From e9664bcbe6ffef42f73e818d9d79aa4051b7918c Mon Sep 17 00:00:00 2001
From: mrgransky <farid.alijani@student.lut.fi>
Date: Sun, 2 Oct 2016 17:38:54 +0200
Subject: [PATCH] Low pass filter added

---
 .../CAM_PID_.266_.0003_.014.txt               | 337 +++++++++
 .../CAM_PID_.266_.0003_.014_R.txt             | 454 ++++++++++++
 .../CAM_PID_.28_0_.006.txt                    | 308 ++++++++
 .../Trans_PID_.28_0_.006.txt                  | 308 ++++++++
 .../docking_with_PID_controller.asv           | 603 ----------------
 .../docking_with_PID_controller.m             | 219 +++---
 .../vel_PID_.266_.0003_.014.txt               | 336 +++++++++
 .../vel_PID_.266_.0003_.014_R.txt             | 453 ++++++++++++
 .../vel_PID_.28_0_.006.txt                    | 307 ++++++++
 Files_4_thesis/Low_Pass_filter_demo.m         | 135 ++++
 Files_4_thesis/MSc_Presentation.pptx          | Bin 3294467 -> 3267721 bytes
 Files_4_thesis/Practice_low_pass_Filter.m     | 112 +++
 .../x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt   | 318 +++++++++
 .../x_tANDy_t/CAM_PID_.28_0_.006.txt          | 308 ++++++++
 .../x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt | 318 +++++++++
 .../x_tANDy_t/Trans_PID_.28_0_.006.txt        | 308 ++++++++
 .../x_tANDy_t/vel_PID_.266_.0003_.014_R.txt   | 317 +++++++++
 .../x_tANDy_t/vel_PID_.28_0_.006.txt          | 307 ++++++++
 Files_4_thesis/x_tANDy_t/y_tANDx_t.m          | 667 +++++++++++++++++-
 19 files changed, 5403 insertions(+), 712 deletions(-)
 create mode 100644 Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt
 create mode 100644 Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt
 create mode 100644 Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt
 create mode 100644 Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt
 delete mode 100644 Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
 create mode 100644 Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt
 create mode 100644 Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt
 create mode 100644 Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt
 create mode 100644 Files_4_thesis/Low_Pass_filter_demo.m
 create mode 100644 Files_4_thesis/Practice_low_pass_Filter.m
 create mode 100644 Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt
 create mode 100644 Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
 create mode 100644 Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt
 create mode 100644 Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
 create mode 100644 Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt
 create mode 100644 Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt

diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt
new file mode 100644
index 00000000..4a229105
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014.txt
@@ -0,0 +1,337 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475057448816358917,0.0486865267158,0.248006299138,1.45802104473,1.55941164494,0.0562620423734,2.89030003548,0.0
+1475057448919545039,0.0486555434763,0.247854739428,1.45753312111,1.55621671677,0.0689657628536,2.88512158394,0.0
+1475057449010713827,0.0486724451184,0.247936278582,1.45781159401,1.55787730217,0.0624337047338,2.88775086403,0.0
+1475057449097429829,0.0486724451184,0.247936278582,1.45781159401,1.55787730217,0.0624337047338,2.88775086403,0.0
+1475057449177002429,0.0486724898219,0.247898951173,1.45780897141,1.55779707432,0.0624717995524,2.88539743423,0.0
+1475057449265123904,0.0486736260355,0.247864186764,1.45782220364,1.55782389641,0.0620789304376,2.88307571411,0.0
+1475057449345097174,0.0486724898219,0.247898951173,1.45780897141,1.55779707432,0.0624717995524,2.88539743423,0.0
+1475057449427620151,0.0486724898219,0.247898951173,1.45780897141,1.55779707432,0.0624717995524,2.88539743423,0.0
+1475057449513922236,0.0486436150968,0.247011944652,1.44904518127,1.56797730923,-0.0171348955482,2.89746975899,0.0
+1475057449600247327,0.048513893038,0.247187465429,1.4500926733,1.56733286381,-0.0204878617078,2.90065526962,0.0
+1475057449680630185,0.048358310014,0.244394734502,1.43330204487,1.56188774109,-0.0366827435791,2.87584710121,0.0
+1475057449762822505,0.0484993495047,0.241334378719,1.42317926884,1.56695175171,-0.00672895368189,2.93063354492,0.0
+1475057449846442934,0.0459304191172,0.236849889159,1.39815986156,1.55487549305,0.00998113211244,2.88360118866,0.0
+1475057449931728355,0.0459027811885,0.228733211756,1.37645053864,1.57127511501,0.0303200762719,2.86108136177,0.0
+1475057450016445669,0.0463006421924,0.225064322352,1.36111843586,1.55884754658,-0.0718909800053,2.90087103844,0.0
+1475057450101080416,0.0457990020514,0.220236256719,1.34698045254,1.55870294571,-0.00484822783619,2.8867559433,0.0
+1475057450184731203,0.0467260479927,0.218476220965,1.34995770454,1.56881058216,0.0839802101254,-2.60401892662,0.0
+1475057450266631695,0.047325681895,0.213655531406,1.33592832088,1.54656219482,-0.023717943579,2.90183186531,0.0
+1475057450350667461,0.0471462607384,0.208947762847,1.323341012,1.58387851715,0.0961869135499,-2.66525483131,0.0
+1475057450441183757,0.0469510816038,0.203885987401,1.31434881687,1.56706190109,0.086917117238,-2.59750747681,0.0
+1475057450525043553,0.0459838397801,0.196562901139,1.28215909004,1.55566966534,-0.0504006594419,2.90394687653,0.0
+1475057450609139691,0.0455439835787,0.190320760012,1.2674280405,1.57987070084,0.0608040317893,-2.64100837708,0.0
+1475057450686436254,0.0453231558204,0.186737716198,1.25960862637,1.55891799927,0.0551725998521,2.96797847748,0.0
+1475057450775359239,0.0452713631094,0.183084011078,1.24968934059,1.56611418724,-0.0332645364106,2.9729616642,0.0
+1475057450858314844,0.045176781714,0.177924990654,1.23203623295,1.55822062492,0.0747017040849,2.93910288811,0.0
+1475057450941649694,0.0442691557109,0.171967983246,1.23095095158,1.55954742432,-0.078581944108,2.93041014671,0.0
+1475057451020574643,0.0452102944255,0.167790934443,1.22402393818,1.56904196739,-0.0135188428685,2.99147152901,0.0
+1475057451104383089,0.0450066886842,0.163007453084,1.21970391273,1.56499636173,-0.0301218815148,2.98225235939,0.0
+1475057451185283483,0.0437200032175,0.155245572329,1.18814074993,1.55299758911,-0.0274891350418,2.93283176422,0.0
+1475057451263569049,0.0419450476766,0.149941384792,1.18038535118,1.58348894119,0.116155207157,-2.70478820801,0.0
+1475057451348834726,0.0430124104023,0.14727884531,1.16775822639,1.57229554653,0.0114445351064,2.9325056076,0.0
+1475057451430694239,0.0425222180784,0.142675176263,1.16191065311,1.58247470856,0.0977120473981,-2.74471139908,0.0
+1475057451510611743,0.0409155488014,0.133314624429,1.12621045113,1.56696581841,-0.020182473585,2.89085292816,0.0
+1475057451584984836,0.0409025996923,0.12515206635,1.12216353416,1.57067131996,-0.0294013973325,2.87805128098,0.0
+1475057451660729720,0.0406969822943,0.115727618337,1.11468029022,1.56648731232,-0.0411659441888,2.92296552658,0.0
+1475057451743607932,0.0390624552965,0.104803808033,1.08789265156,1.56647050381,0.0435210354626,2.91520833969,0.0
+1475057451824157640,0.0390570051968,0.101785153151,1.08607423306,1.56516122818,0.032533492893,2.97367596626,0.0
+1475057451901493526,0.0390069968998,0.0967668890953,1.07373726368,1.56791782379,-0.0338882692158,2.94675564766,0.0
+1475057451981056380,0.0375824421644,0.0910301059484,1.05663275719,1.55800080299,-0.0291145611554,2.94751405716,0.0
+1475057452060268241,0.0390220172703,0.0890369936824,1.05901968479,1.56874454021,-0.00404241867363,2.9832482338,0.0
+1475057452137431703,0.0373310558498,0.0815433040261,1.03093218803,1.56980776787,-0.0131068862975,2.88730049133,0.0
+1475057452214535327,0.0373088866472,0.0783632323146,1.02636814117,1.56394124031,-0.0188824348152,2.95176386833,0.0
+1475057452294758423,0.0373729541898,0.0734434425831,1.01378130913,1.56235158443,0.0307885948569,2.95439171791,0.0
+1475057452376945452,0.0356950946152,0.0681051015854,0.995018184185,1.56072378159,0.0504739917815,2.91884255409,0.0
+1475057452459781492,0.035711042583,0.0639450028539,0.99199450016,1.56934201717,-0.00423745531589,2.97982645035,0.0
+1475057452545056210,0.0350214354694,0.0610342435539,0.974138617516,1.55847609043,-0.0541390553117,2.92966341972,0.0
+1475057452630627715,0.035172726959,0.0586739704013,0.970382094383,1.54630839825,0.0402006953955,-2.88153743744,0.0
+1475057452713252235,0.034459952265,0.0563709773123,0.949881851673,1.56834697723,-0.0365022271872,2.97238135338,0.0
+1475057452803350056,0.0343012884259,0.0543781854212,0.942903757095,1.56643712521,-0.0192086547613,2.94144749641,0.0
+1475057452883595586,0.0339323990047,0.0529571808875,0.932437002659,1.56467306614,-0.0803053751588,2.97791481018,0.0
+1475057452966621621,0.0329205691814,0.051074936986,0.914436578751,1.56586766243,-0.00407298700884,2.97588300705,0.0
+1475057453055727891,0.0328438431025,0.049632076174,0.910180032253,1.55761957169,0.0434513948858,2.9916009903,0.0
+1475057453136630322,0.0318399779499,0.0476741939783,0.890278458595,1.56103563309,-0.0197662133723,2.96228671074,0.0
+1475057453217318689,0.0314589589834,0.0462721586227,0.879926264286,1.56386160851,-0.0411407873034,2.98706531525,0.0
+1475057453302224405,0.0304035842419,0.045226380229,0.864835619926,1.55548143387,0.0528063774109,2.95877742767,0.0
+1475057453393603247,0.0302720144391,0.043308544904,0.852864086628,1.56707060337,-0.0678771138191,3.00933337212,0.0
+1475057453473085036,0.0294050369412,0.0417027585208,0.844474554062,1.55689406395,0.0045672361739,2.99126005173,0.0
+1475057453560859221,0.028895534575,0.0392826162279,0.828793227673,1.55422091484,-0.0459400340915,3.0255253315,0.0
+1475057453642721552,0.0282431952655,0.0373051054776,0.815023183823,1.56858932972,-0.040270332247,2.96560716629,0.0
+1475057453721576541,0.0278866346925,0.0349282175303,0.805682361126,1.55596184731,-0.0199242103845,3.0176448822,0.0
+1475057453803328277,0.0273589845747,0.0333949141204,0.788665771484,1.56581175327,-0.0859796851873,2.97258234024,0.0
+1475057453880678968,0.0270445346832,0.032164350152,0.783667743206,1.55487835407,0.0145524488762,3.0230474472,0.0
+1475057453960444140,0.0265074372292,0.0311022549868,0.772685885429,1.55492949486,-0.0115739470348,3.01950931549,0.0
+1475057454043566738,0.0259418673813,0.0294914338738,0.758862435818,1.54848515987,0.029898930341,3.04444742203,0.0
+1475057454121421548,0.0257192403078,0.0285974424332,0.748031675816,1.55004525185,0.00206357100978,3.01691222191,0.0
+1475057454201951525,0.025292776525,0.0274030677974,0.733675777912,1.55095040798,0.0403247363865,3.02310276031,0.0
+1475057454281865434,0.0250734351575,0.0266703367233,0.720231115818,1.55791568756,-0.064118437469,3.00088739395,0.0
+1475057454360511566,0.0247120950371,0.0259835124016,0.712242722511,1.56422829628,-0.0235584899783,3.01243472099,0.0
+1475057454450266811,0.0238355286419,0.0252311006188,0.699093103409,1.55163884163,0.0245590601116,3.02660918236,0.0
+1475057454532641517,0.0233416128904,0.0246339961886,0.689023137093,1.55112731457,-0.0258362609893,3.03236174583,0.0
+1475057454611576915,0.0226013548672,0.0238157995045,0.675893902779,1.55419814587,-0.032423440367,3.05176639557,0.0
+1475057454693152418,0.0220897421241,0.0234129633754,0.665389835835,1.55709457397,-0.00653557106853,3.02802658081,0.0
+1475057454770234444,0.0216836743057,0.0231569595635,0.656684219837,1.5564622879,-0.0240357369184,3.03703188896,0.0
+1475057454847885192,0.021082546562,0.0226129423827,0.638411104679,1.56072044373,-0.0708119422197,3.01210665703,0.0
+1475057454925317269,0.0206320527941,0.0221366900951,0.633010208607,1.55374693871,0.0146767813712,3.06886839867,0.0
+1475057455006469844,0.0202413611114,0.021555736661,0.617609024048,1.55872762203,-0.0260818116367,3.04331564903,0.0
+1475057455090144490,0.019747171551,0.0211842227727,0.607691824436,1.55310165882,0.00407423079014,3.02637529373,0.0
+1475057455174306545,0.0190194770694,0.0205022357404,0.592809140682,1.55445587635,0.0329990796745,3.02539896965,0.0
+1475057455254945146,0.0188317559659,0.0201648250222,0.583210289478,1.55543529987,-0.0423350483179,3.04499936104,0.0
+1475057455332517792,0.0184471365064,0.0198898017406,0.572587609291,1.55875980854,-0.0562736988068,3.0311729908,0.0
+1475057455411954248,0.0176756251603,0.0195198133588,0.559020459652,1.55797553062,-0.0328944511712,3.04235482216,0.0
+1475057455493842855,0.0172492247075,0.0192490108311,0.549671828747,1.55475997925,-0.0364949405193,3.04466986656,0.0
+1475057455570916614,0.0166676398367,0.0187775082886,0.534305989742,1.55810523033,-0.053135830909,3.03348636627,0.0
+1475057455653097843,0.0162110887468,0.018415492028,0.525736272335,1.55471539497,-0.000807642296422,3.03679537773,0.0
+1475057455733685544,0.0159552022815,0.0179561339319,0.516710579395,1.55373597145,-0.00653032585979,3.06536841393,0.0
+1475057455810813128,0.015354597941,0.0173479225487,0.501322805882,1.55492508411,-0.00696129677817,3.04069185257,0.0
+1475057455890384769,0.0151037331671,0.0167913492769,0.491587132215,1.55556833744,-0.0186148546636,3.04860186577,0.0
+1475057455968757381,0.0145593183115,0.0161695349962,0.478272587061,1.55358767509,-0.0153486402705,3.05793738365,0.0
+1475057456046551440,0.0142169548199,0.0157445352525,0.468311190605,1.55368208885,-0.0204529743642,3.0601246357,0.0
+1475057456126281134,0.0136085534468,0.015213615261,0.453991949558,1.55294644833,-0.00979401357472,3.05299282074,0.0
+1475057456207131824,0.013277287595,0.0149523932487,0.444473326206,1.55190110207,-0.00668244250119,3.05381274223,0.0
+1475057456287853006,0.0130996117368,0.0147874820977,0.434552103281,1.55438804626,-0.0358995944262,3.04948616028,0.0
+1475057456363100743,0.0125565072522,0.0144600598142,0.420339167118,1.5538918972,-0.0280237272382,3.05714344978,0.0
+1475057456445834433,0.0119586857036,0.0142873991281,0.410934954882,1.55245566368,0.0022945557721,3.05585598946,0.0
+1475057456525590886,0.0116767818108,0.0140873147175,0.401437163353,1.55471277237,-0.0208910610527,3.058406353,0.0
+1475057456605040816,0.0109920743853,0.0136867510155,0.386966049671,1.55305051804,-0.00232726335526,3.06071639061,0.0
+1475057456684758660,0.0108352508396,0.0135705862194,0.377516657114,1.55411374569,-0.027004679665,3.05353784561,0.0
+1475057456766340965,0.0103056840599,0.0133201321587,0.368218392134,1.55220115185,-0.00140633771662,3.06167125702,0.0
+1475057456851087105,0.0097195096314,0.0130661753938,0.353698641062,1.55242073536,0.00749679422006,3.05674576759,0.0
+1475057456931819441,0.00939751323313,0.0129817351699,0.343838274479,1.55273544788,0.00153035891708,3.05571293831,0.0
+1475057457012176306,0.00898812897503,0.0127035882324,0.329514354467,1.5532002449,-0.00613130489364,3.05331087112,0.0
+1475057457092998675,0.00869144964963,0.0123822288588,0.320167332888,1.55253982544,-0.0024357221555,3.05804085732,0.0
+1475057457175717832,0.00827560666949,0.0119684934616,0.305756628513,1.55165445805,-0.00536676729098,3.06214880943,0.0
+1475057457255272731,0.00794571451843,0.0118615999818,0.296223968267,1.55222094059,0.00646289205179,3.06136751175,0.0
+1475057457332102359,0.00738531816751,0.0116028990597,0.280055969954,1.55244791508,0.00441283686087,3.06012225151,0.0
+1475057457403461518,0.00701382569969,0.0115566886961,0.27147808671,1.55242836475,0.00150908681098,3.05773139,0.0
+1475057457480912106,0.00663369568065,0.0115477936342,0.263202488422,1.55198097229,0.00472764763981,3.05828619003,0.0
+1475057457558657788,0.00635260995477,0.0114545999095,0.25438323617,1.55239021778,-0.011379645206,3.06485939026,0.0
+1475057457645590130,0.00611620023847,0.011651000008,0.251571387053,1.55332481861,-0.00995583366603,3.05890393257,0.0
+1475057457715156822,0.00613498594612,0.0117402654141,0.25096181035,1.55304050446,-0.00898520089686,3.05747318268,0.0
+1475057457796371078,0.00616811588407,0.0117179332301,0.250770419836,1.55354988575,-0.0116369603202,3.05771303177,0.0
+1475057457878429031,0.00613126996905,0.0118515016511,0.250280976295,1.55257081985,-0.0180124584585,3.06404471397,0.0
+1475057457955764963,0.00600685179234,0.0118302740157,0.249785855412,1.55300045013,-0.0159369353205,3.06131529808,0.0
+1475057458032885601,0.0059851272963,0.0119393207133,0.249532923102,1.55278110504,-0.0163234192878,3.06002259254,0.0
+1475057458107311824,0.00600064219907,0.0120653463528,0.249443724751,1.55260765553,-0.0194583740085,3.0624563694,0.0
+1475057458186444900,0.00599618675187,0.0121888481081,0.249416261911,1.55262351036,-0.017666593194,3.06286096573,0.0
+1475057458264968355,0.00593772111461,0.0122881988063,0.249343171716,1.55303454399,-0.0114250648767,3.06376886368,0.0
+1475057458340575217,0.0059259198606,0.0123784886673,0.249396502972,1.55259919167,-0.0109477126971,3.06565594673,0.0
+1475057458417242946,0.00595324160531,0.0124597530812,0.249299019575,1.55303001404,-0.0170976929367,3.06471538544,0.0
+1475057458493874455,0.0059677050449,0.01257839147,0.249290898442,1.55322670937,-0.0165827013552,3.06358909607,0.0
+1475057458569062126,0.00592715060338,0.0126636801288,0.249290511012,1.55245041847,-0.0119646294042,3.06625342369,0.0
+1475057458647257822,0.00592827238142,0.0128054972738,0.249335959554,1.55274641514,-0.0122900679708,3.06938385963,0.0
+1475057458721824913,0.0059519726783,0.0129232555628,0.249280586839,1.55281627178,-0.0172790084034,3.06590151787,0.0
+1475057458801451295,0.00593630410731,0.0130354454741,0.249229282141,1.55255174637,-0.0152971027419,3.06689405441,0.0
+1475057458875477249,0.00595310190693,0.0131160570309,0.249269723892,1.5527780056,-0.0145732760429,3.06977534294,0.0
+1475057458956907486,0.00596878957003,0.0132617708296,0.249261900783,1.552708745,-0.0175118111074,3.06958460808,0.0
+1475057459035403657,0.00596046447754,0.013361716643,0.249323904514,1.55260491371,-0.0160439033061,3.0704703331,0.0
+1475057459112367858,0.00594452256337,0.0134342117235,0.249413743615,1.55241584778,-0.0156071996316,3.07079172134,0.0
+1475057459192670682,0.00593607407063,0.013582566753,0.249382525682,1.55200231075,-0.0156648010015,3.07212567329,0.0
+1475057459267417374,0.00595552008599,0.0137170543894,0.249408915639,1.55201745033,-0.0174093581736,3.07079172134,0.0
+1475057459346466004,0.00596493761986,0.0137514863163,0.249531775713,1.55213546753,-0.0182024724782,3.07779526711,0.0
+1475057459425302553,0.00592403905466,0.0138502325863,0.249439641833,1.5523763895,-0.0142953600734,3.07717132568,0.0
+1475057459506590543,0.00594249041751,0.0139343319461,0.249453887343,1.55206120014,-0.0143030742183,3.07512354851,0.0
+1475057459586372399,0.00593955721706,0.0139793641865,0.249518707395,1.55223655701,-0.014445967041,3.07804131508,0.0
+1475057459670544494,0.00594118377194,0.0140267405659,0.249449834228,1.55242776871,-0.0154737848788,3.0742251873,0.0
+1475057459752357603,0.00593331735581,0.0140121262521,0.249543681741,1.55215501785,-0.0144180962816,3.07849431038,0.0
+1475057459828038319,0.00594772258773,0.0140652591363,0.249449700117,1.55262637138,-0.0169816445559,3.07675766945,0.0
+1475057459902718692,0.00595944048837,0.0140790557489,0.249481827021,1.55239856243,-0.0194586981088,3.07931470871,0.0
+1475057459981591494,0.00595069536939,0.0141091514379,0.249482214451,1.55232214928,-0.0177132226527,3.07827281952,0.0
+1475057460059115324,0.0059648277238,0.0141312843189,0.249542713165,1.55216193199,-0.0205249674618,3.07940745354,0.0
+1475057460140634383,0.00596003327519,0.0140939736739,0.249518930912,1.55210065842,-0.0180767737329,3.07924032211,0.0
+1475057460222053057,0.00596459070221,0.0140276085585,0.249526277184,1.55174636841,-0.0189818050712,3.08153533936,0.0
+1475057460298897422,0.0059832604602,0.0140004102141,0.249453991652,1.55253589153,-0.0201332867146,3.07919859886,0.0
+1475057460378480993,0.00597323197871,0.0139551032335,0.249477550387,1.55191814899,-0.016609551385,3.07882165909,0.0
+1475057460456539425,0.00594276888296,0.0139052104205,0.249581962824,1.55196523666,-0.0151351764798,3.08267450333,0.0
+1475057460535484515,0.00596366683021,0.0138494325802,0.249600410461,1.55140173435,-0.0166132319719,3.08399152756,0.0
+1475057460610635325,0.00595161877573,0.0138134257868,0.249631822109,1.55154061317,-0.0154316229746,3.08446502686,0.0
+1475057460690566198,0.00597720593214,0.0137381730601,0.249578744173,1.55134928226,-0.019446182996,3.08253312111,0.0
+1475057460772882684,0.00598461646587,0.0137198129669,0.24961861968,1.55166614056,-0.0199778042734,3.08272314072,0.0
+1475057460863007885,0.00598133401945,0.0136551177129,0.249525234103,1.55164694786,-0.0200335290283,3.08204293251,0.0
+1475057460943581231,0.00596970133483,0.0135562578216,0.249576017261,1.55171012878,-0.0171345807612,3.08519792557,0.0
+1475057461022619537,0.00593414856121,0.0134745268151,0.249605238438,1.55124998093,-0.0128465890884,3.08538413048,0.0
+1475057461098656012,0.0059808366932,0.0133942821994,0.24960257113,1.55132389069,-0.015409225598,3.08307003975,0.0
+1475057461175760993,0.0059798816219,0.0133154112846,0.249584943056,1.55146932602,-0.0162415131927,3.08508181572,0.0
+1475057461253236346,0.0060068895109,0.0132062220946,0.24957638979,1.55177521706,-0.0203730091453,3.08466362953,0.0
+1475057461331725282,0.00600944506004,0.0131061300635,0.249535828829,1.55168569088,-0.0190923977643,3.08516430855,0.0
+1475057461412037837,0.0059922975488,0.0130108902231,0.249596431851,1.55174660683,-0.0176910944283,3.08483958244,0.0
+1475057461485528428,0.00601980881765,0.0128364786506,0.249577373266,1.55152261257,-0.02010759525,3.08611965179,0.0
+1475057461564753755,0.00600674748421,0.0127287292853,0.249532461166,1.55166888237,-0.0176566839218,3.0846529007,0.0
+1475057461640412225,0.00597627833486,0.0125854322687,0.249615460634,1.55141913891,-0.0129593266174,3.08492040634,0.0
+1475057461721089594,0.00601953268051,0.0124579044059,0.249605432153,1.55156612396,-0.0179943703115,3.08231377602,0.0
+1475057461799399469,0.00599812809378,0.0122294826433,0.249568611383,1.55150616169,-0.0146614387631,3.08384895325,0.0
+1475057461879552197,0.00601452449337,0.0120419310406,0.249672427773,1.55180764198,-0.0183494370431,3.08497786522,0.0
+1475057461957983943,0.00602759886533,0.0118791135028,0.249653056264,1.55145049095,-0.0186587832868,3.08502840996,0.0
+1475057462042593008,0.00600981945172,0.0116180563346,0.249685660005,1.55146026611,-0.0153742600232,3.08490777016,0.0
+1475057462121125814,0.00603972189128,0.0114675210789,0.24962797761,1.55146837234,-0.0197172891349,3.0858335495,0.0
+1475057462210574583,0.00602348940447,0.0112141985446,0.249676138163,1.55119168758,-0.015971802175,3.08349132538,0.0
+1475057462287312115,0.00603922689334,0.0110321603715,0.249559417367,1.55203390121,-0.0188719965518,3.0831451416,0.0
+1475057462362036454,0.00603429274634,0.0108688268811,0.249565303326,1.5515267849,-0.0177014712244,3.08412671089,0.0
+1475057462449887068,0.00607111304998,0.0106235025451,0.249554470181,1.55189967155,-0.0212530810386,3.08414006233,0.0
+1475057462530939352,0.00604196684435,0.0104794427752,0.249600663781,1.55148041248,-0.017223065719,3.08308291435,0.0
+1475057462614789208,0.00606175418943,0.0102708889171,0.249593704939,1.55150043964,-0.0194083712995,3.0819413662,0.0
+1475057462693404987,0.00603485200554,0.0100804511458,0.24962630868,1.55159425735,-0.014496974647,3.08546066284,0.0
+1475057462773089471,0.00605040742084,0.00995829328895,0.249664396048,1.55119585991,-0.0167745519429,3.08338594437,0.0
+1475057462851399886,0.00607413752005,0.00971104111522,0.249552294612,1.55192196369,-0.0204762052745,3.08443331718,0.0
+1475057462926778989,0.00604142388329,0.00956358294934,0.249606370926,1.55136811733,-0.0157071705908,3.08535838127,0.0
+1475057463006104968,0.00608097575605,0.0093656135723,0.249537050724,1.55168819427,-0.0219468511641,3.08367371559,0.0
+1475057463095792537,0.00605998560786,0.00925629213452,0.249565020204,1.55147278309,-0.0182072948664,3.08259248734,0.0
+1475057463174235455,0.00602873135358,0.00901732873172,0.249571114779,1.55137312412,-0.0146824335679,3.08323311806,0.0
+1475057463255437911,0.0060559483245,0.00887278933078,0.249564036727,1.55157995224,-0.0166257359087,3.08410811424,0.0
+1475057463334450391,0.00604873057455,0.00873796269298,0.249649912119,1.55131447315,-0.0139504261315,3.08488249779,0.0
+1475057463414693333,0.00606332998723,0.00854616612196,0.249586895108,1.55143928528,-0.0186089519411,3.0826895237,0.0
+1475057463490263583,0.0060748597607,0.00842105783522,0.24955971539,1.55183517933,-0.0182699542493,3.08402943611,0.0
+1475057463570832019,0.00604973360896,0.008256316185,0.249556526542,1.55147337914,-0.0167560074478,3.08339357376,0.0
+1475057463649500553,0.00608542282134,0.00812162552029,0.249611049891,1.55152142048,-0.0193633455783,3.08622145653,0.0
+1475057463727477632,0.00606040144339,0.0079629952088,0.249610036612,1.55139636993,-0.0165126305073,3.08317613602,0.0
+1475057463804635645,0.00602991273627,0.00785950571299,0.249606102705,1.55100941658,-0.0129001410678,3.08201766014,0.0
+1475057463882540785,0.00605412060395,0.00774307921529,0.249657481909,1.55126559734,-0.0140421818942,3.0829410553,0.0
+1475057463959339529,0.00606095325202,0.00755177717656,0.249584838748,1.55167543888,-0.0159635096788,3.08367538452,0.0
+1475057464039151367,0.00603002589196,0.00747154606506,0.249607548118,1.55096566677,-0.0114596998319,3.08251261711,0.0
+1475057464121199516,0.00604517711326,0.00735981343314,0.249660685658,1.55140292645,-0.0133323362097,3.08426952362,0.0
+1475057464195660320,0.00606853188947,0.00722724478692,0.249559760094,1.5519490242,-0.019100939855,3.08117103577,0.0
+1475057464270298215,0.00607641600072,0.00713067548349,0.249496147037,1.55208706856,-0.0195562895387,3.0825741291,0.0
+1475057464351403956,0.00607168441638,0.007050444372,0.24962335825,1.55151307583,-0.0168207846582,3.08386731148,0.0
+1475057464435043498,0.00608463538811,0.00692564528435,0.249543428421,1.5513253212,-0.0186822768301,3.08216118813,0.0
+1475057464515910947,0.00610380340368,0.00682915793732,0.249559730291,1.5515897274,-0.0232636705041,3.08345913887,0.0
+1475057464591786963,0.00605688104406,0.00674976641312,0.2495739609,1.55171978474,-0.0173447076231,3.08275985718,0.0
+1475057464670120855,0.00605399301276,0.00659553008154,0.249621614814,1.55121982098,-0.0129275219515,3.08376646042,0.0
+1475057464749118137,0.00602984288707,0.00647766003385,0.249542966485,1.55116772652,-0.0123775452375,3.08201217651,0.0
+1475057464829883245,0.00604328047484,0.00634545320645,0.249464198947,1.55180466175,-0.0172354467213,3.0811548233,0.0
+1475057464904421481,0.00604568049312,0.00626938929781,0.249355360866,1.55148887634,-0.0158807225525,3.08213710785,0.0
+1475057464979551972,0.00603389414027,0.00622556405142,0.249388426542,1.55136346817,-0.0139295998961,3.08132696152,0.0
+1475057465058507849,0.00604963675141,0.00612273160368,0.249311253428,1.55138289928,-0.0145893488079,3.08392047882,0.0
+1475057465139091485,0.00604471750557,0.00613837782294,0.249311044812,1.55135583878,-0.0124834086746,3.08199214935,0.0
+1475057465219288725,0.00606458121911,0.00605283072218,0.249262407422,1.55118632317,-0.0127146421,3.0837521553,0.0
+1475057465298243805,0.00606508227065,0.00607716292143,0.249266430736,1.55124950409,-0.0134064732119,3.08420991898,0.0
+1475057465374368576,0.00607943767682,0.00608820468187,0.249270454049,1.55115747452,-0.0156451892108,3.08359456062,0.0
+1475057465464716142,0.00606186827645,0.00602410314605,0.2492184937,1.55101001263,-0.012221195735,3.08476662636,0.0
+1475057465541237072,0.00607603602111,0.00603888323531,0.249206736684,1.55117607117,-0.0132813155651,3.08403468132,0.0
+1475057465620059201,0.00606533419341,0.00611023744568,0.249220326543,1.55123341084,-0.0127588007599,3.0831618309,0.0
+1475057465708465038,0.00608411058784,0.00607669912279,0.249300435185,1.55147564411,-0.0143558140844,3.08302903175,0.0
+1475057465789475655,0.00605398556218,0.00602792529389,0.249411091208,1.55142331123,-0.0121563626453,3.08560657501,0.0
+1475057465866351487,0.00605386123061,0.00605259416625,0.249607607722,1.55062913895,-0.0140557438135,3.08318543434,0.0
+1475057465950339363,0.00610137963668,0.0064385952428,0.249669417739,1.55084311962,-0.0153085170314,3.08220911026,0.0
+1475057466028714723,0.00610875012353,0.00685891741887,0.249583721161,1.55081439018,-0.015864610672,3.08537197113,0.0
+1475057466104948667,0.0060756825842,0.00727400043979,0.249239578843,1.55095994473,-0.0138640319929,3.08694863319,0.0
+1475057466182714119,0.00608057714999,0.00745865982026,0.248916849494,1.55115890503,-0.0160280000418,3.08598661423,0.0
+1475057466259809830,0.00599690852687,0.00752938957885,0.248349666595,1.55157232285,-0.0110420566052,3.0877392292,0.0
+1475057466337428799,0.00593642890453,0.00756202358752,0.247986122966,1.55134701729,-0.00522543583065,3.08443069458,0.0
+1475057466428967687,0.0059722084552,0.00758657511324,0.247584119439,1.55127668381,-0.0130711952224,3.0842924118,0.0
+1475057466512327615,0.00599948503077,0.00762960035354,0.246990680695,1.55177855492,-0.0169225540012,3.08333039284,0.0
+1475057466588554240,0.00599001580849,0.00764528289437,0.246605038643,1.55118370056,-0.0164084248245,3.08412599564,0.0
+1475057466666331945,0.00594756519422,0.00764278089628,0.246236473322,1.55133831501,-0.0158047955483,3.088078022,0.0
+1475057466747000040,0.00593158137053,0.00768509460613,0.245663419366,1.55194759369,-0.0138644957915,3.08643937111,0.0
+1475057466825854110,0.00592294102535,0.00772668048739,0.245255887508,1.55212235451,-0.0150182209909,3.08401656151,0.0
+1475057466908462715,0.00588644808158,0.00770523259416,0.244814038277,1.55098330975,-0.0106599004939,3.08767652512,0.0
+1475057466993482147,0.00587889179587,0.00774763990194,0.244564607739,1.55083358288,-0.0102119911462,3.08613967896,0.0
+1475057467072947144,0.00587545474991,0.0078621096909,0.244170963764,1.55080020428,-0.0118461214006,3.09090709686,0.0
+1475057467147612201,0.00585378985852,0.00813584588468,0.244020938873,1.55047941208,-0.0111028775573,3.08731889725,0.0
+1475057467224835512,0.00591355422512,0.00845440942794,0.243929028511,1.55082321167,-0.0172169860452,3.08867549896,0.0
+1475057467306669945,0.00584543868899,0.00854033883661,0.243549451232,1.55129826069,-0.0183189213276,3.08516407013,0.0
+1475057467386401399,0.00585157936439,0.00858336873353,0.24344393611,1.55175173283,-0.0184111837298,3.08338236809,0.0
+1475057467463256912,0.00581196788698,0.0083833951503,0.243239119649,1.55216026306,-0.011977517046,3.08571767807,0.0
+1475057467541161354,0.00579487765208,0.00792643334717,0.242955699563,1.55218398571,-0.0114732319489,3.08634829521,0.0
+1475057467617386036,0.00579702621326,0.0077494266443,0.242822229862,1.55162978172,-0.0107756406069,3.08566403389,0.0
+1475057467700070360,0.00584725337103,0.00752761075273,0.242402628064,1.55201745033,-0.0203106161207,3.08553910255,0.0
+1475057467781902847,0.00580008327961,0.00738362921402,0.242214217782,1.55128264427,-0.0138970678672,3.08665370941,0.0
+1475057467858359637,0.00580544397235,0.00737989787012,0.241954028606,1.55131280422,-0.014295081608,3.08442401886,0.0
+1475057467942713448,0.00576639315113,0.00748383952305,0.241662338376,1.55088973045,-0.0127956205979,3.08681535721,0.0
+1475057468028585208,0.0058075748384,0.00764960981905,0.241665914655,1.55129754543,-0.0167783200741,3.08867788315,0.0
+1475057468106831238,0.00579213071615,0.00784537289292,0.241347625852,1.55136370659,-0.0167257022113,3.08600306511,0.0
+1475057468183104961,0.00575231248513,0.00782614666969,0.241100668907,1.55198025703,-0.0139722330496,3.08359694481,0.0
+1475057468261424565,0.00573299312964,0.00788007955998,0.241036877036,1.55153512955,-0.0148011166602,3.0845887661,0.0
+1475057468338827582,0.00572781311348,0.0079143634066,0.241013452411,1.55164086819,-0.0138756241649,3.08444476128,0.0
+1475057468421873488,0.00577434012666,0.00763601437211,0.240932285786,1.5525135994,-0.0211884789169,3.08512282372,0.0
+1475057468502113438,0.00573139358312,0.00668183155358,0.240883603692,1.55244207382,-0.0128242736682,3.08255648613,0.0
+1475057468576693149,0.00570492679253,0.00610151654109,0.240886792541,1.5517013073,-0.0116622475907,3.08068490028,0.0
+1475057468654238749,0.00573092279956,0.00596071267501,0.2410287112,1.55130517483,-0.0122481882572,3.08511614799,0.0
+1475057468734732106,0.00572372740135,0.00570128345862,0.240553915501,1.55162346363,-0.0116793308407,3.0819132328,0.0
+1475057468817547882,0.00574276410043,0.00552320294082,0.240201056004,1.55175435543,-0.0130255483091,3.08553242683,0.0
+1475057468897371459,0.00570954848081,0.00546805607155,0.239909633994,1.55129742622,-0.00900054443628,3.08770751953,0.0
+1475057468975427713,0.00569973886013,0.00549582391977,0.239691838622,1.55124521255,-0.00864811148494,3.08464550972,0.0
+1475057469056183339,0.00567295541987,0.00556584075093,0.239445507526,1.55120301247,-0.00915319286287,3.08405733109,0.0
+1475057469133663316,0.00571098038927,0.00559702282771,0.239282533526,1.55114781857,-0.0119636952877,3.08434557915,0.0
+1475057469213870970,0.00568450568244,0.00560636958107,0.23910728097,1.55155277252,-0.0113586597145,3.08572912216,0.0
+1475057469294152583,0.00568576809019,0.00555600924417,0.238882422447,1.55170500278,-0.0152438664809,3.08387732506,0.0
+1475057469372251930,0.00567170325667,0.00542371720076,0.238841459155,1.55159461498,-0.0120895411819,3.08388614655,0.0
+1475057469452387376,0.00565109867603,0.00525309285149,0.238820105791,1.55193805695,-0.0137163251638,3.08168911934,0.0
+1475057469531699331,0.00562571780756,0.00521812820807,0.23855894804,1.55204665661,-0.011051944457,3.08206677437,0.0
+1475057469609544329,0.00562005350366,0.00524032535031,0.23828433454,1.55145215988,-0.0117303673178,3.08269739151,0.0
+1475057469687635320,0.00561873055995,0.00527611235157,0.237973362207,1.55109906197,-0.0116982124746,3.08433675766,0.0
+1475057469764478228,0.00559208868071,0.00530968280509,0.23740144074,1.55180418491,-0.011856094934,3.08343625069,0.0
+1475057469844764400,0.00556467147544,0.00532833812758,0.236979842186,1.55140507221,-0.0116148050874,3.08689069748,0.0
+1475057469921100629,0.00554018840194,0.00537530705333,0.236557543278,1.55147433281,-0.00977737084031,3.08107256889,0.0
+1475057470000536497,0.00553778000176,0.0053486940451,0.236082479358,1.55131518841,-0.0100672058761,3.08431005478,0.0
+1475057470076879509,0.0055799940601,0.00536137958989,0.235695391893,1.5520209074,-0.0174175389111,3.08676314354,0.0
+1475057470155028945,0.00553213385865,0.00530056515709,0.235512182117,1.55188977718,-0.0136053971946,3.08650541306,0.0
+1475057470231784652,0.00553112570196,0.00524741318077,0.235109686852,1.55146026611,-0.0158345419914,3.08477449417,0.0
+1475057470312949109,0.00552375940606,0.00523185217753,0.234820052981,1.55186080933,-0.015923762694,3.08369040489,0.0
+1475057470395711189,0.00546994619071,0.00521897571161,0.234487950802,1.55200481415,-0.00914556719363,3.08733558655,0.0
+1475057470476751479,0.00545737566426,0.0052731805481,0.234224587679,1.55212903023,-0.0106638399884,3.08320760727,0.0
+1475057470555792788,0.00545150833204,0.00529400072992,0.233934745193,1.55172622204,-0.00994547549635,3.08252692223,0.0
+1475057470636182858,0.00549264159054,0.00536141870543,0.233705043793,1.55173897743,-0.0162408221513,3.08485794067,0.0
+1475057470712823857,0.0054381438531,0.0054397569038,0.233134463429,1.55065333843,-0.0117289563641,3.08693218231,0.0
+1475057470793293888,0.00542821083218,0.00553368311375,0.232569769025,1.55157375336,-0.0134908566251,3.08605933189,0.0
+1475057470870349074,0.00536685949191,0.00556387146935,0.232111856341,1.55182433128,-0.00818558689207,3.08637356758,0.0
+1475057470947585591,0.00538397114724,0.00560468481854,0.231778427958,1.55165970325,-0.0106199737638,3.08595466614,0.0
+1475057471026917595,0.00536174885929,0.0056208781898,0.231227368116,1.55158090591,-0.00889186933637,3.08733105659,0.0
+1475057471107861120,0.00538681028411,0.00564614124596,0.230813235044,1.55167114735,-0.0136836413294,3.08650803566,0.0
+1475057471187771575,0.0053432751447,0.00566459912807,0.230422019958,1.55124115944,-0.0121042411774,3.08783054352,0.0
+1475057471267290590,0.00532068079337,0.00569282285869,0.229851216078,1.55184936523,-0.0111434934661,3.08528828621,0.0
+1475057471347016214,0.00533287692815,0.00567340524867,0.229465261102,1.55162060261,-0.0131780393422,3.08644485474,0.0
+1475057471423511248,0.00534603092819,0.0056788129732,0.229082942009,1.55153799057,-0.0170108545572,3.08844614029,0.0
+1475057471500381965,0.00528188562021,0.00566724827513,0.228515610099,1.55121254921,-0.0125348614529,3.08795928955,0.0
+1475057471577580405,0.00523453997448,0.00565994530916,0.228174582124,1.55153238773,-0.00798994395882,3.08758997917,0.0
+1475057471656678289,0.005218509119,0.0057001048699,0.227529168129,1.55170965195,-0.00733722979203,3.08387255669,0.0
+1475057471736658113,0.00522721000016,0.00568822165951,0.227110117674,1.55125999451,-0.0107828816399,3.08759713173,0.0
+1475057471821556698,0.00523851718754,0.0056965528056,0.226737946272,1.55152344704,-0.0123080685735,3.08642029762,0.0
+1475057471903558995,0.00518855731934,0.00568925496191,0.226158648729,1.55132341385,-0.0105904620141,3.08547496796,0.0
+1475057471982730055,0.00518143549562,0.00570189999416,0.225780367851,1.55225026608,-0.0114464974031,3.0828666687,0.0
+1475057472067140000,0.00517498608679,0.00568956136703,0.225391447544,1.55204093456,-0.0111442059278,3.08473110199,0.0
+1475057472143744369,0.00516928499565,0.00568159017712,0.224858537316,1.55148100853,-0.0124370176345,3.08726024628,0.0
+1475057472224667139,0.00512564228848,0.00565396016464,0.224467754364,1.55128276348,-0.00933434255421,3.08994483948,0.0
+1475057472307014659,0.00509532634169,0.00568688381463,0.223922789097,1.55128645897,-0.00977765582502,3.08446907997,0.0
+1475057472382281569,0.00511509692296,0.00570063153282,0.223466083407,1.55129921436,-0.0121484575793,3.08312439919,0.0
+1475057472463091765,0.00506671797484,0.00566290086135,0.222989886999,1.55158770084,-0.00977049767971,3.08823657036,0.0
+1475057472543501241,0.00505073834211,0.00567512027919,0.222589150071,1.55113220215,-0.00930277723819,3.08727860451,0.0
+1475057472619641845,0.00502556329593,0.00569048244506,0.22219081223,1.55120515823,-0.010616059415,3.08716583252,0.0
+1475057472698719466,0.00500565161929,0.00570214027539,0.221643045545,1.5513292551,-0.00861829333007,3.08321046829,0.0
+1475057472774399471,0.00498059252277,0.00568994833156,0.221255660057,1.55124497414,-0.00703772297129,3.08531570435,0.0
+1475057472854796859,0.00500019779429,0.00568139320239,0.22087007761,1.55139362812,-0.0111720059067,3.08710503578,0.0
+1475057472934346420,0.00495614251122,0.00568817695603,0.220267042518,1.55165076256,-0.00818434450775,3.08426141739,0.0
+1475057473015880069,0.00495137088001,0.00568913575262,0.219868347049,1.55189394951,-0.0112299546599,3.08170461655,0.0
+1475057473094856219,0.00495611969382,0.00567537872121,0.219314441085,1.55150198936,-0.0123067284003,3.08622384071,0.0
+1475057473175877011,0.00488509284332,0.00578458746895,0.219047218561,1.55098032951,-0.00763495778665,3.08704209328,0.0
+1475057473252622605,0.00486731342971,0.00571141345426,0.218589678407,1.55120444298,-0.00696866912767,3.0871796608,0.0
+1475057473331480535,0.00483740027994,0.00593610387295,0.217997342348,1.55138993263,-0.0111060244963,3.08180975914,0.0
+1475057473411115061,0.00481499731541,0.00603023823351,0.217690184712,1.55148077011,-0.0106234326959,3.08634471893,0.0
+1475057473491470264,0.00478553259745,0.00614489382133,0.217354893684,1.5518912077,-0.00798973068595,3.08725142479,0.0
+1475057473568055880,0.00468998774886,0.00631319358945,0.216677173972,1.55237853527,-0.00677251815796,3.08551883698,0.0
+1475057473652534027,0.00467584095895,0.00638422230259,0.216403365135,1.55194306374,-0.00673463428393,3.08857774734,0.0
+1475057473739224060,0.00469411723316,0.00647389050573,0.216014951468,1.55196225643,-0.0125707052648,3.09038305283,0.0
+1475057473820355001,0.00458774575964,0.00662127044052,0.215347930789,1.55263507366,-0.0103597790003,3.0831387043,0.0
+1475057473904157505,0.00454224552959,0.00662247510627,0.215035945177,1.5524007082,-0.0135719124228,3.0878868103,0.0
+1475057473983108851,0.00442138081416,0.00664340844378,0.214762046933,1.55202794075,-0.00724353548139,3.08977127075,0.0
+1475057474063931071,0.00430175848305,0.00665863137692,0.214360937476,1.55203211308,-0.00817664712667,3.08838248253,0.0
+1475057474149570438,0.0043022162281,0.00675881607458,0.214064478874,1.55241918564,-0.0144755914807,3.08716964722,0.0
+1475057474226578701,0.00429149996489,0.00681505631655,0.214117944241,1.5514677763,-0.0101591171697,3.08757591248,0.0
+1475057474299534492,0.00430072005838,0.00693225115538,0.213971704245,1.55135416985,-0.00861586537212,3.0898475647,0.0
+1475057474372189972,0.00426727347076,0.00705182785168,0.213921919465,1.55137658119,-0.00592497829348,3.08843040466,0.0
+1475057474450547833,0.00428682519123,0.00727871851996,0.213708177209,1.55099189281,-0.0122674154118,3.08894586563,0.0
+1475057474537174490,0.00424713920802,0.00745865516365,0.21345885098,1.55119109154,-0.00845124386251,3.08682346344,0.0
+1475057474612683233,0.0041284058243,0.00779703771695,0.213075578213,1.55114519596,-0.00785733573139,3.0868909359,0.0
+1475057474683108521,0.00344239315018,0.00777883874252,0.209312349558,1.55207073689,-0.00846367515624,3.08661675453,0.0
+1475057474757748332,0.00356533192098,0.00783328991383,0.20870052278,1.55247926712,-0.0204477887601,3.0884540081,0.0
+1475057474836736127,0.00357201229781,0.0078767137602,0.208919197321,1.55176711082,-0.0131448386237,3.08817338943,0.0
+1475057474912294024,0.00355860893615,0.00782851036638,0.208554893732,1.55244910717,-0.0165709368885,3.08869385719,0.0
+1475057474992134590,0.00354400207289,0.00783621519804,0.208041831851,1.55166506767,-0.0105378394946,3.08947896957,0.0
+1475057475066720815,0.00355236954056,0.00782201532274,0.207861125469,1.55152928829,-0.0103745656088,3.08965945244,0.0
+1475057475142854604,0.00353011419065,0.00780795747414,0.207657724619,1.55174064636,-0.0145711591467,3.08873581886,0.0
+1475057475220827693,0.0034612682648,0.00784210115671,0.206909954548,1.55220234394,-0.00674422131851,3.08835244179,0.0
+1475057475305108737,0.00347742531449,0.00788487121463,0.206803753972,1.55198574066,-0.0107041280717,3.08629512787,0.0
+1475057475385365600,0.00347110116854,0.00790702458471,0.20637075603,1.55236947536,-0.0124925179407,3.09053754807,0.0
+1475057475466147342,0.00344095053151,0.00796362850815,0.205882489681,1.551389575,-0.0118570290506,3.09128975868,0.0
+1475057475545859703,0.00337470555678,0.00797236897051,0.203380301595,1.55211377144,-0.00704411929473,3.08793067932,0.0
+1475057475623719186,0.00340380123816,0.00801032874733,0.202638477087,1.55152153969,-0.000785628042649,3.08968305588,0.0
diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt
new file mode 100644
index 00000000..592cbd27
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,454 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475067000766862122,0.0616575852036,-0.305957049131,1.4547277689,1.53674888611,-0.0461428388953,3.13177967072,0.0
+1475067000877456238,0.0617622323334,-0.306324064732,1.4564589262,1.53487598896,-0.0403667874634,3.13654088974,0.0
+1475067000963170577,0.0617578364909,-0.306286334991,1.45632457733,1.53576469421,-0.0419145524502,3.1272289753,0.0
+1475067001041592062,0.0616677291691,-0.305995136499,1.4550755024,1.53640699387,-0.0431191474199,3.13543748856,0.0
+1475067001123851978,0.0616677291691,-0.305995136499,1.4550755024,1.53640699387,-0.0431191474199,3.13543748856,0.0
+1475067001203474709,0.0617360398173,-0.306331604719,1.45653188229,1.53747928143,-0.0501824989915,3.1273355484,0.0
+1475067001285389401,0.0617697946727,-0.306337088346,1.45673286915,1.53544819355,-0.0382380485535,3.13073778152,0.0
+1475067001366811440,0.0616516694427,-0.305956840515,1.45451545715,1.53617084026,-0.0475182570517,3.13736248016,0.0
+1475067001451291610,0.062327798456,-0.307364463806,1.45960628986,1.52497529984,0.00703225051984,3.11107587814,0.0
+1475067001530882222,0.0615440346301,-0.306525141001,1.4512283802,1.56728863716,-0.0469058044255,2.72640895844,0.0
+1475067001613976807,0.0621407926083,-0.305256485939,1.43830573559,1.54039847851,0.0241047833115,3.1333360672,0.0
+1475067001692194072,0.0615894012153,-0.304467171431,1.43700516224,1.53964090347,0.0200159009546,3.11702537537,0.0
+1475067001772782534,0.0599212944508,-0.29691195488,1.41864562035,1.53702020645,-0.0132437106222,3.07132863998,0.0
+1475067001851482038,0.0603866577148,-0.294163256884,1.40774297714,1.55234849453,-0.0335580334067,3.11900806427,0.0
+1475067001929394437,0.0589673854411,-0.287057369947,1.38841974735,1.54088926315,-0.0114415669814,-3.13589954376,0.0
+1475067002011075471,0.0587420612574,-0.283219158649,1.38052237034,1.53609919548,-0.0355532206595,3.12126588821,0.0
+1475067002091638271,0.0585682950914,-0.277931541204,1.37062001228,1.55763268471,-0.0544566102326,2.81325602531,0.0
+1475067002172027520,0.0580153651536,-0.273670852184,1.36044359207,1.53777742386,-0.029576446861,3.07687878609,0.0
+1475067002250585810,0.0567093640566,-0.266330599785,1.33925366402,1.50220680237,0.137923285365,2.74066495895,0.0
+1475067002330050365,0.0563736706972,-0.2575930655,1.31535375118,1.55639672279,-0.109979815781,-3.11927986145,0.0
+1475067002410522044,0.0561111941934,-0.254760324955,1.31676280499,1.54850590229,-0.0516590736806,3.1402528286,0.0
+1475067002493988130,0.0554947406054,-0.247516274452,1.30509185791,1.53750598431,-0.0139467455447,3.12943339348,0.0
+1475067002568705990,0.0549053363502,-0.242527276278,1.29601728916,1.52895212173,0.114894106984,3.08418416977,0.0
+1475067002646041678,0.0546904690564,-0.238440901041,1.29006636143,1.53350806236,0.0255069583654,3.0959610939,0.0
+1475067002721711846,0.0537028238177,-0.229825764894,1.2681684494,1.57315635681,-0.0686426237226,2.82475376129,0.0
+1475067002803097491,0.0529938489199,-0.226129740477,1.26078498363,1.52530634403,0.135186180472,3.06161355972,0.0
+1475067002889892743,0.0527772344649,-0.219056785107,1.24530076981,1.53445398808,0.0711141675711,3.13302016258,0.0
+1475067002974189096,0.0523409619927,-0.213820785284,1.23415648937,1.53837406635,0.00436295336112,3.13365459442,0.0
+1475067003059016182,0.0520072691143,-0.208987861872,1.22789943218,1.55800509453,-0.0251418408006,2.85041260719,0.0
+1475067003141686438,0.0509635619819,-0.201120942831,1.20970892906,1.52070665359,0.119777411222,2.80395269394,0.0
+1475067003224198908,0.0505883321166,-0.197331294417,1.20490157604,1.53403937817,0.0426935218275,3.0817668438,0.0
+1475067003302581389,0.0495636276901,-0.189951121807,1.18627142906,1.52945113182,0.130062311888,3.09453511238,0.0
+1475067003386915285,0.0487613640726,-0.184713572264,1.17432713509,1.51331472397,0.130722686648,2.83415269852,0.0
+1475067003468475221,0.0483295992017,-0.179220557213,1.1627150774,1.54210233688,-0.0139949508011,3.1209871769,0.0
+1475067003549683490,0.0477308928967,-0.174266070127,1.1479460001,1.54799199104,-0.0529180131853,3.1407930851,0.0
+1475067003631182324,0.0470543019474,-0.168833494186,1.13623261452,1.53300523758,0.147983029485,3.09102678299,0.0
+1475067003707202511,0.0470506064594,-0.164371535182,1.12781643867,1.5659570694,-0.0970845669508,2.91095209122,0.0
+1475067003786663376,0.0462723895907,-0.160500258207,1.1191290617,1.51953625679,0.119739189744,2.86393237114,0.0
+1475067003864983165,0.0455631762743,-0.154415354133,1.10726749897,1.53785002232,0.0499706976116,3.09911131859,0.0
+1475067003944648631,0.0453084148467,-0.149880826473,1.09688425064,1.54849123955,0.013620830141,3.11245059967,0.0
+1475067004022283613,0.0447902679443,-0.144498810172,1.08081865311,1.5567612648,-0.0595517791808,3.04047942162,0.0
+1475067004103079456,0.0441717356443,-0.142176613212,1.07172203064,1.53500592709,0.105950452387,2.91959857941,0.0
+1475067004184666036,0.0437894873321,-0.140506953001,1.06187129021,1.53557705879,0.128603100777,3.08734536171,0.0
+1475067004257480773,0.043487213552,-0.135523349047,1.04998493195,1.53906989098,-0.00101941940375,3.08021664619,0.0
+1475067004338475607,0.0430494993925,-0.132172107697,1.03527796268,1.54443347454,-0.0425391085446,-3.13426160812,0.0
+1475067004416391681,0.0418578758836,-0.128468990326,1.01939380169,1.53975152969,0.121497415006,3.12628555298,0.0
+1475067004497110452,0.0413337573409,-0.127028405666,1.01070666313,1.53736436367,0.126187667251,3.12405872345,0.0
+1475067004579213929,0.0409147627652,-0.125308170915,1.00260198116,1.54116594791,0.107132486999,3.1174557209,0.0
+1475067004661014249,0.0404291786253,-0.122365877032,0.98442107439,1.54889822006,-0.0192473344505,-3.12157177925,0.0
+1475067004738203415,0.0399868153036,-0.121704526246,0.97779917717,1.54036211967,0.0797126442194,3.13221740723,0.0
+1475067004823016745,0.0398835204542,-0.12086173147,0.970454454422,1.54280030727,-0.00650669354945,3.11277985573,0.0
+1475067004907115455,0.0392389558256,-0.118052497506,0.953423500061,1.55061507225,-0.0558434426785,3.10660672188,0.0
