIQn5ABKfGS9h7BnlrvZT2sVrj3DcGqjapDfLxHupZNaIwaZINiMKhwzsZqXr28Tj1cgkVjDVjMmI1xVFhzmJwjKRqiT+ClLfDcS5k8H0cIDDLNQ+agsDgawhXDjU8G2WmnnUZycjJSSm699VZ+9KMfMXGic9ZhXFwcJSUlnHDCCUFpqCOvvPIKycnJXHzxxU7/v+aaa7j88svZtGkTS5cuDXo7wo3K1VOxCUaj0S55zygyyKIEFcd8T18WMVTIohZT392h8v6Q6v9JIVJHcyPsMTXXbpCdPjs0zYgYLGYo365+92CQfX0ImjoFKfGSBUUBPr2/fWgsk5pprzvVVGc30AagS9+X1kB3n8oRAejshe88JdhdK8hLlfzrOknuILddXiosm67qz720RfCz0/2fMCVYOokTZvVHcuBFPcZ0H4pLgIRkNZ621KswMA0hYFY+bNqvwhY9GWRWK9zxqmD152pS/Jvzre5r2I1ihUUIYD/KyFHGa3MdEMQHiqaweCi2ENlp4ORhLJZNyoY6QiB7b7HYy6togh49/SqEGkb+8zecY5FPBtmSJUtYsmQJoJQUb7jhBgoKwqfQs2PHDmbOnInJ5Nz8uXPn2rb7YpCdddZZ1NfXk5aWxoknnsi9997LnDlu4kPcsHPnToqKipykVXt7eyktLQVUHOpAo3XPnj10dXUBMG+es2JgQ0MDhw8r1/XEiROd4lctFgs7duwAICUlhcmT1apEWdkeTKZ9CCEwGo0kV+4jB0jOSLatgnd0dFBfr0IhMjMzSUtzfpju378fgNjYWMaPH++0rb6+3qaoOX78eGJjY23buru7bfl2aWlpZGY6a45XVlZisVgwGo0u16GpqYnWViWhPG7cOBIS7OojfX19tuuQnJxMTo7z6tThw4fp6+sDoLi42Glba2srTU1qVMjJyXGKI7dYLLYw24SERMaNc64HUFNTQ3e3KjgyceJEpxvR8RpmZWW5yOnq1zAuLs7lvnC8hhMmTCAmxp7k0dXVRW1tLQDp6ekuMcsHDlRitVqIiYlhwgRn71NjY6Ot1kp+fj7x8fZs/d7eXqqqVEhUSkqKi3TroUOHbPmeVqvVJhNcXFxMS0sLzc0qNys3N5ekpCTbfv39/Rw6dIiJcQkYe7tU2KJDuGJ1TQ09Paq+UlFRkVM+aVtbG42NjW6vodVq5cCBAwDEx8eTn+88WaitrbXdNxMmTCBGT0ZvbaSzs5O6ujqyY9KBLPbWOSdgHzhwAKvV6vYaNjQ00N6uFjEKCgqIi7NnUvf09FBdrSYvqampLqHM9mtopKjIuX83NzfT0tRIzoZXiMvIJubsa1yuIbjv31VVVfT29gKu/dvxGjr178oy6O3CEp9EZZ8goabGJXT89S2dQApHFXRiIA5w37+HMkbo4exGo9E2NkF0jHDEaYzILoDq/dBwGHIK3I4R+WmQlyqpbRO8+0UVc/N7SEhO539ey2TbQUF6ouSZ6yTW9kr2tw4+RpxbMoGKhljGpal7w58xoqioiLtPaoZSkPFJtHZ0DjpGACQmJpKX53wNq6ur3Y4RlZWVmM3K4DOZTMMfIxzGWX2MAPVcTh+QAxe2MUK7b/Ly8kjMyFUGWXM9/VkFTmPErIJcNu1X4hIXLZAuY4TZAre+KHj5S4FBSH5+Qj1Lc9vp6HDt37L2ICagUcQx0BFTU1NLd7e6ht76dyTPI/R+ZDQaEZp60VDGCGGMJxXoqztMLNDVB4mxQRgjNEGPcdMKuT2plilZfVRViSHNI2J7DdRJ7b7o64HebohLCPw8ov4QmPuwxsRxoL0bQ9cBioqK+OR/JbtqJBMy8GkeAf6NEeDvPMLpsFRUVNj6y8yZM536YWtrKxUVFYD6jvXxQJ+n79ixA4vFQnx8PEcc4Swud+jQIVubpk2bRmKi3cOtj0m+4rfK4q9+9St/dwk4jY2NTg9+Hf1m1i+OJ8aNG8cdd9zB4sWLSU1NZfv27dx///0sXryYDRs2uBhL7jCbzS4CJ1JK+vv7bdvd7aNvH4jVarVtc1dc29txbf/XQhanFKUwZa69Tfo+7o5rsViQUrpdCdAn6/pxHPHluJ7aGojjCjdScb4f11X5wdf2umuT40TC23H9/6xmLBbLMD+r52toMBhcRHi8HVf/rOa4RFeDLGeC12vo2CZPx9Xb5u2zAnYPWUuD7bjjU9UAPrA4tNls9qiYNJxraDabtQe/62exWq2YqitI3qfVz1t0GuSOdzmuu886pH5Ytg2AzoKpmK1Wt8fdsE9NJI+Z0I6UsU7bhjtGeCI6RthxGiNydIOs2uW4jm2aX6hkpHfWxHBEVgf3vJbMhnJBUqxk1TWS6Xmwb59vY8SpM82ctyDGprDpzxgB2EKgREq6T2PEYMf1hrtnq+NxfRojHPDlXg7HGOF03IwcVdeppd5ljLjwKMmiYsk8JcLndA37LXDLfwRvbhcYDZL/d3YnR2U3Yza7aVNvN6ZuZVz2uqkXabUO51kVWfMI8K0ferxvEpXB2VzVxFm/ERSkwWs/lIEfIzRBj/jxhSzPbNGO4SqF6ss8It4IiUkxtJsTSBHd6p6NSwj8PEILV+zNHo/ZYsUg1XsMBnvOY7DGiOHMIywWi8f5t+Pc3d040NfXh9Vqddu/HY/r7hr6g98GWaD54IMPWL58uU/v/fLLL5k/XymIuetcOt62AaxYsYIVK1bY/l62bBlnnnkmJSUl3HXXXbz22muDtsVkMrmcRwhhW7lwNzk3mUxOKxuOGAwG2zZ3HcLdcZOTkzAYEm0rPTH9alJqU8LT2qTv4+64egdz19EMBoNtX3efNVzHdXdt/Tuua5t8Pa67Nunb3H1Wx+P6/1lNTu/x1KahXkODwUBcXJxtBXKw4+qf1ZqQDG0NKkTWwUPm7Ro6tsnTcfW2efusgFPIon7cyVlqAC6vU4nt+ilMJpPHgXQ419BkMiGldNuXDAYDKbX77P/YvhFOvtjluIP1F2/tdWqTlj/WXTgDk8nkcty6Nthdr4ywxUW9Ab+X9eM5rq4G4rijdozIdlZa9DRGHDlR8s5OQWl9Iu39XZTVm4g1SR6/SjK/UG+Tb2OEySicyh34M0YA9hCo5HSfxojBjjuQhIQEenv76O/vc/JuuDuuT2OEA77cy+EYI5yOm26Xvh84RswZB3McnE6O13BvPazfDTFGyV8ulywpNNPY6KFNWv0xc3wyhgTXnAaDYTjPqsiYRyQkJNiMD92LOJQxwqo9Y1J66qlvF7R1S8yWIIwRmoeMvImY5PDnEZOzrdRVp2sGWTNk5wd+HqEZZP25E9W9Iw1YrKqkii/HhaGNEQPb5O8YYTQaPc6/HefuMTExmEwmpzbExsZisVjc7u94XHfX0B+E9NeECzDV1dW8+eabPr33ggsuIDMzkyVLlmCxWPj888+dtu/cuZM5c+bw2GOPceONN/rdlpUrV7J161ZbGJmO1Wq1hS3opKSkREDNlDLAoWLka4/Dlx/SuuRikk45N1ooN0pweP5P8M3nsPIq2PimyuW65pehqxPXUAV/uRVi4+G2x0EI+i0w85cCCWz8hSQvROlsHnnsl8oLAmqydfODwSma3VgDf/4ZGIxw6yNOggA6Na3wxMeCmjb4y+XRhOuw881meP5hKCiGG+/z+LbP9sGlfzeQnyb59DZJTauSn182fein7umHtbvg+Om+1yR77EMQG9/kxt7VMPdYuOCmoTcginu+WAtvPAXT5sMVP/Nr10/3Qo8Zlg82/H71CbzyKBTNgGvuHHpbxwJV++Hvv0QmpVLS8QgdvYJ3brFyRCBFxHu64H41T33yuMe4YGkS6cMspvyr1wQrvvgNS4zfwIXfh5IgaCk8crsyJC+5GWYezWvbVAHzq5dKfnxy4E83dBYC4c2V9Nd2CLuHLD8/n+uvv96vfUpKSli9erUt90Vn+3aV2O5rHthA1GpWuI2sYaCFLP7uo1SunkdgB48oUXR08Y6mWruwRqgUFkGpLIKKk+/pgoQkYozw3k8lBekQF+5RraPVboyZYlWi/qFyKJwW+HNp4YoUHeHWGAMYlwZ3nhU1xCIGXcijodrZnTuAkvFgEJLqVkFtm5K29yRv7ytXPCHYckDw2wusXHaMb/vsrBLM7WxRs4XkqMJiUPBSiwxgcwVs2gdLp8IReVDVAtO01JslU3w8R1Rh0Xe070N0tjE/r4dPKhPYWRXgOZUWrnhYZnHf2mTOXTz8MXpqrrQLewRDabGv1x4VoyksrtkhaOwU9JkhWk5leIxI6+P888+no6ODl156yen/Tz/9NAUFBSxatMjvY+7fv58NGzawePHiQDUz5Fh1lcXRJHsfJfLQQ2IrdqnXlAxISPL8/kATEwuJmlHY2mD7d3F2BBhjAPuUAA/jilQtPYCvNwbnXIPI3UeJQDLzlEezr0dTKXVPUhw8cbXk41utAavrc+osNWF6cYvv3trdNZAropL3QcWxFpmboKUXvhD8/l0D/90muPIfgm89JiirdXmbd0a5wmJASUiyLXAtzVJG8s6qAEc4aOGKu62FHFkIWQGYsx1VBDn52qpNMAyymgMgrWphJjWT7j6l3gpRuftAMCINspUrV3Lqqady00038fjjj7N+/XpuvPFG1qxZwwMPPOAUP3rddddhMpls6isAp5xyCvfeey+vvvoq69at4+GHH+a4445DCMF993kOIYl0rB3KIGsVyXcxQKQAACAASURBVGQM0/UdJYpHdA+ZHv8eSu+Yjhvp+4ih/Gv1OqXEHjKyc5OSpw8kPV1wQKm6ejLI9tbDR2XQG+BTRxkGRpMyymDQAtEnzYDCzMBFu15wpPK6bTkg2OfeGeNEn1n1IZtBFgTJ+yhoXn8B5j7lYR/A7AI12V21UbC1UmCVqhyCX9iKQodPIXtEoRnJc5OVQudO77eq/2ieplI5kZNnBsaYmV0AS+dras3BkL63FYSeAkLwYRl09wvGp0uboEeUoTMiDTKAl19+mSuvvJK77rqLFStWsGnTJlavXs0VV1zh9D6LxWJTANIpKSnhueee46qrruL000/ngQce4KSTTuKLL74YcrhjODh48CBVVVXU1GhLZZqHzJqQEpyq8lFGHTU1tc59yBcG1hvLGe/+fcHEjUFWXgc/f0Fw56tByNXyFasV9mo1wabOhclzlDevqw327QzsufbuAKsFssapHzc8t1lw1ZMGfhnEazKkPjTW0cPG6gM9y/NObiqcoOWgvbR18D6xvwHMVkGesIt6BIMx34dMJlWjDtyGLTrWH8tMkqy+wa666BNWKzQpUY/RHLIY0H6khS1OjdE9ZG6dl0PGWqMWNEutE93XjBsq+j3a3hzAg2rYDDIVrvjOTr0YdHBSpMPB/v372bNnj62UQyiJhACfIZGcnMzDDz/Mww8/7PV9q1atYtWqVU7/e+ihh4LYstDR0dGJydSp8uisVoy9nQAYkwIU3xJl1NPd3eWSizkoAw2yXH9mBgFCr0XWYg9Z7OmHF7YIMpMkvz4v9E0CVEhHZ5sSHCmcDkYjzFkEn78HX2+AaYOX1PAZH8IV12kOtGXTgxdOMqQ+NNbJLgC2DOohCwYXLZCs3y14eSv89FRndbSB7NbmtbmGFpUeEqSQxWgfQknftzWqsMUB+aZzCiA7WWIywDPXSVv+mM+0NoK5X3ln03MGf/8IJaD9KENdpxxzHUsmS2bkq2dMQuwg+/mC1Yq1phID0JBUyIwA5qZ1xqWTBPS3tOBeU3AYaAqLjJ9Mnxne17IWVo6icMW2tjb6+/s9KjIGk6gfZbTQ3YnQEirjUkOYzxNl7JE40CCLjJDFydo8o6lT0NQZ+iYBdu9Y8Sy16g32sMXSLSpvKBBYrbBHq3PmwSA72ATldao+0fFB0BOJMgx0r3IYDLKTZ0JaghIL2bjX+3t31wji6SVJqmK3UVGPIKIZAO48ZAmx8OHPJR/8fAjGGNj7WeY4ouEzPqIZrsbWelbfKPnV2TIwxhhAQxUmcy+dMo7JMwsC6l16dIsKWbQGOoesqx2aVfgmBZP5dB+09whyUiRHTfS+axTfGMPLUSOfadOmAlrBvya1lNkqE8lIMRFVu4niCxMnTkRK6V+9jAgNWUyMhQkZkkPNgvI6OKY49M1yyh/TmTBVPdxb6mH31sBIER/ep8Ig4xJgonsd9PVasvWCIkhLGP4pPTGkPjTWCVPIIkB8DJwzD575DDbvFxw/zfOzIiNRsjS3GdqAmDjV34JAtA8B6ZrSoj7pHUBS3DCOPUYUFgPaj3Tly2Yfki39RfM07aSY5TMD2+ez89OhDOIs3WoBMNbH+haDoXvHMsdBQhJFmfC9EyRJsXJU2fizZ88O21g0ii7j2EMvXmc0Gm35Y5b4FE6aETXGoviGXoTRXSFFjyQk2QPG03MgLkADvj/o0vcOKosAU7VnaLn7OU1w6emCg3u0hjiEJgphN8K2fxqYc+3RwhWnzlVhSG5YV6q+o2CPB0PqQ2MdXVihsxW6Q+/OvXGZZO3/WPnpad77xvXHw5MXarkoyWlBSxSJ9iHsHrJgGAA2hcXRXQsnoP0ow16sGynp6IU9gUpxrFLGTcnCYo4LcPTCpPEJdErNeg+kl6zKHq4IMCkbfrFS8qOIqj02fEwmk604dKiJGmSjBc0gy8xJ4ay5YW5LlNGNwWCXvg9HuCLYPWTtLWC2SwhO1Z6h5XVhWGmv2KVENjLzIDPXedtczSAr/xo621339Re9/piHcMXuPlUwFnwoGBsl9MQl2EUc6g+H/PSFmTDF11SijuAKekTRGKQW2bCIKiz6j77o19/Lrr3tlNwtuOKJAD1XNG9TwqTJAS/VMjUX6qS6V82tATTIbPljvha+i+IvUYNstKAZZLaJcpQowUTPIwtHuCKosEljDCCh3V7LaWquWvEvD8KcZlBs4YpuVkRyxqu6ZFYLfPP58M7T2qjEQxDOnjgHPq+AXrOSI54+lJyTKMEn26FAdBhp95DW2GsGixX7Knu0Bllw0cU2WhvBYgnsscdIyGJAiYlVNTaBYpN6oNS1C+qGuZ62s9JsU1j8/+ydeXhbxbnwf0eyZFvyJu9rbMeJs9lJ2BKSkEAIYae0hZDyNfRCWHqhH7SlFLilH1DaAimUtrclvWwlLC20QKBACqWEQgi5SViz785ix473fZG1nO+PkY4lS961WMr8nsePZM2ZOaOjV6Pzzru5rU2BJDcZGhQx74aaAClkquqVYfGtbcIlXpZTCSxSIYtg2traaG9vp6OjQ1PIOvUJ2AO8lkuil46Ojj4ZGgkpLgtVTlHA5zQsFMVvHJnbZbHLGuL5qGqfQjZpJqoKL2+Ff3pmutfcFj8Z27kOuKxjBZNggIyqiybDO9938uA31aCnIx61DJ3saApZ6C1kIPLC3PqSwmm/8F+T7O9fwvR7FT78wlUXK4gWMilDCJdQvUEU3m0LYH1Fa3dfCvQoLwodcDlyuS3Gtdcx0WUwG2s9spffrkTntNNjSOizigYQRYHuWPFdba4NUOr71kaRPVinR80q5KF/KFz3rI6P9gVm+PFES0sLTU1NtLQEoY7bEEiFLII5fryaEydOUF9fD11iAXpxR1J4rAOSiKS+vr5PhkbCBd+Gi74D084IzsSGgzv1vYdCNqsA9jzg5NWbQxxH2XhCuBrp9FA0jVc+h7vX6rjlzwpV7t/EsjMBBY7t90rXP2KGcFcE8aM8Laev5lQwGbUMnexkuBSyYCT26GyHNQ/CZ+sHPESng44e6LUrfmuS7atVsNoVUhzBt5BJGUJ8IO41bYDEHqPCbYE1J4v43ygm4HKU0udG6i58vHsMX9dd1eA8LupbqTnFQYvJdCYIC1l3U4CUiqqD4jGrgB11RqpbFUxGlUUh+H0JNUePHqWiooKjR4+G/NxSIYsSnJ1tADSriaQnhHkykugnPRfmni/qbIULt4XMQ7kx6ANUJ2akuNPdF06hoi2O+98UP7QOp8Kzn7h+dJPToMhVAXTHptGdp9cKFTvF88mzxzBhSdjRLGRBUMi2b4Qju+H9v3nFWPbnytPExsXaL1zuiR7sc9URztK5k3pIl8WgE4zMftJdcfR4JFopyxPflV3Vo1einv5YYabiih8rDLy7opuCCckAlMQHSCE7vFs8Fk7l3Z3i/S+eIjK2SgKHVMgimKysTNLT00lNTcXWLlwWW0jEYgrzxCQRQ2pqqiZDEYcfl8WwcVDUBLMXz+T7Lyt09SoUpIof8Je3Qps7TkdzWxylQnZktyjwmpQGWf4Lcv95C3z/5aFrTAWKiJahcOKOv2yuB1tvYMd2bxD0dELFjgEPG6wmmbsodIrD5bIYRAuZlCEXg9QiGzVuhf8kUMgCLkcemRbdFrKdo/Qwrm6Bt7bBTJ3ri5YbvLosJcXiu5psD5DL4hFRAVotnMa7rv3AC6KoGLQnubm55Ofnk5sb+gQ4UiGLYFJTU7FYLCQnJ+Nw+Uzb4hLQy09VMkySk5M1GYo4NIXM2/3v71/BVf+jsPrDEM3D1gtH9gLwuXEmO44rpJhU/vZdle/MU3nmWpVEdw2h6XNEmvq6KqitHPm5NHfF2QO6u7y1TeHvXynsPzGK9zIKIlqGwok5CeJMgCpcXgOFhzwCsHPzgIe6a5IBvPp5nzw1dUJ9u/g/rsedZTF4n6+UIRcpQUh977ZuhCveN4QEXI78uCwea1L6NthGwJpNCganlSm6KvFCEBJ6aLiSkQQk7X1bs8vKqnDIPJWKBgWjXo3a7L0ZGRlkZ2eTkTHcNLSBQxaGjhKUbpllUXKSkewbQwbiZnLrEYVkE4SkQPqx/WCzQkIKc+cW8HyqE7sTcpLhgcv7nT/eDJNnwd7PYfsnsPRbwz+PqsJ+V/2xAeLH2nrgsyPi+blTR/5WJCFEUSA9D6oOCCtG9oTAjFu5H+y9QvF32IWs2XpF1jg/LDtd5YXNCu/uFPKTFNfnrlhksaF0CXd46bIYAjxrXwWCzva++B/p4jxyLH2ZL1NiHdxwlkK+ZeS/KW098JctMEM5gg5VfJeSgmgNdlmze1ta6OiE1LGEDh4V1jGyJ/CPA2KgsyZDYhjKj0Y70pYSJcT0CIVMN0DWNYkk6vB0WVT7fiTdmRYPhao49CF3dsVyUBQWlfpXhrQpli8Qjzv+V6S6Gy61x6CtCWKMUDzd7yEf7we7U2FihsqEtOEPLQkTGUGIIzvk8ikqO1NsWvT29GXm9EN5HpRmqVjtCutcouxWyE5PdyljOr3c7AsFga5FdnCbWHiyJvStl5Lhk2gRGxtOB7Q18dNLVa5dIDYtRsLhekiIhSVJ3sWVg4bLQma0d7Hj8BhTDh92KWTF07X4uQuj1F0x3EiFLBqw2zHYuwGITZQ/mpKTBPcOo80K3X1pjie77mmONkFvCOqkqAdFjE5Dtv+K7M2d8Mt1Csv+RxFKWelsMMaJ1NaV+4d/Ire74sQZA1o7/r1P/GCeG6XuJFFHehAyLbrjx0pmujJ7MqjboqLAzeeo/PQSJ0tden6+BS4qU1mU44pBMSeJLICS4OJ2WexsE4r0WHEr4pP91yuUDIFO1+eJMQYleVYBbLhT5TuFLoUsN8gKWWw8vYr4jaiuGqPboit+jKJp/M8Klfd+6OTCsjHOT+IX6bIYwezdu5eYmEMYrV1MAJwonFkmM3pIhs/hw4dxOBzo9XqKi4MXZBwUDEYR19LRKqxkrh38rCRIiFXpsCocaQxyYeS2JpS6SpyqwlXvlfPWKWCO9T5EpxPuKp29ChsOqJxdaoTpZ8BXH8P2TVA4TN/CIdwVbQ740FUXZvHU0O1gRrQMhZtAZ1rsaHUVDUco7hm58MnbQnas3RAb77fbN/qJ1HnT4bzpKuxrga0EvSi0lCEX8WYRV9jTJbLHZuaPfiyHo6824iAlMqKJoMiRJQOaTkBzPfYJsL8WjjUxYqXEGAPGhhBZyBSFrlgLxp5ammtbgVH+CLY1ifeuKDBhCopCcH9PxwHbt2/HZrNhMBiYOdP/JmuwkFteEYyqgqqq6KydAOhMCVw6S36kkpGhqhHsfqDtXvYl9lAUKHFZyQ4G2W2x9kthjdiuTuTb5yb4KGMAyfHwrTni+VMbXIkT3G6Lu7cOmpZco7MNqlzZuUr9x4I8twkaOhRSzSpnFI3gTQSAiJahcKK5LNaMzH11INwlEbILxWZFdiGkZYvMnPu+GPl47qQAIYgfkzLkIiVAcWRVB4RiF58A+ZPGPq8IIeBypJUiqKO+Ay7+bx3f+4tCj204c4H1e8DuALo7hXIDQc2w6MZhFolNOhvHYCFzW8eyi7AZo7uGnRtVVbW/UCPv3iOYuLhYYmNjiXW4Vgbp4y8ZIUajkdjYWIzGcBTvCgADpL6f5LqnCaZC1mODvRvFDvSRlJlcN3/gY69boKLXqWw8qIi0ycXTxQ1zd0dfDNpgHNgGqOIGe4Bg8KnZMDFd5c4LVIwh9H2IeBkKJykZoDeAwza2YuFuNHfFcvGoKFA2TzwfxG0RwGqHVz+H655VqGxyxTx2hEYhkzLkQaBqkbldnCfNPGncTYMiRyl9pQiykyDVrOJwKlqc5WB8chCuf07Hxf+t4HAVhCYlIyT3aoZk8Z11tDUzat3CpZB15k7j1J8r3PaSIpTLKCY+Ph6TyUR8vH9vgmAiXRYjGGGS74V2Ufixx5iI3iGK40okwyEvLy/cUxgbAyhkk7NUspJAN/oankPyq3dUbuvdCQqcfXH5oPc8+Ra4pBze3CaKg/72Wzpxo7z5XeG2OOXUwU82hLsiiMxX7/xAxRDie6+Il6FwotOJ+lC1x6DhOKRmjn4sVfVVyABmnAkfvS7c17o7hVvcAPz8bYXWboWFv1KYXaDyxgSXQhZkl0UpQx4EqhaZZ4mMk4SgyJGHgqwoMCMXPj4Au6pFbNhgPPmx+AGaXwL6mhC5K7owpVugApLtLdS3Q2bSKAZxlUx4s3U67T0Kx1tUYqL8/rK