+1475067004989317882,0.0388375669718,-0.11611661315,0.942473113537,1.54952907562,-0.0337589755654,3.12657761574,0.0
+1475067005071941738,0.0379105582833,-0.11342767626,0.929821908474,1.53557622433,0.1423189044,3.09659337997,0.0
+1475067005155575412,0.0376556627452,-0.111565776169,0.922026455402,1.54111552238,0.0345815718174,3.08321285248,0.0
+1475067005235114929,0.0369315855205,-0.108643651009,0.904073417187,1.54485034943,0.00959925353527,3.12161540985,0.0
+1475067005312720520,0.036523822695,-0.107166327536,0.895173788071,1.54374301434,-0.00248979125172,3.13075089455,0.0
+1475067005389671479,0.0356394276023,-0.104588121176,0.880191504955,1.54422819614,-0.00630907900631,3.13407754898,0.0
+1475067005472287050,0.0352303571999,-0.102859787643,0.870844841003,1.54650175571,-0.0301336664706,3.10701274872,0.0
+1475067005550354943,0.0344464927912,-0.100338563323,0.854384899139,1.55113554001,-0.0414250232279,3.12433171272,0.0
+1475067005628999719,0.034084700048,-0.0993309915066,0.848822653294,1.54617726803,-0.0118632428348,3.0991358757,0.0
+1475067005710886161,0.0333125218749,-0.0976265966892,0.837607324123,1.54238522053,0.0257889311761,3.11113214493,0.0
+1475067005794979004,0.0326720736921,-0.0953522473574,0.823617935181,1.54409432411,0.0254738889635,3.06266999245,0.0
+1475067005874684742,0.0320027880371,-0.0937925502658,0.811507344246,1.54419541359,0.0625355914235,3.12425112724,0.0
+1475067005957598697,0.0315474495292,-0.0923822298646,0.802383780479,1.53992640972,0.0952791422606,3.08687353134,0.0
+1475067006039776692,0.0309823229909,-0.0900133177638,0.788046658039,1.54512238503,0.0447569787502,2.99969124794,0.0
+1475067006118514653,0.0307605769485,-0.08900026232,0.778834104538,1.54652738571,-0.00238178274594,3.09986233711,0.0
+1475067006199344204,0.0304534398019,-0.0870809704065,0.762912631035,1.54589223862,0.00479117268696,3.11961078644,0.0
+1475067006280357404,0.0298250932246,-0.0858003348112,0.753347218037,1.54517376423,0.0324043445289,3.09343385696,0.0
+1475067006356333493,0.0292898137122,-0.0839560478926,0.739329218864,1.54280459881,0.01688128151,3.11921811104,0.0
+1475067006440862077,0.028715306893,-0.0824622809887,0.729942262173,1.54610097408,0.0140735637397,3.10329580307,0.0
+1475067006514987807,0.0281074345112,-0.0808009430766,0.720438480377,1.5459266901,0.0186406355351,3.05672597885,0.0
+1475067006597186380,0.0268531106412,-0.0786457285285,0.703312337399,1.53773796558,0.119356922805,3.12390637398,0.0
+1475067006678650450,0.0264839846641,-0.077373623848,0.69532674551,1.54497992992,0.0263074729592,3.1024544239,0.0
+1475067006762642501,0.0257326811552,-0.0751443132758,0.681147634983,1.55044770241,-0.0255050100386,3.06630587578,0.0
+1475067006842461788,0.025052882731,-0.0739155933261,0.671658098698,1.54637849331,-0.00719842361286,3.0682914257,0.0
+1475067006920181451,0.0242626275867,-0.0727556496859,0.660973250866,1.54361784458,0.0477267801762,3.12553286552,0.0
+1475067006995933091,0.0234012715518,-0.0705198124051,0.64746850729,1.54338133335,0.0303300358355,3.06523013115,0.0
+1475067007076616531,0.022870875895,-0.0691614151001,0.638228774071,1.54414558411,0.00835444126278,3.08069062233,0.0
+1475067007159834154,0.0221789199859,-0.0667123124003,0.622458457947,1.5457867384,-0.00268231472,3.09495520592,0.0
+1475067007241544377,0.0217777546495,-0.0652347505093,0.613106310368,1.54762375355,-0.00230566528626,3.09190368652,0.0
+1475067007326033795,0.0211295485497,-0.0631390437484,0.599557161331,1.54218924046,0.0595875196159,3.0724568367,0.0
+1475067007404080637,0.0208907462656,-0.0618482790887,0.58975815773,1.54861819744,0.00280571333133,3.07130813599,0.0
+1475067007493944565,0.0203075967729,-0.0607886202633,0.578983724117,1.54461371899,0.0596355907619,3.12955188751,0.0
+1475067007569794441,0.0197465177625,-0.0590958744287,0.564938187599,1.54344165325,0.0596145093441,3.09789967537,0.0
+1475067007652119759,0.0195183195174,-0.0578757859766,0.556265294552,1.54550290108,0.0234715621918,3.09973192215,0.0
+1475067007729050940,0.0187868513167,-0.0560802035034,0.541346311569,1.54426288605,0.045061532408,3.10991382599,0.0
+1475067007807346382,0.0185302644968,-0.0548590347171,0.531618773937,1.5457239151,0.0134194260463,3.10406398773,0.0
+1475067007882067809,0.0179664287716,-0.0531911328435,0.517388224602,1.54946160316,-0.00219659274444,3.0935997963,0.0
+1475067007967183816,0.0175693128258,-0.0520756281912,0.507570624352,1.54672467709,0.0147784873843,3.11768054962,0.0
+1475067008049326409,0.017197728157,-0.0509638674557,0.498435229063,1.54687345028,0.0290290676057,3.09623360634,0.0
+1475067008133325877,0.0167286414653,-0.0493975989521,0.484146296978,1.54707849026,0.00916830264032,3.10219335556,0.0
+1475067008217553735,0.0163696184754,-0.0483209975064,0.474735587835,1.54607629776,0.0290364362299,3.09886932373,0.0
+1475067008300844629,0.0160654596984,-0.0472243912518,0.46512529254,1.54825544357,0.0317788645625,3.09973239899,0.0
+1475067008382567215,0.0154657857493,-0.0458101667464,0.450954854488,1.54429924488,0.0268894005567,3.09723687172,0.0
+1475067008457509767,0.0150970201939,-0.0448557399213,0.441582083702,1.54600954056,0.0192918535322,3.0836482048,0.0
+1475067008543178777,0.014515905641,-0.0433772578835,0.42666631937,1.54657995701,0.0115682911128,3.10932135582,0.0
+1475067008631377749,0.014057898894,-0.0425522178411,0.417396873236,1.54672801495,0.0240913908929,3.09771060944,0.0
+1475067008717840172,0.0134556405246,-0.0411535315216,0.402864098549,1.54737436771,0.0145282549784,3.10032987595,0.0
+1475067008798546473,0.0130132259801,-0.0403075926006,0.393511652946,1.54599034786,0.0233849193901,3.10977602005,0.0
+1475067008883574133,0.0123759107664,-0.038829408586,0.379183828831,1.54646086693,0.025847222656,3.1029894352,0.0
+1475067008959656656,0.0120263267308,-0.0378533303738,0.369881391525,1.54668772221,0.0148371597752,3.10201334953,0.0
+1475067009033503965,0.0113860433921,-0.0365855097771,0.355588465929,1.54636764526,0.0187422409654,3.10278987885,0.0
+1475067009108861089,0.0109309796244,-0.0357810221612,0.346173554659,1.54521346092,0.0260907076299,3.11127066612,0.0
+1475067009186407661,0.0101952767,-0.0344409458339,0.331895977259,1.54539012909,0.0250268299133,3.1064324379,0.0
+1475067009260970951,0.00974856968969,-0.033482812345,0.322246819735,1.54655301571,0.0201304554939,3.09858894348,0.0
+1475067009347931174,0.00924740917981,-0.0323297046125,0.308088034391,1.54631400108,0.0166215412319,3.1053943634,0.0
+1475067009425441807,0.00882235169411,-0.0314040072262,0.296199798584,1.54602015018,0.0321164652705,3.10693907738,0.0
+1475067009504934914,0.00846538506448,-0.0307372082025,0.285760849714,1.54700636864,0.0251698605716,3.111587286,0.0
+1475067009584294764,0.00804764963686,-0.0298946965486,0.276421517134,1.54605591297,0.0223712697625,3.10798740387,0.0
+1475067009663939803,0.00722445547581,-0.0288598891348,0.265293627977,1.54741072655,0.0152048571035,3.10678768158,0.0
+1475067009744163840,0.00697785057127,-0.0282970834523,0.26026391983,1.54823029041,0.0120040941983,3.10836172104,0.0
+1475067009826670062,0.00687559414655,-0.027893204242,0.257120013237,1.54866504669,0.000680959608871,3.11330008507,0.0
+1475067009905270864,0.00690845865756,-0.0278721340001,0.256840378046,1.54876673222,0.00656165601686,3.10676288605,0.0
+1475067009984761675,0.00689422292635,-0.0279117580503,0.255976647139,1.54888677597,0.00138213939499,3.10802340508,0.0
+1475067010080514250,0.00678859418258,-0.0277061089873,0.25517141819,1.54863262177,0.00179971579928,3.10737991333,0.0
+1475067010159079977,0.00680256355554,-0.0273237396032,0.254740715027,1.54877436161,-0.00547174178064,3.1081609726,0.0
+1475067010237784107,0.00673813605681,-0.0268728882074,0.254300415516,1.54843056202,4.79444406665e-06,3.1145298481,0.0
+1475067010315607059,0.00674587581307,-0.0263853557408,0.254187613726,1.54843401909,-0.00427188491449,3.11389279366,0.0
+1475067010398044785,0.0067273885943,-0.0258705802262,0.254087299109,1.54811251163,-0.00277401413769,3.11121559143,0.0
+1475067010478816597,0.00667954282835,-0.0251390207559,0.253981351852,1.54863274097,0.00186568917707,3.11163949966,0.0
+1475067010556731937,0.00667093880475,-0.0243618246168,0.25391048193,1.54838871956,0.000542797439266,3.11227083206,0.0
+1475067010639387716,0.00665907934308,-0.0238437782973,0.253866165876,1.54897713661,0.00139442761429,3.11414957047,0.0
+1475067010717363325,0.00665921904147,-0.023333825171,0.253849625587,1.54880547523,-0.000303714245092,3.11308765411,0.0
+1475067010795659568,0.00663987128064,-0.0225862096995,0.253843009472,1.54873657227,0.000118645613838,3.11239361763,0.0
+1475067010879120115,0.00663165468723,-0.022065885365,0.253868073225,1.54868030548,0.000221339156269,3.11195850372,0.0
+1475067010961856801,0.00665435614064,-0.0213121455163,0.253777563572,1.54896354675,-0.00563684105873,3.11205649376,0.0
+1475067011033722475,0.00660219974816,-0.0208567548543,0.253773778677,1.54890954494,-0.000496331369504,3.11095237732,0.0
+1475067011111359355,0.00659923674539,-0.020399697125,0.253843724728,1.5492027998,-0.00161526480224,3.10916996002,0.0
+1475067011189621093,0.00660720840096,-0.0197391863912,0.253796577454,1.54849636555,-0.00564892869443,3.1104156971,0.0
+1475067011264880987,0.00656822929159,-0.0193056054413,0.253766804934,1.54840767384,0.000237583590206,3.11133861542,0.0
+1475067011340607610,0.0065637123771,-0.0186865702271,0.253763973713,1.54881906509,-0.00186859047972,3.11092662811,0.0
+1475067011419722368,0.00654988177121,-0.0182493906468,0.253733992577,1.54892838001,-0.00238862889819,3.11130070686,0.0
+1475067011498710368,0.00656971801072,-0.0178744383156,0.253688901663,1.54907941818,-0.00493570324033,3.11135339737,0.0
+1475067011577463762,0.00651783449575,-0.0173181258142,0.253737032413,1.54907345772,0.000538426800631,3.11293888092,0.0
+1475067011655425101,0.00654047448188,-0.0169195234776,0.25374352932,1.54896461964,-0.00230830721557,3.10925841331,0.0
+1475067011731313813,0.00653940858319,-0.0165410209447,0.253719002008,1.5491553545,-0.0036727336701,3.10976648331,0.0
+1475067011807930433,0.00652805715799,-0.0160632990301,0.253689140081,1.54905605316,-0.0027348564472,3.11185908318,0.0
+1475067011885293084,0.00652701873332,-0.0157095585018,0.253736674786,1.54948425293,-0.00314146326855,3.11143898964,0.0
+1475067011959342656,0.00651863403618,-0.0154163409024,0.253689259291,1.5488421917,-0.00239112135023,3.1112010479,0.0
+1475067012034883895,0.00650521181524,-0.0148687791079,0.25372454524,1.54868268967,-0.00272355834022,3.11015486717,0.0
+1475067012111948780,0.00648712413386,-0.0145969679579,0.253698170185,1.54864084721,0.000532109930646,3.11223387718,0.0
+1475067012191841070,0.00648160558194,-0.014246808365,0.253673702478,1.54922449589,0.00118724559434,3.10934090614,0.0
+1475067012273766832,0.00650220084935,-0.0139470295981,0.253664702177,1.54935467243,-0.00439634965733,3.111587286,0.0
+1475067012347993425,0.00649006525055,-0.0134713985026,0.253690212965,1.54908144474,-0.00401330599561,3.11066913605,0.0
+1475067012427857159,0.00650026649237,-0.0132018672302,0.253613978624,1.548792243,-0.00601698737592,3.11103987694,0.0
+1475067012503215982,0.00649892166257,-0.0129237640649,0.253665357828,1.54912209511,-0.0055975690484,3.11083388329,0.0
+1475067012584871836,0.0064728949219,-0.012507067062,0.253635108471,1.54937708378,-0.00354832946323,3.11263442039,0.0
+1475067012667827153,0.00649791862816,-0.0122362133116,0.253607243299,1.54908716679,-0.0075872419402,3.11357235909,0.0
+1475067012749596091,0.00646795099601,-0.0119521208107,0.253613710403,1.54869747162,-0.00428426964208,3.11211705208,0.0
+1475067012827069621,0.00647416012362,-0.0115761980414,0.253652185202,1.54904353619,-0.00516122067347,3.11207175255,0.0
+1475067012907115067,0.00645202212036,-0.0113158347085,0.253630101681,1.54935956001,-0.00331685878336,3.11125826836,0.0
+1475067012988289150,0.0064474795945,-0.0110482703894,0.253647744656,1.54896700382,-0.00411349721253,3.11183142662,0.0
+1475067013065811687,0.00646863831207,-0.0106980502605,0.253592640162,1.54926419258,-0.00811771769077,3.11159062386,0.0
+1475067013148162549,0.00643405225128,-0.010448731482,0.253607332706,1.54918777943,-0.00481111649424,3.11072707176,0.0
+1475067013230765969,0.00644515734166,-0.0101085072383,0.253579437733,1.5494697094,-0.00857182685286,3.11089944839,0.0
+1475067013313246312,0.00638914341107,-0.0099069243297,0.253572613001,1.54914236069,-0.000645898457151,3.11045050621,0.0
+1475067013392414089,0.00638970546424,-0.0095699261874,0.253559470177,1.54898285866,-0.00210300600156,3.11230754852,0.0
+1475067013472015058,0.00639779819176,-0.00938125047833,0.253532677889,1.54900634289,-0.00248845713213,3.11400151253,0.0
+1475067013547413505,0.00640617124736,-0.00917934533209,0.253531843424,1.54933071136,-0.00576635729522,3.11341714859,0.0
+1475067013625725591,0.00639797747135,-0.0088632684201,0.253499269485,1.54934871197,-0.00713072018698,3.11160302162,0.0
+1475067013712362198,0.00637869490311,-0.00865441653877,0.253547936678,1.54932832718,-0.00387114356272,3.1110701561,0.0
+1475067013792428312,0.00638818414882,-0.00836723484099,0.253444284201,1.54956901073,-0.00917444098741,3.11091089249,0.0
+1475067013866979648,0.00636961823329,-0.00817918032408,0.253483563662,1.54944109917,-0.00402437942103,3.10983490944,0.0
+1475067013948723940,0.00637191813439,-0.00802141055465,0.253464072943,1.54954814911,-0.00674979714677,3.11037659645,0.0
+1475067014024630783,0.0063491477631,-0.00775825697929,0.253442317247,1.54981279373,-0.00484168855473,3.11034917831,0.0
+1475067014107065526,0.00638504000381,-0.00757457874715,0.253408938646,1.54964506626,-0.0111085725948,3.11025738716,0.0
+1475067014186402024,0.00633398536593,-0.00732267461717,0.253428548574,1.54975485802,-0.0036133446265,3.11061954498,0.0
+1475067014265147348,0.00636245496571,-0.00715738395229,0.25341412425,1.54989409447,-0.0102074109018,3.1114692688,0.0
+1475067014339843026,0.00634311093017,-0.00696979090571,0.253356486559,1.55010151863,-0.00868429150432,3.10805511475,0.0
+1475067014419248643,0.0063480255194,-0.00673546781763,0.253382503986,1.55010294914,-0.010661482811,3.10914373398,0.0
+1475067014505319147,0.00634583132342,-0.00661080237478,0.253286778927,1.55012404919,-0.010721555911,3.10930752754,0.0
+1475067014581011974,0.00631051883101,-0.0064643220976,0.253381729126,1.55003833771,-0.00462793046609,3.10973954201,0.0
+1475067014662254571,0.00633059814572,-0.00624875118956,0.253332704306,1.54997646809,-0.0100011285394,3.10736966133,0.0
+1475067014742207925,0.00630241353065,-0.00608403421938,0.253340244293,1.54996454716,-0.00589994341135,3.10684299469,0.0
+1475067014818100771,0.00631358381361,-0.0059174252674,0.253298938274,1.55003845692,-0.00883854459971,3.10637950897,0.0
+1475067014897280566,0.00633300747722,-0.00577572593465,0.253256559372,1.55030286312,-0.0113405436277,3.10771656036,0.0
+1475067014979190794,0.00631746696308,-0.00564426509663,0.253280878067,1.5501292944,-0.00864549539983,3.10620260239,0.0
+1475067015056800238,0.0063118962571,-0.00545464362949,0.253249526024,1.55014133453,-0.00856462027878,3.10895013809,0.0
+1475067015136845476,0.00635473290458,-0.00531387235969,0.253186285496,1.55053627491,-0.0152789354324,3.1053750515,0.0
+1475067015215726210,0.00629071844742,-0.00518701784313,0.253247737885,1.55018293858,-0.00669918395579,3.10719585419,0.0
+1475067015293026388,0.00628828443587,-0.00499896146357,0.253287285566,1.55023002625,-0.00676101027057,3.10670232773,0.0
+1475067015375515338,0.00631991913542,-0.0048376461491,0.253295332193,1.55014395714,-0.0115949129686,3.10584521294,0.0
+1475067015456511069,0.00625240337104,-0.00469741644338,0.253305435181,1.5497995615,-0.002325308742,3.10740375519,0.0
+1475067015534943027,0.00627366220579,-0.00457955757156,0.253285467625,1.54998326302,-0.00535569014028,3.10996079445,0.0
+1475067015613583045,0.00631237216294,-0.00444728508592,0.253310322762,1.55033183098,-0.0112691679969,3.10686683655,0.0
+1475067015691327190,0.00627044728026,-0.00425624940544,0.253254592419,1.55014324188,-0.00424021482468,3.10712814331,0.0
+1475067015770696295,0.00627712020651,-0.00413439888507,0.25327193737,1.55003833771,-0.0068378848955,3.10777950287,0.0
+1475067015849417883,0.00629019550979,-0.00394049054012,0.25326064229,1.5502358675,-0.00986619852483,3.10707879066,0.0
+1475067015930830922,0.00626687891781,-0.00383150205016,0.253251522779,1.55038452148,-0.00650972407311,3.10902833939,0.0
+1475067016007735277,0.00631739152595,-0.00372012844309,0.253266394138,1.55066382885,-0.0137328114361,3.10777235031,0.0
+1475067016089194279,0.00630868272856,-0.00353113561869,0.253253340721,1.55028653145,-0.0116429300979,3.10889315605,0.0
+1475067016169928676,0.00625793542713,-0.00342345819809,0.253285288811,1.54996943474,-0.00474090315402,3.10956406593,0.0
+1475067016250669656,0.00624770391732,-0.00330494623631,0.253291279078,1.55025625229,-0.00358086870983,3.10775732994,0.0
+1475067016327670469,0.00630090152845,-0.00310538918711,0.253216862679,1.55010640621,-0.0121160494164,3.10737848282,0.0
+1475067016407912182,0.00627079000697,-0.00301016122103,0.253288805485,1.54977834225,-0.00600243732333,3.10574150085,0.0
+1475067016488096849,0.00629650522023,-0.00285757775418,0.253260433674,1.55028355122,-0.0117332069203,3.10650229454,0.0
+1475067016565694187,0.00631281081587,-0.0027643837966,0.253231495619,1.55037081242,-0.0139667121693,3.10895967484,0.0
+1475067016643433424,0.00628163060173,-0.00265409401618,0.253252118826,1.55055463314,-0.0116031421348,3.10808682442,0.0
+1475067016721493634,0.00626267818734,-0.0025199286174,0.253216266632,1.55014121532,-0.00632447982207,3.10890769958,0.0
+1475067016799750089,0.0063108690083,-0.00240085367113,0.253239125013,1.55052852631,-0.0140581512824,3.10360074043,0.0
+1475067016881685430,0.0062875347212,-0.00228678993881,0.253261208534,1.55022799969,-0.0126801626757,3.10787630081,0.0
+1475067016963613939,0.00626562908292,-0.00219126255251,0.25325948,1.55019342899,-0.00855206791312,3.1055688858,0.0
+1475067017039159972,0.00624499423429,-0.00212794984691,0.25326153636,1.54995274544,-0.00476447958499,3.10862779617,0.0
+1475067017121737673,0.00626611756161,-0.00200472702272,0.253244519234,1.55027866364,-0.00933044217527,3.1086628437,0.0
+1475067017202286004,0.00629257876426,-0.00191506638657,0.253200799227,1.54987204075,-0.0139620760456,3.10545611382,0.0
+1475067017279476120,0.00628347462043,-0.0018272154266,0.253244191408,1.55059492588,-0.0131728928536,3.10551571846,0.0
+1475067017365308362,0.00623328564689,-0.0016952593578,0.253241240978,1.55037295818,-0.00703812763095,3.1029946804,0.0
+1475067017447321502,0.00625408487394,-0.00165928644128,0.253254085779,1.55015170574,-0.00799758918583,3.10805678368,0.0
+1475067017529140893,0.00626898137853,-0.00151741667651,0.253226667643,1.55017769337,-0.0109739433974,3.10580945015,0.0
+1475067017609079996,0.00628381967545,-0.00143802305683,0.253176659346,1.5499458313,-0.0137299085036,3.10545277596,0.0
+1475067017686583215,0.00624319864437,-0.00133331213146,0.253174483776,1.55040991306,-0.00905703473836,3.10347867012,0.0
+1475067017764703866,0.00624061562121,-0.00125459651463,0.253237426281,1.55004274845,-0.00826828554273,3.10404920578,0.0
+1475067017839634516,0.00621397513896,-0.00119621166959,0.253217965364,1.54995012283,-0.00583631871268,3.10437965393,0.0
+1475067017920455008,0.00624611461535,-0.00110176589806,0.253168791533,1.55055332184,-0.0112374518067,3.10566401482,0.0
+1475067017998471899,0.00626850826666,-0.00104167440441,0.253214329481,1.549954772,-0.0134948622435,3.10556411743,0.0
+1475067018081370687,0.0062489239499,-0.000977748655714,0.253151297569,1.55032289028,-0.0141181061044,3.10580635071,0.0
+1475067018165957033,0.0062277042307,-0.000855791382492,0.253222256899,1.549924016,-0.00837450381368,3.10298299789,0.0
+1475067018244600139,0.00624585151672,-0.000801713671535,0.253194481134,1.55009496212,-0.010953293182,3.10098004341,0.0
+1475067018321959721,0.00622658850625,-0.00072920502862,0.253180444241,1.54999256134,-0.00991120468825,3.10223007202,0.0
+1475067018405009507,0.00623091869056,-0.000679011689499,0.25321239233,1.55019676685,-0.0109765864909,3.10683870316,0.0
+1475067018485608580,0.0062111238949,-0.000589891104028,0.253201514482,1.55010783672,-0.0115980636328,3.10321497917,0.0
+1475067018561001691,0.00622205296531,-0.000454719032859,0.253153800964,1.55046200752,-0.0118816867471,3.09969305992,0.0
+1475067018640915653,0.00620051892474,-0.000423530262196,0.253195434809,1.5505065918,-0.00982713978738,3.1023607254,0.0
+1475067018715901049,0.00619155075401,-0.000335573276971,0.253184348345,1.55037069321,-0.0069338590838,3.10221409798,0.0
+1475067018793289657,0.00621876120567,-0.000267468800303,0.253203988075,1.55027103424,-0.0129879517481,3.10227179527,0.0
+1475067018871471358,0.00626677041873,-0.000171697916812,0.253104478121,1.55056369305,-0.0188945494592,3.09891963005,0.0
+1475067018949938651,0.00623129121959,-0.000115459901281,0.253145635128,1.55086159706,-0.0168056413531,3.10229802132,0.0
+1475067019027761904,0.00621934467927,-2.28519056691e-05,0.253155767918,1.55048084259,-0.0126490341499,3.1005089283,0.0
+1475067019110476024,0.00619321316481,1.34092251756e-05,0.253149181604,1.55048131943,-0.0105436444283,3.10211896896,0.0
+1475067019192503067,0.00621150480583,8.56129117892e-05,0.253149390221,1.55053782463,-0.0131994010881,3.10168170929,0.0
+1475067019269473614,0.00617792690173,0.000152307955432,0.253145575523,1.55034899712,-0.00908791553229,3.10141372681,0.0
+1475067019350044837,0.00620673922822,0.000205977543374,0.253130555153,1.5503411293,-0.013700703159,3.09981060028,0.0
+1475067019431952729,0.00622616102919,0.000304075685563,0.25310498476,1.55060720444,-0.0181551966816,3.10016083717,0.0
+1475067019510593242,0.00623136386275,0.000406821112847,0.253084868193,1.55036759377,-0.0183210745454,3.09878611565,0.0
+1475067019589379566,0.00617574015632,0.000526869029272,0.253135681152,1.55040168762,-0.00938441697508,3.09999084473,0.0
+1475067019666390308,0.00614730361849,0.00057831488084,0.25313347578,1.55044817924,-0.00653923675418,3.10029220581,0.0
+1475067019751540371,0.0061807106249,0.000648111046758,0.253087162971,1.55060195923,-0.0116798551753,3.09783506393,0.0
+1475067019830676801,0.00621119281277,0.000765787030105,0.253108918667,1.55068349838,-0.0158417262137,3.09939646721,0.0
+1475067019913531868,0.00619125086814,0.000859772029798,0.253111034632,1.55065977573,-0.0151316775009,3.09767889977,0.0
+1475067019996574355,0.00615660334006,0.000918059144169,0.253135710955,1.55046987534,-0.0101473107934,3.10023641586,0.0
+1475067020078756628,0.00615910394117,0.0010283178417,0.253059893847,1.55051410198,-0.0119284857064,3.09642028809,0.0
+1475067020157865679,0.00617431616411,0.00115748983808,0.253118276596,1.55093789101,-0.0149394236505,3.09655666351,0.0
+1475067020238433591,0.00615805853158,0.00132899102755,0.253123253584,1.5506824255,-0.0119163934141,3.09722447395,0.0
+1475067020316248643,0.0061506992206,0.00143945391756,0.253205180168,1.5506541729,-0.00804228056222,3.09883832932,0.0
+1475067020394050329,0.0061943535693,0.00167309923563,0.25317427516,1.55082976818,-0.0160382706672,3.09844732285,0.0
+1475067020470894012,0.00615269457921,0.00180039915722,0.253158271313,1.55047667027,-0.00942516326904,3.09952116013,0.0
+1475067020550791605,0.00617985706776,0.00206199521199,0.25313487649,1.55038952827,-0.0155901014805,3.09883975983,0.0
+1475067020630299706,0.00613852031529,0.00223325775005,0.253134429455,1.55035483837,-0.0092967748642,3.09848451614,0.0
+1475067020710814682,0.00616697361693,0.00237472215667,0.25317004323,1.5504783392,-0.0141750182956,3.09728980064,0.0
+1475067020797904360,0.00617282139137,0.00259275338612,0.253123223782,1.55067944527,-0.0148724578321,3.09696936607,0.0
+1475067020880197096,0.00612635491416,0.00271146302111,0.25313436985,1.55020451546,-0.00913894921541,3.10007596016,0.0
+1475067020961080838,0.00617132754996,0.00286922301166,0.253161549568,1.55059432983,-0.0153226377442,3.09921455383,0.0
+1475067021039130011,0.00611984869465,0.00309705780819,0.253102332354,1.55040752888,-0.00899427197874,3.09754157066,0.0
+1475067021116716113,0.00614192802459,0.00323752406985,0.253126114607,1.55049479008,-0.01248426456,3.09921097755,0.0
+1475067021196488658,0.00616423878819,0.00347357313149,0.253125965595,1.55083990097,-0.0164486020803,3.09823703766,0.0
+1475067021273000712,0.00614843843505,0.0035958122462,0.253140121698,1.55060112476,-0.0141716469079,3.09902644157,0.0
+1475067021356535666,0.00618962896988,0.00378131703474,0.253155231476,1.55085897446,-0.0201551485807,3.09955000877,0.0
+1475067021439009428,0.00614426098764,0.00392636470497,0.253108292818,1.55087947845,-0.0152562586591,3.09774136543,0.0
+1475067021520935242,0.00611247867346,0.00402843905613,0.253157049417,1.55043852329,-0.0106366900727,3.09942436218,0.0
+1475067021600334763,0.00616098055616,0.00421322789043,0.253104180098,1.55096650124,-0.018056711182,3.09748339653,0.0
+1475067021678933193,0.00614139344543,0.00433648005128,0.25312012434,1.55079579353,-0.0150428060442,3.09899520874,0.0
+1475067021757564773,0.00610225228593,0.00449107494205,0.253230750561,1.55045056343,-0.00998237263411,3.09876227379,0.0
+1475067021836184858,0.00614377204329,0.00463369674981,0.253135353327,1.55060267448,-0.0161498486996,3.0967271328,0.0
+1475067021916738542,0.00613124901429,0.0047792615369,0.253117889166,1.550978899,-0.014818332158,3.09870505333,0.0
+1475067021997015408,0.00611996417865,0.00486776139587,0.253177046776,1.55052471161,-0.0124198542908,3.10095691681,0.0
+1475067022075621029,0.00612413138151,0.00500628678128,0.253147989511,1.55075204372,-0.0148976454511,3.09771871567,0.0
+1475067022155617404,0.00613156473264,0.00517079140991,0.253156751394,1.55105209351,-0.0173422340304,3.09734034538,0.0
+1475067022236065571,0.00610930472612,0.00525678647682,0.253124564886,1.55101454258,-0.0134792914614,3.09866118431,0.0
+1475067022317853941,0.00615456234664,0.00536349182948,0.253119677305,1.55070781708,-0.0202887710184,3.09891200066,0.0
+1475067022400717132,0.00613968400285,0.00553567986935,0.2531285882,1.55089783669,-0.0194296985865,3.09596920013,0.0
+1475067022479878291,0.00610346952453,0.00563470972702,0.253155618906,1.550765872,-0.014118636027,3.09690570831,0.0
+1475067022558715330,0.00607969472185,0.00574414804578,0.253208220005,1.55066907406,-0.00943329837173,3.09992027283,0.0
+1475067022639576643,0.00608465261757,0.00584614276886,0.253175854683,1.55073904991,-0.0105787292123,3.09731411934,0.0
+1475067022730666667,0.0061303768307,0.00594745390117,0.253118723631,1.55055058002,-0.0179866682738,3.09465742111,0.0
+1475067022810978674,0.00611124141142,0.00604353053495,0.253164708614,1.55125999451,-0.0161281079054,3.09770011902,0.0
+1475067022894113045,0.00610852940008,0.00611107470468,0.253120392561,1.55101275444,-0.0155722247437,3.09793877602,0.0
+1475067022980231707,0.00607093656436,0.0062434412539,0.253095388412,1.5505310297,-0.0103918761015,3.09640717506,0.0
+1475067023060918774,0.00611043116078,0.00631917035207,0.253121137619,1.55065262318,-0.0178756155074,3.09603118896,0.0
+1475067023143747206,0.00609764037654,0.00644472660497,0.25316375494,1.55088269711,-0.0137423733249,3.09629559517,0.0
+1475067023220180469,0.0061150258407,0.00651009846479,0.253108143806,1.5510802269,-0.0181706342846,3.09724020958,0.0
+1475067023299017334,0.00609613535926,0.00660374062136,0.253114044666,1.55093944073,-0.0156176704913,3.09846186638,0.0
+1475067023379217573,0.0060888347216,0.0066703511402,0.253133237362,1.55112624168,-0.0143432877958,3.09808540344,0.0
+1475067023456255888,0.0061000995338,0.00677494239062,0.253141671419,1.55074119568,-0.0159789957106,3.09821152687,0.0
+1475067023534051784,0.006076016929,0.0069822659716,0.253138899803,1.55056130886,-0.0133310891688,3.09725952148,0.0
+1475067023618382192,0.0060953469947,0.00761782750487,0.253204971552,1.55018603802,-0.0185825694352,3.09883832932,0.0
+1475067023697955274,0.00605241907761,0.00809754617512,0.253354847431,1.55015707016,-0.0119812339544,3.09924149513,0.0
+1475067023777251188,0.00608395133168,0.0081596057862,0.253288894892,1.55149924755,-0.018348781392,3.0976524353,0.0
+1475067023857526610,0.00603928370401,0.00829274207354,0.252992391586,1.55081868172,-0.0086616743356,3.09975767136,0.0
+1475067023935696469,0.00608397042379,0.00850881636143,0.252553522587,1.55129218102,-0.0172182898968,3.09909772873,0.0
+1475067024021166818,0.00605242606252,0.00861456710845,0.252271980047,1.55077707767,-0.0159454904497,3.10164403915,0.0
+1475067024101434112,0.00606590742245,0.0087233427912,0.251751869917,1.55098557472,-0.0190892256796,3.10518217087,0.0
+1475067024190644202,0.00600749859586,0.00879539642483,0.251341581345,1.55073690414,-0.0123291676864,3.10343718529,0.0
+1475067024268652133,0.00594583293423,0.00888834521174,0.25079742074,1.55093502998,-0.00967055466026,3.09970092773,0.0
+1475067024347232218,0.00600662268698,0.00893207546324,0.250329732895,1.55132210255,-0.0188214536756,3.09712910652,0.0
+1475067024428572350,0.00597576983273,0.00891148671508,0.249806985259,1.55079877377,-0.017170554027,3.10347723961,0.0
+1475067024509332377,0.00594321917742,0.00892582349479,0.24946257472,1.55027186871,-0.0168852433562,3.10512447357,0.0
+1475067024588728019,0.00593065982684,0.0089346151799,0.248872131109,1.55102145672,-0.0171179398894,3.10451364517,0.0
+1475067024666365952,0.00590565474704,0.00902632717043,0.248458147049,1.55108606815,-0.016837336123,3.09986948967,0.0
+1475067024741803804,0.0058822222054,0.00908783264458,0.248272046447,1.55068683624,-0.0159186758101,3.10207438469,0.0
+1475067024823535468,0.00586780905724,0.00917568989098,0.247935429215,1.55138373375,-0.0142353978008,3.0996799469,0.0
+1475067024900564711,0.00589477503672,0.00916409306228,0.247677743435,1.55090630054,-0.020301239565,3.1022028923,0.0
+1475067024981528655,0.00584507826716,0.00925310421735,0.24745503068,1.55075502396,-0.018673248589,3.10211396217,0.0
+1475067025061092198,0.00584153970703,0.00932325888425,0.247434049845,1.5508723259,-0.017105627805,3.10185241699,0.0
+1475067025136151686,0.00585587974638,0.00924744736403,0.247437506914,1.55099737644,-0.0158557873219,3.10158610344,0.0
+1475067025216561308,0.0058527761139,0.00900066364557,0.24722930789,1.55090653896,-0.016164585948,3.10313367844,0.0
+1475067025296022719,0.00585104525089,0.00881436001509,0.247071310878,1.55091643333,-0.0203014984727,3.10229659081,0.0
+1475067025373214464,0.00584573717788,0.00877725984901,0.247087702155,1.55053257942,-0.0162733793259,3.10571312904,0.0
+1475067025454766437,0.0058509837836,0.00868561118841,0.246831744909,1.55134832859,-0.0186770949513,3.10245370865,0.0
+1475067025542319092,0.00585459731519,0.00856788177043,0.246805220842,1.55141711235,-0.0201316531748,3.10189914703,0.0
+1475067025623209843,0.00584198953584,0.00849889405072,0.246734425426,1.55071365833,-0.0177563130856,3.10267210007,0.0
+1475067025701978831,0.00581999868155,0.00834468193352,0.246563345194,1.55061471462,-0.0157176088542,3.10251545906,0.0
+1475067025785745733,0.00580565957353,0.00828851386905,0.246542066336,1.55102801323,-0.0124974260107,3.10082507133,0.0
+1475067025866887722,0.00579179730266,0.00827972404659,0.24631972611,1.55091261864,-0.0147256394848,3.10228490829,0.0
+1475067025947076175,0.00579979550093,0.00838486012071,0.246347650886,1.55054605007,-0.0155914239585,3.10085225105,0.0
+1475067026024391107,0.00578995654359,0.00832753349096,0.246210828424,1.55086457729,-0.014140306972,3.10208725929,0.0
+1475067026105133398,0.00580113567412,0.00824964325875,0.246165648103,1.5511957407,-0.0169340632856,3.10093379021,0.0
+1475067026182751760,0.00580130890012,0.00814285688102,0.24612493813,1.55126130581,-0.0174435414374,3.10072159767,0.0
+1475067026264906237,0.00578970694914,0.00798402912915,0.246081158519,1.55131089687,-0.0151289645582,3.09816241264,0.0
+1475067026343441032,0.00577569706365,0.00785588473082,0.246071770787,1.55140507221,-0.0139213977382,3.09798598289,0.0
+1475067026425504619,0.00583223626018,0.00769987376407,0.246114000678,1.55156755447,-0.0195809844881,3.09861397743,0.0
+1475067026503625462,0.00579175725579,0.00758176157251,0.246040597558,1.55156350136,-0.0139059359208,3.09649562836,0.0
+1475067026578517633,0.00578152900562,0.00743847386912,0.246087476611,1.55125451088,-0.0125834913924,3.09845781326,0.0
+1475067026660514458,0.00583969242871,0.00728783989325,0.24601598084,1.55135798454,-0.0220839641988,3.09820532799,0.0
+1475067026740458195,0.00580443069339,0.00719000725076,0.246072098613,1.55130445957,-0.0166286863387,3.09802031517,0.0
+1475067026817869612,0.00575834233314,0.00703445961699,0.246067717671,1.5510944128,-0.00946580432355,3.09610295296,0.0
+1475067026897982051,0.00580948637798,0.00692187203094,0.246056705713,1.5516936779,-0.0181723125279,3.09565973282,0.0
+1475067026978847815,0.00581137603149,0.00652986392379,0.246084108949,1.5518695116,-0.0154239581898,3.09326171875,0.0
+1475067027058391575,0.00578490970656,0.0057668350637,0.246053561568,1.55166816711,-0.0145354876295,3.09175467491,0.0
+1475067027138514450,0.00581846339628,0.00530343968421,0.245962485671,1.55207645893,-0.0128766000271,3.09325051308,0.0
+1475067027220212462,0.0058291843161,0.00491486024112,0.245622992516,1.55196940899,-0.0111635299399,3.09257173538,0.0
+1475067027296479370,0.00584416743368,0.00466103199869,0.245037317276,1.55159831047,-0.0164551362395,3.0923409462,0.0
+1475067027378182457,0.0058260075748,0.00461211660877,0.244705244899,1.55144262314,-0.0155132114887,3.09214949608,0.0
+1475067027458216691,0.00577386282384,0.00459419516847,0.244120240211,1.55086910725,-0.0145803615451,3.09334969521,0.0
+1475067027535777117,0.00571878813207,0.00459203636274,0.243647500873,1.55157566071,-0.0101095158607,3.08750987053,0.0
+1475067027613463555,0.00572799658403,0.0045755696483,0.24314828217,1.55174016953,-0.0140478238463,3.0894317627,0.0
+1475067027694082793,0.00571958348155,0.00456993933767,0.242786899209,1.55139386654,-0.0148501032963,3.09128570557,0.0
+1475067027771750642,0.00575490808114,0.00450793886557,0.24241283536,1.55169248581,-0.0211561266333,3.092056036,0.0
+1475067027847398192,0.00566561380401,0.00439718645066,0.242048278451,1.55170583725,-0.0136562511325,3.09402656555,0.0
+1475067027925158812,0.00566103868186,0.00426901690662,0.241926670074,1.55189108849,-0.0158736333251,3.09336805344,0.0
+1475067028001673668,0.00566522032022,0.00415125535801,0.241871893406,1.55144774914,-0.0148080661893,3.09191775322,0.0
+1475067028080903435,0.0056310701184,0.00428515300155,0.241898313165,1.55100286007,-0.00950680207461,3.09175205231,0.0
+1475067028157145415,0.00563293462619,0.0046921777539,0.241822436452,1.55119287968,-0.0126123372465,3.09112501144,0.0
+1475067028234825334,0.00564951449633,0.0047860648483,0.241850152612,1.55186927319,-0.0153682846576,3.09380197525,0.0
+1475067028322121064,0.00561007484794,0.00472670700401,0.241868659854,1.55136716366,-0.0101745612919,3.09163975716,0.0
+1475067028399824205,0.00562919443473,0.00474851066247,0.241795301437,1.55193972588,-0.0139734186232,3.09152173996,0.0
+1475067028483736590,0.00561546394601,0.00480147544295,0.241789609194,1.55198538303,-0.0122300218791,3.09122085571,0.0
+1475067028557993340,0.00565569661558,0.00486531155184,0.24182382226,1.5518437624,-0.0184184405953,3.09398174286,0.0
+1475067028639404455,0.00561957526952,0.00494943605736,0.241839021444,1.55145931244,-0.0134080657735,3.09316182137,0.0
+1475067028718032664,0.00561878830194,0.00504493666813,0.241844579577,1.55134236813,-0.0138559723273,3.09338188171,0.0
+1475067028794848088,0.00559097109362,0.00514129409567,0.241829186678,1.55183362961,-0.0106007019058,3.09000730515,0.0
+1475067028871962979,0.00563834002241,0.0051972027868,0.241784647107,1.55191504955,-0.0171423703432,3.09311461449,0.0
+1475067028949118403,0.00563995167613,0.00530407717451,0.241764217615,1.55189216137,-0.0177913308144,3.09255123138,0.0
+1475067029024803453,0.00563013553619,0.00535754114389,0.241793036461,1.55149888992,-0.0174152813852,3.09455561638,0.0
+1475067029102876050,0.00562107516453,0.00544801773503,0.241815164685,1.55154550076,-0.0158701017499,3.09118318558,0.0
+1475067029181412545,0.00560369994491,0.00554646272212,0.241715252399,1.55184447765,-0.0149777820334,3.09116387367,0.0
+1475067029260337253,0.00562653969973,0.0056049246341,0.241750404239,1.55193686485,-0.018326882273,3.09151554108,0.0
+1475067029335875694,0.00561426766217,0.00566650833935,0.241709694266,1.55202233791,-0.0161582268775,3.09068012238,0.0
+1475067029411205937,0.00561050139368,0.00578005192801,0.24177660048,1.55169045925,-0.0138339661062,3.089854002,0.0
+1475067029488592959,0.00556933041662,0.00583514524624,0.241772443056,1.55121386051,-0.0107638211921,3.09205508232,0.0
+1475067029567748121,0.00558421108872,0.00588616076857,0.241821184754,1.55125427246,-0.0121483057737,3.09290742874,0.0
+1475067029645526331,0.0055843628943,0.00617305282503,0.241781771183,1.55084860325,-0.0121148237959,3.0946149826,0.0
+1475067029731794765,0.00561978667974,0.00664433836937,0.241735413671,1.55105721951,-0.0129635958001,3.09223794937,0.0
+1475067029806482333,0.00558375241235,0.007094332017,0.241721019149,1.55115365982,-0.0115728070959,3.09298324585,0.0
+1475067029890990003,0.00568419601768,0.00693762302399,0.241652011871,1.55195832253,-0.0196679662913,3.09234976768,0.0
+1475067029969405425,0.00563128804788,0.00693462975323,0.241426080465,1.5511059761,-0.0108605036512,3.0927233696,0.0
+1475067030051027339,0.00563759449869,0.00715677300468,0.241045832634,1.55119562149,-0.0180861558765,3.09148263931,0.0
+1475067030138162010,0.00561478501186,0.00735988467932,0.240560784936,1.55142581463,-0.0168695747852,3.09405016899,0.0
+1475067030221235516,0.0055696060881,0.00746583892033,0.240158215165,1.55125021935,-0.0140234204009,3.09201359749,0.0
+1475067030301541607,0.00554205104709,0.0075582456775,0.239604756236,1.55153024197,-0.0115211829543,3.09427428246,0.0
+1475067030382285235,0.00553741585463,0.00761502515525,0.239184170961,1.55177760124,-0.0140075515956,3.09224462509,0.0
+1475067030462196756,0.00550832878798,0.00765377189964,0.238727450371,1.55152654648,-0.0108622284606,3.09319472313,0.0
+1475067030537713934,0.00549020897597,0.00768259866163,0.238308042288,1.55156338215,-0.0128012811765,3.09501981735,0.0
+1475067030617052507,0.00543773407117,0.00768188247457,0.235930085182,1.55106627941,-0.00167328154203,3.09084582329,0.0
+1475067030705321061,0.00546076241881,0.00763636175543,0.234161674976,1.55103027821,-0.00969444029033,3.09545326233,0.0
+1475067030785003385,0.00541818141937,0.00768114626408,0.233716905117,1.55145657063,-0.00670239282772,3.09051203728,0.0
+1475067030864054991,0.00540297618136,0.0077571044676,0.235292986035,1.55132365227,-0.0153950918466,3.09418797493,0.0
+1475067030944622793,0.00542728928849,0.00777748087421,0.23589065671,1.5513728857,-0.0191927403212,3.09746026993,0.0
+1475067031020813900,0.00540464976802,0.00781160360202,0.235548213124,1.55098307133,-0.0159953217953,3.09460568428,0.0
+1475067031099958169,0.0053622587584,0.00782913248986,0.234992325306,1.5513882637,-0.0130579229444,3.0918700695,0.0
+1475067031181926880,0.00535644683987,0.00783113017678,0.234640613198,1.55173635483,-0.0129656847566,3.0935986042,0.0
+1475067031259775161,0.0053603486158,0.00784634612501,0.234066262841,1.5517475605,-0.0148309217766,3.0966026783,0.0
+1475067031339720459,0.00530820805579,0.00782906170934,0.233697369695,1.55104660988,-0.013544629328,3.09807038307,0.0
+1475067031419636805,0.00526736304164,0.0078788343817,0.233030974865,1.55112349987,-0.0119000375271,3.09172701836,0.0
+1475067031497287307,0.00525922328234,0.00789023470134,0.23264670372,1.5512137413,-0.0130625199527,3.09100651741,0.0
+1475067031576863109,0.0052786860615,0.00790202245116,0.232273235917,1.55132555962,-0.0166992247105,3.09283471107,0.0
+1475067031653810932,0.00525948777795,0.00789613090456,0.231732919812,1.55101585388,-0.0149155259132,3.09521055222,0.0
+1475067031732292681,0.0052156439051,0.00784115213901,0.231329634786,1.5513368845,-0.0112898619846,3.09901762009,0.0
+1475067031808791644,0.00518961949274,0.00790322013199,0.230781719089,1.55135822296,-0.013396224007,3.09480214119,0.0
+1475067031887657102,0.00518919387832,0.00790481735021,0.230337440968,1.55125689507,-0.0134474867955,3.09280323982,0.0
+1475067031962722196,0.00519536621869,0.00790498405695,0.229996144772,1.55102777481,-0.0154914809391,3.09455156326,0.0
+1475067032037768428,0.00517148338258,0.00790764484555,0.229688957334,1.55086016655,-0.0141077935696,3.09479522705,0.0
+1475067032116333447,0.00512416381389,0.00790831446648,0.229056552052,1.55082643032,-0.0130020594224,3.09497022629,0.0
+1475067032208444787,0.00511892372742,0.00788735877723,0.228640213609,1.55128967762,-0.0138802975416,3.0972867012,0.0
+1475067032288318580,0.00507559673861,0.00791110377759,0.228058561683,1.55153059959,-0.00993382092565,3.09512233734,0.0
+1475067032365229943,0.00507624261081,0.00793053861707,0.227656081319,1.55099332333,-0.0133388852701,3.09317803383,0.0
+1475067032448061794,0.00507469382137,0.00792002119124,0.22727149725,1.55123090744,-0.0136200888082,3.09469556808,0.0
+1475067032527170817,0.00506142759696,0.00792223773897,0.226852342486,1.55136692524,-0.0149073190987,3.09297657013,0.0
+1475067032607390899,0.00503698689863,0.00792853813618,0.226289197803,1.55165290833,-0.0128255803138,3.09295105934,0.0
+1475067032682252672,0.00500382110476,0.00791099388152,0.22575815022,1.55118191242,-0.010545196943,3.09448933601,0.0
+1475067032757497307,0.00498347170651,0.00791496504098,0.225443586707,1.5511752367,-0.0104075474665,3.09544038773,0.0
+1475067032835821455,0.00497848773375,0.00791036803275,0.22504799068,1.55112743378,-0.0127393817529,3.095256567,0.0
+1475067032913244513,0.00493982015178,0.00792649574578,0.224449977279,1.55148112774,-0.0113488119096,3.09334897995,0.0
+1475067032993353694,0.00495464215055,0.00791963469237,0.224096417427,1.55114245415,-0.0131314843893,3.09590530396,0.0
+1475067033072516239,0.00492521561682,0.00791626330465,0.223801061511,1.55101442337,-0.0108723687008,3.09673857689,0.0
+1475067033149348211,0.0048905480653,0.00793887767941,0.223108455539,1.55118024349,-0.0102690914646,3.09371232986,0.0
+1475067033227186351,0.00487023731694,0.00794539321214,0.222718939185,1.55147528648,-0.0114910472184,3.09203672409,0.0
+1475067033305858308,0.00484508136287,0.00795444566756,0.222347214818,1.55144715309,-0.00883659161627,3.09203124046,0.0
+1475067033382389853,0.00487079331651,0.00793638173491,0.221827968955,1.55124914646,-0.0145899448544,3.09424877167,0.0
+1475067033462781787,0.00482296384871,0.00792243517935,0.221445202827,1.55124092102,-0.01215999946,3.09798312187,0.0
+1475067033553312029,0.00481887161732,0.00796560943127,0.220994576812,1.551030159,-0.0119087165222,3.09347462654,0.0
+1475067033634066895,0.00476488284767,0.00796268600971,0.220503360033,1.55158042908,-0.0071973297745,3.09114956856,0.0
+1475067033714570222,0.00476322881877,0.00794498901814,0.220130622387,1.55150616169,-0.00716110365465,3.09448480606,0.0
+1475067033791611287,0.0047702929005,0.00795738678426,0.219765752554,1.55117869377,-0.011331345886,3.09639167786,0.0
+1475067033868498479,0.00474002724513,0.00796803273261,0.219122454524,1.55097997189,-0.00882105529308,3.09461927414,0.0
+1475067033946241918,0.00470184534788,0.0079939654097,0.218731462955,1.55116534233,-0.00912001729012,3.09336948395,0.0
+1475067034026166144,0.00470907520503,0.00798545964062,0.218186050653,1.55093896389,-0.0118479467928,3.09396386147,0.0
+1475067034105406603,0.00468684639782,0.00797551870346,0.217776939273,1.55078411102,-0.0101661439985,3.09501552582,0.0
+1475067034185946371,0.00462439469993,0.00797802675515,0.217215240002,1.55108785629,-0.00764967640862,3.094186306,0.0
+1475067034267612429,0.00460920808837,0.00800334941596,0.216817736626,1.55127477646,-0.00701835053042,3.09250998497,0.0
+1475067034350531500,0.0046234736219,0.00796808488667,0.216431692243,1.55082011223,-0.0094211390242,3.0969440937,0.0
+1475067034428399685,0.00456920266151,0.00797630101442,0.215866670012,1.55127930641,-0.0107509195805,3.09522128105,0.0
+1475067034517232896,0.00449951598421,0.00787598267198,0.215657770634,1.55129146576,-0.00785365048796,3.09277439117,0.0
+1475067034596253925,0.0044525754638,0.00790156424046,0.215403586626,1.55126810074,-0.00859085749835,3.09327292442,0.0
+1475067034672581222,0.00427500717342,0.00794702768326,0.21486569941,1.55084431171,-0.00986178219318,3.09379482269,0.0
+1475067034748176730,0.00418407702819,0.00796067062765,0.214495375752,1.55080735683,-0.0146928662434,3.09746360779,0.0
+1475067034823885146,0.00402358919382,0.00810938421637,0.213794276118,1.55083942413,-0.0103707034141,3.09269237518,0.0
+1475067034911386719,0.00404331181198,0.00823572743684,0.21373192966,1.55126678944,-0.0117322998121,3.09143662453,0.0
+1475067034985573333,0.00401383265853,0.00849152728915,0.213501065969,1.55090081692,-0.0081943878904,3.09585642815,0.0
+1475067035061366556,0.00398088945076,0.00875294115394,0.213297620416,1.55001890659,-0.00795448105782,3.09957480431,0.0
+1475067035139779391,0.00402702391148,0.00887010898441,0.213220596313,1.55072832108,-0.0121335405856,3.09692764282,0.0
+1475067035215200722,0.00384521763772,0.00914291571826,0.212177291512,1.55115640163,0.000893753487617,3.09594035149,0.0
+1475067035293549647,0.00356623646803,0.00900757871568,0.210074722767,1.55143868923,-0.00738268066198,3.0941221714,0.0
+1475067035368894586,0.00362692424096,0.00901543255895,0.209766343236,1.55149269104,-0.0163562651724,3.09546971321,0.0
+1475067035448342065,0.00358972116373,0.00904489774257,0.209900274873,1.55137395859,-0.00605133455247,3.09466552734,0.0
+1475067035526753601,0.00362916197628,0.00902131665498,0.209356859326,1.55099093914,-0.0143337119371,3.09759616852,0.0
+1475067035606930067,0.00359304784797,0.00903120264411,0.208897382021,1.55092716217,-0.0133381020278,3.09813451767,0.0
+1475067035685444643,0.00354588520713,0.00903840363026,0.208281591535,1.55169129372,-0.00956699158996,3.09315681458,0.0
+1475067035762133036,0.00353203411214,0.00902511738241,0.207918584347,1.55150592327,-0.00911759398878,3.09691548347,0.0
+1475067035841508968,0.00355025962926,0.00899849832058,0.207565173507,1.5510134697,-0.0100096128881,3.09891152382,0.0
+1475067035922454895,0.00350576639175,0.00901871547103,0.206995755434,1.55103957653,-0.0100897336379,3.09660196304,0.0
+1475067035998319097,0.00350783811882,0.00903501547873,0.20660559833,1.55103862286,-0.010676799342,3.09312438965,0.0
+1475067036078335803,0.0035366951488,0.00905579142272,0.206334769726,1.55129981041,-0.0161904450506,3.09369802475,0.0
+1475067036158135722,0.00348436529748,0.00907641276717,0.205755278468,1.55113685131,-0.0123876351863,3.09682536125,0.0
+1475067036246693074,0.0034809934441,0.00911795906723,0.205465123057,1.55144655704,-0.0144488448277,3.09785604477,0.0
+1475067036326240670,0.00342283630744,0.00917596928775,0.204906612635,1.55165612698,-0.0110029308125,3.0940656662,0.0
+1475067036405882604,0.00341091817245,0.00916036684066,0.204658269882,1.55140221119,-0.0114015443251,3.09605836868,0.0
+1475067036483272874,0.00342629174702,0.00920037459582,0.204308331013,1.55126333237,-0.0156333614141,3.09403300285,0.0
+1475067036557824370,0.00339167681523,0.00920986291021,0.204022243619,1.55137419701,-0.0144948652014,3.09487485886,0.0
+1475067036635351542,0.00335370493121,0.00922496337444,0.203769177198,1.5514446497,-0.0107482271269,3.09448719025,0.0
+1475067036712729844,0.00335713010281,0.0092660561204,0.203496739268,1.55176460743,-0.0110802100971,3.09304618835,0.0
+1475067036788276881,0.00336270825937,0.00930306129158,0.20332929492,1.55135858059,-0.00884399749339,3.09336471558,0.0
+1475067036878571007,0.00339172990061,0.00934568978846,0.20321932435,1.55147922039,-0.0112977642566,3.09277367592,0.0
diff --git a/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt
new file mode 100644
index 00000000..9bfb01be
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/CAM_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475142133414947297,0.0511232353747,0.47640579007,1.47242099649,1.56704497337,-0.0220631007105,-0.154816150665,0.0
+1475142133531832427,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133620358767,0.0510631017387,0.488154730147,1.46816077977,1.56532931328,-0.0320350565016,-0.16432261467,0.0
+1475142133706857944,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133788596140,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133872813674,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133957279363,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142134043528331,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142134129459991,0.0511681847274,0.510916922556,1.46288916955,1.55734980106,-0.0431853160262,-0.182064771652,0.0
+1475142134211658027,0.0509944930673,0.52811396175,1.4586690395,1.55763864517,-0.0185868982226,-0.19562458992,0.0
+1475142134293295232,0.0521126128733,-0.585770521251,1.05672685034,1.57142841816,0.0725521221757,0.586775541306,0.0
+1475142134376475266,0.0509392060339,0.539672816244,1.4370897919,1.57425248623,0.0197381302714,-0.214893817902,0.0
+1475142134459728915,0.0508205220103,0.443278705936,1.4283468164,1.56839966774,-0.0150439944118,-0.150054693222,0.0
+1475142134541683036,0.0505682341754,0.500476448446,1.40331219158,1.5643311739,-0.0404866412282,-0.200574636459,0.0
+1475142134619203570,0.0504606962204,0.497409738743,1.38977252107,1.55878770351,0.091602191329,-0.207668781281,0.0
+1475142134707760213,0.0505630560219,0.404066259933,1.38842120564,1.57087135315,-1.21268121802e-05,-0.140647649765,0.0
+1475142134788703340,0.0504976175725,0.511154215366,1.37722055462,1.56629395485,-0.00150886760093,-0.228480100632,0.0
+1475142134869879770,0.0498134046793,0.460591319259,1.36015965488,1.56084549427,-0.0669332891703,-0.198661088943,0.0
+1475142134949649065,0.0486468821764,-0.427612607336,1.08897708601,1.59204030037,0.149055719376,0.469096899033,0.0
+1475142135033246713,0.0478045791388,0.51543218085,1.30197955434,1.57089447975,0.0335395783186,-0.265612840652,0.0
+1475142135116535578,0.0477773025632,0.460378554265,1.30247385741,1.57073247433,0.0170845128596,-0.227453231812,0.0
+1475142135214435971,0.0476098693907,0.407358039073,1.29019092735,1.56377148628,-0.0261247716844,-0.192621946335,0.0
+1475142135291231247,0.0475728064775,0.391490443705,1.27828363825,1.56121814251,-0.00336105888709,-0.188037872314,0.0
+1475142135372629014,0.0475497506559,0.416611051673,1.27141771162,1.56818234921,-0.0210207998753,-0.214378595352,0.0
+1475142135455431021,0.0471945889294,-0.334746292517,1.11554432285,1.58072841167,0.0883680135012,0.381691217422,0.0
+1475142135536696761,0.0452899374068,0.303827464831,1.2382481687,1.57306420803,0.0199695415795,-0.138540506363,0.0
+1475142135614228482,0.0452831983566,0.303184082956,1.23732202909,1.57189655304,0.0299424808472,-0.143199682236,0.0
+1475142135693888305,0.0444189198315,-0.347052277098,1.08183174349,1.58098745346,0.101805403829,0.38757610321,0.0
+1475142135769267665,0.0430753901601,0.386330319144,1.19249044015,1.5671517849,0.0323619544506,-0.231040716171,0.0
+1475142135850247132,0.0429747626185,0.337536629585,1.1843787501,1.56808280945,-0.0313839353621,-0.195849180222,0.0
+1475142135931948720,0.0429479219019,0.330159790294,1.16682854089,1.56471502781,0.0719368010759,-0.198209524155,0.0
+1475142136011800396,0.0430013798177,0.269095668225,1.16954301383,1.56846666336,0.0220539662987,-0.147905349731,0.0
+1475142136090872474,0.0428043305874,0.218780724348,1.1561755794,1.56641459465,-0.0618368275464,-0.110726118088,0.0
+1475142136167338506,0.0429233796895,0.254540458525,1.14271023574,1.57045912743,-0.00517437327653,-0.149494409561,0.0
+1475142136250128320,0.0427810288966,0.299488963377,1.13551034607,1.55895853043,0.0408942475915,-0.194723367691,0.0
+1475142136332272171,0.0428583435714,0.282767845322,1.12577319134,1.56365764141,-0.0100004291162,-0.186103820801,0.0
+1475142136407537774,0.0421200916171,0.272028419995,1.10060942365,1.56445646286,-0.0948261022568,-0.186007738113,0.0
+1475142136487874914,0.0419834330678,-0.199404541856,1.05415249628,1.56866550446,0.100899986923,0.238997459412,0.0
+1475142136565790215,0.04092894122,0.240108286947,1.07992732177,1.56795787811,0.013757196255,-0.167069911957,0.0
+1475142136654407806,0.0408281311393,0.207419004491,1.06987431457,1.5625218153,-0.0278908908367,-0.144337892532,0.0
+1475142136730129440,0.0404051020741,0.195885728679,1.06043843523,1.5553176403,-0.06715618819,-0.137173891068,0.0
+1475142136815485006,0.0390219651163,0.216962971701,1.0346240124,1.5693154335,-0.0394090302289,-0.165818691254,0.0
+1475142136897218776,0.0388373583555,0.177746439033,1.03719722094,1.550106287,0.0931660458446,-0.130111455917,0.0
+1475142136979337560,0.0390151701868,0.102213166032,1.03539931088,1.56787395477,-0.0192598029971,-0.0594384670258,0.0
+1475142137055107878,0.0383498743176,0.165115027039,1.01292038601,1.55538904667,-0.0854607373476,-0.127175092697,0.0
+1475142137135745897,0.0375737696886,0.187644609861,0.992135438766,1.56696081161,-0.100923649967,-0.155246496201,0.0
+1475142137214804636,0.0373608507216,0.188564892429,0.987264634308,1.56420600414,-0.00912054348737,-0.160405635834,0.0
+1475142137294571464,0.0364105738699,-0.178304543795,0.950498596202,1.572701931,0.155881747603,0.210412025452,0.0
+1475142137378045536,0.0361539721489,0.170067559207,0.961396190121,1.55026626587,0.0201201308519,-0.151859760284,0.0
+1475142137462794653,0.035667385906,0.128051756607,0.955706228447,1.55460941792,0.0612671859562,-0.111942768097,0.0
+1475142137543749089,0.0352200493217,0.134737165003,0.945921181812,1.54881191254,-0.0378246568143,-0.122499465942,0.0
+1475142137625119017,0.0343807302415,0.162475055022,0.921982773411,1.55967032909,0.00187109026592,-0.158362150192,0.0
+1475142137701806337,0.0343193486333,0.155816521928,0.91302136753,1.56737029552,-0.0571304038167,-0.154930591583,0.0
+1475142137783070841,0.0336420871317,0.136245265314,0.899718761253,1.55987668037,-0.0942343845963,-0.138395309448,0.0
+1475142137864873554,0.0330857671797,0.133254755995,0.895026250583,1.55647408962,0.0271474402398,-0.137555599213,0.0
+1475142137943633743,0.0322361215949,-0.121336657537,0.873833304661,1.55945682526,0.137613713741,0.145240068436,0.0
+1475142138024972597,0.0320692025125,0.081697937484,0.875567427977,1.5442122221,0.0402557700872,-0.0870559215546,0.0
+1475142138101073357,0.0315158255398,0.118640774172,0.851330872206,1.56276404858,-0.0819595977664,-0.135570526123,0.0
+1475142138178704842,0.0308891348541,-0.0989605844358,0.845231489493,1.55565679073,0.126318231225,0.117390155792,0.0
+1475142138255195411,0.0304153058678,0.10604261052,0.833971167549,1.5455878973,0.100440353155,-0.127143859863,0.0
+1475142138334347747,0.0302136335522,0.0756390322649,0.826302406851,1.54530751705,-0.00590875837952,-0.094619512558,0.0
+1475142138412038623,0.0294571947306,0.128190412253,0.79935457292,1.56929409504,-0.106532201171,-0.163542985916,0.0
+1475142138493618164,0.028732765466,-0.075346211341,0.804005935066,1.55281925201,0.118771970272,0.0868146419525,0.0
+1475142138573720738,0.0286883469671,0.0720099755656,0.800611771528,1.55222725868,-0.0241121537983,-0.0981256961823,0.0
+1475142138652352135,0.0275825969875,0.0687917370696,0.778651945671,1.55097258091,0.00303227407858,-0.0978190898895,0.0
+1475142138734851873,0.0269932113588,0.0593475793781,0.771205732855,1.54729998112,0.00551464222372,-0.0883512496948,0.0
+1475142138815488712,0.0266895387322,0.032878008336,0.759442832999,1.55257034302,-0.0559261739254,-0.0572984218597,0.0
+1475142138897106534,0.0262454152107,0.107097056668,0.733746900281,1.56577825546,-0.100875221193,-0.160135507584,0.0
+1475142138979277885,0.0259763263166,0.0842644192134,0.725579634853,1.55509066582,-0.0674221366644,-0.133925676346,0.0
+1475142139058862669,0.0256482008845,0.0829945661215,0.716619044819,1.55653452873,-0.031561229378,-0.13534283638,0.0
+1475142139134579956,0.0254231039435,0.0579711590056,0.710513639584,1.55225205421,-0.0371276959777,-0.103457450867,0.0
+1475142139217076231,0.0250009857118,0.0522764847334,0.696060561069,1.56167495251,-0.0615202896297,-0.0994467735291,0.0
+1475142139299228377,0.0246071219444,0.0535456707361,0.687753676792,1.5503487587,-0.0119072785601,-0.103802919388,0.0
+1475142139380646654,0.024198109284,0.076326010397,0.665736368589,1.56166541576,-0.0803302228451,-0.141690731049,0.0
+1475142139466301042,0.023663925007,0.0572453559662,0.661902403661,1.55066370964,-0.00416037579998,-0.115834474564,0.0
+1475142139550523016,0.0234087798744,0.0427098939349,0.652943581097,1.55742454529,-0.0492485277355,-0.0966734886169,0.0
+1475142139633186354,0.0225635860115,0.0497483640445,0.63848253208,1.55210518837,0.0290817916393,-0.111213684082,0.0
+1475142139717716710,0.0221615023911,0.0100258922189,0.63397896419,1.54918730259,0.0658395513892,-0.0512645244598,0.0
+1475142139797611440,0.0213978514075,0.0467887122625,0.614370725351,1.55211889744,0.00757027743384,-0.111911296844,0.0
+1475142139883173276,0.0211124867201,0.040873520362,0.604710017001,1.55513978004,-0.0448090881109,-0.104132652283,0.0
+1475142139959056343,0.0205791927874,0.041652058918,0.589162712501,1.5597114563,-0.0663337036967,-0.108099460602,0.0
+1475142140040008027,0.0199560020119,0.0358664202178,0.580576669411,1.55477976799,-0.0454573631287,-0.10023188591,0.0
+1475142140121491681,0.0193217042834,0.0260734043786,0.568638540547,1.55227839947,-0.00034809592762,-0.085969209671,0.0
+1475142140199578936,0.0189315751195,0.0335156217399,0.557500549885,1.55275428295,-0.0199319906533,-0.101025819778,0.0
+1475142140290908289,0.0184092503041,0.0357119230389,0.542627541556,1.55307781696,-0.0256137829274,-0.108142375946,0.0
+1475142140370031316,0.01799358055,0.040915154034,0.531769829174,1.55650854111,-0.0164379402995,-0.120141744614,0.0
+1475142140451270888,0.0176658816636,0.0391031020318,0.517318465438,1.55593276024,-0.0392306521535,-0.120633125305,0.0
+1475142140532201423,0.0172374099493,0.0381261160058,0.507986003346,1.55555975437,-0.0279622972012,-0.121070384979,0.0
+1475142140614190471,0.0168426651508,0.0324372859337,0.49403704226,1.5570141077,-0.038126014173,-0.113654851913,0.0
+1475142140691163309,0.0164473298937,0.0324233727106,0.484838230713,1.55480527878,-0.0336339771748,-0.115945100784,0.0
+1475142140770880343,0.0156413763762,0.0288611595372,0.471132721033,1.55112826824,0.0241523291916,-0.112071752548,0.0
+1475142140849506912,0.0153906028718,0.029725121027,0.460648674296,1.55613923073,-0.0337779708207,-0.116187572479,0.0
+1475142140926765917,0.015022110194,0.0312348117193,0.451008402728,1.55510783195,-0.0283839497715,-0.121921300888,0.0
+1475142141001529313,0.0143345752731,0.0241665708087,0.437692108909,1.55528080463,-0.0246448405087,-0.10965681076,0.0
+1475142141081132273,0.013958661817,0.0197878756432,0.429455447012,1.55155038834,0.00636394880712,-0.101695775986,0.0
+1475142141156549083,0.0132688404992,0.0168306605279,0.415753010661,1.55004346371,0.0233664866537,-0.0978817939758,0.0
+1475142141233702838,0.0130502926186,0.022227023601,0.405137595189,1.55332458019,-0.00300845084712,-0.112582206726,0.0
+1475142141311727993,0.012745693326,0.0182832308104,0.395938397962,1.55458021164,-0.0116099929437,-0.105076551437,0.0
+1475142141385391422,0.0121666910127,0.017100028601,0.381919863001,1.55196678638,0.0132504850626,-0.105222225189,0.0
+1475142141458795853,0.0119318477809,0.0140689173472,0.372864486811,1.55323076248,-0.0147929331288,-0.0993993282318,0.0
+1475142141539326437,0.0115482378751,0.0136170636019,0.363478975112,1.55231702328,-0.00332437665202,-0.0999748706818,0.0
+1475142141621675986,0.0111722201109,0.0137332406291,0.353909187049,1.55056285858,0.0169013012201,-0.10209274292,0.0
+1475142141694611700,0.0105578759685,0.0136995997261,0.33932697198,1.55225002766,0.00394560582936,-0.105004072189,0.0
+1475142141769243769,0.0101428376511,0.0106244591586,0.33082800283,1.5513010025,0.00557174626738,-0.0977697372437,0.0
+1475142141844510419,0.00982210040092,0.0103031797223,0.321755928305,1.55192482471,0.00318821473047,-0.0986676216125,0.0
+1475142141924438046,0.00905644427985,0.00736110010407,0.307751753883,1.55043387413,0.0227424018085,-0.092987537384,0.0
+1475142142003427564,0.00877656601369,0.00557770145715,0.298420932117,1.55110752583,0.00548388203606,-0.0891871452332,0.0
+1475142142079964022,0.00842160638422,0.00755350245344,0.288641007836,1.55206537247,0.00328930770047,-0.0974345207214,0.0
+1475142142158762320,0.00776322232559,0.00484724367261,0.274944223381,1.55012178421,0.0156376827508,-0.0914218425751,0.0
+1475142142239202338,0.0072659519501,0.00414901598321,0.266412732592,1.5499740839,0.015814807266,-0.0903356075287,0.0
+1475142142317694682,0.00712644681334,0.00294065326249,0.260935748216,1.5508531332,0.00898834411055,-0.0864305496216,0.0
+1475142142397352128,0.00697568710893,0.00319313471117,0.256884906407,1.55264663696,-0.00680582318455,-0.0870137214661,0.0
+1475142142475799059,0.00700415112078,0.0044601746621,0.256831610807,1.55223309994,-0.00318985758349,-0.0911943912506,0.0
+1475142142553956694,0.00706455903128,0.00458197845794,0.256929103214,1.55201470852,-0.00865042023361,-0.0912358760834,0.0
+1475142142634027517,0.0070009236224,0.00517509866862,0.257197372238,1.55106937885,-0.00636970810592,-0.0899548530579,0.0
+1475142142713185062,0.00689892424271,0.0049161445872,0.255113159279,1.55034101009,0.0116983149201,-0.0854070186615,0.0
+1475142142787612553,0.00689054047689,0.00483807182873,0.254756853418,1.55043745041,-0.00604891963303,-0.0797061920166,0.0
+1475142142863357015,0.00683777686208,0.00735764369548,0.256348353696,1.55066752434,-0.00650392007083,-0.0854532718658,0.0
+1475142142950773771,0.00685379188508,0.00600228840189,0.257629976283,1.5509198904,-0.0109559111297,-0.0767109394073,0.0
+1475142143032918171,0.00692444806919,0.00607936232751,0.258277000047,1.55144906044,-0.0143820354715,-0.0740692615509,0.0
+1475142143110311813,0.00686794146895,0.00684397681431,0.258460905222,1.55071914196,-0.00984905939549,-0.0726680755615,0.0
+1475142143190270638,0.006875959225,0.00736592423332,0.258543187144,1.55116176605,-0.0123249562457,-0.0716938972473,0.0
+1475142143266682635,0.00684731965885,0.00721056411465,0.258773025706,1.55118131638,-0.00997078791261,-0.0683305263519,0.0
+1475142143341068506,0.00682005379349,0.00832850861165,0.258855241974,1.55058026314,-0.00828691292554,-0.0683858394623,0.0
+1475142143421614749,0.00681998580694,0.00792827924236,0.259008500802,1.55103623867,-0.0132338283584,-0.0641710758209,0.0
+1475142143500974689,0.00679615326226,0.0086354139154,0.259217965011,1.55065226555,-0.0119056617841,-0.0627386569977,0.0
+1475142143579253612,0.0068023535423,0.00983686060274,0.25913547826,1.55073177814,-0.0144090773538,-0.0646631717682,0.0
+1475142143654687161,0.00676994537935,0.0103203880013,0.259287481537,1.55077624321,-0.0126470718533,-0.06396484375,0.0
+1475142143728731024,0.00675527378917,0.0108447465514,0.259373322479,1.55063545704,-0.0120906373486,-0.062607049942,0.0
+1475142143807628352,0.00671911984682,0.0117620388512,0.259337693931,1.55043172836,-0.00858704000711,-0.0639891624451,0.0
+1475142143882442243,0.00672035245225,0.0120632887683,0.259369511487,1.55091810226,-0.0119165629148,-0.0622317790985,0.0
+1475142143963009323,0.00669702794403,0.0120951771745,0.259432006576,1.55049455166,-0.00930616538972,-0.0603265762329,0.0
+1475142144051517648,0.00669067865238,0.0132580751861,0.259430661717,1.55062258244,-0.0123294042423,-0.063081741333,0.0
+1475142144131503383,0.00667416583747,0.0128309443431,0.259487063404,1.55056679249,-0.0117467511445,-0.0598115921021,0.0
+1475142144206900909,0.00669133942574,0.0129845639259,0.259527062475,1.55063343048,-0.0179146453738,-0.0579578876495,0.0
+1475142144284802446,0.00665244320408,0.013724018578,0.259542860425,1.5510584116,-0.010419790633,-0.0594234466553,0.0
+1475142144361674922,0.00665184948593,0.0135240361213,0.259630379267,1.55059683323,-0.0115990964696,-0.0575320720673,0.0
+1475142144440423527,0.00663901306689,0.0146514643135,0.259618267677,1.55060434341,-0.0128840785474,-0.0601441860199,0.0
+1475142144516202522,0.00665652379394,0.0142745093979,0.259652327798,1.55094218254,-0.0170222446322,-0.0577538013458,0.0
+1475142144590919555,0.00662009324878,0.0143912121405,0.259680532747,1.55052280426,-0.0126277524978,-0.0566613674164,0.0
+1475142144670134835,0.00659878598526,0.0144366673729,0.259717687383,1.55041337013,-0.0104914056137,-0.0558598041534,0.0
+1475142144749478463,0.0066253002733,0.0150149849808,0.25971528221,1.55064630508,-0.0170700531453,-0.0571293830872,0.0
+1475142144826913961,0.00661409040913,0.0153665256866,0.259681042871,1.55103170872,-0.0176265891641,-0.0570311546326,0.0
+1475142144902644835,0.00658893585205,0.0150073149331,0.259819286459,1.5509570837,-0.0147291375324,-0.0549073219299,0.0
+1475142144983248061,0.00658322032541,0.0159349703311,0.259705954121,1.55067718029,-0.0153270242736,-0.0576641559601,0.0
+1475142145065523260,0.00654688058421,0.0149367738908,0.259844440854,1.55073833466,-0.00913281645626,-0.0526301860809,0.0
+1475142145149371554,0.00656363880262,0.0160255154936,0.259821335857,1.55113887787,-0.0156057383865,-0.055668592453,0.0
+1475142145224994698,0.00652344850823,0.0163316059861,0.25973500772,1.55109000206,-0.00950823351741,-0.0561606884003,0.0
+1475142145303493215,0.00657619442791,0.0165873057354,0.259740862656,1.55163884163,-0.0203581508249,-0.0560276508331,0.0
+1475142145383323025,0.00652667833492,0.0160286880533,0.259800810349,1.55111515522,-0.0119718015194,-0.0533998012543,0.0
+1475142145469863405,0.00653970334679,0.0167063572597,0.259803170681,1.55114138126,-0.0146281048656,-0.0554740428925,0.0
+1475142145547105398,0.00656510842964,0.016618311498,0.259769412527,1.55182468891,-0.0184341650456,-0.0545618534088,0.0
+1475142145625423758,0.00654252478853,0.0170576766399,0.259807830271,1.55132627487,-0.0154737783596,-0.0559604167938,0.0
+1475142145705372893,0.00650427071378,0.0170063236687,0.259802485131,1.55126535892,-0.00997784920037,-0.055408000946,0.0
+1475142145784358460,0.006500183139,0.0170187899088,0.259861789506,1.5509557724,-0.0108240386471,-0.0552036762238,0.0
+1475142145860412556,0.00653528328985,0.0170974581406,0.259740518276,1.55124521255,-0.0166847016662,-0.055198431015,0.0
+1475142145935066044,0.00654509942979,0.0174380850152,0.259756673106,1.5514318943,-0.0189497154206,-0.0562751293182,0.0
+1475142146017427931,0.00650734873489,0.0168934354509,0.259872938987,1.55068814754,-0.0117605263367,-0.0532386302948,0.0
+1475142146095663033,0.00654192315415,0.0175547828035,0.260065622378,1.55062258244,-0.0129423160106,-0.053035736084,0.0
+1475142146174715084,0.00658571952954,0.0166583485291,0.26021767478,1.54986536503,-0.0120022306219,-0.0472090244293,0.0
+1475142146254873873,0.00665578898042,0.017070765409,0.26019515093,1.55080282688,-0.0174152813852,-0.0474889278412,0.0
+1475142146328988454,0.00665155285969,0.0178618969193,0.259975227062,1.5510327816,-0.0198698285967,-0.0491161346436,0.0
+1475142146407861946,0.00661646295339,0.0187440110565,0.259370023227,1.55173361301,-0.0180022902787,-0.0514402389526,0.0
+1475142146486396768,0.00658455770463,0.0181845864208,0.259086877008,1.55115294456,-0.0145021872595,-0.0489633083344,0.0
+1475142146567372496,0.00658119982108,0.0186355021254,0.25851468648,1.55098044872,-0.0159107167274,-0.0504472255707,0.0
+1475142146641240713,0.0065894224681,0.0191544953297,0.258055483036,1.55124568939,-0.0199122913182,-0.0523693561554,0.0
+1475142146728743033,0.00655430695042,0.0179037359583,0.257814658953,1.55044746399,-0.0159566253424,-0.0476071834564,0.0
+1475142146810039201,0.00650245323777,0.0184894582528,0.257193270778,1.55077528954,-0.010711632669,-0.0499863624573,0.0
+1475142146889916390,0.00645936885849,0.0182932580492,0.256807342038,1.55068790913,-0.00737773254514,-0.0492870807648,0.0
+1475142146970016455,0.00649480381981,0.0179065102367,0.256403229113,1.55100929737,-0.0121017741039,-0.0479147434235,0.0
+1475142147046255432,0.00650950707495,0.0181172952225,0.255813736302,1.55111455917,-0.0164942592382,-0.0488588809967,0.0
+1475142147124039418,0.00652368785813,0.0184799934486,0.255509863429,1.55125367641,-0.0202087201178,-0.0502226352692,0.0
+1475142147203653290,0.006470433902,0.0181995954344,0.254857482925,1.55063295364,-0.0158327724785,-0.0493938922882,0.0
+1475142147280606900,0.00643429998308,0.0183986779361,0.254425742049,1.55085492134,-0.0128008732572,-0.0503172874451,0.0
+1475142147359611567,0.00639849156141,0.0184554400292,0.253850910463,1.55099499226,-0.0093536535278,-0.0506739616394,0.0
+1475142147437765977,0.00643044477329,0.0183778469527,0.253501650367,1.55107975006,-0.0139292813838,-0.0504875183105,0.0
+1475142147513295931,0.00642956979573,0.0176234885204,0.253217984548,1.55115628242,-0.0145475240424,-0.0476944446564,0.0
+1475142147591549232,0.00642045354471,0.0170793477359,0.252559046151,1.55071270466,-0.0196624360979,-0.0457897186279,0.0
+1475142147671733197,0.00635212054476,0.0177377592925,0.252161074587,1.55071675777,-0.0109030054882,-0.0484716892242,0.0
+1475142147749200772,0.00634611863643,0.0182707307829,0.251742417258,1.55091392994,-0.0106169162318,-0.0506477355957,0.0
+1475142147828613147,0.00630905339494,0.0189337825852,0.251108416997,1.55092895031,-0.00933194998652,-0.0534572601318,0.0
+1475142147903687659,0.00630166567862,0.0179084960598,0.250884992722,1.55068528652,-0.00889869872481,-0.0495457649231,0.0
+1475142147982889352,0.00631290348247,0.0170947346622,0.250440194437,1.55089890957,-0.010881238617,-0.0465171337128,0.0
+1475142148061824327,0.00630439864472,0.0171589236162,0.249899564836,1.55080759525,-0.0130104087293,-0.0469615459442,0.0
+1475142148138820267,0.00630296999589,0.017205944144,0.249487843761,1.55115270615,-0.0149296149611,-0.0472569465637,0.0
+1475142148217648864,0.00625001359731,0.0180476988765,0.249024220254,1.55128407478,-0.0126009276137,-0.0507984161377,0.0
+1475142148296218529,0.00624421890825,0.018349013453,0.248459147688,1.55109727383,-0.0135218333453,-0.052042722702,0.0
+1475142148376364899,0.00625357357785,0.0176854565453,0.248068437419,1.55098426342,-0.0150621598586,-0.0496451854706,0.0
+1475142148454203948,0.00624872464687,0.0173676160073,0.247707035722,1.55100059509,-0.0140364207327,-0.0485072135925,0.0
+1475142148533851182,0.0062162312679,0.0171000174157,0.247128319513,1.55102229118,-0.0154139902443,-0.0476915836334,0.0
+1475142148619725064,0.0062051974237,0.017534591748,0.246661741744,1.55134570599,-0.0170469097793,-0.0495631694794,0.0
+1475142148695767288,0.00618728902191,0.0184869149252,0.246271899979,1.55183184147,-0.0170727092773,-0.0534284114838,0.0
+1475142148774856842,0.0061612566933,0.0181528918759,0.245750880091,1.55074036121,-0.0138001637533,-0.0523161888123,0.0
+1475142148853071491,0.00614504143596,0.0169249477668,0.245440945936,1.55033838749,-0.0126088615507,-0.0475504398346,0.0
+1475142148934600996,0.00611403817311,0.0163297003917,0.244805684654,1.55075335503,-0.0133197102696,-0.0454168319702,0.0
+1475142149019012325,0.00611403910443,0.0168061403485,0.244424443783,1.55144834518,-0.0134545974433,-0.0474421977997,0.0
+1475142149105234862,0.0060873683542,0.0173272647713,0.243988111878,1.55163240433,-0.0151062626392,-0.04962682724,0.0
+1475142149184269433,0.00607175566256,0.017242088877,0.243486248439,1.55123376846,-0.0147896390408,-0.0493938922882,0.0
+1475142149259168004,0.00606438145041,0.0175064876054,0.243104604275,1.55105233192,-0.0151567868888,-0.0506129264832,0.0
+1475142149337963715,0.0060479757376,0.0167641332724,0.242695856475,1.5504399538,-0.0148075036705,-0.0478332042694,0.0
+1475142149410976103,0.00599614810199,0.0170712325022,0.242130846007,1.55091798306,-0.0118980593979,-0.0492272377014,0.0
+1475142149485149017,0.00596467033029,0.0174487420597,0.241512842591,1.55148792267,-0.0102917114273,-0.0509214401245,0.0
+1475142149563426140,0.00599218625575,0.0169178535329,0.241190784765,1.55146682262,-0.0170399080962,-0.0488619804382,0.0
+1475142149642082744,0.00597433233634,0.0167955892653,0.24081842096,1.55090069771,-0.0155145274475,-0.0485053062439,0.0
+1475142149720669501,0.00595364999026,0.0166465281225,0.240169638771,1.55098307133,-0.0164791420102,-0.0481576919556,0.0
+1475142149801667506,0.00589966028929,0.0170008579207,0.239789570109,1.5509647131,-0.0112585704774,-0.0497286319733,0.0
+1475142149880833300,0.005877120886,0.0172114384363,0.23940980585,1.5517936945,-0.0120568601415,-0.0506885051727,0.0
+1475142149961904629,0.00591358123347,0.0167319598618,0.239022798986,1.55152869225,-0.0163783654571,-0.0488910675049,0.0
+1475142150038342197,0.0058952793479,0.0165128028097,0.23843019261,1.55113685131,-0.0172232277691,-0.0480811595917,0.0
+1475142150118446296,0.00580836599693,0.0170563124402,0.235552953334,1.55075597763,-0.00122060975991,-0.0513126850128,0.0
+1475142150190448110,0.00589260319248,0.0162386242408,0.234185031732,1.5503578186,-0.0064980708994,-0.0483860969543,0.0
+1475142150264730852,0.00583088863641,0.016709778589,0.233908520635,1.55070436001,-0.0068965414539,-0.050407409668,0.0
+1475142150344706275,0.00573203060776,0.0179084377018,0.23455305495,1.55127179623,-0.0053277015686,-0.055168390274,0.0
+1475142150420659283,0.00574008468539,0.0166307001151,0.234018395256,1.55085480213,-0.00565062090755,-0.0501034259796,0.0
+1475142150500164332,0.00573491398245,0.0161575549776,0.233672453792,1.55079305172,-0.00736437924206,-0.0482058525085,0.0
+1475142150577091216,0.00571825914085,0.0160336571456,0.233315240932,1.55084574223,-0.00734519120306,-0.0478060245514,0.0
+1475142150656840024,0.00571138784289,0.0160578039035,0.232908113328,1.55068874359,-0.00842598732561,-0.0479910373688,0.0
+1475142150731546501,0.00566634302959,0.0170515124281,0.232325965412,1.550968647,-0.00668460363522,-0.052353143692,0.0
+1475142150806204683,0.00567092467099,0.0173004166255,0.231895736461,1.55086839199,-0.0077344798483,-0.0535523891449,0.0
+1475142150883871403,0.00565050868317,0.0160688696052,0.231441812098,1.55099928379,-0.00584289105609,-0.0485565662384,0.0
+1475142150964463424,0.00563289830461,0.0158135764189,0.2310419542,1.55107331276,-0.00542353326455,-0.0476100444794,0.0
+1475142151041822925,0.00563816446811,0.016471077125,0.230619503802,1.55133616924,-0.00968481879681,-0.0504925251007,0.0
+1475142151117116749,0.00562247959897,0.0169516179597,0.230429102539,1.55135405064,-0.00856132246554,-0.0526871681213,0.0
+1475142151191593217,0.00562004186213,0.017487489996,0.230001945984,1.55150675774,-0.0118565168232,-0.0553357601166,0.0
+1475142151270726645,0.00560287060216,0.0171561452247,0.229805719613,1.55146539211,-0.00963206309825,-0.0540895462036,0.0
+1475142151351788240,0.00557738076895,0.0169505863941,0.230236906618,1.55122661591,-0.0105107631534,-0.0530781745911,0.0
+1475142151426551039,0.00562453316525,0.0150019597439,0.231607122734,1.55059170723,-0.0125687047839,-0.0452544689178,0.0
+1475142151503951425,0.00565110798925,0.0159677751192,0.2316164011,1.55037784576,-0.0162483565509,-0.0493285655975,0.0
+1475142151582491129,0.00563946226612,0.015697520226,0.23152206293,1.55074322224,-0.0157214533538,-0.0481033325195,0.0
+1475142151661507431,0.00558099104092,0.0158728585634,0.230812980729,1.55054533482,-0.00320442020893,-0.048460483551,0.0
+1475142151739228124,0.00551702175289,0.0157206805524,0.228945681255,1.55070924759,-0.00348336994648,-0.0480899810791,0.0
+1475142151829435422,0.00553420558572,0.0160884889308,0.228733560891,1.55069732666,-0.00588161172345,-0.0493381023407,0.0
+1475142151907062817,0.00551853422076,0.0170624180989,0.228291977349,1.55114018917,-0.0052457829006,-0.0530869960785,0.0
+1475142151983674526,0.00546663952991,0.0169738087177,0.227968687441,1.550827384,-0.00219287071377,-0.0525348186493,0.0
+1475142152061217033,0.00549402600154,0.0168051202474,0.227720445732,1.55115282536,-0.00540864327922,-0.0516984462738,0.0
+1475142152147813901,0.00551796425134,0.0167002163416,0.227355357914,1.55105948448,-0.00967352930456,-0.0512671470642,0.0
+1475142152222790335,0.00549600552768,0.0164036684,0.227253831776,1.55097568035,-0.00869601406157,-0.0503363609314,0.0
+1475142152302732079,0.00549050839618,0.0160164134694,0.227258961602,1.55065858364,-0.00756394024938,-0.049567937851,0.0
+1475142152379373857,0.00551108783111,0.016046183016,0.227164541165,1.55074596405,-0.0105057405308,-0.0508313179016,0.0
+1475142152457233113,0.00545221846551,0.015574159123,0.227166841202,1.55032360554,-0.00523556163535,-0.0482130050659,0.0
+1475142152534340904,0.00544888339937,0.0157936893629,0.227195418995,1.54990196228,-0.00707995845005,-0.047999382019,0.0
+1475142152612218625,0.00544707290828,0.0161223021096,0.227167103407,1.55022335052,-0.00771259889007,-0.0486571788788,0.0
+1475142152687526016,0.00543671613559,0.0164754826565,0.227192282701,1.54956483841,-0.00552171096206,-0.0475916862488,0.0
+1475142152763290682,0.0054598255083,0.0170622054928,0.227130520422,1.55026257038,-0.00798717234284,-0.0482621192932,0.0
+1475142152841637355,0.00545008899644,0.0173428474279,0.227009043654,1.55089056492,-0.00763577176258,-0.0490503311157,0.0
+1475142152914529511,0.00546694966033,0.0173684735393,0.226924148336,1.55080115795,-0.00983991473913,-0.0496504306793,0.0
+1475142152991632656,0.00543178105727,0.017569589887,0.226707342488,1.55081391335,-0.00755723984912,-0.0502882003784,0.0
+1475142153070020142,0.00542624061927,0.0172002141697,0.226755290213,1.55071163177,-0.00566237745807,-0.0487112998962,0.0
+1475142153145961558,0.00545708695427,0.0171024271086,0.226673825652,1.55061328411,-0.0108615355566,-0.0486643314362,0.0
+1475142153220907082,0.00542085245252,0.0173724550851,0.226542569996,1.55122435093,-0.00566507736221,-0.0505018234253,0.0
+1475142153301645729,0.00541646406054,0.0175107528889,0.226420810172,1.55087399483,-0.0090667642653,-0.050856590271,0.0
+1475142153379570051,0.00540415057912,0.0178770792354,0.226315821346,1.55073165894,-0.00694102561101,-0.0518565177917,0.0
+1475142153456479968,0.00539053557441,0.0184046888732,0.226217343438,1.55070602894,-0.00536441104487,-0.0524680614471,0.0
+1475142153535240987,0.00540171004832,0.01849967696,0.226276025511,1.55049753189,-0.00726709747687,-0.0513441562653,0.0
+1475142153611363144,0.00539211276919,0.0184244334049,0.226215646533,1.55063211918,-0.00589014915749,-0.0492129325867,0.0
+1475142153700398057,0.00539489462972,0.0191082598032,0.226104493581,1.55125164986,-0.00642806198448,-0.0500440597534,0.0
+1475142153778234633,0.00539038144052,0.0191213309025,0.225925825239,1.55154561996,-0.00708041526377,-0.0498778820038,0.0
+1475142153857828908,0.0053573618643,0.0186546614157,0.225826059747,1.55096256733,-0.00493686366826,-0.0476980209351,0.0
+1475142153935581863,0.0053653200157,0.0181647792656,0.225932145208,1.55048525333,-0.00793880224228,-0.0452802181244,0.0
+1475142154020591547,0.00537760742009,0.0193895165261,0.226577854695,1.55131971836,-0.0110200252384,-0.0498068332672,0.0
+1475142154101525102,0.00536156911403,0.019137543618,0.226106319767,1.55153656006,-0.0108614256606,-0.0484621524811,0.0
+1475142154183103353,0.00532311480492,0.0188290064657,0.225737487527,1.55091154575,-0.00872644316405,-0.0471332073212,0.0
+1475142154265336347,0.00531421136111,0.0197209256387,0.225337479716,1.55104160309,-0.0104985488579,-0.0509967803955,0.0
+1475142154342622858,0.00524912215769,0.0195273935264,0.222837011508,1.55080664158,-0.0060203471221,-0.0510339736938,0.0
+1475142154426151255,0.00524887628853,0.0200993655716,0.222469642196,1.55120825768,-0.00820809975266,-0.0536181926727,0.0
+1475142154509349509,0.00524612795562,0.0189539549088,0.221921123513,1.55090343952,-0.00878212507814,-0.0487172603607,0.0
+1475142154585531959,0.00520214252174,0.0183542049168,0.22159867863,1.55104482174,-0.00519620301202,-0.0461416244507,0.0
+1475142154672179468,0.00519267842174,0.0182860917543,0.221226155753,1.55083835125,-0.0039412425831,-0.045923948288,0.0
+1475142154748600925,0.0051630246453,0.0199218116906,0.220555308561,1.55133402348,-0.00690367119387,-0.0532281398773,0.0
+1475142154825214461,0.00517412787303,0.0195085557658,0.220206973766,1.55133676529,-0.00907803606242,-0.0514900684357,0.0
+1475142154905747502,0.00514569599181,0.0184920890577,0.219707631989,1.55091106892,-0.00810485053807,-0.0471556186676,0.0
+1475142154980951144,0.00509302411228,0.0188479563482,0.219318912845,1.55084681511,-0.00316827441566,-0.048814535141,0.0
+1475142155056372257,0.00510562025011,0.019447653394,0.218641860217,1.55189657211,-0.00863665156066,-0.0516362190247,0.0
+1475142155135505453,0.00509509304538,0.0191849596321,0.218336611445,1.55128598213,-0.00856338720769,-0.0505452156067,0.0
+1475142155208704314,0.00509039964527,0.0188531714763,0.217958763111,1.55073881149,-0.0098568899557,-0.0492074489594,0.0
+1475142155284953400,0.00504104886204,0.0188506986662,0.217406415274,1.55055546761,-0.00580308446661,-0.0494039058685,0.0
+1475142155366004979,0.00499867787585,0.0193451665328,0.21698141358,1.55150532722,-0.00330527103506,-0.0517449378967,0.0
+1475142155444755060,0.00500775827095,0.0189849924673,0.21656416261,1.551679492,-0.00600679125637,-0.050302028656,0.0
+1475142155521007358,0.00501266727224,0.0187722795559,0.216275425777,1.55115711689,-0.00739726191387,-0.0494344234467,0.0
+1475142155599152875,0.00498103303835,0.0184763880256,0.215833709283,1.55073058605,-0.00977148674428,-0.0482850074768,0.0
+1475142155677244133,0.00496563408524,0.0177986712107,0.216306939639,1.55070817471,-0.0115697309375,-0.0449998378754,0.0
+1475142155759261942,0.00495607079938,0.0190190904802,0.216682265052,1.55120289326,-0.00956627260894,-0.0502984523773,0.0
+1475142155833660669,0.00487892702222,0.0188718444509,0.216179383849,1.55140376091,-0.00952203478664,-0.0498492717743,0.0
+1475142155912922923,0.00484264688566,0.018589703645,0.215907402616,1.55168092251,-0.0126875732094,-0.0487196445465,0.0
+1475142155988677476,0.00467063998803,0.0186919041756,0.214049961174,1.55137443542,-0.00491411052644,-0.0499577522278,0.0
+1475142156064440824,0.00449276622385,0.0191674676411,0.213085033848,1.5517270565,-0.00427308026701,-0.0525145530701,0.0
+1475142156144123710,0.0044063879177,0.0180698387092,0.212787191202,1.5513869524,-0.00845427066088,-0.0474760532379,0.0
+1475142156219937077,0.00428025284782,0.0189561866334,0.212279282978,1.55172717571,-0.00848406087607,-0.0516242980957,0.0
+1475142156298906450,0.00411731004715,0.0189717598786,0.211546645898,1.55117356777,-0.00643895054236,-0.0517063140869,0.0
+1475142156377382878,0.00415731081739,0.0191748319974,0.211460099463,1.55158984661,-0.00926548521966,-0.0523672103882,0.0
+1475142156454429367,0.00416158232838,0.0188702755503,0.211482082379,1.55121290684,-0.00751917157322,-0.0504832267761,0.0
+1475142156528983852,0.00394258927554,0.0195456121511,0.210122062659,1.5514601469,-0.00229164166376,-0.0530898571014,0.0
+1475142156608450423,0.00387833663262,0.0181481859108,0.209098832404,1.55095934868,-0.00832475814968,-0.0466618537903,0.0
+1475142156682550466,0.0039089852944,0.0180922792592,0.209145586645,1.55063247681,-0.00755254644901,-0.0463418960571,0.0
+1475142156758194984,0.00389427179471,0.0193921461328,0.208551621306,1.55132436752,-0.00936200655997,-0.0526261329651,0.0
+1475142156836342347,0.0038741491735,0.0186939963287,0.208144785567,1.55140209198,-0.00848154164851,-0.0494785308838,0.0
+1475142156918547392,0.00384736293927,0.0181579557953,0.207879621459,1.55139219761,-0.00604941044003,-0.04714179039,0.0
+1475142156995187139,0.00380473886617,0.0184439829232,0.2072704207,1.55098819733,-0.00527386507019,-0.04865026474,0.0
+1475142157070693775,0.00378204416484,0.0190941152999,0.206895738359,1.55126392841,-0.00480637094006,-0.0518033504486,0.0
+1475142157148878883,0.00380032369867,0.0186521072278,0.206692932734,1.55145740509,-0.0107953520492,-0.0497245788574,0.0
+1475142157223512494,0.00377313769422,0.0183150356212,0.206946521776,1.55128669739,-0.0108188437298,-0.0479733943939,0.0
+1475142157304449793,0.00374168599956,0.0189836835462,0.207194538533,1.55134153366,-0.00890397280455,-0.0510194301605,0.0
+1475142157379985601,0.00375229422934,0.0183654974947,0.206986735153,1.55137467384,-0.00934967864305,-0.0481050014496,0.0
+1475142157459544876,0.00375291868113,0.0181930046627,0.206476413106,1.55091583729,-0.0120423380286,-0.0473172664642,0.0
+1475142157537730438,0.00369062251411,0.0176825334517,0.204428384987,1.55066883564,-0.00689696799964,-0.0454943180084,0.0
+1475142157614714454,0.00367419584654,0.0190077015586,0.203630724335,1.55136728287,-0.000677873671521,-0.0518696308136,0.0
+1475142157690103636,0.00365737918764,0.0186069554385,0.20341584383,1.55117952824,-0.00691113248467,-0.0496866703033,0.0
diff --git a/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt
new file mode 100644
index 00000000..db0658ea
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/Trans_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475142133414964586,0.0511232353747,0.255828648806,1.45031857491,1.56704497337,-0.0220631007105,2.98677659035,0.0
+1475142133531833355,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133620422427,0.0510631017387,0.255062013865,1.44591403008,1.56532931328,-0.0320350565016,2.97727012634,0.0
+1475142133707009837,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133788614075,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133872864819,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133957295569,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142134043284661,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142134129711641,0.0511681847274,0.254272460938,1.44066178799,1.55734980106,-0.0431853160262,2.95952796936,0.0
+1475142134211671283,0.0509944930673,0.253675341606,1.43676400185,1.55763864517,-0.0185868982226,2.94596815109,0.0
+1475142134293362453,0.0521126128733,0.251495271921,1.43620860577,1.57142841816,0.0725521221757,-2.55481719971,0.0
+1475142134376484644,0.0509392060339,0.242900237441,1.41790604591,1.57425248623,0.0197381302714,2.92669892311,0.0
+1475142134459794843,0.0508205220103,0.235287174582,1.40900635719,1.56839966774,-0.0150439944118,2.99153804779,0.0
+1475142134541861624,0.0505682341754,0.229040533304,1.38545513153,1.5643311739,-0.0404866412282,2.94101810455,0.0
+1475142134618763067,0.0504606962204,0.218780845404,1.37418997288,1.55878770351,0.091602191329,2.93392395973,0.0
+1475142134707910490,0.0505630560219,0.21384614706,1.37199115753,1.57087135315,-1.21268121802e-05,3.00094509125,0.0
+1475142134788796465,0.0504976175725,0.207191675901,1.36578655243,1.56629395485,-0.00150886760093,2.91311264038,0.0
+1475142134870053547,0.0498134046793,0.198563322425,1.34747433662,1.56084549427,-0.0669332891703,2.94293165207,0.0
+1475142134949548975,0.0486468821764,0.187545031309,1.31591141224,1.59204030037,0.149055719376,-2.67249584198,0.0
+1475142135033008032,0.0478045791388,0.180455565453,1.30020570755,1.57089447975,0.0335395783186,2.87597990036,0.0
+1475142135116850303,0.0477773025632,0.172343924642,1.29701697826,1.57073247433,0.0170845128596,2.9141395092,0.0
+1475142135214488526,0.0476098693907,0.164927139878,1.2823343277,1.56377148628,-0.0261247716844,2.94897079468,0.0
+1475142135291305872,0.0475728064775,0.156580805779,1.27142524719,1.56121814251,-0.00336105888709,2.9535548687,0.0
+1475142135372648491,0.0475497506559,0.150187000632,1.26850450039,1.56818234921,-0.0210207998753,2.92721414566,0.0
+1475142135455508321,0.0471945889294,0.145152702928,1.26030921936,1.58072841167,0.0883680135012,-2.75990152359,0.0
+1475142135536828965,0.0452899374068,0.135068878531,1.2313939333,1.57306420803,0.0199695415795,3.00305223465,0.0
+1475142135614170426,0.0452831983566,0.128745809197,1.23155426979,1.57189655304,0.0299424808472,2.99839305878,0.0
+1475142135693960633,0.0444189198315,0.122582800686,1.21854329109,1.58098745346,0.101805403829,-2.7540166378,0.0
+1475142135769338267,0.0430753901601,0.115062788129,1.1979739666,1.5671517849,0.0323619544506,2.91055202484,0.0
+1475142135850319395,0.0429747626185,0.108848236501,1.18586742878,1.56808280945,-0.0313839353621,2.94574356079,0.0
+1475142135932017141,0.0429479219019,0.101827092469,1.16967880726,1.56471502781,0.0719368010759,2.94338321686,0.0
+1475142136012003277,0.0430013798177,0.09806535393,1.16784203053,1.56846666336,0.0220539662987,2.99368739128,0.0
+1475142136090917847,0.0428043305874,0.0919284746051,1.15307879448,1.56641459465,-0.0618368275464,3.03086662292,0.0
+1475142136167426674,0.0429233796895,0.0852922424674,1.1427526474,1.57045912743,-0.00517437327653,2.99209833145,0.0
+1475142136250205144,0.0427810288966,0.0801121145487,1.1415835619,1.55895853043,0.0408942475915,2.94686937332,0.0
+1475142136332290591,0.0428583435714,0.074696496129,1.13148987293,1.56365764141,-0.0100004291162,2.95548892021,0.0
+1475142136407697562,0.0421200916171,0.0684766843915,1.10704159737,1.56445646286,-0.0948261022568,2.9555850029,0.0
+1475142136488050643,0.0419834330678,0.0628565475345,1.10030782223,1.56866550446,0.100899986923,-2.9025952816,0.0
+1475142136565704551,0.04092894122,0.0605274960399,1.08496880531,1.56795787811,0.013757196255,2.97452282906,0.0
+1475142136654471952,0.0408281311393,0.0535919032991,1.0733269453,1.5625218153,-0.0278908908367,2.99725484848,0.0
+1475142136730208565,0.0404051020741,0.0509420819581,1.06346213818,1.5553176403,-0.06715618819,3.00441884995,0.0
+1475142136815548787,0.0390219651163,0.0457024313509,1.04136419296,1.5693154335,-0.0394090302289,2.97577404976,0.0
+1475142136897237327,0.0388373583555,0.0431251376867,1.04039597511,1.550106287,0.0931660458446,3.0114812851,0.0
+1475142136979355269,0.0390151701868,0.0408143959939,1.03480219841,1.56787395477,-0.0192598029971,3.08215427399,0.0
+1475142137055126411,0.0383498743176,0.0364840999246,1.01650214195,1.55538904667,-0.0854607373476,3.01441764832,0.0
+1475142137135817385,0.0375737696886,0.0335862971842,0.998956203461,1.56696081161,-0.100923649967,2.98634624481,0.0
+1475142137214967200,0.0373608507216,0.0299897100776,0.995251178741,1.56420600414,-0.00912054348737,2.98118710518,0.0
+1475142137294441127,0.0364105738699,0.0264604277909,0.977585911751,1.572701931,0.155881747603,-2.93118071556,0.0
+1475142137378660204,0.0361539721489,0.023760959506,0.968952953815,1.55026626587,0.0201201308519,2.98973298073,0.0
+1475142137462667108,0.035667385906,0.0210136286914,0.959363520145,1.55460941792,0.0612671859562,3.02964997292,0.0
+1475142137543765524,0.0352200493217,0.0187006834894,0.950760781765,1.54881191254,-0.0378246568143,3.01909327507,0.0
+1475142137625137803,0.0343807302415,0.0158317852765,0.931137502193,1.55967032909,0.00187109026592,2.98323059082,0.0
+1475142137701823332,0.0343193486333,0.013713568449,0.921948075294,1.56737029552,-0.0571304038167,2.98666214943,0.0
+1475142137783139172,0.0336420871317,0.0112510677427,0.90683722496,1.55987668037,-0.0942343845963,3.00319743156,0.0
+1475142137864897587,0.0330857671797,0.00963021162897,0.902228057384,1.55647408962,0.0271474402398,3.0040371418,0.0
+1475142137943702428,0.0322361215949,0.006691057235,0.884110331535,1.55945682526,0.137613713741,-2.99635267258,0.0
+1475142138024747806,0.0320692025125,0.0053422334604,0.878429532051,1.5442122221,0.0402557700872,3.05453681946,0.0
+1475142138101073409,0.0315158255398,0.0025844364427,0.858862161636,1.56276404858,-0.0819595977664,3.00602221489,0.0
+1475142138178939004,0.0308891348541,0.000734778062906,0.851175606251,1.55565679073,0.126318231225,-3.02420258522,0.0
+1475142138255481582,0.0304153058678,-0.000580894644372,0.840831935406,1.5455878973,0.100440353155,3.01444888115,0.0
+1475142138334468809,0.0302136335522,-0.00281732459553,0.830282509327,1.54530751705,-0.00590875837952,3.04697322845,0.0
+1475142138412112481,0.0294571947306,-0.00387223646976,0.810803890228,1.56929409504,-0.106532201171,2.9780497551,0.0
+1475142138493846384,0.028732765466,-0.00543229095638,0.806572496891,1.55281925201,0.118771970272,-3.05477809906,0.0
+1475142138573644646,0.0286883469671,-0.00690351892263,0.805161297321,1.55222725868,-0.0241121537983,3.04346704483,0.0
+1475142138652371930,0.0275825969875,-0.00773019716144,0.783150732517,1.55097258091,0.00303227407858,3.04377365112,0.0