0tDRs5z45tk2inS6RYfHDyqSgu2hJJOMKLfW9t3XhpoWw5Scq//fc4Jz23/vgy/+tIEXpxGYwYZlcMmSfGxeKbcq3tosioVqR6H1fiPiegbDb+260/ShknrufsTEnzWZ49OAu2DvWxB51VSKGLMYIEzxuKjLzRJY9pwP2fDZg99gYuNzj3r0gFTEeyJT3oSQQtcia66G+yuW/Hdo4mKijXymC6S4vY3fGwYHYUwMb9ivoFJXrz1LheIgSeriISRLf2UylmQOjuS9sbYTmOlRF4Vd7RJao7y+RbsXBRP50RwGODqGQNakJpCeEeTISSSgZwEIWbKXk2U8UFumEq6Fhchnoh942LM+HeROFu8ufNioijiA1W9SM2vv5wB2P7RMKmznJJ/bA7oCrnlB4+mOR1EMSgQQqsYdbaS+aBjEG7zYt2+L/DjrElaf13XDlJtPnshhkC5nEA4+YpVHjzq5YUAomeVMwJrTMl63Qa2VGrviO7Bzi6/q0yzp2Ublrc6Pa5bIYIguZO/X94twWynJH0d/lrnjUWEyzw8zZpSqLwmc8OimQClkUYG0TClkLiWMrACiRRBqaQjZw/E0wYnOf+o7K1WnbxD+e7mFDcMtilZULVP5jvip2r2e6rGQ7Ng3cye2uOHmWj6b5wmb49IjCH/6t0BGALNmSMJDhcrMKlELmTx5nuBSyw7v6rF5+KM8Do158Yc4sUUOa1EPiwtNlcbSL10norhg04s0Q68pe3dKgKTd7axgwnupEq3BPB7hpoSq+c22NgAI5RcGescD1nU11tpA8muTbLoXs3c4Z6BSVey6R1rFgIxWyCKampoba2lo6GpsAsBoT0ctPVDIC6uvrqa2tpb4+QIVIQ43bZbGjVWSS8+AnryvMfVDRUsEHklhbJ9ntrqyHk4bvErRwMtx7mSp2TKHPbfHQzoFvlLWbK293xfp2eOw9sQv74wtULGHajIl4GQo3nrXIRnsDbuuFo3vFc38KWWom5JWI8XdvHXAYRYH1P1L547ednDNZDZmFTMqQB+41rbcHujoGP9YfvVY4ImJ/mHxyKWRBkSNF8XJbLEoDs1EUUq8YYB/w2U0KNofCnGJVxJm53RUzcgcsPRFw3N/Z9uZRdVdd8WObndNYfkb0p7t3U1lZyZEjR6isrAz5ueXtewTT0tJKW1sbjo42AOxxMsuiZGR0dHTQ1tZGR8cofvjHA6YEMLhyzbc1eTW1dkNtmzI6/3k/7K6G377v2hWt2ClubjPy+qx0oyEtW8QUqE7YtcW3vaFGpErW6WGid+Gbh99RaLcqlOepfOuM0U9hrES8DIWbtGxAgZ5OUd5gNBzbJzYkEi19qfT7M4wi0SDcqy4qB6W7Q8SdAbhSaAcLKUMeGIyauxkto1i8Du8WspCcNrY6ZhFI0OTII9OiTgcPXK6y5joneX72KVQVDtSK5ze54oapdsePhbDGnluGejp5cn3vyPq2NKC01GNHx66YUm5fevJYx5qammhoaKCpqWnogwOMVMiigBhrFwCKTHsvOdlQlD6FqF/a8MmZ4kfkYN3YUy1298JtLyv89n0dv3lf6Su4OgJ3RU++OAY3Pq/w+pcM7rbodlcsmiYKxrr4/Ci89oV4Xw9crkrLeCRjMPbtwNcfH90Ynu6KygDyPmMuoAjlrV/MpV/c1rH4BIiRCZlDylgSe3hmZB1IFiQjo19c3xWnwTlT8Ft3UlHgT9eq/P17Ts6d6noxxAk9AIgzoepFLOnz77fR0jWCvm4La04xj66II0PeWoYEucpGMBMnirT3vXaRoU2fIL81kpGRl5eHqqookfzDnZwm4m/61yILYHHoX6xTOFinkJmocv0CJzzhUsgmzRrVeJsr4F+7Rb2nr19/Jso//wxVB6GpFlI9fEP8xII4nPD/3hCf1/LTVU6ZMKopBIyokKFwk54rbvYaakSNupFyyFUQerANgqRUKJwiXBt3bYH5Fw8+ZggTekgZ6oclEyr3jzyxh6r2JfQ4ydwVIYhyZBm5gqylxFfVPgtZqBJ6ACgKSmIKtNSTSQsH69I5vWiYfV3xYzEl0zn7JEvkMWXKlLCtRXJfNYKJjRWFoU0OYZ6fNUVmU5KMjKgoyKqlvh9YIRtLYo9/7oI/bxGL82NXqaR2Vgm//BiDuMEdBd+eAyajyt4TCh/XpEDxDNGwwyMLXk+XsGaAV/zYl8dgXy0kxanceWH4XUmiQobCjdvNsGEUFrL2ZlHHDMXHrdWHGXPF4xBui2Lc0CX0kDLUj9HWIqutFK7bMcbRKfYRTtDkKMX787Da4R874Df/Urx+W/adgObOfn1bG0VpIp1elJ8IJa7NlCyledgbkw0d0L1fKGQUTQvSxMYvcXFxxMfHExcXF/JzS4Us0um1ordbATj3FKmQRSJOp5O2ti6qqxtR+2kOVVUNvP32p7z66idUVJzwarPZ7Pz0py9yxx1/4ne/e9Nn3N///m2WLXuYb3zjQWprvQN7N23aw7x5P+aMM27nqaf+6dP3rLPuYtq0W7jggvt82h544GUKC69nwoSVfP75Qa+2HTuOkJt7Lbm51/KTnzzv03fhwrvJyrqGkpKbfNp+97s3ychYQUbGCt591zsNfHV1I+np3yY9/dusXPk7747JaVz2Uhepl71Iaur/wWoVyT2K00GnqFR/9m8sqVdjsVzN889/4NXVarWRnPwtkpO/xSWXPOAzp6uu/g0Xn7acY79Zxrem13PWZDT3sH+0ZJGYeg2Jicv59a9f9+mbm3stiYnLOf30233a7r/naQ4+soxjj13Jqj8f7kvusWMTWzbvJSHhKhJSr+Guf3YK64mH1Wzl127lxO+WUffU9aT1+8o/+ODfRN+Eq3j//a+82ioqTmht11//3z5zOvfce7T2/jz55Lta20svfeTV1tbWpbVdfvkvfK/hVaswm5dhNi+jrq7Fq23t2k1a23//91s+fS2WqzGblzFv3o992m655Y9a3927j3m1bdiwU2u7994/+/QtLf1PzOZlTJ78XZ+2e+/9s9Z3w4adXm179lRqbTffvNqn7/z5d2I2L8Niudqn7fe/f1vr+9pr3u6p9foUzA+2Yf76WpYte9in79e+9gutb2ur9x3fS4+/Ivo+1M4TL37i09fdb/Hie2D6HOFTVV0BTbXccMPvtfZDh2q8+r3/4S4x7k1b+OUv/+YzblHRDZjNyygr+78+bXff/Zw27pYt3ll1tm07rLX94AdP+fQ9/fTbMZuXkZ39HZ+2Rx99Xev79tuferUdP96ota1Y8WufvhdeeJ/W7l4j3Dz33Hqtbc2a9V5tVqtNa7vwQt/18JprHtPaq6q83abXrftUa3v0Ud81IifnPzCbl3HaaT/0bkjJ4Ifv9mC+8i3M5mV89VWFV/OWLfu0ce+6a01fg8s6Vv5EF+aUb1NYeL3POX/5y79pff2tEe42f2vE4sX3aO39efLJd7W2v/zFd41wt33taxG4Rni6LKoqD9z/Zy49bRk/uuRKXlsn1ghVhR+9onDaHVXEmzzWCLe7YlYBGIyjXyPqW7W2Ya8Rrs2Uut1b+c4i0fbEE+/69PVcI55d10B8VwMO9FBQOvga8f5XWtt4WyPeeOMdn7bxjnRZjHS6XcGrOn3osvdIfKisrGfPniqamtqZP38aEyZkaG2NjW1873tP0NHRzZw5pdx777e8+i5efA8bNuwCoLPzFUymPsf09eu3ce21QgH54x9v5j//8yLEPooeRYnRFsF582bw/e9fAyiudoUtW47w6qtiUX/00TvJyspxtSu0tR1l82axCF5yyXlAkasNQGHfvhM0NDTT26sAJV5tzc0xHDsmdgp7e3OAUq3dZrNTUyOCYVtbjYDbid59LazU1bXS3W3v16bQ1fURDQ1tHuP27c45nTU0NoryDu3tBq82kg/RblVp7rADNte4scTGwITUQ+xw2Glt6XSNmwF47hxbaWvrcl17HTBDa/niWDfrd9pwuoo237iwBMiDg78HwJ45m46O3a5x07z6AnR09NLR0U1XFz5tvb1J2HpEnvovjqrstVzF1JjnoKEaZ51CZ6do63UYofQ8r/5dXSpdXT2YTCY/46ZqfR2OAq92VU3Q2qxWs0/f7u4Yrb1/m93+pdZmt+f0a2/X2np6Yn36Wq3xdHVZXf9NAdK1NofjqNZmt2f49O3qstHb20tPj97Pe03U+qpqCUIOBU5nu9Zms1n8vFcnXV1WurtVnzabzaL1dToL8b6GRq2ttzfRp29Pj56uLit2u++4dvsWra/DkevdntpAl+1/ACdWa7xPX6s11uMaTgP63NMdNQ102QCc2O2ZPn3d/Xp6YiBhPhTPhYrNsPMwVqvZ4xpOQqwDrnE7FNe4Dmy2VD/j2l3XEJ+23t5kj2tY5NXudOJxDZN8+nZ3K3R1WdHrDT5tNtsGj2uYh/dnU6O1Wa2+342eHmO/a9i3ztrtuzzkMKtfX6vHNTT6jGu1mjyu4WSgL6mKw1HjIYe+a0RXl811DRXvNks3vQ6Vrl4n9FpxOovxvoZWj2uY3Ne2/xEAuomnq6uRri6HzzlttlSPa+i7RvRdQ981oqcnxuMa+q4RfeP6rhF940bgGpGyyDVgD3Tl4XRYUG2ib0W9mNP/VnSy8/gxFFWhp9tjjah2JerJPQ2YMfo1gkaPazjMNSKxBPiUBLUdm9WKDQZdI1raddRv3w0G6MqYRO7UagAAIABJREFURmLsaVitfxl4jXA0elzD8bVGOBx+AvzGOVIhi2A6OzvRNdUTD9jjE1GdCoah69NKBqC728rOncc4caKZjIwkzjzTW5m48cY/8OWXFVitNnbs+L1X20svbeCuu54D4K9/vZMJE3IBPRCDqsJf//oxAKoah1jQYlx/ehISMgGhkPX0zMZkSnP11REb25fpp6dnMnCZ9n9MDMTExGC327HZ4oFFXnOKicnRntvt0xE/dO42Ma6iKFitKXR0FJOQ0GduSUqy0NvrIDExFW8FBpKTi8nJyUFRFAyGSV7jGo29TJgg3DIslmJgslffgoISenqcrnN5t1kskygpKQHAZCoBJnnMN4FJk8T/2dmTvNpIPo2CZB2lmTGQUohQIMVifFphB70FmRyfOIl4g57k5Mmudlzvv5epU8XnPGHCFKDPx99i6gRzOqbMQvIs8ZjiJkFvEhwVQfOJky9g+nSxw5yeXurVF2D69Bl0dHQwceJEn7acnCmUlZVR3dqDEmPkyS0GHiu9CHa/gen4XsrKyqBhHzmJCpQuByay2/XDXlo6g/j4JCwWi8+4mZliXICEhMle7UajQWvLz5/q03fixGl0dLgtB95tqamlWt+UFO/32tV1gunThYwUFU3z6VtYOI2yMmHd1etLgL6slElJk7Vx09On+PSdMWMGNpuNSZN855uXN1XrGxs7yavdbG6kvFzEU2Vn+/adOrUMiyWDzMxMn7bs7KlaX7PZ+xrGxqpaW36+73udPHkGdrsOg8Hg05aePkXrm5zsfQ31mVCeKRxWCvNLfPoWF0+nvFxYDnS6iWgKmdNJSttR0ddSRFqa7zV0n7OkZLpoK1vhUsj+TUHBOZSXi/INRuMkoM+lKkF1inETs8nK8r2G06eX09TURH5+vk9bTk7fNTSZvK9hXJxVa8vNFeN2dHTgdDrR6XSUls5Ar4/DbDb7jJuR0XcNk5K8r6HBYNbaJkzw/WwmTpxOU5MrAZZSAvS5tVkspVpfi8V7XEXp1domTpzuM+6ECdMoL690zWESkK21JSX1jZuR4U++y/2vERYjuYk6yrP0kDmduDhv+TaZ2rVxc3Jcn01XE1QJ6/2UabMwWer9rhFZWX2fjb81wt1WUOB7DUtKptPZaXf9592Wltb32fRfI3S6Dq2tuNj3GhYWTqO8XKQm7L9GJCf3XUN/a0RZWRk2m43Jk6fS0ZGpyVFCQgL5+dO0vmNaIwzTICEbOk5Aizg+fcJkWrttHO9IASby1AZRTuKS2YVs8Fwjjru8PfLOASaOfo3Qp2hthYW+n43fNSJRKKC58TZM2cWUZCQMuka0GXKYqxPuiolTLwAmUlAwbeA1IqFG6xvsNcKT4awRSUmZjAbPtcjznigUKGp/HymJD06nk/b2dq/XEhMT0fUr0hpq9ux5k6T6f5L3wYvscRag/udDTB9NRfYopbfXhtFo8Hrtvfe+5I03NlNb28K9936LWbP60tDu2VPJ9OnfA2DFinN44YW7AIPrz8iCBd9l06btrrH3YDCYtPann36JG2+8DYCnn36a66/vcxWxWq2aP/KiRYv46CNvd457772XzZs3k5CQwDPPPOP6ERXs3r2btWvXEhcXx+LFiznttNO8+n7wwQcYjUZSUlK0m1M3DQ0NdHd3ExMTQ0ZGBjEemdJUVUVVVXbs2IHNZsNgMDBr1ugSVISd5iPwu1kQEwf3nBhTZrHmzl4s5r4btU+PNDEjNwmT0XXt9r8Hf1kGyQXwgx1jzmK2vaqFr/3hE2J0Cluv6CH1resgMQeufBaevRDikuHHh3AoMXz98U/YVd3Kb5bP5vLZeWM6byDZtm1b5MvQeOCRydBZBzf+G/JOHV6fEzvgf84CgxnuOgwxw9gV7m4W53La4JbNkDlAnMifLoJjm+DKP0HZFcN/H6NAylA/nA74RZb4jH6wE1IKhu6z/W+w9kbInAG3DFJoPooJqhw9cwFUbhZrc9k3ef5/j3Dv33dx7tRM7r5oKuf/ZgM6Bf59xzkUprmKQjqdsKoQrG3wnxshe3RZeUfNV3+BN25mg6Oc79j+i10/uwBzrH87zMYDDax4ZjObYm8jV2mEa16HknNDO99xQCBlaKS6g7SQRTrdYsevWU1k0kmWZFGYwq2kpSV5vf61r/2CLVv2oSgKJ054xjEpfPVVJX/8o/AtvvrqbzBrltuaEktmZp87Q1OTCbjQa1yLpQC9fhcWi4W2tgzS0vp28U4/fSE//elPSU1N5cwzz/TqFxsbS0VFBYmJiSQm+n5IDzzgG7vkZvr06Zr1wR/nnjvwgpmenj5gm6Io0ZPRLDEXUMDeA50NkJAxZJf+qKrKi5uP8tA7e3nmP85gXon4bM8oSvU+8JArvqTk3ICklJ6Zn8Ky0/KZmZ9M/LRM+FcytNfA+65YlUnngd7Ay1uOsuN4K4lxMcwvGfhzlUQw6aVCIWvYP3yF7JArJrLorOEpYwDxFiFX+9+BnWvh3Hv8H9fhKqaUkO2/XRI8dHqhhDVVQMvR4Slk+12xwKXnB3duJyuWQqGQNR8BYEauuO/YVd3K0x+LOLELy7L7lDGAxoNCGYuJh4wwJMhIELHHp6ZaWb/ibOIHcKFyOFV+sW43BUqdUMZ0BiiYG8qZSpAKWUSTlpaKekTcFDaTSKppiA4RhqqqHDtWT0ZGsldc1YED1SxYcBf19a1cd90S/vSn7yPipuIAE01NvdTVtQLQ3T2b+PgUhNJlJDOzAXgagNpaE57ueBaLk+9973tkZmYyc+ZMn/m8+uqrxMbG+lVkZs+ezezZA6cZLi4OYUHIEZCZmYnD4UCvj2Bf1xgjJGYLRaa10q9C1mNzEDfAj1F9u5W7XtvOB3tFGqq1X1RpCpkPB10K2aTzAjJ1gEeWeezCTb8cvngeKl1FoksvpLmzl0f+KeL9bl9aSkbi+PKNjwoZGg9klMLRjVC/b+hj3bgVspHuZJddIRSyXWth8U/8by64FbLE4CtkUob8kFIoFLLmI0LhHgyHHQ7+SzwvvXDwY6OYoMpRSqF4bDkKwNTsJBQFatus/O2zKgBuXNgvrX21qyZczkzQh+F2O1GELST0NpCQMbD73WufV7H3RDv/Eedae/JOA6N5wOOjmXCuRVIhi2AyMzOptzkB6IpJJCaKfstWr/4HP/nJC7S2dvKPf9zHRRedAcQD8WRkpFBfLxSuo0d7gfMQypi4qZg4sZwjR+opKiqipSWG+Pg+q9TFF1/M1q1bycrKIisry+ucOp2OP/zhDwPOKRxpUINNTk7O0AdFAsn5LoWsysu60GNzsPQ3H1HV3M1X955Pcry3C+sHe2v58SvbaezsxRij478umsp/zCvyf47mo9B4ABQ9TDw7OO+j/CqhkAEoOph0Hr96dx8tXTamZidyzZmFwTnvGIgaGQo36a5YzIb9wzu+twuOusokjFQhm3KR2LVvPAgntkNOP9ccawf0uhJGJWT59g8wUob8YCkSj81Hhz62aiv0tArrZ/4ZQZ3WeCaoctTv8zDHxlCcbqaiXiSMOqPIwikTLN59qr8Qj7nDtHgHGvdmSncT2K0DWtGzkuMoTjezwlwJtUDxwtDNcZwRzrVIKmQRTq/LP7XXGHn+iqtX/4P33vuSvXur2LHj9xgMMQilKoGkpDwtdev27TFcdNHFuBWulBThypeamsopp8xBKGp9PPfccwO642VmZroC+SVRRXIBVH0qFDIP4gx6eu1OVBUO1nVwWqH4wezudfDgP/bwwmb3bmciv/3WbKZmJ/kMreF2VyyYI2K7Akiv3ckbXx3n7a9ieC4xF6W9GvLnsL1Jx8ufinTND1xeRoxeViqJWjJcLtPDVciObQKHFZLyIX3y0Md7EpsApRfA7jdg52u+CpnbOmYwi2MlocfibZEZFLe74qTzhLujJPC4Pw+XyyLAo8tmYTEZiTPoaOu2+/Y57lLIhuuCHGjiLaA3gqOX5/+1ld6EPG7ob8UDzi7N4L0fLCTmdzeLF4ayyEqCglTIIhxnp1DIHHHj70fT4XCwYcMutm07jF6v59ZbL/Vq37BhD3//u3DNOnAgmenTTwcSAB0zZ6ZSUPAkM2fOpKhoMn1p1wW7du0a8LxRExslGT7J+eKxtdKnaXJmIrVtVg55KGTr99ZqytjKBcXceeGUAV0aNdzuiiVLAjZtN05V5Vfv7qOhw8qe2Vcwfe/vcZZfxf/7+y5UFb5xSh5zilOHHkgSuaS7FLKmCnDYQG8Y/PhD/xaPJYtHF89YdoVLIVsL5/3Me4x2V83DxOBbxyQD4HaRG46F7MB74nHyBcGbz8mO+/NorRJJV3R6TvWwiOX036Nz2IT1GcJnIVMUEQPaeozXN3xOS5rDr0IGYGg9Au3VQoHLnxPaeUoAqZBFPLouVwYX09AWMpvNzkMPvUp+fhorVy71atuwYSeff36IKVPymDdvKhbL8BU8h8PBgQM1xMbGUFzcF2+gKAqXXfYLOjt7KC7O4dZbbwaStL/y8u389a8fYTabqay0MX16n3Vi5syZHDt2zOdcEolfkl1B734UskmZCWw82MDB+g7ttUvKc9g6r4nzpmWxqHQYSUAcNqhwZcecFHiFLM6g59r5hTz63n7uOLGUdbd8GzVtCt+wHaWh3cp/XTR16EEkkU1SHhgThKtgUwVkTBn8+NHGj7mZvBSMieI7U/WpsPy66XApZDKhR/hwu8gNZSFrOQZ1u10uzoFfmyQuknJFsgunDdqqh060UrdHJJqKTYZU/0pQSEjMgtZjZCrNbGvsxGp3EOuKb/nF27vJTYlnxZmFGI+I0jzknQ7GKEtIECFI/5cI5uDBgyTYmwEonTi4QtbdbeWss+7mvvv+wm23PcOhQ/nAqYhCibm8/voX3H77M1xyyQN89VWFV9+mpnaeffZ9Nm3aQ3Nzh1fb1q37SUhYzrRpt/Db376FiOXKBCah052u1ZI4fLiGtjZ3rZV0wMj111/PoUOHaGtr44IL5M5eONi9ezfbtm1j9+7d4Z7K2HD/OPZzWQQoyRSbC09uqKClqxcQmwUPXF42PGUMoHIr9LaDKQ1yBk7eMhZWnFlIvEHP7hMdfNKagV6v49oFxXz443PITBq/8YtRI0PhRlH6XA+HcltsqxE34Sgw8ZzRnc8QD1MvEc93vubd1iES3ITKQiZlyA9uhay9BmzdAx/ndlcsmAumk9uKHlQ5cme+BC+3xQHR4sdmQThLJLniyCYY2nCqcLhBhILsqm7lmU8O88Dbu9lT0wZHNorjT+L4MQjvWiQVsgjGZrNjdggF6cwZg1u04uNjmTlTFNPt6bGyceN2IA9R1Pc09u3r1I6dMuVrQDlQDGTwxRdVrFz53yxYcBe/+MVfXUfpgGQmTjyVnh5xk7ttWyuwFJiLqBSfxw9+8COeeuoptm7dSny8d6xXdnY2EydODHs9t5MZm82m/UU0msuir0I2ySO71ANvjXKRdcePTVwctB/XFJOR5WeIH/z/+eiQ9rphnMeNRY0MjQfciT2GyrRY4XJXzD1lbDfhZd8Uj7teF25YbtpDayGTMuSHeIuwYAK0+Fr+NTR3RZnuPuhylDKCuD53hsVwuSu6cX2Hp5jFPd7Bug5UVeWX6/agqnDZrFxm5SfDYZeF7CSPHwvnWiRdFiMYQ4wevVXUIRvaZbGIxx77M1VVV/Ozn/2MOXO8fYQffPBBli9fzsGDB8nJKcMzZmvfvs+151OmnAWcg4j1UkhPh4ULF5KVlcWCBQt8zrp8+fLRvDVJiDAYDF6PEYtbIeusF7vJhj7lf1ZBMiUZZtLMsdy6ZITJD9wcfF88BjDdvT9WLihmzaYjbDzYwOoPD3LLOZOCer5AEDUyNB4YroVsrO6KbiYuhrgUkcTj6CdQvEi8rqW8D42FTMqQHxRFJJKo3SkUgIxS32N6u+DwBvH8JE537ybocjSSzJfhTujhxvUdnmAU4S0H6zr4YG8dmw41YozRcecFU6DxkHBT1see9PFj4VyLpEIWwUyakKvtatriEvEUn5df3kBhYSbz5s0GZgMZJCbCO++843eswepoLV68mN/+9rfs27ePuXOXAt7K34YNG8b+ZiRhYbCi0xFFXEpf/E3rcUjvU2RMxhjev/3s0Sd76aiHmm3i+VhvgIdgQpqJS2bmsG57Dbur24J6rkARNTI0HsgYRup7p9MjoccY5THGCNO/Jkot7HytTyHTLGShUcikDA2ApUgoZAO5yB3eIOKUkgsgMwyFh8cZQZcjP5kW/WLrcbkUE34LmasWWbauBYC9Ne28ta0aEBuABakm+Mx1D5d/BhjGr3t8KAjnWiQVskimS3zBulUjFU2xzMiFjo5ubrrpcV56aQMlJfl89dV2EhIsQww0ONOnT5c/mJLxjaKIm5L6PSJJQfqkfs1jyLzpdg/LLg+JxeCXXy/jzOJUvnFqftDPJRlnaLXIDoCq+s+eWLsDuhrEBkQgak6VXSEUst1/h4sfFdkd3RayEClkkgFIGUIBOOCKH5t8/ugybUpGxnBdFk/sAKcdzBl93hvhwuWyaHE2AvDuLrHZkmo2csviEnGMjB8bF4zv4IQBaG9v58477+T8888nIyMDRVG4//77RzRGXV0d1157Lenp6ZhMJubNm8f69euDM+EgYe8QClkTibjDZOLijBw+LAKyDx2q4uWXXxuou0QSXQyS+n5MuN0Vg5Du3h8pJiPXzCsiIVbul510pBaDLkZYetuO+z/G7a5YtFBYuMZK0UIwZ0J3M1R8KF7T0t7LLIthZbBaZKoK+13xY6UyKVZI0FwWjwx+nGdB6HAryq7vsLm3kbdvPYvkeOFL9cPzJpMUZxByJOPHxgURqZA1Njby5JNPYrVa+frXvz7i/larlSVLlrB+/Xp+97vf8fe//52srCwuvPBCPvrooyDMODh0NDcB0KwmkmoWr8XEZPPCC6+Sn5/PX/7yF2644YYwzlAiCSGDJPYYNU5n3w1wkOPHJBL0hr4U2QMl9ghU/JgbnR5muH5Hd74G9l7oFr8tMu19mBmsFlntLmirgpj4PldTSXBxK2QdtYNnvnTHj+WeEvQpDYlLIdN1NVCWFc9fv3smV88p4FtzJoj2hgPQWQcxcSLlvSRsROQWbGFhIc3NzSiKQkNDA08//fSI+j/zzDPs3LmTTZs2MW/ePEDESc2aNYs777yTLVu2BGPaAae2qpIDxx3UJBkp0+sRmQ2LmTQJDh06hNEYgN1TSVRTU1ODw+FAr9eTk5MT7umMjWAoZCe2i0QhxgSRVlriQ1TJ0HggvVTEkDUc8K0r1dsJxzaL54GMZyy7ArY+CXvXwaIfi9d0hpClUZcyNACD1SJzuysWL/JKYnQyE3Q5cme+7G0X9d8GqhXozrAY7oQeAPGpwurutENnHVOz83nomzP72t31x2T8GBDetSgiLWSKoowpJuT1119nypQpmjIGEBMTw4oVK9i6dSvHjw/gKjKOsNls/PrJt5n3TCe/ePMwqroQkaZeIJUxyXCoq6vjxIkT1NXVhXsqYyfFteMXSJdFd7r74kWBcQ+LQqJKhsYDWmIPPxayo5vA0QvJEyCtJHDnzJ8DSflgbYMvXxSvJWSFzN1KytAAuNe0nlbhUuqJ5q4o0927CbocKcrQbovW9r6kPOFO6AGiTIvb0u12RfbErZBJKysQ3rUoIhWysbJz505mzpzp87r7tV27doV6SiOmvb2d1z/cjUOFTw828te/rgv3lCSS8OK2kA1Ws2ekHHQpZEHOriiRaKS70pvX+8m0qLkrLg6ssqTTQdk3xPPPnxWPCZmBG18yOowmEd8H3m6LXU1QtVU8nyzjx0KKZRA3UoDqrwBVJJlKyAjZtAbFnYyqv0Kmqn0JPWT8WNiJSJfFsdLY2Ehqqq8rhvu1xsbGIcfYtWsXhYWFJCUlaa9ZrVb27t0LgMViYcKECV59Dhw4QFeXqBs2a9Ysr7aGhgbNMjdhwgQslr7MiA6Hg507dwKQmJjIxIkTSU1N5YEV87jtjx9wxXmnM2nSJLZt28aMGTOIien7WFtaWjh6VCwcubm5ZGR4LxDbt29HVVXi4+MpLfWuc1JZWUlTk4glmDJlCnFxfebsjo4ODh0SxWszMzN9TLu7d+/GZrNhMBh8MjTW1NRouw8lJSUkJPQV7u3p6WHfPrEznJqaSkFBgVff/fv3093djaIoPkp1fX091dUinWthYSEpKSlam91u1xTtpKQkiouLvfpWVFTQ3i7qdJSVlaHX67W25uZmjh07BkBeXh7p6elefbdtEynRTSYTkyd717k6duwYzc1iZ3Pq1KnExsZqbW1tbRw+fBiArKwssrO94zV27dqF3W4nNjaWqVOnerVVV1dTX18PwKRJkzCbzVpbV1cXBw4cACAtLY38fO8sT/v27aOnpwe9Xk9JSQlOp1Mrzl1XV0dNTQ0ARUVFJCcna/16e3vZs2cPAMnJyRQVFXmNe+jQITo6RKHy8vJyr4LfjY2NVFUJV8L8/HzS0tK0NqfTyY4dOwBISEigpMR75//IkSO0trYCMG3aNC/rb2trK0eOHAEgLyGedBDJEJxO0OnYuXMnDoeDuLg4pkzxdi+pqqrSvuuTJ0/GZDJpbZ2dnVTs+YqyY5tFRb5+8WN79+7FarUSExPDjBkzvNpOnDhBba3IUldcXBy2NcKTw4cP09Ym0ugHeo1QVZWYmBgfOZNrRB8jWiPcClnDPt81ol/8WEDXiLIrYNPvNUtMqzOeyp07KSsr8xo3GGtESUkJLS0tNDQ0sG3btqCtETk5OWRmeiuaY1kjDh48CEBGRga5ublefQO2RlgKRYxPy1HInc2BAwcw7nuDQtUJmTMgpU/+x+saEar7CPfvmc1m075zgV4jmm0mMoDWo9tJ7ufFXlFRQdzn68gF1JzZeG6ZhPM+It9pIhlErTEP6nZ/TGZnPU59LN0pUzF7tI3kPiIUawSE5j4iNTWV5ORkr/OOdo1w/5YPl7ArZB9++CGLFy8e1rFffvnlgLWyRspgLo/DcYe02+2oqur1mqqqWnVvu93ut89A1b/di4j7eX/8jbv8tHQuvjWBylMu0o7pPyfPcR0Oh99xVVX1WwTP4XBofUcz7kDv1XPc/u/V8xr6G9d9Df19RsMdNxSfjb9xB5OXga6h3W73WhjcDPbZDGdcm82Gw+HwutEdalzP9zrSz3y419Bff8859cfzvdriskDRCZeuznpIzKK3txen0+l18zyc96qqKvE1n6KoDmxJhRhSvW/O3e/V3zUa7mczXuRwrGuE+3yeP0TDHVeuEX4+G7dC1lkP3c19ba3HoX6vkHGXe1FA14ic2SKhSFMFAFajhd7e3hGN6/leR/KZJyQk0N3drV2fYK0R/uY0ljViOO91zGuEpQiqPtUsMna7ndTqTeLgfu6K43WNCNV9hPv3rLu7O2hrRFecsDbp23w9Mex2O3FNov6Ymnuql0IWzvsIq9GlmPezkBmqRL6EDssMdHpvl/yR3Ef0J5LvI2JiYrw2SGBsa8RICLtCNmXKFJ566qlhHdt/N3m0pKWl+bWCuXdx/FnP+hMTE+PzZVYURVuQPHeXPPsMVP1bp9Npbf5+XP2Nm6q2kZqiI35CLjWu9v5z8hzXnzAZDAZth7s/er1e6zuacT0fBxq3/3v1vIb+xnVfQ38L6XDHDcVn42/cweRloGvoeYwng302wxnXHbQ6knHdfQcbd6zXcKj32h+v92qIhcRckXmstQoSszAajTgcjlFdQ0vjZwBYCxbSv7fBYMDpdI74ezMe5VCuEb7jhvWziU0Q8VxtVeibD2EwiF1gU43LtSj3VC3ZRkDXCEURVrINjwDgNGX4jUWO6DXCz5zGskYM9V4Dskb0q0UWo4Pk+k/Fa/3cFeUagXaeYK0RjiRhKTJ0Vvsd19wqrPdqvwyL4byPcJhcFs1+ClncCSFHnRmnkCTvIwac01jWiJGgqCNV4cYZDQ0NZGRkcN999w27Ftn5559PZWWlZjZ18/DDD/Nf//VfHD9+3Mv9wOl0aq4qbhITE/0KREj5wxwR+P2dN2Hi2eGdi0QyHnjmAqjcDMvWwIxvjH4cVYXflosEIf/nFRk4Lwktz39dFCT/2u/h1O+I115dKdLSL7oTzr0nOOet3Q1/dCW7uvS3cPp1wTmPZPh88Ty8eatwm17xGhz9X3j2QohLgR8fAn3Y99VPLur3weNzIDYJ7j7mHcvZ2QiPuFxB7zoK8Sn+xwg1mgwthRWvitdUFR4pga5GWPlPmHBmeOcYhYxUdzgpk3p84xvfYO/evV7p7e12Oy+++CJz58718QUfr9g6RHxAp2Ie4kiJxD89PT10d3fT09MT7qkEhkClvm/YL5QxfSwULRj7vKKYqJOh8YA706K7FpnTCYf+LZ4HM8FM1nTIcsWDBDKL4xBIGRqE/rXI9r8rHicvlcpYP0IiR+7Ml9Y238yX7nT3aZPGjzIGfVkWPWPI6vYIZcxgGh/ZIMcJ4VyLIvbb/M4779DZ2alpn7t37+bVV4Xmf/HFF2vxDNdffz3PPfcchw4dorBQLGwrV67k8ccfZ9myZTz88MNkZmayevVq9u3bx/vvvx+eNzRSnE50PWIx2LCvnouKhzheIvHDvn37tKDp/kkkIhJ3gPtYFbKDrnWgcD4Y5YbHYESdDI0HtMQeIqieE9tEsWZjIuQHuXjr8heg6nMoWhjc83ggZWgQtFpkx4RifsCV7l5mV/QhJHJkiBclITpqhRupZ62+andB6HGm4CS6097X9r3mzq5YMFeWdPEgnGtRxCpkN998s5b1B+CVV17hlVdeAUS2IHfmFofDgcPh8Aqui42NZf369dx5553ceuutdHV1MXv2bN555x3OPjsyXP8c3S3oEe8pLtEyxNESyUlCoFLfuxWyftkVJZKQ0L8WmTu7YvEi0PuPgwgYqRPFn2R8kJQHih4cVjiA2RyQAAAgAElEQVT+GdTtFold+hcNl4QOS5FQyFqOehd/Pu5SyPwUhO7p6dGynoYchxkW/0E8P+Zys9QXiNcsxVAZwFIxEY7BYNByRFQO47rExsaSlpbmN/ZspESsQuZOUTkUa9asYc2aNT6vZ2Vl8dxzzwV2UiGkteEEqUC7Gk9RXmS4WErGH6mpqQMG5kYkyW4L2Rh+YHq74Mgn4rlUyIYk6mRoPOC2kDUfBVu3h7vi8DISRxpShgZBHyM2mlqOwtYnxWv5c7wtMxIghHKUUgiVW7yLQ6vqgBaynp4e6urqyMvLC4+MqyoYRUkDsrJBZ4CYZlCzxVojvUA0ent7UVUVRVH8JjXyRFVVuru7OX78OBkZGcTHx4/p3BGrkJ3stDUJhaxVSaS4KDDZJyUnH/3rs0Q8gYghO/qJ2I1Oyu+zVEgGJOpkaDxgzhBJG3paoGY7HNssXo/SAuVShobAUigUsl1viP9LpbuiP0ImR/6KQ7dVC6uZoofscq/D6+vrw6eMgbCI6QzgtIHDBk4HqA5haTWMTYmINoZSwjxRFAWTyUROTo6mcI+FkzKpRzTQ2SJ8gTv0yUMcKZGcRLgtZN1N0Ns5ujE0d8Ul3hm0JJJQoSh9mwGf/UncSKUUSlfCkxV3HJnTVUdJKmThRYvr81DI3NaxzGlgNPl0Cbv11+3q7LCD1ZX5z2gWSplkTLhLXIwV+UlEKNZW4YvcEzOOMvlIJOEmLgliXZsUo7WSuRWyyUsDMyeJZDS43RZ3viYeS86VGwQnK+5MiyAs95nTwzcXiU9tOKAvw2K/+mPjBp1LIXP2Qm+HeG5MCN98JD5IhSxCsbULhaw3Vib0kEi80NwWRxFH1nQYGg+CLkYkUJBIwoVbIXNbRaLUXVEyDNwWGRA1EaViHl7cLostlcL9DwZN6DEucJdIcNjA6lLIYhPDNx+JDzKGLEJJLl3AB8112CyT2L9/P6WlpeGekiQC2b9/P3a7nZiYmOiRoZQCqNs1OgvZofXisWAuxEl34OEQlTI0HvCMX1R0Ub1BIGVoCDwtZKUXhm8e45yQyVFSnti0c9qgvUb8r1nIxqtC5rKQWdtl/Ngg9PT0aEk94uLiQnpuaSGLUKbOvZC0s28hbdpiuru7wz0dSYTS3d1NV1dXdMnQWBJ7HHQpZDKl9LCJShkaD6R73FDmnT6+Cs0GGClDQ5A+SRTwjUsOaX24SCNkcqTT98UrNx+BpgqRgEcfC1kzgnvu0eJ2WbR1iUdjwriOH7v//vtRQmQJrqqq4gc/+AFnn3022dnZmEymsGRhH7+fhmRIFEXR/iSS0RCVMjTaWmT2Xqj4SDyX6e6HTVTK0HggZQLEuHZoo9xdUcrQEMRb4Np1cN27fhNGSAQhlSPPTItu61h2efDrBI6W/vOS8WMaBw8e5M9//jNGo5Hzzz8/bPOQLosRzMyZM8M9BUmEE5UypNUiG6GFrHIz2DrBnAlZ5UMfLwGiVIbGAzq9cJ09shGmXhLu2QQVKUPDYLzGJo0jQipHnpkW3TFZ4/kz0vVTyGLDq5B1d3cTFxcXsk2Yrq4uTCb/mxmLFi3SinZ/9tlnvPLKK8TGxoZkXp5IC5lEIokuRlsc2jPdvU4ujZJxwLI1cPMmyJEKi0QyrvDMtDiGDItdvfYB/3psjsAd61DosjnpsjnpcSjCBTYAbNy4kSVLlpCYmIjJZGL+/PmsW7fO65g1a9agKArvvfceK1euJCMjA5PJhNVqBWDdunXMnj2b2NhYiouLefTRR/2eS1VVVq9ezezZs4mPj8disXDllVdSUVHhddw555xDWVkZGzZsYP78+ZhMJlauXDnge9CNk997aSGTSCTRhdtlsa1aZMDSDbP+ixY/Jt0VJeMEU6r4k0gk4wu3y2JTBdTuFs9HkdBj+r3/HLBt8ZQMnr1ujvb/aT9/n+5+ipebucWp/PW787T/z1r1b5o6e/0eOzM7jjd/MHbL1EcffcTSpUuZOXMmzzzzDLGxsaxevZrLLruMl156ieXLl3sdv3LlSi655BJeeOEFOjs7MRgMrF+/nssvv5x58+bx8ssv43A4+NWvfkVtba3P+b773e+yZs0abrvtNlatWkVTUxMPPPAA8+fPZ9u2bWRlZWnH1tTUsGLFCu68804efPDBcaN0DYZUyCQSSXSRmA2KXmTA6qiFpNyh+7TVQO1OQIGJi4M+RYlEIpFEMG6XxeNfiKyFxgRInxzWKQ2bACXzuPvuu7FYLHz44YckJAgXyEsvvZTZs2dzxx13cNVVV3m5JC5ZsoQnnnjCa4x77rmHrKws/vWvf2lZDS+44AKKioq8jtu8eTNPPfUUv/71r7n99tu11xcuXEhpaSmPPfYYq1at0l5vamrilVde4dxzIyf+VipkEUx9fT0OhwO9Xk9GRka4pyOJQKJShnR6kYa49ZiIIxuOQuZOd593KpjTgju/KCMqZUgSUqQMSQJBSOUopUg8qi6LVc7s4XtjeLD7gQsGbNP1i6/6/P8N7L3R/9iNd/nZWGw6Br2t6DLGXhKgs7OTLVu2cPPNN2vKGIBer+eaa67hrrvuYt++fUydOlVru+KKK3zG+PTTT7nlllu8UswnJiZy2WWXeWU6fPvtt1EUhRUrVmC327XXs7OzmTVrFh9++KHX2BaLZVTKmHtsh8O/JTKYSIUsgqmursZms2EwGOSPmGRURK0MpRS4FLJKKJgz9PFa/Jh0VxwpUStDkpAhZUgSCEIqR6ZUYRXrdSf0GHn8GIDJOPzb8DEfm1UEqlPUUBsjzc3NqKpKTk6OT1turtgEbWxs9Hq9/7HNzc04nU6ys7N9xuj/Wm1tLaqqerklejJx4sRBzzVc3AqZp9IXKqRCJpFIoo+RpL532OHQv8VzqZBJJBKJZCgURbgt1u4U/4/XgtCeKLqAuStaLBZ0Oh01NTU+bdXV1QCkp6d7n76fFc9isaAoCidOnPAZo/9r6enpKIrCxx9/7DcDYv/XIrGEhlTIIpjCwkKcTmdEBCtKxidRK0MjKQ5d/YUo6hmXEhk/quOMqJUhSciQMiQJBCGXo5RCD4VsdBaySMVsNjN37lzWrl3Lo48+Snx8PABOp5MXX3yR/Px8SksHd400m83MmTOHtWvX8sgjj2hui+3t7bz11ltex1566aU8/PDDHD9+nKuuuio4bwqIiYnxegwlUiGLYFJSUsI9BUmEE7UyNJJaZG53xZLFoJdL4kiJWhmShAwpQ5JAEHI5cmdajE/tS/JxEvHQQw+xdOlSFi9ezB133IHRaGT16tXs3LmTl156aVhWqp///OdceOGFLF26lB/96Ec4HA5WrVqF2WymqalJO27BggXcdNNNXHfddXz22WcsWrQIs9lMTU0NGzdupLy8nJtvvnnU7+XVV18F0FLof/nll9prV1555ajHHQny7kMikUQfo1HIpLuiRCKRSIZLqituKe804cJ4knH22WfzwQcfcN9993HttdfidDqZNWsWb775Jpdeeumwxli6dClvvPEGP/3pT1m+fDnZ2dnccsstdHd387Of/czr2CeeeIIzzzyTJ554gtWrV+N0OsnNzWXBggXMmTOMWPFBWLZsmdf/jz/+OI8//jgg6p+FAkUN1ZkiGKfTSXt7u9driYmJ0r1CIhmv1O2F1XMhLhnuPjbwcZ2N8EgJoMLteyFpdIHAEolEIjnJ6GmFj38N5VdBdtmAh1VWVlJQUBDCiUlCjb/PeKS6g7SQRTB2ux1VVVEUJSz+rpLIJ2plyB1D1tMKPW0Ql+T/uIp/AypklUllbJRErQxJQoaUIUkgCLkcxSXD0geCfx5JyFBVVZOhUCcGkStfBLNr1y4txeusWbPCPR1JBBK1MhSbAPEW6G6GtuMDK2Sau+KS0M0tyohaGZKEDClDkkAg5UgyVrq7uzWFzGQyhfTc0udOIpFEJ0NlWnQ64aCrILSMH5NIJBKJRBImpIUsgklKSsJut0sXD8moiWoZSi6AEzugZYAYstod0FkHBjMUnBnauUURUS1DkpAgZUgSCKQcScaKXq/XLGShRkptBFNcXBzuKUginKiWoaEsZG53xYlnQ4wxNHOKQqJahiQhQcqQJBBIOZKMFX9Fp0OFdFmUSCTRyVCp7zV3RRk/JpFIJBKJJHxIhUwikUQng1nIelrh2GbxvEQqZBKJRCKRSMKHVMgkEkl0olnIKn3bKj4C1QFpkyBVurlIJBKJRCIJHzKGLIKpqKjQAlgnTpwY7ulIIpColqEUl0LWVg0OO+g9ljst3b3MrjhWolqGJCFBypAkEEg5kowVq9WqJfUIdTyZVMgimPb2dq3mhkQyGqJahsyZoDOA0wYdJ/pcGFVVprsPIFEtQ5KQIGVIEgikHEnGisPhCFuWRemyKJFIohOdDpLzxPMWD7fF+n3QVgX6WChcEJ65SSQSiUQi8cv9998fMqVo7dq1XH311UyaNIm0tDSmT5/Oddddx4EDB0JyfjfSQhbBlJWVhXsKkggn6mUouQCaj3gn9nC7KxYtAKMpLNOKJqJehiRBR8qQJBBIOZKMhlWrVpGdnc0999xDcXExlZWVPPTQQ5x66qls3ryZGTNmhGQeUiGLYPR6fbinIIlwol6G/CX2kPFjASXqZUgSdKQMSQKBlKPIobu7m7i4uJBZwbq6ujCZ/G/AvvXWW2RmZnq9tmTJEoqKivjNb37D008/HYopSpdFiUQSxfRPfd/bCUc/Ec+lQiaRSCQSyajZuHEjS5YsITExEZPJxPz581m3bp3XMWvWrEFRFN577z1WrlxJRkYGJpMJq9UKwLp165g9ezaxsbEUFxfz6KOP+j2XqqqsXr2a2bNnEx8fj8Vi4corr6SiosLruHPOOYeysjI2bNjA/PnzMZlMrFy5csD30F8ZA8jNzSU/P5/KSj9ZmoOEtJBJJJLoRVPIXIvqkU/A0SssZ+ml4ZuXRCKRSCS9neGeARjNo+r20UcfsXTpUmbOnMkzzzxDbGwsq1ev5rLLLuOll15i+fLlXsevXLmSSy65hBdeeIHOzk4MBgPr16/n8ssvZ968ebz88ss4HA5+9atfUVtb63O+7373u6xZs4bbbruNVatW0dTUxAMPPMD8+fPZtm0bWVlZ2rE1NTWsWLGCO++8kwcffBCdbmT2p4qKCo4ePcrXv/71UV2b0SAVsgimubkZp9OJTqfDYrGEezqSCCTqZai/hUxzV1wCYciiFI1EvQxJgo6UIUkgiEg5ejA33DOA+1tH1e3uu+/GYrHw4YcfkpCQAMCll17K7NmzueOOO7jqqqu8XBKXLFnCE0884TXGPffcQ1ZWFv/617+Ii4sD4IILLqCoqMjruM2bN/PUU0/x61//mttvv117feHChZSWlvLYY4+xatUq7fWmpiZeeeUVzj333BG9J7vdjt1uZ+XKlSQkJPDDH/5wRP3HgnRZjGCOHTvG4cOHOXbsWLinIolQol6GUiaIRx+FTLorBoqolyFJ0JEyJAkEUo5CR2dnJ1u2bOHKK6/UlDEQcXzXXHMNVVVV7Nu3z6vPFVdc4TPGp59+yje/+U1NGQNITEzksssu8zr27bffRlEUVqxYoSlNdrud7OxsZs2axYcffuh1vMViGbEyBqIO2fXXX8/GjRt5/vnnKSgoGPEYo0VayCQSSfSS5Ep7b22D6q+g6RDoYqB4UXjnJZFIJBLJT6rDPYNR0dzcjKqq5OTk+LTl5gqrX2Njo9fr/Y91WzSzs7N9xuj/Wm1tLaqqerkletK/ELi/eQ2FqqrccsstvPzyyzz55JNcfvnlIx5jLEiFLILJy8vTzPMSyWiIehkymsCUBl2N8Pka8VrBXIhLDuu0oomolyFJ0JEyJAkEESlHo4zfCjcWiwWdTkdNTY1PW3W1UDLT09O9Xu+fUdFisaAoCidOnPAZo/9r6enpKIrCxx9/TGxsrM/x/V8bafZGVVW54YYbeOGFF3jyySf5zne+M6L+gUAqZBFMf2GXSEbKSSFDyQVCIdvxivh/0pLwzifKOClkSBJUpAxJAoGUo9BhNpuZO3cua9eu5dFHHyU+Ph4Ap9PJiy++SH5+PqWlgyfOMpvNzJkzh7Vr1/LII49obovt7e289dZbXsdeeumlPPzwwxw/fpyrrroqoO9FVVVuvPFGnn32WZ544gluuOGGgI4/XKRCJpFIopvkfKj5Cno7xP+TloZ3PhKJRCKRRDgPPfQQS5cuZfHixdxxxx0YjUZWr17Nzp07eemll4Zlpfr5z3/OhRdeyNKlS/nRj36Ew+Fg1apVmM1mmpqatOMWLFjATTfdxHXXXcdnn33GokWLMJvN1NTUsHHjRsrLy7n55ptH9T5uu+02nnnmGVauXEl5eTmbN2/W2mJjYznllFNGNe5IkQqZRCKJbpI9gnITsiC7PHxzkUgkEokkCjj77LP54IMPuO+++7j22mtxOp3MmjWLN998k0svvXRYYyxduvT/t3f3QVFddx/AvxcWWN4RAQEJLwWDL4CkVSTpiBJRMMFUaUzapKk2zdQppglaahKjgpEYQ+NMSZ8xah1SGqpto3kZDY6GCTitj2lDTQySYBRB0BjeBIHldXfP8wez92HZBZbXu6vfz8xO5Jxzz55798ddfrnn3oMPPvgA27Ztw+OPPw5/f3+kp6ejq6sLO3fuNGp74MABxMfH48CBA9i3bx/0ej0CAwPxwx/+EHFxcWPeD8PVuPz8fOTn5xvVhYSEoKamZsx9j4YkhBBT8k42TK/Xo7293ajM3d3dtuYpE92t/vd/gNMv9/97/hPAmreUHQ8REd016urqpvRpfTT1zH3Go80dbDKjaG9vx5YtW7BixQr4+vpCkiRkZ2dbvL1h1XBzL3M3F1qrCxcuoKysDBcuXFB6KGSj7ooY8hpwkuT9YxPuroghmlSMIZoIjCMar87OTmg0GnR2dk75e9vklMXm5mYcPHgQ8+fPx+rVq3Ho0KEx9fP2229j9uzZRmXTp0+fiCESkbUwLA4NCQgf/bokRERERJPJJhOykJAQtLS0QJIkNDU1jTkhi4qKwoIFCyZ4dFPHxcUFWq0WKpVNfoxkBe6KGPKfD8x5BPCZBbh4Kz2aO85dEUM0qRhDNBEYRzRednZ2EEKM+rH5E8Emo1aJA2WNZs2apfQQyMbdFTFkrwIef0fpUdyx7ooYoknFGKKJwDii8TI8el8JNpmQTZTU1FQ0NjbC09MTS5cuxSuvvIKoqCiLtq2oqEBISAg8PDzksp6eHlRWVgLoX/AuODjYaJvLly/L81Lnz59vVNfU1IQbN24AAIKDgzFt2jS5TqfT4eLFiwD6bwgcvCJ5dXU12traAADz5s0z+r9Dra2tuHbtGoD+1dN9fX2Ntv3yyy8hhICzs7PJmhF1dXXyY0cjIyONArWjowNVVVUAAD8/P5NV0b/66iv09fXBwcEBc+fONaq7efMmGhoaAADh4eFwc3OT67q7u3Hp0iUAgLe3t8lNkt988w26urogSRJiYmKM6hobG+UFCUNCQuDl5SXXabVaVFRUAAA8PDwQFhZmtO3Vq1flmy+joqJgb28v17W0tKC2thZA/8KTg9c6McxXd3FxMflCqK2tRUtLCwBg9uzZRosXtrW1obq6GgAwY8YMk5XpKyoqoNVq4eTkZDK19ttvv0VjYyMAICIiAq6u/7+4ZGdnJy5fvgygfwpuUFCQ0baXLl1Cd3c37O3tTeK9oaFBXugxNDQUnp7/v4Byb28vvv76awCAp6cnQkNDjbatqqpCR0f/o+Wjo6ONblxtbm7G9evXAQBBQUFGU4P1ej3Ky8sBAG5ubggPDzfqt6amBrdv3wYAzJkzB46OjnLd7du35ScgBQQEwM/Pz2jbixcvQqfTQa1WIzIy0qju+vXraG5uBtD/Re7i4iLXaTQaXLlyBQDg6+uLwMBAo20rKyvR09MDlUqFefPmGdV99913qK+vBwCEhYXxHAGeI3iO6MdzRD+eI/rdTecIrVaL3t5eAICDgwMcHByMtjV8pnZ2diZJQU9PD3Q6HYD+hGHg741Op0NPT8+Q/XZ1dclXfAxrhRn09vZCq9UC6H+8+8DxDuxXpVIZ/U4B/cdYr9eb7bevrw99fX0AAEdHR6NY0uv16O7uBgDY29ubLOhs6BcAnJ2djS7ADDyGg/sVQqCrq2tMx3Ckz8ZwDM31aziG7e3t6OzsNDpHjPY+tLsyIfP398fLL7+M+Ph4eHh4oLy8HHv27EF8fDzOnj1rcpIzR6vVYvADKoUQchAagnzwNob6wfR6vVxnCMaBLO138JgG9msIxsH9CiFMAtDQfjz9DrWvA/sdvK8Dj6G5fg37au4qqaX9WstnM9K+9vX1QavVmn0iz3CfjSX99vX1ma0brl/DtiP1a46lx9Dc9gPHNNhI+9rb2wu9Xm/0RWOu37EeQ3PHyNJ+rSUOeY4w7ddaPhueI0z75TmC54jB/drCOcKw/Uh1Q7UZrny4bQfWT+SYDP2O5z1Hu60l+zqWfkfa1hAHIx0Hc7/Lo6F4QlZaWorExESL2n7++eeIjY0d93umpKQgJSVF/jkhIQEPP/wwoqOjsWPHDnz44Ycj9qFSqUx+mSVJkk9I5uYwq1QqsycsoD+jN9SZ+3K1tN/BYxrYr7kvHAcHBwghzPZrb28/rn4H/neofgfv68BjaK5fw76aO5Fa2q+1fDYj7athP0c6hmPpV6fTma0brl/DtsP1O95jONK+DjbSvjo6OkKn003KMdTr9aP+vbHGOOQ5wrRfa/lseI4w7ZfnCJ4jBvdrC+cInU437O02hrqh2gxXPty2Y+13pG0HPp18uDGNtd+hthvrvo5nTMPdVyZJEnQ6ndn60d5epfg6ZDdv3sRHH31kUdu0tDR4exvflN/U1ARfX19kZWWN6tH35qxcuRLnz5+XpxIYWOs6ZLW1tfINrIOnNRBZgjFE48UYovFiDNFEsNY46u7uRkNDA2bOnGk2QSTrYZimCcBkOuVghmmShjxk8NTN0eYOil8hCwgIwDPPPKP0MABAniNqK1paWuT51dZ08iHbwRii8WIM0XgxhmgiWGscqdVq+Pn54ebNm6OexkZTq729Xb7a5e7uPmJ7JyenCUu0FU/IrEV1dTXOnj2LpKQkpYdCRERERHcItVpt8vAcsj4XLlyQk/rBD4OZbDabkJ08eRIajUa+HPjVV1/h6NGjAICHHnpIftLJL3/5SxQUFKCqqgohISEAgKSkJCQkJCAmJkZ+qEdubi4kScKuXbuU2aExmD17tmLrJdCdgTFE48UYovFiDNFEYBzReCkZQ4rfQzZWoaGh8mNYB6uurpYft7t+/XoUFBQYlW3atAmnT59GXV0durq64OfnhwcffBDbt283eWQrYL33kBERERERkXUZbe5gswnZVGJCRkRERERElhht7sCMgoiIiIiISCE2ew/ZVBpuoTglDcy8LXkaDNFgjCEaL8YQjRdjiCYC44jGayJjyFyeMNykRE5ZtIBWq4VGo1F6GEREREREZINcXV3NLioOcMoiERERERGRYpiQERERERERKYQJGRERERERkUJ4D5kF9Hq9yc15kiRx8UEiIiIiIjIihDB5iIednR3XISMiIiIiIrI2nLJIRERERESkECZkNqajowMZGRkIDAyEWq1GbGws/va3vyk9LLJS7e3t2LJlC1asWAFfX19IkoTs7Gyzbc+fP4+kpCS4ubnBy8sLaWlpuHr16tQOmKzOJ598gqeffhqzZ8+Gq6srZs6ciR/96Ef473//a9KWMUTmfPHFF3j44YcRHBwMZ2dneHt74/7770dhYaFJW8YQWerQoUOQJAlubm4mdYwjMqe0tFS+5Wjw69NPPzVqW1xcjPvvvx8uLi7w8fHB+vXr0dDQMGljY0JmY9LS0lBQUICsrCycPHkSCxcuxE9/+lMcPnxY6aGRFWpubsbBgwfR09OD1atXD9musrISS5cuRW9vL/7xj38gPz8f33zzDRYvXozGxsYpHDFZm7feegs1NTV4/vnnUVRUhLy8PDQ0NCA+Ph6ffPKJ3I4xRENpbW3FPffcg927d6OoqAh/+ctfEBoaiqeeego5OTlyO8YQWerGjRvIzMxEYGCgSR3jiEaye/dunDt3zugVFRUl1585cwYrV67EjBkz8OGHHyIvLw/FxcVYtmwZenp6JmdQgmzGRx99JACIw4cPG5UvX75cBAYGCq1Wq9DIyFrp9Xqh1+uFEEI0NjYKACIrK8uk3dq1a4WPj4+4ffu2XFZTUyMcHBzEli1bpmq4ZIXq6+tNytrb28WMGTPEsmXL5DLGEI3WokWLxD333CP/zBgiS6WmpopVq1aJdevWCVdXV6M6xhENpaSkRAAQ77777rDtFi5cKObOnSv6+vrksrNnzwoAYt++fZMyNl4hsyHvv/8+3NzcsHbtWqPyX/ziF/j222/x73//W6GRkbWy5GmgWq0WJ06cwI9//GN4eHjI5SEhIUhMTMT7778/2cMkK+bn52dS5ubmhrlz56Kurg4AY4jGxsfHByqVCgBjiCxXWFiIM2fOYN++fSZ1jCMarxs3buCzzz7DU089JZ+fAOCBBx7AvffeO2kxxITMhly8eBFz5swxChAAiImJkeuJRquqqgpdXV1yHA0UExODK1euoLu7W4GRkbW6ffs2zp8/j3nz5gFgDJFl9Ho9tFotGhsbsW/fPpw6dQovvPACAMYQWaahoQEZGRnYs2cPgoKCTOoZR2SJjRs3QqVSwcPDA8nJyfjXv/4l1xn+lh4qhibrb20mZDakubkZ3t7eJuWGsubm5qkeEt0BDHEzVGwJIdDS0jLVwyIrtnHjRmg0Grz88ssAGENkmfT0dDg4OMDPzw+bNm3Cm2++iQ0bNgBgDJFl0tPTERkZiV//+tdm6xlHNBxPT088//zzOHDgAEpKSpCXl4e6ujosXboUp06dAjByDE3W39qqkZuQNRlu+jKLquwAAAlOSURBVBkXqqbxYGyRJbZv346//vWv+OMf/4gf/OAHRnWMIRrO1q1b8cwzz6ChoQHHjx/Hs88+C41Gg8zMTLkNY4iGcuzYMRw/fhyff/75iLHAOCJz7rvvPtx3333yz4sXL8aaNWsQHR2NLVu2IDk5Wa4bKk4mK36YkNmQ6dOnm83Mb926BcB8Nk80kunTpwMwf4X11q1bkCQJXl5eUz0sskI7d+5ETk4OXn31VTz77LNyOWOILBEcHIzg4GAAwEMPPQQAeOmll7Bu3TrGEA2ro6MDGzduxG9+8xsEBgaitbUVANDb2wug/0meDg4OjCMaNS8vL6SmpmL//v3o6uoaMYYm629tTlm0IdHR0fj666+h1WqNysvLywHA6JGdRJYKDw+Hs7OzHEcDlZeXIyIiAmq1WoGRkTXZuXMnsrOzkZ2dja1btxrVMYZoLOLi4qDVanH16lXGEA2rqakJ9fX12Lt3L6ZNmya/jhw5Ao1Gg2nTpuHJJ59kHNGYCCEA9F/9MvwtPVQMTdbf2kzIbMiaNWvQ0dGBY8eOGZUXFBQgMDAQixYtUmhkZMtUKhVWrVqF9957D+3t7XJ5bW0tSkpKkJaWpuDoyBrs2rUL2dnZ2LZtG7KyskzqGUM0FiUlJbCzs8P3vvc9xhANy9/fHyUlJSav5ORkqNVqlJSUICcnh3FEo9bS0oITJ04gNjYWarUaM2fORFxcHAoLC6HT6eR2n376KS5dujRpMSQJQ1pINmHFihUoKyvD66+/joiICBw5