+1475142138734919101,0.0269932113588,-0.00907356850803,0.775029301643,1.54729998112,0.00551464222372,3.05324149132,0.0
+1475142138815544082,0.0266895387322,-0.0107374442741,0.761307120323,1.55257034302,-0.0559261739254,3.08429431915,0.0
+1475142138897214146,0.0262454152107,-0.0118743851781,0.74517428875,1.56577825546,-0.100875221193,2.98145723343,0.0
+1475142138979302046,0.0259763263166,-0.0138681707904,0.7340041399,1.55509066582,-0.0674221366644,3.00766706467,0.0
+1475142139059014486,0.0256482008845,-0.0150041654706,0.725276112556,1.55653452873,-0.031561229378,3.00624990463,0.0
+1475142139134683200,0.0254231039435,-0.0160582102835,0.716000437737,1.55225205421,-0.0371276959777,3.03813529015,0.0
+1475142139217278484,0.0250009857118,-0.017432404682,0.701256036758,1.56167495251,-0.0615202896297,3.04214596748,0.0
+1475142139299163320,0.0246071219444,-0.0184003580362,0.693392574787,1.5503487587,-0.0119072785601,3.03778982162,0.0
+1475142139380665972,0.024198109284,-0.0192187726498,0.675216972828,1.56166541576,-0.0803302228451,2.99990200996,0.0
+1475142139466381871,0.023663925007,-0.020177077502,0.668715655804,1.55066370964,-0.00416037579998,3.02575826645,0.0
+1475142139550432297,0.0234087798744,-0.0209030825645,0.6580337286,1.55742454529,-0.0492485277355,3.0449192524,0.0
+1475142139633272801,0.0225635860115,-0.0219617132097,0.644904077053,1.55210518837,0.0290817916393,3.03037905693,0.0
+1475142139717827204,0.0221615023911,-0.0225923191756,0.63597214222,1.54918730259,0.0658395513892,3.09032821655,0.0
+1475142139797630614,0.0213978514075,-0.0226813349873,0.620787084103,1.55211889744,0.00757027743384,3.02968144417,0.0
+1475142139883235728,0.0211124867201,-0.0226946100593,0.610375344753,1.55513978004,-0.0448090881109,3.03746008873,0.0
+1475142139959037026,0.0205791927874,-0.0226833429188,0.595083534718,1.5597114563,-0.0663337036967,3.03349328041,0.0
+1475142140039038942,0.0199560020119,-0.0228664148599,0.58580493927,1.55477976799,-0.0454573631287,3.0413608551,0.0
+1475142140121563788,0.0193217042834,-0.0231900364161,0.572744905949,1.55227839947,-0.00034809592762,3.05562353134,0.0
+1475142140199597632,0.0189315751195,-0.0233566053212,0.562725365162,1.55275428295,-0.0199319906533,3.04056692123,0.0
+1475142140291305739,0.0184092503041,-0.0236135777086,0.548379659653,1.55307781696,-0.0256137829274,3.03345036507,0.0
+1475142140370121934,0.01799358055,-0.0237976424396,0.53850376606,1.55650854111,-0.0164379402995,3.0214509964,0.0
+1475142140451288783,0.0176658816636,-0.0241345986724,0.524031162262,1.55593276024,-0.0392306521535,3.02095961571,0.0
+1475142140532271710,0.0172374099493,-0.0242112074047,0.514677584171,1.55555975437,-0.0279622972012,3.02052235603,0.0
+1475142140614265689,0.0168426651508,-0.0244293063879,0.500033676624,1.5570141077,-0.038126014173,3.0279378891,0.0
+1475142140691180692,0.0164473298937,-0.0245399139822,0.490973591805,1.55480527878,-0.0336339771748,3.02564764023,0.0
+1475142140771001931,0.0156413763762,-0.0246261358261,0.476878523827,1.55112826824,0.0241523291916,3.02952098846,0.0
+1475142140849347188,0.0153906028718,-0.0245360806584,0.466639220715,1.55613923073,-0.0337779708207,3.02540516853,0.0
+1475142140926747290,0.015022110194,-0.0245754588395,0.457392573357,1.55510783195,-0.0283839497715,3.01967144012,0.0
+1475142141001314835,0.0143345752731,-0.0244643650949,0.443030387163,1.55528080463,-0.0246448405087,3.03193593025,0.0
+1475142141081179482,0.013958661817,-0.0244162119925,0.434177398682,1.55155038834,0.00636394880712,3.03989696503,0.0
+1475142141156619144,0.0132688404992,-0.0243445970118,0.420143157244,1.55004346371,0.0233664866537,3.04371094704,0.0
+1475142141233724645,0.0130502926186,-0.024035397917,0.410436183214,1.55332458019,-0.00300845084712,3.02901053429,0.0
+1475142141311821254,0.012745693326,-0.0238701011986,0.400651752949,1.55458021164,-0.0116099929437,3.03651618958,0.0
+1475142141385491530,0.0121666910127,-0.0236281715333,0.386539340019,1.55196678638,0.0132504850626,3.03637051582,0.0
+1475142141458864066,0.0119318477809,-0.0234641432762,0.377054125071,1.55323076248,-0.0147929331288,3.04219341278,0.0
+1475142141539308588,0.0115482378751,-0.0231912396848,0.367629349232,1.55231702328,-0.00332437665202,3.04161787033,0.0
+1475142141621694454,0.0111722201109,-0.0228824429214,0.358105897903,1.55056285858,0.0169013012201,3.03949999809,0.0
+1475142141694611641,0.0105578759685,-0.0224340222776,0.343570649624,1.55225002766,0.00394560582936,3.03658866882,0.0
+1475142141769171993,0.0101428376511,-0.0221416950226,0.334587216377,1.5513010025,0.00557174626738,3.04382300377,0.0
+1475142141844528774,0.00982210040092,-0.0218667164445,0.325493067503,1.55192482471,0.00318821473047,3.0429251194,0.0
+1475142141924652753,0.00905644427985,-0.0216193515807,0.311103224754,1.55043387413,0.0227424018085,3.04860520363,0.0
+1475142142003260146,0.00877656601369,-0.021363472566,0.301522165537,1.55110752583,0.00548388203606,3.05240559578,0.0
+1475142142079981668,0.00842160638422,-0.0209581181407,0.292065083981,1.55206537247,0.00328930770047,3.04415822029,0.0
+1475142142158964907,0.00776322232559,-0.0206175893545,0.277987390757,1.55012178421,0.0156376827508,3.05017089844,0.0
+1475142142238890233,0.0072659519501,-0.0202310327441,0.269336044788,1.5499740839,0.015814807266,3.05125713348,0.0
+1475142142317965006,0.00712644681334,-0.0198915246874,0.263636946678,1.5508531332,0.00898834411055,3.05516219139,0.0
+1475142142397423018,0.00697568710893,-0.0194368474185,0.259556025267,1.55264663696,-0.00680582318455,3.05457901955,0.0
+1475142142475878762,0.00700415112078,-0.0192670896649,0.259665220976,1.55223309994,-0.00318985758349,3.05039834976,0.0
+1475142142554098666,0.00706455903128,-0.0191638786346,0.259755462408,1.55201470852,-0.00865042023361,3.05035686493,0.0
+1475142142634002656,0.0070009236224,-0.0182452686131,0.259887188673,1.55106937885,-0.00636970810592,3.05163788795,0.0
+1475142142713270973,0.00689892424271,-0.0171127971262,0.257511556149,1.55034101009,0.0116983149201,3.05618572235,0.0
+1475142142787803344,0.00689054047689,-0.0156600512564,0.256819099188,1.55043745041,-0.00604891963303,3.061886549,0.0
+1475142142863287507,0.00683777686208,-0.0147634474561,0.258551836014,1.55066752434,-0.00650392007083,3.05613946915,0.0
+1475142142950882875,0.00685379188508,-0.0139225590974,0.259459972382,1.5509198904,-0.0109559111297,3.06488180161,0.0
+1475142143033074178,0.00692444806919,-0.0131947202608,0.259966224432,1.55144906044,-0.0143820354715,3.06752347946,0.0
+1475142143110311802,0.00686794146895,-0.0120666315779,0.260023236275,1.55071914196,-0.00984905939549,3.06892466545,0.0
+1475142143190327241,0.006875959225,-0.0112889437005,0.260019809008,1.55116176605,-0.0123249562457,3.06989884377,0.0
+1475142143266700503,0.00684731965885,-0.0105731831864,0.260101914406,1.55118131638,-0.00997078791261,3.07326221466,0.0
+1475142143341184114,0.00682005379349,-0.00946761202067,0.260110169649,1.55058026314,-0.00828691292554,3.07320690155,0.0
+1475142143421723206,0.00681998580694,-0.008769614622,0.260106235743,1.55103623867,-0.0132338283584,3.07742166519,0.0
+1475142143501102616,0.00679615326226,-0.00769438873976,0.26021233201,1.55065226555,-0.0119056617841,3.07885408401,0.0
+1475142143578949924,0.0068023535423,-0.00698689231649,0.260130614042,1.55073177814,-0.0144090773538,3.07692956924,0.0
+1475142143654705573,0.00676994537935,-0.00632639182732,0.260224044323,1.55077624321,-0.0126470718533,3.07762789726,0.0
+1475142143728923692,0.00675527378917,-0.00544713856652,0.260223954916,1.55063545704,-0.0120906373486,3.07898569107,0.0
+1475142143807826625,0.00671911984682,-0.00488546630368,0.260182589293,1.55043172836,-0.00858704000711,3.07760357857,0.0
+1475142143882345225,0.00672035245225,-0.00412256317213,0.260129451752,1.55091810226,-0.0119165629148,3.07936096191,0.0
+1475142143963142055,0.00669702794403,-0.00359410699457,0.260121881962,1.55049455166,-0.00930616538972,3.08126616478,0.0
+1475142144051571413,0.00669067865238,-0.00314780022018,0.260146528482,1.55062258244,-0.0123294042423,3.07851099968,0.0
+1475142144131503005,0.00667416583747,-0.00272253807634,0.260114938021,1.55056679249,-0.0117467511445,3.08178114891,0.0
+1475142144206975022,0.00669133942574,-0.00208444707096,0.26008450985,1.55063343048,-0.0179146453738,3.08363485336,0.0
+1475142144284827299,0.00665244320408,-0.00172623805702,0.260104477406,1.5510584116,-0.010419790633,3.08216929436,0.0
+1475142144361781353,0.00665184948593,-0.00143667461816,0.260143399239,1.55059683323,-0.0115990964696,3.08406066895,0.0
+1475142144440442291,0.00663901306689,-0.000987278530374,0.260147988796,1.55060434341,-0.0128840785474,3.08144855499,0.0
+1475142144516157507,0.00665652379394,-0.000741807278246,0.260128855705,1.55094218254,-0.0170222446322,3.08383893967,0.0
+1475142144590928100,0.00662009324878,-0.000340046535712,0.2601172328,1.55052280426,-0.0126277524978,3.0849313736,0.0
+1475142144670260528,0.00659878598526,-8.66258196766e-05,0.260128259659,1.55041337013,-0.0104914056137,3.08573293686,0.0
+1475142144749490794,0.0066253002733,0.000162242620718,0.260130405426,1.55064630508,-0.0170700531453,3.08446335793,0.0
+1475142144826840166,0.00661409040913,0.000543189235032,0.260072916746,1.55103170872,-0.0176265891641,3.08456158638,0.0
+1475142144902657054,0.00658893585205,0.000730283325538,0.260171294212,1.5509570837,-0.0147291375324,3.08668541908,0.0
+1475142144983322689,0.00658322032541,0.000947351159994,0.260083645582,1.55067718029,-0.0153270242736,3.08392858505,0.0
+1475142145065539888,0.00654688058421,0.00125368183944,0.260138690472,1.55073833466,-0.00913281645626,3.08896255493,0.0
+1475142145149390129,0.00656363880262,0.00155389285646,0.260137856007,1.55113887787,-0.0156057383865,3.08592414856,0.0
+1475142145225212625,0.00652344850823,0.00173757667653,0.260047465563,1.55109000206,-0.00950823351741,3.08543205261,0.0
+1475142145303276544,0.00657619442791,0.00202894490212,0.260035276413,1.55163884163,-0.0203581508249,3.08556509018,0.0
+1475142145383170360,0.00652667833492,0.00215137889609,0.26005667448,1.55111515522,-0.0119718015194,3.08819293976,0.0
+1475142145469881607,0.00653970334679,0.00228979531676,0.260076284409,1.55114138126,-0.0146281048656,3.08611869812,0.0
+1475142145547173248,0.00656510842964,0.00244163512252,0.260023206472,1.55182468891,-0.0184341650456,3.0870308876,0.0
+1475142145625448947,0.00654252478853,0.00251534511335,0.260074257851,1.55132627487,-0.0154737783596,3.08563232422,0.0
+1475142145705387833,0.00650427071378,0.00260845315643,0.260057121515,1.55126535892,-0.00997784920037,3.08618474007,0.0
+1475142145784374850,0.006500183139,0.00267108692788,0.260110646486,1.5509557724,-0.0108240386471,3.08638906479,0.0
+1475142145860548366,0.00653528328985,0.00275821913965,0.259984314442,1.55124521255,-0.0166847016662,3.08639431,0.0
+1475142145935047194,0.00654509942979,0.00281818490475,0.260009765625,1.5514318943,-0.0189497154206,3.08531761169,0.0
+1475142146017598171,0.00650734873489,0.00305807450786,0.260078698397,1.55068814754,-0.0117605263367,3.08835411072,0.0
+1475142146095716348,0.00654192315415,0.00376495323144,0.260231941938,1.55062258244,-0.0129423160106,3.08855700493,0.0
+1475142146174525632,0.00658571952954,0.00437923427671,0.260301023722,1.54986536503,-0.0120022306219,3.09438371658,0.0
+1475142146254555627,0.00665578898042,0.00472105294466,0.260264456272,1.55080282688,-0.0174152813852,3.09410381317,0.0
+1475142146328834768,0.00665155285969,0.00510110333562,0.260038375854,1.5510327816,-0.0198698285967,3.09247660637,0.0
+1475142146407936942,0.00661646295339,0.00541165890172,0.259434938431,1.55173361301,-0.0180022902787,3.09015250206,0.0
+1475142146486407946,0.00658455770463,0.00550850154832,0.259127825499,1.55115294456,-0.0145021872595,3.09262943268,0.0
+1475142146567391179,0.00658119982108,0.00560447806492,0.258561015129,1.55098044872,-0.0159107167274,3.09114551544,0.0
+1475142146641171762,0.0065894224681,0.00565118109807,0.258113533258,1.55124568939,-0.0199122913182,3.08922338486,0.0
+1475142146728978970,0.00655430695042,0.00563980219886,0.257838398218,1.55044746399,-0.0159566253424,3.09398555756,0.0
+1475142146810120925,0.00650245323777,0.00564374076203,0.257232576609,1.55077528954,-0.010711632669,3.09160637856,0.0
+1475142146889778406,0.00645936885849,0.00564629305154,0.256841063499,1.55068790913,-0.00737773254514,3.09230566025,0.0
+1475142146970107565,0.00649480381981,0.0056310002692,0.256427824497,1.55100929737,-0.0121017741039,3.09367799759,0.0
+1475142147046328462,0.00650950707495,0.00562872644514,0.255844146013,1.55111455917,-0.0164942592382,3.09273386002,0.0
+1475142147124045828,0.00652368785813,0.00565822701901,0.255548030138,1.55125367641,-0.0202087201178,3.09137010574,0.0
+1475142147203581384,0.006470433902,0.0056215217337,0.254890799522,1.55063295364,-0.0158327724785,3.09219884872,0.0
+1475142147280626467,0.00643429998308,0.00560714863241,0.254465788603,1.55085492134,-0.0128008732572,3.09127545357,0.0
+1475142147359380311,0.00639849156141,0.00560237048194,0.253893047571,1.55099499226,-0.0093536535278,3.09091877937,0.0
+1475142147437918026,0.00643044477329,0.005589668639,0.253542631865,1.55107975006,-0.0139292813838,3.0911052227,0.0
+1475142147513315290,0.00642956979573,0.00555619364604,0.253241062164,1.55115628242,-0.0145475240424,3.09389829636,0.0
+1475142147591532851,0.00642045354471,0.0055240271613,0.252570927143,1.55071270466,-0.0196624360979,3.09580302238,0.0
+1475142147671777863,0.00635212054476,0.00552497990429,0.252189576626,1.55071675777,-0.0109030054882,3.09312105179,0.0
+1475142147749030786,0.00634611863643,0.00553092034534,0.25178527832,1.55091392994,-0.0106169162318,3.09094500542,0.0
+1475142147828820046,0.00630905339494,0.00552108511329,0.251172214746,1.55092895031,-0.00933194998652,3.08813548088,0.0
+1475142147903834127,0.00630166567862,0.00548823876306,0.250921100378,1.55068528652,-0.00889869872481,3.09204697609,0.0
+1475142147983186234,0.00631290348247,0.00545427110046,0.250457495451,1.55089890957,-0.010881238617,3.0950756073,0.0
+1475142148062013353,0.00630439864472,0.00543259363621,0.249920070171,1.55080759525,-0.0130104087293,3.09463119507,0.0
+1475142148138908896,0.00630296999589,0.0054253032431,0.249510109425,1.55115270615,-0.0149296149611,3.09433579445,0.0
+1475142148217794161,0.00625001359731,0.00540770683438,0.249070927501,1.55128407478,-0.0126009276137,3.09079432487,0.0
+1475142148295987614,0.00624421890825,0.00542889721692,0.24851320684,1.55109727383,-0.0135218333453,3.08955001831,0.0
+1475142148376381776,0.00625357357785,0.00537981837988,0.248107150197,1.55098426342,-0.0150621598586,3.09194755554,0.0
+1475142148454265312,0.00624872464687,0.00536153186113,0.247738465667,1.55100059509,-0.0140364207327,3.09308552742,0.0
+1475142148533768562,0.0062162312679,0.00532329780981,0.247155562043,1.55102229118,-0.0154139902443,3.09390115738,0.0
+1475142148619705997,0.0062051974237,0.00531883630902,0.246701180935,1.55134570599,-0.0170469097793,3.09202957153,0.0
+1475142148695842561,0.00618728902191,0.00533933192492,0.246338278055,1.55183184147,-0.0170727092773,3.08816432953,0.0
+1475142148774949661,0.0061612566933,0.00530618941411,0.245809718966,1.55074036121,-0.0138001637533,3.0892765522,0.0
+1475142148853127971,0.00614504143596,0.00526317255571,0.245468229055,1.55033838749,-0.0126088615507,3.09404230118,0.0
+1475142148934859456,0.00611403817311,0.00521990424022,0.244821146131,1.55075335503,-0.0133197102696,3.09617590904,0.0
+1475142149018934651,0.00611403910443,0.00521902320907,0.244451984763,1.55144834518,-0.0134545974433,3.09415054321,0.0
+1475142149105252645,0.0060873683542,0.00522827729583,0.244029194117,1.55163240433,-0.0151062626392,3.09196591377,0.0
+1475142149184337502,0.00607175566256,0.00522468937561,0.24352529645,1.55123376846,-0.0147896390408,3.09219884872,0.0
+1475142149259112799,0.00606438145041,0.00521176541224,0.243152305484,1.55105233192,-0.0151567868888,3.09097981453,0.0
+1475142149337981909,0.0060479757376,0.00516407750547,0.242726564407,1.5504399538,-0.0148075036705,3.09375953674,0.0
+1475142149411099714,0.00599614810199,0.00516092590988,0.242170259356,1.55091798306,-0.0118980593979,3.09236550331,0.0
+1475142149485167295,0.00596467033029,0.00515999365598,0.24156332016,1.55148792267,-0.0102917114273,3.09067130089,0.0
+1475142149563447084,0.00599218625575,0.00514182401821,0.241227552295,1.55146682262,-0.0170399080962,3.09273076057,0.0
+1475142149642101039,0.00597433233634,0.00512353377417,0.240853279829,1.55090069771,-0.0155145274475,3.09308743477,0.0
+1475142149720688357,0.00595364999026,0.00508927088231,0.240203127265,1.55098307133,-0.0164791420102,3.09343504906,0.0
+1475142149801778514,0.00589966028929,0.00508547946811,0.239833265543,1.5509647131,-0.0112585704774,3.09186410904,0.0
+1475142149880911621,0.005877120886,0.00508531229571,0.239459708333,1.5517936945,-0.0120568601415,3.09090423584,0.0
+1475142149962118279,0.00591358123347,0.00505468714982,0.239061430097,1.55152869225,-0.0163783654571,3.09270167351,0.0
+1475142150038238465,0.0058952793479,0.00505750160664,0.23846270144,1.55113685131,-0.0172232277691,3.09351158142,0.0
+1475142150118538813,0.00580836599693,0.00497850542888,0.235607713461,1.55075597763,-0.00122060975991,3.090280056,0.0
+1475142150190669226,0.00589260319248,0.00491573987529,0.23422139883,1.5503578186,-0.0064980708994,3.09320664406,0.0
+1475142150264911392,0.00583088863641,0.00492784520611,0.233957394958,1.55070436001,-0.0068965414539,3.09118533134,0.0
+1475142150344775307,0.00573203060776,0.00497811194509,0.234635531902,1.55127179623,-0.0053277015686,3.08642435074,0.0
+1475142150420783838,0.00574008468539,0.00491426419467,0.234066009521,1.55085480213,-0.00565062090755,3.09148931503,0.0
+1475142150500145187,0.00573491398245,0.0049015302211,0.233707755804,1.55079305172,-0.00736437924206,3.0933868885,0.0
+1475142150577187334,0.00571825914085,0.00488803815097,0.233348250389,1.55084574223,-0.00734519120306,3.09378671646,0.0
+1475142150656853957,0.00571138784289,0.00488860486075,0.232941791415,1.55068874359,-0.00842598732561,3.09360170364,0.0
+1475142150731802963,0.00566634302959,0.00489753298461,0.232388079166,1.550968647,-0.00668460363522,3.08923959732,0.0
+1475142150806351502,0.00567092467099,0.00489100581035,0.231966480613,1.55086839199,-0.0077344798483,3.08804035187,0.0
+1475142150883941768,0.00565050868317,0.00483912695199,0.231479763985,1.55099928379,-0.00584289105609,3.09303617477,0.0
+1475142150964577839,0.00563289830461,0.00482173729688,0.23107431829,1.55107331276,-0.00542353326455,3.09398269653,0.0
+1475142151041828159,0.00563816446811,0.00483510456979,0.23066945374,1.55133616924,-0.00968481879681,3.09110021591,0.0
+1475142151117187638,0.00562247959897,0.00481978850439,0.230495125055,1.55135405064,-0.00856132246554,3.08890557289,0.0
+1475142151191699239,0.00562004186213,0.0047690612264,0.230090364814,1.55150675774,-0.0118565168232,3.0862569809,0.0
+1475142151270741607,0.00560287060216,0.00473470520228,0.229885950685,1.55146539211,-0.00963206309825,3.08750319481,0.0
+1475142151351806391,0.00557738076895,0.00473857205361,0.230309858918,1.55122661591,-0.0105107631534,3.08851456642,0.0
+1475142151426507029,0.00562453316525,0.00452745193616,0.231639459729,1.55059170723,-0.0125687047839,3.09633827209,0.0
+1475142151504087132,0.00565110798925,0.00454980414361,0.23167386651,1.55037784576,-0.0162483565509,3.09226417542,0.0
+1475142151582539021,0.00563946226612,0.00456779683009,0.231570288539,1.55074322224,-0.0157214533538,3.09348940849,0.0
+1475142151661524495,0.00558099104092,0.00469532888383,0.23085655272,1.55054533482,-0.00320442020893,3.09313225746,0.0
+1475142151739207800,0.00551702175289,0.00471856351942,0.228983581066,1.55070924759,-0.00348336994648,3.09350275993,0.0
+1475142151829599415,0.00553420558572,0.00481161568314,0.228774651885,1.55069732666,-0.00588161172345,3.09225463867,0.0
+1475142151907251074,0.00551853422076,0.00495262630284,0.228350877762,1.55114018917,-0.0052457829006,3.08850574493,0.0
+1475142151983689976,0.00546663952991,0.00500721903518,0.228020340204,1.550827384,-0.00219287071377,3.08905792236,0.0
+1475142152061302308,0.00549402600154,0.00504204584286,0.227764204144,1.55115282536,-0.00540864327922,3.08989429474,0.0
+1475142152147728749,0.00551796425134,0.0050540631637,0.227395132184,1.55105948448,-0.00967352930456,3.09032559395,0.0
+1475142152222621664,0.00549600552768,0.00497377384454,0.227291464806,1.55097568035,-0.00869601406157,3.09125638008,0.0
+1475142152302854794,0.00549050839618,0.00475996686146,0.22730229795,1.55065858364,-0.00756394024938,3.09202480316,0.0
+1475142152379494297,0.00551108783111,0.00450662476942,0.227229058743,1.55074596405,-0.0105057405308,3.09076142311,0.0
+1475142152457213070,0.00545221846551,0.00462941359729,0.227207750082,1.55032360554,-0.00523556163535,3.09337973595,0.0
+1475142152534359734,0.00544888339937,0.00489699374884,0.227222159505,1.54990196228,-0.00707995845005,3.09359335899,0.0
+1475142152612292425,0.00544707290828,0.0050782985054,0.22718898952,1.55022335052,-0.00771259889007,3.09293556213,0.0
+1475142152687605888,0.00543671613559,0.00567412935197,0.227179571986,1.54956483841,-0.00552171096206,3.09400105476,0.0
+1475142152763218940,0.0054598255083,0.00611324934289,0.227100029588,1.55026257038,-0.00798717234284,3.09333062172,0.0
+1475142152841719462,0.00545008899644,0.0062214974314,0.2269769907,1.55089056492,-0.00763577176258,3.0925424099,0.0
+1475142152914539777,0.00546694966033,0.00611494062468,0.226900279522,1.55080115795,-0.00983991473913,3.09194231033,0.0
+1475142152991609373,0.00543178105727,0.00618272367865,0.2266831249,1.55081391335,-0.00755723984912,3.09130454063,0.0
+1475142153070219060,0.00542624061927,0.00616788165644,0.226723894477,1.55071163177,-0.00566237745807,3.09288144112,0.0
+1475142153145978054,0.00545708695427,0.00608439883217,0.22664617002,1.55061328411,-0.0108615355566,3.09292840958,0.0
+1475142153221103234,0.00542085245252,0.00594465294853,0.226531296968,1.55122435093,-0.00566507736221,3.09109091759,0.0
+1475142153301664104,0.00541646406054,0.00600914284587,0.226408064365,1.55087399483,-0.0090667642653,3.09073615074,0.0
+1475142153379765739,0.00540415057912,0.00615543220192,0.22630096972,1.55073165894,-0.00694102561101,3.08973622322,0.0
+1475142153456380563,0.00539053557441,0.00655166013166,0.226185008883,1.55070602894,-0.00536441104487,3.08912467957,0.0
+1475142153535304204,0.00540171004832,0.00689879152924,0.226220086217,1.55049753189,-0.00726709747687,3.09024858475,0.0
+1475142153611060073,0.00539211276919,0.00730926077813,0.226129859686,1.55063211918,-0.00589014915749,3.09237980843,0.0
+1475142153700403920,0.00539489462972,0.00781297404319,0.225996598601,1.55125164986,-0.00642806198448,3.09154868126,0.0
+1475142153778472515,0.00539038144052,0.00787265971303,0.225814148784,1.55154561996,-0.00708041526377,3.09171485901,0.0
+1475142153857970817,0.0053573618643,0.00790200103074,0.225705996156,1.55096256733,-0.00493686366826,3.09389472008,0.0
+1475142153935581416,0.0053653200157,0.00795198511332,0.225803643465,1.55048525333,-0.00793880224228,3.09631252289,0.0
+1475142154020567450,0.00537760742009,0.00812529120594,0.226454153657,1.55131971836,-0.0110200252384,3.09178590775,0.0
+1475142154101596516,0.00536156911403,0.00820025242865,0.22597438097,1.55153656006,-0.0108614256606,3.09313058853,0.0
+1475142154183119714,0.00532311480492,0.00820874795318,0.225601270795,1.55091154575,-0.00872644316405,3.09445953369,0.0
+1475142154265348789,0.00531421136111,0.00825166422874,0.225209638476,1.55104160309,-0.0104985488579,3.09059596062,0.0
+1475142154342294739,0.00524912215769,0.0081772049889,0.222709834576,1.55080664158,-0.0060203471221,3.09055876732,0.0
+1475142154426237652,0.00524887628853,0.00819484889507,0.222350001335,1.55120825768,-0.00820809975266,3.08797454834,0.0
+1475142154509471989,0.00524612795562,0.0081630712375,0.221786737442,1.55090343952,-0.00878212507814,3.09287548065,0.0
+1475142154585582059,0.00520214252174,0.00814804527909,0.221458554268,1.55104482174,-0.00519620301202,3.09545111656,0.0
+1475142154672438226,0.00519267842174,0.00814513675869,0.221085324883,1.55083835125,-0.0039412425831,3.09566879272,0.0
+1475142154748948113,0.0051630246453,0.00820584502071,0.220430925488,1.55133402348,-0.00690367119387,3.08836460114,0.0
+1475142154824927861,0.00517412787303,0.00819264072925,0.220076993108,1.55133676529,-0.00907803606242,3.09010267258,0.0
+1475142154905843727,0.00514569599181,0.00815114658326,0.219567477703,1.55091106892,-0.00810485053807,3.09443712234,0.0
+1475142154980969438,0.00509302411228,0.00816267542541,0.219181701541,1.55084681511,-0.00316827441566,3.09277820587,0.0
+1475142155056327812,0.00510562025011,0.00818049442023,0.218510881066,1.55189657211,-0.00863665156066,3.08995652199,0.0
+1475142155135536163,0.00509509304538,0.0081710005179,0.218202456832,1.55128598213,-0.00856338720769,3.09104752541,0.0
+1475142155209037362,0.00509039964527,0.00814891513437,0.217821598053,1.55073881149,-0.0098568899557,3.09238529205,0.0
+1475142155285135645,0.00504104886204,0.00813100021333,0.217269971967,1.55055546761,-0.00580308446661,3.09218883514,0.0
+1475142155366129200,0.00499867787585,0.00814014580101,0.21685063839,1.55150532722,-0.00330527103506,3.08984780312,0.0
+1475142155444773344,0.00500775827095,0.00811297725886,0.21642999351,1.551679492,-0.00600679125637,3.09129071236,0.0
+1475142155521206033,0.00501266727224,0.0081018153578,0.216139122844,1.55115711689,-0.00739726191387,3.09215831757,0.0
+1475142155599152668,0.00498103303835,0.00807499419898,0.215695351362,1.55073058605,-0.00977148674428,3.09330773354,0.0
+1475142155677339090,0.00496563408524,0.00808287411928,0.216162160039,1.55070817471,-0.0115697309375,3.09659290314,0.0
+1475142155759386139,0.00495607079938,0.00814201217145,0.216546773911,1.55120289326,-0.00956627260894,3.09129428864,0.0
+1475142155833680141,0.00487892702222,0.00811678543687,0.216043308377,1.55140376091,-0.00952203478664,3.09174346924,0.0
+1475142155912861808,0.00484264688566,0.00809125509113,0.215769380331,1.55168092251,-0.0126875732094,3.09287309647,0.0
+1475142155988749176,0.00467063998803,0.00801957305521,0.213916376233,1.55137443542,-0.00491411052644,3.09163498878,0.0
+1475142156064262767,0.00449276622385,0.00800020620227,0.212958678603,1.5517270565,-0.00427308026701,3.08907818794,0.0
+1475142156144140966,0.0044063879177,0.00798695441335,0.212647750974,1.5513869524,-0.00845427066088,3.09411668777,0.0
+1475142156219956948,0.00428025284782,0.00801973883063,0.212148085237,1.55172717571,-0.00848406087607,3.08996844292,0.0
+1475142156298925187,0.00411731004715,0.00805601850152,0.211412832141,1.55117356777,-0.00643895054236,3.08988642693,0.0
+1475142156377361700,0.00415731081739,0.0081245508045,0.21132452786,1.55158984661,-0.00926548521966,3.08922553062,0.0
+1475142156454448003,0.00416158232838,0.0082163149491,0.21133671701,1.55121290684,-0.00751917157322,3.09110951424,0.0
+1475142156528994508,0.00394258927554,0.00841535627842,0.209971338511,1.5514601469,-0.00229164166376,3.08850288391,0.0
+1475142156608450811,0.00387833663262,0.00841163657606,0.208933889866,1.55095934868,-0.00832475814968,3.09493088722,0.0
+1475142156682767859,0.0039089852944,0.00842026155442,0.208979874849,1.55063247681,-0.00755254644901,3.09525084496,0.0
+1475142156758043198,0.00389427179471,0.00844181515276,0.208396077156,1.55132436752,-0.00936200655997,3.08896660805,0.0
+1475142156836169900,0.0038741491735,0.00841780379415,0.207982987165,1.55140209198,-0.00848154164851,3.09211421013,0.0
+1475142156918771204,0.00384736293927,0.00837880838662,0.207715541124,1.55139219761,-0.00604941044003,3.09445095062,0.0
+1475142156995604644,0.00380473886617,0.00838202331215,0.207107841969,1.55098819733,-0.00527386507019,3.09294247627,0.0
+1475142157070856650,0.00378204416484,0.00840044766665,0.206738099456,1.55126392841,-0.00480637094006,3.08978939056,0.0
+1475142157148701559,0.00380032369867,0.0083970585838,0.206530839205,1.55145740509,-0.0107953520492,3.09186816216,0.0
+1475142157223582510,0.00377313769422,0.00840851850808,0.206781193614,1.55128669739,-0.0108188437298,3.09361934662,0.0
+1475142157304466616,0.00374168599956,0.00843650195748,0.20703369379,1.55134153366,-0.00890397280455,3.09057331085,0.0
+1475142157380070858,0.00375229422934,0.00842997990549,0.206820622087,1.55137467384,-0.00934967864305,3.09348773956,0.0
+1475142157459454246,0.00375291868113,0.00844417139888,0.206307917833,1.55091583729,-0.0120423380286,3.09427547455,0.0
+1475142157537434686,0.00369062251411,0.00840187072754,0.204257622361,1.55066883564,-0.00689696799964,3.096098423,0.0
+1475142157614736566,0.00367419584654,0.008470159024,0.203465223312,1.55136728287,-0.000677873671521,3.0897231102,0.0
+1475142157690122361,0.00365737918764,0.00852314289659,0.203243359923,1.55117952824,-0.00691113248467,3.09190607071,0.0
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv b/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
deleted file mode 100644
index c837532b..00000000
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.asv
+++ /dev/null
@@ -1,603 +0,0 @@
-clc;
-close all;
-clear all;
-%% Import data and time conversion
-
-% data 1: 556 ros messages for geometry_msgs/Twist 
-%         557 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% (010816_1718) best!!!
-% P = .4; I = 0; D = 0; 
-
-% y-axis gains:
-% (280716_2024) better!!!
-% P = .44; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% y-axis gains:
-% (280716_2002)
-% P = .46; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
-% Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
-Pose_Matrix_data_1 = csvread('CAM_PID_.31_.00065_.071.txt',1,0);
-Vel_Matrix_data_1 = csvread('vel_PID_.31_.00065_.071.txt',1,0);
-
-% time in position
-TimeP_ros_data_1 = Pose_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_1 = (TimeP_ros_data_1(size(TimeP_ros_data_1,1),:) - TimeP_ros_data_1(1,:))*10^(-9); 
-  
-t_P_sec_data_1 = 0:durationP_data_1/size(TimeP_ros_data_1,1):durationP_data_1;
-t_P_sec_data_1(:,size(t_P_sec_data_1,2)) = [];
-
-% time in vel
-TimeV_ros_data_1 = Vel_Matrix_data_1(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_1 = (TimeV_ros_data_1(size(TimeV_ros_data_1,1),:) - TimeV_ros_data_1(1,:))*10^(-9);
-
-t_V_sec_data_1 = 0:durationV_data_1/size(TimeV_ros_data_1,1):durationV_data_1;
-t_V_sec_data_1(:,size(t_V_sec_data_1,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 2: 588 ros messages for geometry_msgs/Twist 
-%         589 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .5; I = 0.001; D = 0.03;
-
-% theta-axis gains:
-% P = .28; I = 0.1; D = 0.15;
-% 
-% Pose_Matrix_data_2 = csvread('POSE_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-% Vel_Matrix_data_2 = csvread('VEL_with_Py0.66_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-% 
-Pose_Matrix_data_2 = csvread('CAM_PID_.38_.0001_.02.txt',1,0);
-Vel_Matrix_data_2 = csvread('vel_PID_.38_.0001_.02.txt',1,0);
-
-% time in position
-TimeP_ros_data_2 = Pose_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_2 = (TimeP_ros_data_2(size(TimeP_ros_data_2,1),:) - TimeP_ros_data_2(1,:))*10^(-9); 
-  
-t_P_sec_data_2 = 0:durationP_data_2/size(TimeP_ros_data_2,1):durationP_data_2;
-t_P_sec_data_2(:,size(t_P_sec_data_2,2)) = [];
-
-% time in vel
-TimeV_ros_data_2 = Vel_Matrix_data_2(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_2 = (TimeV_ros_data_2(size(TimeV_ros_data_2,1),:) - TimeV_ros_data_2(1,:))*10^(-9);
-
-t_V_sec_data_2 = 0:durationV_data_2/size(TimeV_ros_data_2,1):durationV_data_2;
-t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 3: 538 ros messages for geometry_msgs/Twist 
-%         539 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .44; I = .0005; D = 0.15;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-% Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
-
-Pose_Matrix_data_3 = csvread('CAM_PID_.38_0_.02.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.38_0_.02.txt',1,0);
-
-% time in position
-TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_3 = (TimeP_ros_data_3(size(TimeP_ros_data_3,1),:) - TimeP_ros_data_3(1,:))*10^(-9); 
-  
-t_P_sec_data_3 = 0:durationP_data_3/size(TimeP_ros_data_3,1):durationP_data_3;
-t_P_sec_data_3(:,size(t_P_sec_data_3,2)) = [];
-
-% time in vel
-TimeV_ros_data_3 = Vel_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_3 = (TimeV_ros_data_3(size(TimeV_ros_data_3,1),:) - TimeV_ros_data_3(1,:))*10^(-9);
-
-t_V_sec_data_3 = 0:durationV_data_3/size(TimeV_ros_data_3,1):durationV_data_3;
-t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 4: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.002;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-% 
-% Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
-% Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
-
-Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
-Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
-
-% time in position
-TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_4 = (TimeP_ros_data_4(size(TimeP_ros_data_4,1),:) - TimeP_ros_data_4(1,:))*10^(-9); 
-  
-t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
-t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];
-
-% time in vel
-TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_4 = (TimeV_ros_data_4(size(TimeV_ros_data_4,1),:) - TimeV_ros_data_4(1,:))*10^(-9);
-
-t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
-t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
-
-% -----------------------------------------------------------------------------------------------------
-% data 5: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.1;
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
-Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
-
-% time in position
-TimeP_ros_data_5 = Pose_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationP_data_5 = (TimeP_ros_data_5(size(TimeP_ros_data_5,1),:) - TimeP_ros_data_5(1,:))*10^(-9); 
-  
-t_P_sec_data_5 = 0:durationP_data_5/size(TimeP_ros_data_5,1):durationP_data_5;
-t_P_sec_data_5(:,size(t_P_sec_data_5,2)) = [];
-
-% time in vel
-TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to sec...
-
-% duriation =         end_time        -     start_time
-  durationV_data_5 = (TimeV_ros_data_5(size(TimeV_ros_data_5,1),:) - TimeV_ros_data_5(1,:))*10^(-9);
-
-t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
-t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
-
-%% Pose estimation
-
-%data 1:
-% when using marker pose ,,,,
-Pose_X_data_1 = Pose_Matrix_data_1(:,4);
-Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
-Theta_data_1 = Pose_Matrix_data_1(:,7);
-
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
-ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
-ref_Theta_data_1 = Theta_data_1(size(Theta_data_1,1));
-ref_Pose_data_1 =[ref_X_data_1;ref_Y_data_1];
-
-%data 2:
-% when using marker pose ,,,,
-Pose_X_data_2 = Pose_Matrix_data_2(:,4);
-Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
-Theta_data_2 = Pose_Matrix_data_2(:,7);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
-ref_Y_data_2 = Pose_Y_data_2(size(Pose_Y_data_2,1));
-ref_Theta_data_2 = Theta_data_2(size(Theta_data_2,1));
-ref_Pose_data_2 =[ref_X_data_2;ref_Y_data_2];
-
-%data 3:
-% when using marker pose ,,,,
-Pose_X_data_3 = Pose_Matrix_data_3(:,4);
-Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
-Theta_data_3 = Pose_Matrix_data_3(:,7);
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
-ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
-ref_Theta_data_3 = Theta_data_3(size(Theta_data_3,1));
-ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
-
-%data 4:
-% when using marker pose ,,,,
-Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
-Theta_data_4 = Pose_Matrix_data_4(:,7);
-
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
-ref_Y_data_4 = Pose_Y_data_4(size(Pose_Y_data_4,1));
-ref_Theta_data_4 = Theta_data_4(size(Theta_data_4,1));
-ref_Pose_data_4 =[ref_X_data_4;ref_Y_data_4];
-
-
-%data 5:
-% when using marker pose ,,,,
-Pose_X_data_5 = Pose_Matrix_data_5(:,4);
-Pose_Y_data_5 = Pose_Matrix_data_5(:,3);
-Theta_data_5 = Pose_Matrix_data_5(:,7);
-
-% Extracting reference values when the robot is manually docked!
-ref_X_data_5 = Pose_X_data_5(size(Pose_X_data_5,1));
-ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
-ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
-ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
-
-
-% Reference Circle 
-thresh_X = .001;
-theta = 0:.001:2*pi;
-% needs to be adjusted manually if docking platform is replaced!
-ref_x = .20095;
-ref_y = .0081;
-x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
-y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
-
-
-%% Velocity estimation
-
-% data 1:
-Vel_X_data_1 = Vel_Matrix_data_1(:,2);
-Vel_Y_data_1 = Vel_Matrix_data_1(:,3);
-Omega_Z_data_1 = Vel_Matrix_data_1(:,7);
-
-% data 2:
-Vel_X_data_2 = Vel_Matrix_data_2(:,2);
-Vel_Y_data_2 = Vel_Matrix_data_2(:,3);
-Omega_Z_data_2 = Vel_Matrix_data_2(:,7);
-
-% data 3:
-Vel_X_data_3 = Vel_Matrix_data_3(:,2);
-Vel_Y_data_3 = Vel_Matrix_data_3(:,3);
-Omega_Z_data_3 = Vel_Matrix_data_3(:,7);
-
-% data 4:
-Vel_X_data_4 = Vel_Matrix_data_4(:,2);
-Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
-Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
-
-% data 5:
-Vel_X_data_5 = Vel_Matrix_data_5(:,2);
-Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
-Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
-
-%% Plots
-
-% marker position
-figure;
-plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
-xlabel('time');
-ylabel('y');
-
-figure;
-plot(t_P_sec_data_4,Theta_data_4),'k','LineWidth',1.6);
-xlabel('time');
-ylabel('\theta');
-
-
-figure;
-set(gcf,'color','white');
-subplot(3,1,1);
-plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
-title('Pose estimation in marker coordinate system');
-ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
-
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
-
-subplot(3,1,2);
-plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
-ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-
-subplot(3,1,3);
-plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
-hold on
-plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
-ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
-
-% control signals
-
-figure;
-set(gcf,'color','white');
-subplot(3,1,1);
-
-plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
-
-title('Control Signals');
-ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-axis([0 45 -.01 .2]);
-
-l2 = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$');
-set(l2,'interpreter','latex','FontSize',11);
-legend('boxoff');
-
-
-subplot(3,1,2);
-plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
-ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-
-subplot(3,1,3);
-plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
-hold on
-plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
-hold on
-plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
-hold on
-plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
-xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
-ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
-
-
-% Trajectory 
-
-% 
-% figure;
-% plot(Pose_Y_data_1,Pose_X_data_1,'b',ref_Y_data_1,ref_X_data_1,'k*');
-% hold on
-% plot(Pose_Y_data_2,Pose_X_data_2,'r',ref_Y_data_2,ref_X_data_2,'k*');
-% 
-% hold on
-% plot(Pose_Y_data_3,Pose_X_data_3,'g',ref_Y_data_3,ref_X_data_3,'k*');
-
-
-% 
-% for k = Pose_X_data_1(1):Pose_X_data_1(size(Pose_X_data_1,1))
-%     x_arrow(k) = 
-%     
-% end
-% 
-% x_arrow = linspace(Pose_X_data_1(1),Pose_X_data_1(size(Pose_X_data_1,1)),150);
-% y_arrow = linspace(Pose_Y_data_1(1),Pose_Y_data_1(size(Pose_Y_data_1,1)),150);
-% 
-% Vx = gradient(Pose_X_data_1);
-% Vy = gradient(Pose_Y_data_1);
-
-% figure;
-% plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',3.5);
-% hold on
-% quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
-
-figure;
-plot(abs(Pose_Y_data_4),Pose_X_data_4,'k','LineWidth',1.1);
-axis([-.5 .7 .1 1.6]);
-
-
-figure;
-subplot(1,3,1);
-plot(abs(Pose_Y_data_1),Pose_X_data_1,'b','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_1),Pose_X_data_1,gradient(Pose_Y_data_1),gradient(Pose_X_data_1),'r--','LineWidth',.1);
-
-hold on
-plot(abs(Pose_Y_data_2),Pose_X_data_2,'r','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_2),Pose_X_data_2,gradient(Pose_Y_data_2),gradient(Pose_X_data_2),'m--','LineWidth',.1);
-
-hold on
-plot(abs(Pose_Y_data_3),Pose_X_data_3,'g','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
-
-hold on
-plot(abs(Pose_Y_data_4),Pose_X_data_4,'m','LineWidth',2);
-% hold on
-% quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
-
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('Approach zone + SM zone + Target area');
-ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
-% axis([-.1 .4 .18 1.4]);
-axis([-.5 .7 .1 1.6])
-
-subplot(1,3,2);
-plot(abs(Pose_Y_data_1),Pose_X_data_1,'b','LineWidth',2);
-hold on
-plot(abs(Pose_Y_data_2),Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(abs(Pose_Y_data_3),Pose_X_data_3,'g','LineWidth',2);
-hold on
-plot(abs(Pose_Y_data_4),Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('SM zone + Target area');
-xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
-% axis([-.005 0.045 .195 .32]);
-
-subplot(1,3,3);
-plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
-hold on
-plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
-hold on
-plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-hold on
-plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
-hold on
-plot(y_circle,x_circle,'k--','LineWidth',3.4);
-
-title('Target area');
-% axis([0.0065 .0095 .1995 .2055]);
-
-l = legend('${P_y = 0.86, I_y = 0, D_y = 0.002}$', '${P_y = 0.66, I_y = 0, D_y = 0.1}$','${P_y = 0.86, I_y = 0, D_y = 0.1}$','${P_y = 0.51, I_y = 0.0005, D_y = 0.05}$' ,'Target');
-set(l,'interpreter','latex','FontSize',11);
-% legend('boxoff');
-
-% 
-% % sampling time
-% figure;
-% set(gcf,'color','white');
-% 
-% subplot(2,2,1);
-% plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',1.4)
-% hold on
-% plot (diff(t_P_sec_data_3),'k--','LineWidth',1.8);
-% % hold on
-% title({'USB Camera';'Position'});
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-% axis([0 450 .068 .11]);
-% l3 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l3,'interpreter','latex','FontSize',13);
-% 
-% subplot(2,2,2);
-% plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4)
-% hold on;
-% plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-% 
-% title({'Android Camera';'Position'});
-% axis([0 234 .068 .3]);
-% 
-% l4 = legend('${Time_{ROS}}$','${Time_{Real}} [sec]$','Orientation','horizontal');
-% set(l4,'interpreter','latex','FontSize',13);
-% legend('boxoff');
-% 
-% subplot(2,2,3);
-% plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',1.4);
-% hold on;
-% plot (diff(t_V_sec_data_3),'k--','LineWidth',1.8);
-% % hold on;
-% title('Velocity');
-% xlabel('samples','interpreter','latex','FontSize',13);
-% ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% axis([0 450 .068 .11]);
-% 
-% subplot(2,2,4);
-% plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-% 
-% title('Velocity');
-% xlabel('samples','interpreter','latex','FontSize',13);
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',11);
-% axis([0 234 .068 .3]);
-% 
-% 
-% figure;
-% set(gcf,'color','white');
-% 
-% subplot(2,1,1);
-% pa1 = plot(diff(TimeP_ros_data_3)/1e9,'r','LineWidth',2.1);
-% hold on
-% pa2 = plot (diff(t_P_sec_data_3),'k--','LineWidth',1.5);
-% hold on
-% pa3 = plot(diff(TimeP_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% pa4 = plot (diff(t_P_sec_data_5),'b--','LineWidth',1.8);
-% hold off;
-% axis([0 234 0 .3]);
-% title('Position');
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% % 
-% % l5 = legend([pa1 pa2],'$USB Camera {Time_{ROS}}$','$ USB Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% % set(l5,'interpreter','latex','FontSize',11);
-% 
-% % leg = 
-% legend('ROS Time, USB camera','Real Time, USB camera [sec]','ROS Time, IP camera','Real Time, IP camera [sec]','Location','northwest');
-% legend('boxoff');
-% 
-% subplot(2,1,2);
-% p1 = plot(diff(TimeV_ros_data_3)/1e9,'r','LineWidth',2.1);
-% hold on;
-% p2 = plot (diff(t_V_sec_data_3),'k--','LineWidth',1.5);
-% hold on;
-% p3 = plot(diff(TimeV_ros_data_5)/1e9,'g','LineWidth',1.4);
-% hold on;
-% p4 = plot (diff(t_V_sec_data_5),'b--','LineWidth',1.8);
-% hold off;
-% axis([0 234 0 .3]);
-% title('Velocity');
-% % ylabel('Sampling time [sec]','interpreter','latex','FontSize',13);
-% % xlabel('Sample','interpreter','latex','FontSize',13);
-% % 
-% % l6 = legend([p3 p4],'$ Android Camera {Time_{ROS}}$','$ Android Camera {Time_{Real}} [sec]$','Orientation','horizontal');
-% % set(l6,'interpreter','latex','FontSize',12);
-% 
-% MaxOvershoot_1 = -ref_y + min(Pose_Y_data_1)
-% MaxOvershoot_2 = -ref_y + min(Pose_Y_data_2)
-% MaxOvershoot_3 = -ref_y + min(Pose_Y_data_3)
-% MaxOvershoot_4 = -ref_y + min(Pose_Y_data_4)
-% % Pose diff 
-% % figure;
-% % subplot(3,1,1);
-% % plot(diff(Pose_X_data_1));
-% % title('X-Pose diff');
-% % xlabel('samples');
-% % ylabel('X difference [m]');
-% % grid on
-% % 
-% % subplot(3,1,2);
-% % plot(diff(Pose_X_data_1));
-% % title('Y-Pose diff');
-% % xlabel('samples');
-% % ylabel('Y difference [m]');
-% % grid on
-% % 
-% % subplot(3,1,3);
-% % plot(diff(Theta_data_1));
-% % title('\theta-Pose diff');
-% % xlabel('samples');
-% % ylabel('\theta difference [rad]');
-% % grid on
\ No newline at end of file
diff --git a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
index 63a4cd75..8880524b 100644
--- a/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
+++ b/Files_4_thesis/Different_controllers/docking_with_PID_controller.m
@@ -1,27 +1,13 @@
 clc;
 close all;
 clear all;
+
+yaw_off = pi;
 %% Import data and time conversion
 