cgR/+tOfUFhYiCeffFLp4ZEVOnnyJDQaDdrb2/H0009j7dq1eOyxxwD0TxtycXFBZWUlFi5ciO9///t48cUX0d3djR07duDWrVv44osv4Ovrq/BekFL27t2LzMxMpKSkmE3G4uPjAYAxREP61a9+BQ8PD8TFxWHGjBloamrCu+++i7///e/43e9+h9zcXACMIRq99evX4+jRo+jo6JDLGEc0lCeeeALBwcFYsGABfHx8cPnyZezduxdVVVU4efIkkpKSAAClpaVYvnw5Vq1ahfT0dDQ0NODFF1+Ep6cnysrK4OTkNPGDm5TVzWjStLe3i+eee074+/sLR0dHERMTI44cOaL0sMiKhYSECABmX9XV1XK7srIysWzZMuHi4iI8PDzE6tWrxZUrV5QbOFmFJUuWDBk/g79CGENkTn5+vli8eLHw8fERKpVKeHl5iSVLloh33nnHpC1jiEbD3MLQQjCOyLzXXntNxMbGCk9PT2Fvby98fX3FmjVrxH/+8x+TtqdPnxbx8fFCrVYLb29v8fOf/1zU19dP2th4hYyIiIiIiEghvIeMiIiIiIhIIUzIiIiIiIiIFMKEjIiIiIiISCFMyIiIiIiIiBTChIyIiIiIiEghTMiIiIiIiIgUwoSMiIiIiIhIIUzIiIiIiIiIFMKEjIiIaIx2796NDz74QOlhEBGRDZOEEELpQRAREdkiNzc3PProo/jzn/+s9FCIiMhG8QoZERGRFdHpdOjp6VF6GERENEWYkBER0R0nOzsbkiThyy+/xNq1a+Hp6Qlvb29s3rwZWq0Wly5dQkpKCtzd3REaGorc3Fyj7dva2pCZmYmwsDA4Ojpi5syZyMjIgEajkdtIkgSNRoOCggJIkgRJkrB06VK5/rvvvsOGDRsQFBQER0dHhIWFYefOndBqtXKbmpoaSJKE3Nxc5OTkICwsDE5OTigpKYFer0dOTg4iIyPh7OwMLy8vxMTEIC8vb9KPHxERTR2V0gMgIiKaLI899hh+9rOfYcOGDfj444+Rm5uLvr4+FBcXIz09HZmZmTh8+DBeeOEFREREIC0tDZ2dnViyZAmuX7+OrVu3IiYmBhUVFdixYwfKy8tRXFwMSZJw7tw5PPjgg0hMTMT27dsBAB4eHgD6k7G4uDjY2dlhx44dCA8Px7lz55CTk4Oamhq8/fbbRuN88803ce+99+KNN96Ah4cHZs2ahdzcXGRnZ2Pbtm1ISEhAX18fKisr0draOuXHkYiIJpEgIiK6w2RlZQkAYu/evUblsbGxAoB477335LK+vj7h6+sr0tLShBBCvPbaa8LOzk589tlnRtsePXpUABBFRUVymaurq1i3bp3J+2/YsEG4ubmJa9euGZW/8cYbAoCoqKgQQghRXV0tAIjw8HDR29tr1DY1NVXExsaOfueJiMimcMoiERHdsVJTU41+njNnDiRJwsqVK+UylUqFiIgIXLt2DQBw4sQJREVFITY2FlqtVn4lJydDkiSUlpaO+L4nTpxAYmIiAgMDjfowvO+ZM2eM2j/yyCNwcHAwKouLi8OFCxeQnp6OU6dOoa2tbSyHgIiIrBynLBIR0R3L29vb6GdHR0e4uLhArVablBsSnvr6ely5csUkQTJoamoa8X3r6+tx/Phxi/sICAgwafPSSy/B1dUVhYWF2L9/P+zt7ZGQkIDXX38dCxYsGHEMRERkG5iQERERDeDj4wNnZ2fk5+cPWW9JHzExMXj11VfN1gcGBhr9LEmSSRuVSoXNmzdj8+bNaG1tRXFxMbZu3Yrk5GTU1dXBxcXFgr0hIiJrx4SMiIhogNTUVOzevRvTp09HWFjYsG2dnJzQ1dVlto+ioiKEh4dj2rRp4x6Tl5cXHn30Udy4cQMZGRmoqanB3Llzx90vEREpjwkZERHRABkZGTh27BgSEhKwadMmxMTEQK/Xo7a2FqdPn8Zvf/tbLFq0CAAQHR2N0tJSHD9+HAEBAXB3d0dkZCReeeUVfPzxx3jggQfw3HPPITIyEt3d3aipqUFRURH279+PoKCgYcexatUqREVFYcGCBfD19cW1a9fwhz/8ASEhIZg1a9ZUHAoiIpoCTMiIiIgGcHV1xT//+U/s2bMHBw8eRHV1NZydnREcHIykpCSEhobKbfPy8rBx40b85Cc/kR+XX1paioCAAJSVlWHXrl34/e9/j+vXr8Pd3R1hYWFISUmx6KpZYmIijh07hkOHDqGtrQ3+/v5Yvnw5tm/fPuS9aUREZHskIYRQehBERERERER3Iz72noiIiIiISCFMyIiIiIiIiBTChIyIiIiIiEghTMiIiIiIiIgUwoSMiIiIiIhIIUzIiIiIiIiIFMKEjIiIiIiISCFMyIiIiIiIiBTChIyIiIiIiEghTMiIiIiIiIgUwoSMiIiIiIhIIf8HL+Vz+eLO0KsAAAAASUVORK5CYII=\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "res2 = xs[:, 0] - data2.x[:, 0]\n", "res1 = xs[:, 0] - data1.x[:, 0]\n", "\n", "plt.plot(res1, ls=\"--\", label='order 1')\n", "plt.plot(res2, label='order 2')\n", "plot_residual_limits(data2.P[:, 0, 0])\n", "set_labels('Second Order Position Residuals',\n", " 'meters', 'time (sec)')\n", "plt.legend();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The second order position residuals are slightly worse than the residuals of the first order filter, but they still fall within the theoretical limits of the filter. There is nothing very alarming here.\n", "\n", "Now let's look at the residuals for the velocity." ] }, { "cell_type": "code", "execution_count": 29, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "res2 = xs[:, 1] - data2.x[:, 1]\n", "res1 = xs[:, 1] - data1.x[:, 1]\n", "\n", "plt.plot(res2, label='order 2')\n", "plt.plot(res1, ls='--', label='order 1')\n", "plot_residual_limits(data2.P[:, 1, 1])\n", "set_labels('Second Order Velocity Residuals', \n", " 'meters/sec', 'time (sec)')\n", "plt.legend();" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Here the story is very different. While the residuals of the second order system fall within the theoretical bounds of the filter's performance, we can see that the residuals are *far* worse than for the first order filter. This is the usual result for this scenario. The filter is assuming that there is acceleration that does not exist. It mistakes noise in the measurement as acceleration and this gets added into the velocity estimate on every predict cycle. Of course the acceleration is not actually there and so the residual for the velocity is much larger than its optimum." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "I have one more trick up my sleeve. We have a first order system; i.e. the velocity is more-or-less constant. Real world systems are never perfect, so of course the velocity is never exactly the same between time periods. When we use a first order filter we account for that slight variation in velocity with the *process noise*. The matrix $\\mathbf Q$ is computed to account for this slight variation. If we move to a second order filter we are now accounting for the changes in velocity. Perhaps now we have no process noise, and we can set $\\mathbf Q$ to zero! " ] }, { "cell_type": "code", "execution_count": 30, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "kf2 = SecondOrderKF(R, 0, dt=1)\n", "data2 = filter_data(kf2, zs)\n", "plot_kf_output(xs, data2.x, data2.z)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "To my eye it looks like the filter quickly converges to the actual track. Success!\n", "\n", "Or, maybe not. Setting the process noise to 0 tells the filter that the process model is perfect. Let's look at the performance of the filter over a longer period of time." ] }, { "cell_type": "code", "execution_count": 31, "metadata": {}, "outputs": [ { "data": { "image/png": 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