 % data 1: 556 ros messages for geometry_msgs/Twist 
 %         557 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% (010816_1718) best!!!
-% P = .4; I = 0; D = 0; 
 
-% y-axis gains:
-% (280716_2024) better!!!
-% P = .44; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
-
-% y-axis gains:
-% (280716_2002)
-% P = .46; I = 0; D = 0; 
-
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
 
 % Pose_Matrix_data_1 = csvread('POSE_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_1 = csvread('VEL_with_Py0.86_Iy0_Dy0.002ANDPt0.08_It0_Dt0.txt',1,0);
@@ -91,8 +77,8 @@ t_V_sec_data_2(:,size(t_V_sec_data_2,2)) = [];
 % Pose_Matrix_data_3 = csvread('POSE_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_3 = csvread('VEL_with_Py0.86_Iy0_Dy0.1ANDPt0.08_It0_Dt0.txt',1,0);
 
-Pose_Matrix_data_3 = csvread('CAM_PID_.3_.0004_.02.txt',1,0);
-Vel_Matrix_data_3 = csvread('vel_PID_.3_.0004_.02.txt',1,0);
+Pose_Matrix_data_3 = csvread('Trans_PID_.28_0_.006.txt',1,0);
+Vel_Matrix_data_3 = csvread('vel_PID_.28_0_.006.txt',1,0);
 
 % time in position
 TimeP_ros_data_3 = Pose_Matrix_data_3(:,1); % ros time, needs to be converted to sec...
@@ -124,8 +110,8 @@ t_V_sec_data_3(:,size(t_V_sec_data_3,2)) = [];
 % Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
 
-Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
-Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
+Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014.txt',1,0);
 
 % time in position
 TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
@@ -146,13 +132,8 @@ t_V_sec_data_4 = 0:durationV_data_4/size(TimeV_ros_data_4,1):durationV_data_4;
 t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
 
 % -----------------------------------------------------------------------------------------------------
-% data 5: 450 ros messages for geometry_msgs/Twist 
-%         451 ros messages for geometry_msgs/PoseStamped
-% y-axis gains:
-% P = .86; I = 0; D = 0.1;
+% data 5: ANDROID CAMERA
 
-% theta-axis gains:
-% P = .08; I = 0; D = 0;
 
 Pose_Matrix_data_5 = csvread('Pose_with_Android.txt',1,0);
 Vel_Matrix_data_5 = csvread('Velocity_with_Android.txt',1,0);
@@ -175,6 +156,32 @@ TimeV_ros_data_5 = Vel_Matrix_data_5(:,1); % ros time, needs to be converted to
 t_V_sec_data_5 = 0:durationV_data_5/size(TimeV_ros_data_5,1):durationV_data_5;
 t_V_sec_data_5(:,size(t_V_sec_data_5,2)) = [];
 
+% -----------------------------------------------------------------------------------------------------
+% data 6: with several oscilations
+
+
+Pose_Matrix_data_6 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
+Vel_Matrix_data_6 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
+
+% time in position
+TimeP_ros_data_6 = Pose_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationP_data_6 = (TimeP_ros_data_6(size(TimeP_ros_data_6,1),:) - TimeP_ros_data_6(1,:))*10^(-9); 
+  
+t_P_sec_data_6 = 0:durationP_data_6/size(TimeP_ros_data_6,1):durationP_data_6;
+t_P_sec_data_6(:,size(t_P_sec_data_6,2)) = [];
+
+% time in vel
+TimeV_ros_data_6 = Vel_Matrix_data_6(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationV_data_6 = (TimeV_ros_data_6(size(TimeV_ros_data_6,1),:) - TimeV_ros_data_6(1,:))*10^(-9);
+
+t_V_sec_data_6 = 0:durationV_data_6/size(TimeV_ros_data_6,1):durationV_data_6;
+t_V_sec_data_6(:,size(t_V_sec_data_6,2)) = [];
+
+
 %% Pose estimation
 
 %data 1:
@@ -183,12 +190,14 @@ Pose_X_data_1 = Pose_Matrix_data_1(:,4);
 Pose_Y_data_1 = Pose_Matrix_data_1(:,3);
 Theta_data_1 = Pose_Matrix_data_1(:,7);
 
-
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
+% for i = 1:size(Theta_data_1,1)
+%     if (Theta_data_1(i) > 0)
+%         Theta_data_1(i) = Theta_data_1(i) - yaw_off;
+%     else if(Theta_data_1(i) < 0)
+%             Theta_data_1(i) = Theta_data_1(i) + yaw_off;
+%         end
+%     end
+% end
 % Extracting reference values when the robot is manually docked!
 ref_X_data_1 = Pose_X_data_1(size(Pose_X_data_1,1));
 ref_Y_data_1 = Pose_Y_data_1(size(Pose_Y_data_1,1));
@@ -201,10 +210,14 @@ Pose_X_data_2 = Pose_Matrix_data_2(:,4);
 Pose_Y_data_2 = Pose_Matrix_data_2(:,3);
 Theta_data_2 = Pose_Matrix_data_2(:,7);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
+% for i = 1:size(Theta_data_2,1)
+%     if (Theta_data_2(i) > 0)
+%         Theta_data_2(i) = Theta_data_2(i) - yaw_off;
+%     else if(Theta_data_2(i) < 0)
+%             Theta_data_2(i) = Theta_data_2(i) + yaw_off;
+%         end
+%     end
+% end
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_2 = Pose_X_data_2(size(Pose_X_data_2,1));
@@ -218,11 +231,15 @@ Pose_X_data_3 = Pose_Matrix_data_3(:,4);
 Pose_Y_data_3 = Pose_Matrix_data_3(:,3);
 Theta_data_3 = Pose_Matrix_data_3(:,7);
 
-% when using robot odometry ,,,,
-% Pose_X = Pose_Matrix(:,2);
-% Pose_Y = Pose_Matrix(:,3);
-% Theta = Pose_Matrix(:,7);
-
+% 
+% for i = 1:size(Theta_data_3,1)
+%     if (Theta_data_3(i) > 0)
+%         Theta_data_3(i) = Theta_data_3(i) - yaw_off;
+%     else if(Theta_data_3(i) < 0)
+%             Theta_data_3(i) = Theta_data_3(i) + yaw_off;
+%         end
+%     end
+% end
 % Extracting reference values when the robot is manually docked!
 ref_X_data_3 = Pose_X_data_3(size(Pose_X_data_3,1));
 ref_Y_data_3 = Pose_Y_data_3(size(Pose_Y_data_3,1));
@@ -232,9 +249,17 @@ ref_Pose_data_3 =[ref_X_data_3;ref_Y_data_3];
 %data 4:
 % when using marker pose ,,,,
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
-Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
-Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
-
+Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
+Theta_data_4 = Pose_Matrix_data_4(:,7);
+% 
+% for i = 1:size(Theta_data_4,1)
+%     if (Theta_data_4(i) > 0)
+%         Theta_data_4(i) = Theta_data_4(i) - yaw_off;
+%     else if(Theta_data_4(i) < 0)
+%             Theta_data_4(i) = Theta_data_4(i) + yaw_off;
+%         end
+%     end
+% end
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
@@ -255,17 +280,27 @@ ref_Y_data_5 = Pose_Y_data_5(size(Pose_Y_data_5,1));
 ref_Theta_data_5 = Theta_data_5(size(Theta_data_5,1));
 ref_Pose_data_5 =[ref_X_data_5;ref_Y_data_5];
 
+%data 6:
+% when using marker pose ,,,,
+Pose_X_data_6 = Pose_Matrix_data_6(:,4);
+Pose_Y_data_6 = Pose_Matrix_data_6(:,3);
+Theta_data_6 = Pose_Matrix_data_6(:,7);
+
+% Extracting reference values when the robot is manually docked!
+ref_X_data_6 = Pose_X_data_6(size(Pose_X_data_6,1));
+ref_Y_data_6 = Pose_Y_data_6(size(Pose_Y_data_6,1));
+ref_Theta_data_6 = Theta_data_6(size(Theta_data_6,1));
+ref_Pose_data_6 =[ref_X_data_6;ref_Y_data_6];
 
 % Reference Circle 
 thresh_X = .001;
 theta = 0:.001:2*pi;
 % needs to be adjusted manually if docking platform is replaced!
-ref_x = .20095;
-ref_y = .0081;
+ref_x = .2026;
+ref_y = .0087;
 x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
 y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
 
-
 %% Velocity estimation
 
 % data 1:
@@ -293,16 +328,21 @@ Vel_X_data_5 = Vel_Matrix_data_5(:,2);
 Vel_Y_data_5 = Vel_Matrix_data_5(:,3);
 Omega_Z_data_5 = Vel_Matrix_data_5(:,7);
 
+% data 6:
+Vel_X_data_6 = Vel_Matrix_data_6(:,2);
+Vel_Y_data_6 = Vel_Matrix_data_6(:,3);
+Omega_Z_data_6 = Vel_Matrix_data_6(:,7);
+
 %% Plots
 
 % marker position
 figure;
-plot(t_P_sec_data_4,Pose_Y_data_4,'k','LineWidth',1.6);
+plot(t_P_sec_data_6,Pose_Y_data_6,'k','LineWidth',1.6);
 xlabel('time');
 ylabel('y');
 
 figure;
-plot(t_P_sec_data_4,Theta_data_4,'k','LineWidth',1.6);
+plot(t_P_sec_data_6,Theta_data_6,'k','LineWidth',1.6);
 xlabel('time');
 ylabel('\theta');
 
@@ -310,38 +350,39 @@ ylabel('\theta');
 figure;
 set(gcf,'color','white');
 subplot(3,1,1);
-plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',3);
+plot(t_P_sec_data_1,Pose_X_data_1,'LineWidth',2.1);
 hold on
 plot(t_P_sec_data_2,Pose_X_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.6);
+plot(t_P_sec_data_3,Pose_X_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_P_sec_data_4,Pose_X_data_4,'m','LineWidth',1.5);
 title('Pose estimation in marker coordinate system');
 ylabel('${x_{mar}}$ [m]','interpreter','latex','FontSize',14);
 
-l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
 subplot(3,1,2);
-plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',3);
+plot(t_P_sec_data_1,Pose_Y_data_1,'LineWidth',2.1);
 hold on
 plot(t_P_sec_data_2,Pose_Y_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.6);
+plot(t_P_sec_data_3,Pose_Y_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_P_sec_data_4,Pose_Y_data_4,'m','LineWidth',1.5);
 ylabel('${y_{mar}}$ [m]','interpreter','latex','FontSize',14);
-% axis([0 80 -.1 .67])
+
 subplot(3,1,3);
-plot(t_P_sec_data_1,Theta_data_1,'LineWidth',3);
+plot(t_P_sec_data_1,Theta_data_1,'LineWidth',2.1);
 hold on
 plot(t_P_sec_data_2,Theta_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.6);
+plot(t_P_sec_data_3,Theta_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_P_sec_data_4,Theta_data_4,'m','LineWidth',1.5);
+
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('${\theta_{mar}}$ [rad]','interpreter','latex','FontSize',14);
 
@@ -351,41 +392,40 @@ figure;
 set(gcf,'color','white');
 subplot(3,1,1);
 
-plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Vel_X_data_1,'LineWidth',2.1);
 hold on
 plot(t_V_sec_data_2,Vel_X_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Vel_X_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Vel_X_data_4,'m','LineWidth',1.5);
 
 title('Control Signals');
 ylabel('$\dot{x}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
-axis([0 45 -.01 .2]);
 
-l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l2 = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$');
 set(l2,'interpreter','latex','FontSize',11);
 legend('boxoff');
 
 
 subplot(3,1,2);
-plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Vel_Y_data_1,'LineWidth',2.1);
 hold on
 plot(t_V_sec_data_2,Vel_Y_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Vel_Y_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Vel_Y_data_4,'m','LineWidth',1.5);
 ylabel('$\dot{y}_{Rob}$ [m/s]','interpreter','latex','FontSize',14);
 
 subplot(3,1,3);
-plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',3);
+plot(t_V_sec_data_1,Omega_Z_data_1,'LineWidth',2.1);
 hold on
 plot(t_V_sec_data_2,Omega_Z_data_2,'r','LineWidth',1.7);
 hold on
-plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',2.3);
-% hold on
-% plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.6);
+plot(t_V_sec_data_3,Omega_Z_data_3,'g','LineWidth',1.8);
+hold on
+plot(t_V_sec_data_4,Omega_Z_data_4,'m','LineWidth',1.5);
 xlabel('$ time [sec]$','interpreter','latex','FontSize',14);
 ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 
@@ -420,8 +460,8 @@ ylabel('$\dot{\theta}_{Rob}$ [rad/s]','interpreter','latex','FontSize',14);
 % quiver(Pose_Y_data_1,Pose_X_data_1,Vy,Vx,'r--','LineWidth',.1);
 
 figure;
-plot(Pose_Y_data_4,Pose_X_data_4,'k','LineWidth',1.1);
-axis([-.5 .7 .1 1.6]);
+plot(Pose_Y_data_6,Pose_X_data_6,'k','LineWidth',1.4);
+axis([-.3 .7 .1 1.6]);
 
 
 figure;
@@ -440,8 +480,8 @@ plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
 % hold on
 % quiver(abs(Pose_Y_data_3),Pose_X_data_3,gradient(Pose_Y_data_3),gradient(Pose_X_data_3),'k--','LineWidth',.1);
 
-% hold on
-% plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 % hold on
 % quiver(abs(Pose_Y_data_4),Pose_X_data_4,gradient(Pose_Y_data_4),gradient(Pose_X_data_4),'b--','LineWidth',.1);
 
@@ -450,8 +490,7 @@ plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Approach zone + SM zone + Target area');
 ylabel('${x}_{mar}$ [m]','interpreter','latex','FontSize',14);
-% axis([-.1 .4 .18 1.4]);
-axis([-.5 .7 .1 1.6])
+axis([-.05 .26 .19 1.52]);
 
 subplot(1,3,2);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -459,14 +498,14 @@ hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
 hold on
 plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-% hold on
-% plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('SM zone + Target area');
 xlabel('${y}_{mar}$ [m]','interpreter','latex','FontSize',14);
-% axis([-.005 0.045 .195 .32]);
+axis([-.023 0.02 .19 .29]);
 
 subplot(1,3,3);
 plot(Pose_Y_data_1,Pose_X_data_1,'b','LineWidth',2);
@@ -474,15 +513,15 @@ hold on
 plot(Pose_Y_data_2,Pose_X_data_2,'r','LineWidth',2);
 hold on
 plot(Pose_Y_data_3,Pose_X_data_3,'g','LineWidth',2);
-% hold on
-% plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
+hold on
+plot(Pose_Y_data_4,Pose_X_data_4,'m','LineWidth',2);
 hold on
 plot(y_circle,x_circle,'k--','LineWidth',3.4);
 
 title('Target area');
-% axis([0.0065 .0095 .1995 .2055]);
+axis([0.0072 .0101 .20 .2056]);
 
-l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.3, I_y = 0.0004, D_y = 0.02}$','${P_y = 0.39, I_y = 0.0005, D_y = 0.01}$');
+l = legend('${P_y = 0.28, I_y = 0.0001, D_y = 0.01}$', '${P_y = 0.29, I_y = 0.00026, D_y = 0.015}$','${P_y = 0.28, I_y = 0, D_y = 0.006}$','${P_y = 0.266, I_y = 0.0003, D_y = 0.014}$','${Target}$');
 set(l,'interpreter','latex','FontSize',11);
 % legend('boxoff');
 
diff --git a/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt
new file mode 100644
index 00000000..938bf508
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014.txt
@@ -0,0 +1,336 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475057448861447116,0.15,-0.236903457995,0.0,0.0,0.0,0.050323176384
+1475057448961320169,0.15,-0.15796277039,0.0,0.0,0.0,0.0516177892685
+1475057449049653000,0.15,-0.155661921094,0.0,0.0,0.0,0.0509604692459
+1475057449136758889,0.15,-0.156154803349,0.0,0.0,0.0,0.0509604692459
+1475057449216380114,0.15,-0.157445687816,0.0,0.0,0.0,0.0515488266945
+1475057449303620306,0.15,-0.158281601687,0.0,0.0,0.0,0.0521292567253
+1475057449383025813,0.15,-0.15660864475,0.0,0.0,0.0,0.0515488266945
+1475057449467080306,0.15,-0.157059843488,0.0,0.0,0.0,0.0515488266945
+1475057449553131106,0.15,-0.149245495663,0.0,0.0,0.0,0.0485307455063
+1475057449639361692,0.15,-0.150391180832,0.0,0.0,0.0,0.0477343678474
+1475057449719445708,0.15,-0.161581523731,0.0,0.0,0.0,0.0539364099503
+1475057449801250545,0.15,-0.126162883514,0.0,0.0,0.0,0.0402397990227
+1475057449885979252,0.15,-0.158141545583,0.0,0.0,0.0,0.0519978880882
+1475057449971464584,0.15,-0.157055045953,0.0,0.0,0.0,0.0576278448105
+1475057450055318767,0.15,-0.131491276872,0.0,0.0,0.0,0.0476804256439
+1475057450139787569,0.15,-0.143499442056,0.0,0.0,0.0,0.0512091994286
+1475057450224216200,0.15,0.286707360063,0.0,0.0,0.0,-0.146893453598
+1475057450305704583,0.15,-0.278706653472,0.0,0.0,0.0,0.0474402189255
+1475057450388841706,0.15,0.249309938435,0.0,0.0,0.0,-0.131584477425
+1475057450479669176,0.15,0.151333293486,0.0,0.0,0.0,-0.148521316051
+1475057450563843643,0.15,-0.266061554938,0.0,0.0,0.0,0.0469114661217
+1475057450647177744,0.15,0.253066339831,0.0,0.0,0.0,-0.137646090984
+1475057450724734818,0.15,-0.219924879241,0.0,0.0,0.0,0.0309035658836
+1475057450819144634,0.15,-0.0973535820686,0.0,0.0,0.0,0.0296577692032
+1475057450896304160,0.15,-0.111872609087,0.0,0.0,0.0,0.0381224632263
+1475057450980849945,0.15,-0.109096961164,0.0,0.0,0.0,0.0402956485748
+1475057451059000305,0.15,-0.0771845134748,0.0,0.0,0.0,0.0250303030014
+1475057451143925233,0.15,-0.0902379544947,0.0,0.0,0.0,0.0273350954056
+1475057451224316498,0.15,-0.107198959119,0.0,0.0,0.0,0.0396902441978
+1475057451303728302,0.15,0.208136176539,0.0,0.0,0.0,-0.121701133251
+1475057451387653522,0.15,-0.202981323307,0.0,0.0,0.0,0.0397717833519
+1475057451468501625,0.15,0.187847804391,0.0,0.0,0.0,-0.111720335484
+1475057451548557256,0.15,-0.205531662848,0.0,0.0,0.0,0.0501849532127
+1475057451622787139,0.15,-0.105742940839,0.0,0.0,0.0,0.0533853650093
+1475057451700609649,0.15,-0.0813938524785,0.0,0.0,0.0,0.0421568036079
+1475057451781581726,0.15,-0.0861631217325,0.0,0.0,0.0,0.0440961003304
+1475057451862171416,0.15,-0.0611852373114,0.0,0.0,0.0,0.0294791936874
+1475057451940233716,0.15,-0.0787221797395,0.0,0.0,0.0,0.0362092733383
+1475057452019511241,0.15,-0.0718539103065,0.0,0.0,0.0,0.0360196709633
+1475057452098982681,0.15,-0.0577144672525,0.0,0.0,0.0,0.0270861268044
+1475057452175648595,0.15,-0.0969109723055,0.0,0.0,0.0,0.0510730624199
+1475057452252822882,0.15,-0.0577873337997,0.0,0.0,0.0,0.0349572181702
+1475057452332367472,0.15,-0.0632907400178,0.0,0.0,0.0,0.0343002557755
+1475057452416297807,0.15,-0.0749813141225,0.0,0.0,0.0,0.04318754673
+1475057452498671597,0.15,-0.0457104597186,0.0,0.0,0.0,0.0279415726662
+1475057452585364555,0.15,-0.0715144155479,0.0,0.0,0.0,0.0404823303223
+1475057452669082196,0.15,0.120030276877,0.0,0.0,0.0,-0.0775138258934
+1475057452752666597,0.15,-0.1097998014,0.0,0.0,0.0,0.0298028469086
+1475057452842863750,0.15,-0.0628779381494,0.0,0.0,0.0,0.0375363111496
+1475057452922038591,0.15,-0.0445070940547,0.0,0.0,0.0,0.028419482708
+1475057453005217416,0.15,-0.0484240010307,0.0,0.0,0.0,0.0289274334908
+1475057453094791743,0.15,-0.0422962969919,0.0,0.0,0.0,0.0249979376793
+1475057453175424642,0.15,-0.0529258902333,0.0,0.0,0.0,0.0323265075684
+1475057453256781666,0.15,-0.0400847671505,0.0,0.0,0.0,0.0261318564415
+1475057453341229522,0.15,-0.0518666926576,0.0,0.0,0.0,0.0332038283348
+1475057453433371535,0.15,-0.0301975194685,0.0,0.0,0.0,0.0205648422241
+1475057453511032588,0.15,-0.0416798393998,0.0,0.0,0.0,0.0250831723213
+1475057453599180886,0.15,-0.0266808198857,0.0,0.0,0.0,0.0165168523788
+1475057453681264123,0.15,-0.0493008209088,0.0,0.0,0.0,0.0314963936806
+1475057453759432989,0.15,-0.0247521724452,0.0,0.0,0.0,0.0184869647026
+1475057453841882163,0.15,-0.0437903898884,0.0,0.0,0.0,0.029752600193
+1475057453920088569,0.15,-0.0227815612736,0.0,0.0,0.0,0.017136323452
+1475057453998569409,0.15,-0.028659754183,0.0,0.0,0.0,0.0180208563805
+1475057454081671633,0.15,-0.0196766150583,0.0,0.0,0.0,0.0117863297462
+1475057454161112749,0.15,-0.0302490835033,0.0,0.0,0.0,0.018670129776
+1475057454239494702,0.15,-0.0246419730665,0.0,0.0,0.0,0.0171224951744
+1475057454320612510,0.15,-0.0311590639879,0.0,0.0,0.0,0.0226763367653
+1475057454399247210,0.15,-0.0252525733731,0.0,0.0,0.0,0.0197895050049
+1475057454488396088,0.15,-0.0216764354328,0.0,0.0,0.0,0.0162458896637
+1475057454571274878,0.15,-0.0210886940552,0.0,0.0,0.0,0.0148077487946
+1475057454649550750,0.15,-0.0156935303689,0.0,0.0,0.0,0.00995658636093
+1475057454731657301,0.15,-0.0236423984997,0.0,0.0,0.0,0.0158915400505
+1475057454807429664,0.15,-0.0187593057302,0.0,0.0,0.0,0.0136402130127
+1475057454886742934,0.15,-0.0251508550107,0.0,0.0,0.0,0.0198715209961
+1475057454964793018,0.15,-0.00835697970308,0.0,0.0,0.0,0.00568108558655
+1475057455045482454,0.15,-0.0191838845365,0.0,0.0,0.0,0.012069272995
+1475057455129565264,0.15,-0.0208241476927,0.0,0.0,0.0,0.0163043618202
+1475057455212160333,0.15,-0.0188493477343,0.0,0.0,0.0,0.0165484428406
+1475057455293821985,0.15,-0.0139197141938,0.0,0.0,0.0,0.0116483449936
+1475057455370720511,0.15,-0.0183681251667,0.0,0.0,0.0,0.0151049375534
+1475057455450702600,0.15,-0.0141821844275,0.0,0.0,0.0,0.0123094797134
+1475057455531645995,0.15,-0.0143138454684,0.0,0.0,0.0,0.0117307186127
+1475057455609350422,0.15,-0.0162699381289,0.0,0.0,0.0,0.0145265936852
+1475057455691610174,0.15,-0.0144950809645,0.0,0.0,0.0,0.0136993408203
+1475057455772980975,0.15,-0.00839791340105,0.0,0.0,0.0,0.00655608177185
+1475057455848823540,0.15,-0.0149128888752,0.0,0.0,0.0,0.0127252221107
+1475057455929702672,0.15,-0.0112542855666,0.0,0.0,0.0,0.010747718811
+1475057456007439681,0.15,-0.00945663104142,0.0,0.0,0.0,0.00841383934021
+1475057456085532220,0.15,-0.00941503517849,0.0,0.0,0.0,0.00786702632904
+1475057456165000047,0.15,-0.0103525638408,0.0,0.0,0.0,0.00964998006821
+1475057456246035842,0.15,-0.00954592107943,0.0,0.0,0.0,0.00944499969482
+1475057456325536636,0.15,-0.0100900862591,0.0,0.0,0.0,0.0105266451836
+1475057456401863759,0.15,-0.00801358460058,0.0,0.0,0.0,0.00861232280731
+1475057456485684007,0.15,-0.00851212201826,0.0,0.0,0.0,0.0089341878891
+1475057456565042028,0.15,-0.00775042678247,0.0,0.0,0.0,0.00829659700394
+1475057456643960751,0.15,-0.00702446650763,0.0,0.0,0.0,0.00771908760071
+1475057456724191072,0.15,-0.00810993260596,0.0,0.0,0.0,0.00951372385025
+1475057456805835995,0.15,-0.00621560561172,0.0,0.0,0.0,0.00748037099838
+1475057456889442756,0.0,-0.00691159667506,0.0,0.0,0.0,0.0087117433548
+1475057456971778444,0.0,-0.00663746058411,0.0,0.0,0.0,0.00896995067596
+1475057457052225237,0.0,-0.00642524927674,0.0,0.0,0.0,0.00957046747208
+1475057457132435475,0.0,-0.00545154462581,0.0,0.0,0.0,0.00838797092438
+1475057457214955999,0.0,-0.00466047453954,0.0,0.0,0.0,0.0073609828949
+1475057457293371744,0.0,-0.00480471134449,0.0,0.0,0.0,0.00755630731583
+1475057457371459393,0.0,-0.00440370643564,0.0,0.0,0.0,0.00786762237549
+1475057457442816237,0.0,-0.00453273085033,0.0,0.0,0.0,0.0084653377533
+1475057457520617130,0.0,-0.00420319691946,0.0,0.0,0.0,0.0083266377449
+1475057457597187259,0.0,-0.00331222054795,0.0,0.0,0.0,0.00668333768845
+1475057457676459304,0.0,-0.00425695102826,0.0,0.0,0.0,0.00817220211029
+1475057457754097528,0.0,-0.00421218789456,0.0,0.0,0.0,0.00852988958359
+1475057457835560597,0.0,-0.004117484034,0.0,0.0,0.0,0.00846992731094
+1475057457916342705,0.0,-0.0035301194207,0.0,0.0,0.0,0.00688700675964
+1475057457994412906,0.0,-0.00398862837118,0.0,0.0,0.0,0.00756936073303
+1475057458071335766,0.0,-0.00406847979326,0.0,0.0,0.0,0.007892537117
+1475057458145240742,0.0,-0.00381495686704,0.0,0.0,0.0,0.00728409290314
+1475057458225851321,0.0,-0.00389157004572,0.0,0.0,0.0,0.00718294382095
+1475057458304493069,0.0,-0.00383564094278,0.0,0.0,0.0,0.00695596933365
+1475057458378932996,0.0,-0.00370285877102,0.0,0.0,0.0,0.00648419857025
+1475057458455947213,0.0,-0.00387994077676,0.0,0.0,0.0,0.00671933889389
+1475057458532570472,0.0,-0.00399838475066,0.0,0.0,0.0,0.00700091123581
+1475057458607583482,0.0,-0.00370992684024,0.0,0.0,0.0,0.00633482933044
+1475057458685460597,0.0,-0.00353469230443,0.0,0.0,0.0,0.00555222034454
+1475057458761354279,0.0,-0.00401954225384,0.0,0.0,0.0,0.00642280578613
+1475057458839200438,0.0,-0.00382738389778,0.0,0.0,0.0,0.00617467164993
+1475057458913989712,0.0,-0.00359118433553,0.0,0.0,0.0,0.00545434951782
+1475057458995438528,0.0,-0.00375771516741,0.0,0.0,0.0,0.00550203323364
+1475057459075219873,0.0,-0.00368438449896,0.0,0.0,0.0,0.0052806019783
+1475057459151878249,0.0,-0.00370048743724,0.0,0.0,0.0,0.00520025491714
+1475057459232133522,0.0,-0.00362593834913,0.0,0.0,0.0,0.00486676692963
+1475057459306224005,0.0,-0.00384160870756,0.0,0.0,0.0,0.00520025491714
+1475057459385058544,0.0,-0.0030887771113,0.0,0.0,0.0,0.00344936847687
+1475057459464883322,0.0,-0.00342673137491,0.0,0.0,0.0,0.00360535383224
+1475057459546368103,0.0,-0.00363306534053,0.0,0.0,0.0,0.00411729812622
+1475057459625849960,0.0,-0.00327650898024,0.0,0.0,0.0,0.00338785648346
+1475057459709968036,0.0,-0.00377295430928,0.0,0.0,0.0,0.00434188842773
+1475057459792552056,0.0,-0.00320138844331,0.0,0.0,0.0,0.00327460765839
+1475057459867371629,0.0,-0.00354516599323,0.0,0.0,0.0,0.00370876789093
+1475057459941863041,0.0,-0.00322745876773,0.0,0.0,0.0,0.00306950807571
+1475057460020145515,0.0,-0.00343152242158,0.0,0.0,0.0,0.00332998037338
+1475057460098349970,0.0,-0.00328763547451,0.0,0.0,0.0,0.0030463218689
+1475057460180690605,0.0,-0.00332485730383,0.0,0.0,0.0,0.00308810472488
+1475057460260663100,0.0,-0.00306678749214,0.0,0.0,0.0,0.00251435041428
+1475057460337903723,0.0,-0.00337867169187,0.0,0.0,0.0,0.00309853553772
+1475057460417280344,0.0,-0.00332242289489,0.0,0.0,0.0,0.00319277048111
+1475057460496502656,0.0,-0.00290981086993,0.0,0.0,0.0,0.00222955942154
+1475057460573900865,0.0,-0.00289507865897,0.0,0.0,0.0,0.0
+1475057460650412483,0.0,-0.00288716110852,0.0,0.0,0.0,0.0
+1475057460729228154,0.0,-0.00307175218463,0.0,0.0,0.0,0.00226490497589
+1475057460816563475,0.0,-0.00299014665468,0.0,0.0,0.0,0.00221740007401
+1475057460903441669,0.0,-0.00303938061559,0.0,0.0,0.0,0.00238745212555
+1475057460982628900,0.0,-0.0026688127334,0.0,0.0,0.0,0.0
+1475057461060832450,0.0,-0.00274091198273,0.0,0.0,0.0,0.0
+1475057461137187166,0.0,-0.00295965326863,0.0,0.0,0.0,0.0
+1475057461215397052,0.0,-0.00265537159472,0.0,0.0,0.0,0.0
+1475057461292919483,0.0,-0.0027344674867,0.0,0.0,0.0,0.0
+1475057461371522493,0.0,-0.00264348786931,0.0,0.0,0.0,0.0
+1475057461450704578,0.0,-0.0026709863241,0.0,0.0,0.0,0.0
+1475057461524507903,0.0,-0.00247248026826,0.0,0.0,0.0,0.0
+1475057461603429641,0.0,-0.00264501183855,0.0,0.0,0.0,0.0
+1475057461678433512,0.0,-0.00252647643923,0.0,0.0,0.0,0.0
+1475057461759417678,0.0,-0.00276641218326,0.0,0.0,0.0,0.00231974124908
+1475057461839548282,0.0,-0.00244556307029,0.0,0.0,0.0,0.0
+1475057461919558647,0.0,-0.0023438713333,0.0,0.0,0.0,0.0
+1475057461997693628,0.0,-0.00233718888767,0.0,0.0,0.0,0.0
+1475057462081459261,0.0,-0.00226915905489,0.0,0.0,0.0,0.0
+1475057462159960270,0.0,-0.00214559091902,0.0,0.0,0.0,0.0
+1475057462249754985,0.0,-0.00233433763238,0.0,0.0,0.0,0.0
+1475057462325406736,0.0,-0.0022464221872,0.0,0.0,0.0,0.0
+1475057462400796871,0.0,-0.00209584782105,0.0,0.0,0.0,0.0
+1475057462489217242,0.0,-0.00205191039368,0.0,0.0,0.0,0.0
+1475057462570094748,0.0,-0.00213629708754,0.0,0.0,0.0,0.0
+1475057462653901792,0.0,-0.00214994941663,0.0,0.0,0.0,0.00241284370422
+1475057462732776702,0.0,-0.00170793964203,0.0,0.0,0.0,0.0
+1475057462812046384,0.0,-0.0020177620415,0.0,0.0,0.0,0.0
+1475057462890556584,0.0,-0.00175387824498,0.0,0.0,0.0,0.0
+1475057462965566573,0.0,-0.00167401771006,0.0,0.0,0.0,0.0
+1475057463046175995,0.0,-0.00181473781499,0.0,0.0,0.0,0.0
+1475057463134757694,0.0,-0.00184993902307,0.0,0.0,0.0,0.00225006341934
+1475057463212953748,0.0,-0.00166612108904,0.0,0.0,0.0,0.0
+1475057463295171054,0.0,-0.00157480519532,0.0,0.0,0.0,0.0
+1475057463373856622,0.0,-0.00149477729659,0.0,0.0,0.0,0.0
+1475057463452669684,0.0,-0.00168223000091,0.0,0.0,0.0,0.00222580432892
+1475057463529671828,0.0,-0.00144667435358,0.0,0.0,0.0,0.0
+1475057463609632689,0.0,-0.00150847547015,0.0,0.0,0.0,0.0
+1475057463689352172,0.0,-0.00117057297826,0.0,0.0,0.0,0.0
+1475057463766397405,0.0,-0.00153076112223,0.0,0.0,0.0,0.0
+1475057463842683104,0.0,-0.00152193022331,0.0,0.0,0.0,0.0023937702179
+1475057463920624292,0.0,-0.00135697642492,0.0,0.0,0.0,0.0
+1475057463999053849,0.0,-0.00125164153258,0.0,0.0,0.0,0.0
+1475057464079577785,0.0,-0.00139007318091,0.0,0.0,0.0,0.00227003097534
+1475057464160006185,0.0,-0.00113919335089,0.0,0.0,0.0,0.0
+1475057464234042757,0.0,-0.00147243954967,0.0,0.0,0.0,0.00260542631149
+1475057464308513010,0.0,-0.00120164390629,0.0,0.0,0.0,0.00225465297699
+1475057464390903006,0.0,-0.00110448745419,0.0,0.0,0.0,0.0
+1475057464476775281,0.0,-0.00127958620646,0.0,0.0,0.0,0.00235788822174
+1475057464553885440,0.0,-0.00106854592502,0.0,0.0,0.0,0.0
+1475057464630934486,0.0,-0.00116593533262,0.0,0.0,0.0,0.00220822095871
+1475057464709298518,0.006,0.0,0.0,0.0,0.0,0.0
+1475057464788639771,0.0,-0.00111710142523,0.0,0.0,0.0,0.00239514112473
+1475057464868574727,0.0,-0.00116047461897,0.0,0.0,0.0,0.00260947942734
+1475057464941769785,0.0,0.0,0.0,0.0,0.0,0.00236390829086
+1475057465018592819,0.0,0.0,0.0,0.0,0.0,0.00256644487381
+1475057465097164764,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465178282849,0.0,0.0,0.0,0.0,0.0,0.00240014791489
+1475057465258450783,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465337314644,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465413899333,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465503654177,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465580084168,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465665877914,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465748003198,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465827633513,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465905300802,0.006,0.0,0.0,0.0,0.0,0.0
+1475057465988636962,0.0,0.0,0.0,0.0,0.0,0.00234590768814
+1475057466067335657,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466142832084,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466221590523,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466298891943,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466376358382,0.0,-0.00127795424204,0.0,0.0,0.0,0.0
+1475057466471422954,0.0,-0.00124832932176,0.0,0.0,0.0,0.0
+1475057466551704173,0.0,-0.00134319503209,0.0,0.0,0.0,0.0
+1475057466627439314,0.0,-0.0012267221377,0.0,0.0,0.0,0.0
+1475057466705508123,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466785960289,0.006,0.0,0.0,0.0,0.0,0.0
+1475057466866831786,0.0,-0.00126751414339,0.0,0.0,0.0,0.0
+1475057466946807419,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467032963417,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467112002765,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467187037893,0.0,-0.0010742475114,0.0,0.0,0.0,0.0
+1475057467263295996,0.0,-0.00113271357473,0.0,0.0,0.0,0.0
+1475057467346249659,0.0,-0.00150785961027,0.0,0.0,0.0,0.0
+1475057467425840298,0.0,-0.00156992112037,0.0,0.0,0.0,0.0
+1475057467501260533,0.0,-0.00118863248728,0.0,0.0,0.0,0.0
+1475057467579987842,0.0,-0.0010438917693,0.0,0.0,0.0,0.0
+1475057467656245836,0.0,-0.00112390801667,0.0,0.0,0.0,0.0
+1475057467739784769,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467821110465,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467898760879,0.006,0.0,0.0,0.0,0.0,0.0
+1475057467988127275,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468067668786,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468144738426,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468221978010,0.0,-0.00132024034789,0.0,0.0,0.0,0.0
+1475057468299530318,0.0,-0.00117716845376,0.0,0.0,0.0,0.0
+1475057468378319444,0.0,-0.00123096673908,0.0,0.0,0.0,0.0
+1475057468463087304,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468540641378,0.0,0.0,0.0,0.0,0.0,0.0022590637207
+1475057468615114469,0.0,0.0,0.0,0.0,0.0,0.00272696018219
+1475057468693357721,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468774088270,0.0,0.0,0.0,0.0,0.0,0.00241987705231
+1475057468857579433,0.006,0.0,0.0,0.0,0.0,0.0
+1475057468936956178,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469013793009,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469095270706,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469172624747,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469253197012,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469333454867,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469411240067,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469491747980,0.0,0.0,0.0,0.0,0.0,0.0024759054184
+1475057469569671577,0.0,0.0,0.0,0.0,0.0,0.00238149166107
+1475057469648278487,0.0,0.0,0.0,0.0,0.0,0.00222383737564
+1475057469727337106,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469803206630,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469883372365,0.006,0.0,0.0,0.0,0.0,0.0
+1475057469959602232,0.0,0.0,0.0,0.0,0.0,0.00263004302979
+1475057470039207636,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470114970834,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470193918289,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470270986766,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470352088567,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470435884469,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470516614996,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470596008779,0.0,0.0,0.0,0.0,0.0,0.00226645469666
+1475057470675824600,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470751829640,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470831870849,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470908160311,0.006,0.0,0.0,0.0,0.0,0.0
+1475057470986665808,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471070929798,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471146815291,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471226672393,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471306230994,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471385829608,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471461590580,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471539733809,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471617024072,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471695907080,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471775133131,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471860718553,0.006,0.0,0.0,0.0,0.0,0.0
+1475057471942366570,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472023178451,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472107116427,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472183460549,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472263945347,0.0,0.000578268607286,0.0,0.0,0.0,0.0
+1475057472346329076,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472422648915,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472501837321,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472583116913,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472658165449,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472737380193,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472812893471,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472895207478,0.006,0.0,0.0,0.0,0.0,0.0
+1475057472973526051,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473055691771,0.0,0.0,0.0,0.0,0.0,0.00247203111649
+1475057473134351357,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473215669258,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473292129374,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473370939822,0.0,0.0,0.0,0.0,0.0,0.00244574546814
+1475057473451292400,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473531161725,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473607626913,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473692563366,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473779647178,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473864545587,0.006,0.0,0.0,0.0,0.0,0.0
+1475057473943108251,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474022661730,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474103016560,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474189013891,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474265068351,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474338075063,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474410487695,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474489542489,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474575504264,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474651739113,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474721748492,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474797456986,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474875623780,0.006,0.0,0.0,0.0,0.0,0.0
+1475057474951607498,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475031279021,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475104759999,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475182070275,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475259630535,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475345555407,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475425606082,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475504797918,0.006,0.0,0.0,0.0,0.0,0.0
+1475057475585355673,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt
new file mode 100644
index 00000000..5a261971
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,453 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475067000821619876,0.15,0.126262012714,0.0,0.0,0.0,-0.0100467324257
+1475067000916406452,0.15,0.0856979922663,0.0,0.0,0.0,-0.0112370371819
+1475067001002063278,0.15,0.07915396812,0.0,0.0,0.0,-0.00890905857086
+1475067001081417376,0.15,0.085819518469,0.0,0.0,0.0,-0.0109611868858
+1475067001161675690,0.15,0.0841915844574,0.0,0.0,0.0,-0.0109611868858
+1475067001241777170,0.15,0.0795325740521,0.0,0.0,0.0,-0.00893570184708
+1475067001324131163,0.15,0.0831699879143,0.0,0.0,0.0,-0.00978626012802
+1475067001405012962,0.15,0.0862571512364,0.0,0.0,0.0,-0.0114424347878
+1475067001488905805,0.15,0.0698954868706,0.0,0.0,0.0,-0.00487078428268
+1475067001569833052,0.15,-0.155349095918,0.0,0.0,0.0,0.0912959456444
+1475067001652397032,0.15,0.167009922464,0.0,0.0,0.0,-0.0104358315468
+1475067001732087113,0.15,0.0733994668465,0.0,0.0,0.0,-0.00635815858841
+1475067001812023382,0.15,0.0473747245328,0.0,0.0,0.0,0.00506602525711
+1475067001889913220,0.15,0.0842130447912,0.0,0.0,0.0,-0.00685383081436
+1475067001967896122,0.15,0.0882820632913,0.0,0.0,0.0,-0.0139232993126
+1475067002049271428,0.15,0.0675362732377,0.0,0.0,0.0,-0.00741828680038
+1475067002131103420,0.15,-0.10309222091,0.0,0.0,0.0,0.0695841789246
+1475067002211290512,0.15,0.105465011357,0.0,0.0,0.0,0.00367848873138
+1475067002288784660,0.15,-0.133314140521,0.0,0.0,0.0,0.0877319455147
+1475067002368766733,0.15,0.160578619643,0.0,0.0,0.0,-0.0180782198906
+1475067002448484210,0.15,0.0678239267341,0.0,0.0,0.0,-0.0121650218964
+1475067002532334515,0.15,0.0638998895364,0.0,0.0,0.0,-0.00946016311646
+1475067002607292895,0.15,0.0409683410705,0.0,0.0,0.0,0.0
+1475067002684089190,0.15,0.0546162964586,0.0,0.0,0.0,0.0
+1475067002759360823,0.15,-0.0915760726373,0.0,0.0,0.0,0.0667097449303
+1475067002841014688,0.15,0.0806503545562,0.0,0.0,0.0,0.00749479532242
+1475067002929036260,0.15,0.0724405147791,0.0,0.0,0.0,-0.0103568553925
+1475067003013300737,0.15,0.0589612130997,0.0,0.0,0.0,-0.0105154633522
+1475067003097517137,0.15,-0.0851051113204,0.0,0.0,0.0,0.0602950334549
+1475067003180610857,0.15,-0.0590341981051,0.0,0.0,0.0,0.0719100117683
+1475067003263191611,0.15,0.0855564797682,0.0,0.0,0.0,0.0024564743042
+1475067003341318653,0.15,0.0421894677344,0.0,0.0,0.0,0.0
+1475067003425758060,0.15,-0.0862591881828,0.0,0.0,0.0,0.0643600106239
+1475067003507213953,0.15,0.0934288607138,0.0,0.0,0.0,-0.00734860897064
+1475067003588440579,0.15,0.0539555900075,0.0,0.0,0.0,-0.0123000860214
+1475067003671474073,0.15,0.0261851993587,0.0,0.0,0.0,0.0
+1475067003745314316,0.15,-0.0499641038879,0.0,0.0,0.0,0.0451601624489
+1475067003825163384,0.15,-0.0428797760559,0.0,0.0,0.0,0.0569150924683
+1475067003904277870,0.15,0.0701905618263,0.0,0.0,0.0,0.0
+1475067003983464760,0.15,0.0381477056487,0.0,0.0,0.0,-0.00521446466446
+1475067004060693332,0.15,0.00288779127503,0.0,0.0,0.0,0.0127783298492
+1475067004141610859,0.15,-0.039035289584,0.0,0.0,0.0,0.0429985404015
+1475067004222531885,0.15,0.0525210389639,0.0,0.0,0.0,0.0
+1475067004296567659,0.15,0.0225079942569,0.0,0.0,0.0,0.00284402370453
+1475067004376486810,0.15,0.052143986174,0.0,0.0,0.0,-0.0143327832222
+1475067004455770383,0.15,0.0315782993881,0.0,0.0,0.0,-0.00867320299149
+1475067004536324397,0.15,0.0339028844436,0.0,0.0,0.0,-0.00811649560928
+1475067004617984375,0.15,0.0310704196067,0.0,0.0,0.0,-0.00646574497223
+1475067004699533461,0.15,0.0488610063014,0.0,0.0,0.0,-0.0175052404404
+1475067004776854811,0.15,0.0311445837416,0.0,0.0,0.0,-0.0101561665535
+1475067004861582359,0.15,0.0272909448052,0.0,0.0,0.0,-0.00529677867889
+1475067004945946832,0.15,0.0267103716969,0.0,0.0,0.0,-0.00375349521637
+1475067005028415058,0.15,0.0348980552877,0.0,0.0,0.0,-0.00874621868134
+1475067005111201154,0.15,0.020106027967,0.0,0.0,0.0,0.0
+1475067005195383056,0.15,0.0187274481521,0.0,0.0,0.0,0.0
+1475067005273443238,0.15,0.0340691285959,0.0,0.0,0.0,-0.00750566720963
+1475067005350828824,0.15,0.0322533397392,0.0,0.0,0.0,-0.00978953838348
+1475067005428341757,0.15,0.0315011911891,0.0,0.0,0.0,-0.010621201992
+1475067005511590163,0.15,0.021168122463,0.0,0.0,0.0,-0.00385500192642
+1475067005588958853,0.15,0.029942296441,0.0,0.0,0.0,-0.00818474292755
+1475067005668487580,0.15,0.0190613808084,0.0,0.0,0.0,0.0
+1475067005749849120,0.15,0.0257909740194,0.0,0.0,0.0,-0.00488485097885
+1475067005832912000,0.15,0.00752052195172,0.0,0.0,0.0,0.00723068714142
+1475067005914384617,0.15,0.0335283203241,0.0,0.0,0.0,-0.00816459655762
+1475067005997343182,0.15,0.0138617902601,0.0,0.0,0.0,0.0
+1475067006077917396,0.15,-0.010454663187,0.0,0.0,0.0,0.0229753732681
+1475067006157545572,0.15,0.0314275274936,0.0,0.0,0.0,0.0
+1475067006237692438,0.15,0.026029130668,0.0,0.0,0.0,-0.00700451135635
+1475067006318622470,0.15,0.0156230972437,0.0,0.0,0.0,0.0
+1475067006395148516,0.15,0.0258372310751,0.0,0.0,0.0,-0.00690634250641
+1475067006478806610,0.15,0.0180714080093,0.0,0.0,0.0,-0.00292576551437
+1475067006554033573,0.15,0.00566936466888,0.0,0.0,0.0,0.00871669054031
+1475067006636019930,0.15,0.0295552331403,0.0,0.0,0.0,-0.00807840824127
+1475067006717125747,0.15,0.0164803408542,0.0,0.0,0.0,-0.00271542072296
+1475067006801625264,0.15,0.00801185108089,0.0,0.0,0.0,0.00632171630859
+1475067006881633052,0.15,0.012047139728,0.0,0.0,0.0,0.0058253288269
+1475067006958682422,0.15,0.0272006228821,0.0,0.0,0.0,-0.00848503112793
+1475067007034991154,0.15,0.00520537773187,0.0,0.0,0.0,0.00659065246582
+1475067007115686718,0.15,0.0147392061773,0.0,0.0,0.0,0.00272552967072
+1475067007198477996,0.15,0.0164610755414,0.0,0.0,0.0,0.0
+1475067007279832916,0.15,0.0142373081878,0.0,0.0,0.0,0.0
+1475067007365186371,0.15,0.00931558102656,0.0,0.0,0.0,0.00478397607803
+1475067007442940404,0.15,0.0106308648883,0.0,0.0,0.0,0.00507115125656
+1475067007531443788,0.15,0.0244287334973,0.0,0.0,0.0,-0.00948978662491
+1475067007609280002,0.15,0.0118390749509,0.0,0.0,0.0,0.0
+1475067007692098118,0.15,0.0146378009048,0.0,0.0,0.0,0.0
+1475067007767773018,0.15,0.0163839261374,0.0,0.0,0.0,-0.00458027124405
+1475067007845572641,0.15,0.0141384029697,0.0,0.0,0.0,-0.00311781167984
+1475067007920019098,0.15,0.0120385901607,0.0,0.0,0.0,0.0
+1475067008005576284,0.15,0.0176757936239,0.0,0.0,0.0,-0.00652195215225
+1475067008088053382,0.15,0.0113355850004,0.0,0.0,0.0,0.0
+1475067008172417400,0.15,0.0137663352204,0.0,0.0,0.0,-0.00265015363693
+1475067008257566955,0.15,0.0125616770555,0.0,0.0,0.0,0.0
+1475067008341045799,0.15,0.0127688300015,0.0,0.0,0.0,0.0
+1475067008420370121,0.15,0.0120183226009,0.0,0.0,0.0,0.0
+1475067008496150968,0.15,0.00962833267838,0.0,0.0,0.0,0.0
+1475067008585639312,0.15,0.0147628932328,0.0,0.0,0.0,-0.00443215370178
+1475067008676162493,0.15,0.0111237809997,0.0,0.0,0.0,0.0
+1475067008756278806,0.15,0.0120006902528,0.0,0.0,0.0,-0.00218428373337
+1475067008837068831,0.15,0.013287518906,0.0,0.0,0.0,-0.00454581975937
+1475067008923298144,0.15,0.0113684486978,0.0,0.0,0.0,-0.00284917354584
+1475067008997182358,0.15,0.0114768126804,0.0,0.0,0.0,-0.00260515213013
+1475067009071643839,0.0,0.0114428269959,0.0,0.0,0.0,-0.00279928445816
+1475067009147453546,0.0,0.0125209535908,0.0,0.0,0.0,-0.00491948127747
+1475067009224711493,0.0,0.011149494504,0.0,0.0,0.0,-0.00370992422104
+1475067009299862012,0.0,0.0102224297967,0.0,0.0,0.0,0.0
+1475067009385709193,0.0,0.0112987485838,0.0,0.0,0.0,-0.00345040559769
+1475067009465116609,0.0,0.0110669423022,0.0,0.0,0.0,-0.00383658409119
+1475067009544565372,0.0,0.0114903634554,0.0,0.0,0.0,-0.00499863624573
+1475067009623235533,0.0,0.010714375146,0.0,0.0,0.0,-0.00409866571426
+1475067009703234254,0.0,0.0105362118885,0.0,0.0,0.0,-0.00379873514175
+1475067009783395825,0.0,0.0106840678962,0.0,0.0,0.0,-0.00419224500656
+1475067009865666481,0.0,0.011077494556,0.0,0.0,0.0,-0.00542683601379
+1475067009944244737,0.0,0.0102532409264,0.0,0.0,0.0,-0.0037925362587
+1475067010023472043,0.0,0.0106516923035,0.0,0.0,0.0,-0.00410766601563
+1475067010119249972,0.0,0.0104584239768,0.0,0.0,0.0,-0.00394679307938
+1475067010198401126,0.0,0.0104394752746,0.0,0.0,0.0,-0.00414205789566
+1475067010276816781,0.0,0.0109465430927,0.0,0.0,0.0,-0.00573427677155
+1475067010355480364,0.0,0.0105188272762,0.0,0.0,0.0,-0.00557501316071
+1475067010438240356,0.0,0.010125809764,0.0,0.0,0.0,-0.00490571260452
+1475067010518165113,0.0,0.0100422945967,0.0,0.0,0.0,-0.00501168966293
+1475067010596631990,0.0,0.00988089084366,0.0,0.0,0.0,-0.0051695227623
+1475067010679640554,0.0,0.00995231133992,0.0,0.0,0.0,-0.00563920736313
+1475067010756922938,0.0,0.00964230109179,0.0,0.0,0.0,-0.0053737282753
+1475067010835246707,0.0,0.00937744630255,0.0,0.0,0.0,-0.00520021915436
+1475067010918644471,0.0,0.00925137495488,0.0,0.0,0.0,-0.00509144067764
+1475067010999887889,0.0,0.00904610418881,0.0,0.0,0.0,-0.00511593818665
+1475067011072730368,0.0,0.00884993670614,0.0,0.0,0.0,-0.00483990907669
+1475067011151901888,0.0,0.00858347907861,0.0,0.0,0.0,-0.00439430475235
+1475067011228417798,0.0,0.00857335254816,0.0,0.0,0.0,-0.0047057390213
+1475067011303899258,0.0,0.00854183251369,0.0,0.0,0.0,-0.00493646860123
+1475067011380143410,0.0,0.00827673003105,0.0,0.0,0.0,-0.00483347177505
+1475067011458570608,0.0,0.00824046610938,0.0,0.0,0.0,-0.00492699146271
+1475067011537396743,0.0,0.00814291714316,0.0,0.0,0.0,-0.0049401640892
+1475067011616124316,0.0,0.00813144001011,0.0,0.0,0.0,-0.00533653497696
+1475067011694762940,0.0,0.00761232458236,0.0,0.0,0.0,-0.00441641807556
+1475067011769227607,0.0,0.00769906404722,0.0,0.0,0.0,-0.00454343557358
+1475067011845822864,0.0,0.00775705463418,0.0,0.0,0.0,-0.00506658554077
+1475067011923670924,0.0,0.00756269143088,0.0,0.0,0.0,-0.00496156215668
+1475067011997900744,0.0,0.00748519191118,0.0,0.0,0.0,-0.00490207672119
+1475067012073588241,0.0,0.0072047158848,0.0,0.0,0.0,-0.00464053153992
+1475067012151591563,0.0,0.00742394631246,0.0,0.0,0.0,-0.00516028404236
+1475067012231637875,0.0,0.00694855168489,0.0,0.0,0.0,-0.00443704128265
+1475067012312597011,0.0,0.00721119669235,0.0,0.0,0.0,-0.00499863624573
+1475067012387690640,0.0,0.00688597030181,0.0,0.0,0.0,-0.0047690987587
+1475067012467108928,0.0,0.00691582229153,0.0,0.0,0.0,-0.00486178398132
+1475067012542383928,0.0,0.00680603029574,0.0,0.0,0.0,-0.00481028556824
+1475067012624068790,0.0,0.00687010438255,0.0,0.0,0.0,-0.00526041984558
+1475067012708102238,0.0,0.00685209119211,0.0,0.0,0.0,-0.00549490451813
+1475067012789257301,0.0,0.00659190152237,0.0,0.0,0.0,-0.00513107776642
+1475067012866589306,0.0,0.00652641837014,0.0,0.0,0.0,-0.00511975288391
+1475067012946685546,0.0,0.00639224239064,0.0,0.0,0.0,-0.00491638183594
+1475067013028198197,0.0,0.00640845759162,0.0,0.0,0.0,-0.00505967140198
+1475067013104579405,0.0,0.00626000160076,0.0,0.0,0.0,-0.00499947071075
+1475067013187768055,0.0,0.00612765244873,0.0,0.0,0.0,-0.00478358268738
+1475067013271758132,0.0,0.00607398076615,0.0,0.0,0.0,-0.00482667684555
+1475067013353570610,0.0,0.0059880123523,0.0,0.0,0.0,-0.00471444129944
+1475067013432229921,0.0,0.00608749916296,0.0,0.0,0.0,-0.00517870187759
+1475067013510893600,0.0,0.00616751116749,0.0,0.0,0.0,-0.00560219287872
+1475067013585944643,0.0,0.00599215797958,0.0,0.0,0.0,-0.00545610189438
+1475067013664665427,0.0,0.00572705622474,0.0,0.0,0.0,-0.00500257015228
+1475067013752045274,0.0,0.00569595557075,0.0,0.0,0.0,-0.00486935377121
+1475067013832747885,0.0,0.00561325445635,0.0,0.0,0.0,-0.0048295378685
+1475067013906813259,0.0,0.00547164012964,0.0,0.0,0.0,-0.00456054210663
+1475067013988352981,0.0,0.00552891029016,0.0,0.0,0.0,-0.00469596385956
+1475067014064183355,0.0,0.00542290782658,0.0,0.0,0.0,-0.00468910932541
+1475067014145819944,0.0,0.00537761587999,0.0,0.0,0.0,-0.00466616153717
+1475067014226406416,0.0,0.0053417996676,0.0,0.0,0.0,-0.00475670099258
+1475067014304187101,0.0,0.00538540986716,0.0,0.0,0.0,-0.00496913194656
+1475067014379146978,0.0,0.004952109581,0.0,0.0,0.0,-0.00411559343338
+1475067014459222543,0.0,0.00511638757396,0.0,0.0,0.0,-0.00438774824142
+1475067014544520467,0.0,0.00507872078858,0.0,0.0,0.0,-0.00442869663239
+1475067014620482408,0.0,0.00507422245431,0.0,0.0,0.0,-0.00453670024872
+1475067014702215063,0.0,0.00474966617246,0.0,0.0,0.0,-0.00394423007965
+1475067014780577496,0.0,0.00474305949958,0.0,0.0,0.0,-0.00381256341934
+1475067014855938077,0.0,0.00467062123996,0.0,0.0,0.0,-0.0036966919899
+1475067014936706123,0.0,0.00479128203022,0.0,0.0,0.0,-0.0040309548378
+1475067015018542412,0.0,0.00455457566473,0.0,0.0,0.0,-0.00365246534348
+1475067015096483236,0.0,0.0048333280983,0.0,0.0,0.0,-0.00433934926987
+1475067015175648259,0.0,0.00433890941885,0.0,0.0,0.0,-0.00344557762146
+1475067015254879764,0.0,0.00462038879544,0.0,0.0,0.0,-0.00390077829361
+1475067015332827432,0.0,0.00444673594068,0.0,0.0,0.0,-0.00377739667892
+1475067015414088867,0.0,0.00433747666066,0.0,0.0,0.0,-0.00356311798096
+1475067015495512433,0.0,0.00449418846902,0.0,0.0,0.0,-0.00395275354385
+1475067015574032632,0.0,0.00467448105568,0.0,0.0,0.0,-0.00459201335907
+1475067015652203371,0.0,0.004228447294,0.0,0.0,0.0,-0.00381852388382
+1475067015729480097,0.0,0.00430737622343,0.0,0.0,0.0,-0.00388385057449
+1475067015809598511,0.0,0.0043423076292,0.0,0.0,0.0,-0.00404669046402
+1475067015888687774,0.0,0.00418620693812,0.0,0.0,0.0,-0.00387151241302
+1475067015971784186,0.0,0.00439492169962,0.0,0.0,0.0,-0.00435889959335
+1475067016046181528,0.0,0.00416691208736,0.0,0.0,0.0,-0.00404490232468
+1475067016128617070,0.0,0.00426625543966,0.0,0.0,0.0,-0.00432510375977
+1475067016209521583,0.0,0.0042782092384,0.0,0.0,0.0,-0.00449283123016
+1475067016290430022,0.0,0.00403610882488,0.0,0.0,0.0,-0.00404114723206
+1475067016366426150,0.0,0.0039982989451,0.0,0.0,0.0,-0.00394643545151
+1475067016447348423,0.0,0.00383174817232,0.0,0.0,0.0,-0.00353718996048
+1475067016527240966,0.0,0.00392056511253,0.0,0.0,0.0,-0.00372738838196
+1475067016604717548,0.0,0.00413041120497,0.0,0.0,0.0,-0.00434173345566
+1475067016682574305,0.0,0.00392185414937,0.0,0.0,0.0,-0.00412352085114
+1475067016759638494,0.0,0.00399914733166,0.0,0.0,0.0,-0.0043287396431
+1475067016838952861,0.0,0.00339492150738,0.0,0.0,0.0,-0.00300199985504
+1475067016920719205,0.0,0.00399304744754,0.0,0.0,0.0,-0.0040708899498
+1475067017002565910,0.0,0.00358202326366,0.0,0.0,0.0,-0.00349403619766
+1475067017079219785,0.0,0.00396627663848,0.0,0.0,0.0,-0.00425876379013
+1475067017161800861,0.0,0.00382093743703,0.0,0.0,0.0,-0.00426752567291
+1475067017242639368,0.0,0.00347188270393,0.0,0.0,0.0,-0.00346584320068
+1475067017319536079,0.0,0.00356806628903,0.0,0.0,0.0,-0.00348074436188
+1475067017404645683,0.0,0.00326621806791,0.0,0.0,0.0,-0.00285048484802
+1475067017487192672,0.0,0.00387985920645,0.0,0.0,0.0,-0.00411601066589
+1475067017569027565,0.0,0.00341775743565,0.0,0.0,0.0,-0.00355417728424
+1475067017647870075,0.0,0.00344933452165,0.0,0.0,0.0,-0.00346500873566
+1475067017724550520,0.0,0.00322788941759,0.0,0.0,0.0,-0.00297148227692
+1475067017803741407,0.0,0.00333851554025,0.0,0.0,0.0,-0.00311411619186
+1475067017878904424,0.0,0.00334054258843,0.0,0.0,0.0,-0.00319672822952
+1475067017959035393,0.0,0.00343161126924,0.0,0.0,0.0,-0.00351781845093
+1475067018037635447,0.0,0.00336409543068,0.0,0.0,0.0,-0.00349284410477
+1475067018121379970,0.0,0.00337647680104,0.0,0.0,0.0,-0.00355340242386
+1475067018204828184,0.0,0.00303622023388,0.0,0.0,0.0,-0.00284756422043
+1475067018283614230,0.0,0.00292670190231,0.0,0.0,0.0,-0.00234682559967
+1475067018362549907,0.0,0.00310459261868,0.0,0.0,0.0,-0.00265933275223
+1475067018444070161,0.0,0.00352334879667,0.0,0.0,0.0,-0.00381149053574
+1475067018523440016,0.0,0.00295926468441,0.0,0.0,0.0,-0.00290555953979
+1475067018599760606,0.0,0.00268452020984,0.0,0.0,0.0,0.0
+1475067018679425352,0.0,0.00308886073618,0.0,0.0,0.0,-0.00269199609756
+1475067018755154684,0.0,0.00294869931427,0.0,0.0,0.0,-0.00265533924103
+1475067018832662619,0.0,0.00294440902164,0.0,0.0,0.0,-0.00266976356506
+1475067018911290741,0.0,0.00257080633986,0.0,0.0,0.0,0.0
+1475067018988646387,0.0,0.00302603794338,0.0,0.0,0.0,-0.00267632007599
+1475067019067597459,0.0,0.00269331572351,0.0,0.0,0.0,-0.00222904682159
+1475067019151019356,0.0,0.00292070648683,0.0,0.0,0.0,-0.00263155698776
+1475067019232872220,0.0,0.0027947992796,0.0,0.0,0.0,-0.00252224206924
+1475067019308647357,0.0,0.00276614037788,0.0,0.0,0.0,-0.00245524644852
+1475067019389047199,0.0,0.00259905572689,0.0,0.0,0.0,0.0
+1475067019471912545,0.0,0.00266009492588,0.0,0.0,0.0,0.0
+1475067019550907093,0.0,0.00247904814831,0.0,0.0,0.0,0.0
+1475067019628327880,0.0,0.00261632830732,0.0,0.0,0.0,0.0
+1475067019705663444,0.0,0.00260112984257,0.0,0.0,0.0,0.0
+1475067019792414977,0.0,0.00231811045166,0.0,0.0,0.0,0.0
+1475067019869907038,0.0,0.00252698247405,0.0,0.0,0.0,0.0
+1475067019952591668,0.0,0.00227405072848,0.0,0.0,0.0,0.0
+1475067020036578023,0.0,0.00258672727848,0.0,0.0,0.0,0.0
+1475067020118158104,0.0,0.00206960134186,0.0,0.0,0.0,0.0
+1475067020198252559,0.0,0.0021803737514,0.0,0.0,0.0,0.0
+1475067020277478873,0.0,0.00219307912929,0.0,0.0,0.0,0.0
+1475067020355168936,0.0,0.00231310018829,0.0,0.0,0.0,0.0
+1475067020432218536,0.0,0.00213773946152,0.0,0.0,0.0,0.0
+1475067020510780345,0.0,0.00224316525757,0.0,0.0,0.0,0.0
+1475067020589115644,0.0,0.00204739686004,0.0,0.0,0.0,0.0
+1475067020669906202,0.0,0.00200222981163,0.0,0.0,0.0,0.0
+1475067020751751598,0.0,0.00185828851268,0.0,0.0,0.0,0.0
+1475067020837245826,0.0,0.00180026517405,0.0,0.0,0.0,0.0
+1475067020921763497,0.0,0.00211246990548,0.0,0.0,0.0,0.0
+1475067020999501720,0.0,0.00186650064088,0.0,0.0,0.0,0.0
+1475067021077978541,0.0,0.00165630395889,0.0,0.0,0.0,0.0
+1475067021155803828,0.0,0.00186108495322,0.0,0.0,0.0,0.0
+1475067021234921751,0.0,0.00162626415875,0.0,0.0,0.0,0.0
+1475067021312389561,0.0,0.00172506564862,0.0,0.0,0.0,0.0
+1475067021395412982,0.0,0.0016926849659,0.0,0.0,0.0,0.0
+1475067021479342661,0.0,0.00145672188089,0.0,0.0,0.0,0.0
+1475067021560413070,0.0,0.00167129319547,0.0,0.0,0.0,0.0
+1475067021639578868,0.0,0.00135325610313,0.0,0.0,0.0,0.0
+1475067021717968187,0.0,0.00155240666694,0.0,0.0,0.0,0.0
+1475067021797545661,0.0,0.00142784933375,0.0,0.0,0.0,0.0
+1475067021874096897,0.0,0.00119349481664,0.0,0.0,0.0,0.0
+1475067021957034166,0.0,0.0014291548325,0.0,0.0,0.0,0.0
+1475067022035776996,0.0,0.00157371664331,0.0,0.0,0.0,-0.00234104394913
+1475067022114976725,0.0,0.00111890656557,0.0,0.0,0.0,0.0
+1475067022195524202,0.0,0.00114707530134,0.0,0.0,0.0,0.0
+1475067022274214351,0.0,0.00128480541272,0.0,0.0,0.0,0.0
+1475067022357554824,0.0,0.00123253878265,0.0,0.0,0.0,0.0
+1475067022440979385,0.0,0.000866784751874,0.0,0.0,0.0,0.0
+1475067022519698314,0.0,0.00105047363181,0.0,0.0,0.0,0.0
+1475067022597418781,0.0,0.00129543280581,0.0,0.0,0.0,0.0
+1475067022679075901,0.0,0.000896277729768,0.0,0.0,0.0,0.0
+1475067022769117006,0.006,0.0,0.0,0.0,0.0,0.0
+1475067022849925400,0.0,0.000962351663344,0.0,0.0,0.0,0.0
+1475067022933641479,0.0,0.000974170511674,0.0,0.0,0.0,0.0
+1475067023019131618,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023101161986,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023183085858,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023260421381,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023337971085,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023417912552,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023494917382,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023572775982,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023658251750,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023736794471,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023816008319,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023896528758,0.006,0.0,0.0,0.0,0.0,0.0
+1475067023975586732,0.006,0.0,0.0,0.0,0.0,0.0
+1475067024059718806,0.0,0.0,0.0,0.0,0.0,-0.00251282453537
+1475067024147580365,0.0,0.0,0.0,0.0,0.0,-0.00339735746384
+1475067024231539600,0.0,0.0,0.0,0.0,0.0,-0.00296111106873
+1475067024308538031,0.006,0.0,0.0,0.0,0.0,0.0
+1475067024387312852,0.006,0.0,0.0,0.0,0.0,0.0
+1475067024468409945,0.0,0.0,0.0,0.0,0.0,-0.00297112464905
+1475067024549715560,0.0,0.0,0.0,0.0,0.0,-0.0033829331398
+1475067024627221894,0.0,0.0,0.0,0.0,0.0,-0.00323022603989
+1475067024705569796,0.006,0.0,0.0,0.0,0.0,0.0
+1475067024782176347,0.0,0.0,0.0,0.0,0.0,-0.00262041091919
+1475067024863812676,0.006,0.0,0.0,0.0,0.0,0.0
+1475067024941038183,0.0,0.0,0.0,0.0,0.0,-0.00265253782272
+1475067025021528877,0.0,0.0,0.0,0.0,0.0,-0.00263030529022
+1475067025099535448,0.0,0.0,0.0,0.0,0.0,-0.0025649189949
+1475067025174612722,0.0,0.0,0.0,0.0,0.0,-0.00249834060669
+1475067025255158863,0.0,0.0,0.0,0.0,0.0,-0.00288523435593
+1475067025334767234,0.0,0.0,0.0,0.0,0.0,-0.00267596244812
+1475067025412410735,0.0,0.0,0.0,0.0,0.0,-0.00353009700775
+1475067025495518198,0.0,0.0,0.0,0.0,0.0,-0.00271524190903
+1475067025582195011,0.0,0.0,0.0,0.0,0.0,-0.00257660150528
+1475067025662852834,0.0,0.0,0.0,0.0,0.0,-0.00276983976364
+1475067025741979963,0.0,0.0,0.0,0.0,0.0,-0.00273067951202
+1475067025825239121,0.0,0.0,0.0,0.0,0.0,-0.00230808258057
+1475067025906353303,0.0,0.0,0.0,0.0,0.0,-0.00267304182053
+1475067025986555336,0.0,0.0,0.0,0.0,0.0,-0.00231487751007
+1475067026063699819,0.0,0.0,0.0,0.0,0.0,-0.00262362957001
+1475067026144257813,0.0,0.0,0.0,0.0,0.0,-0.00233526229858
+1475067026223388565,0.0,0.0,0.0,0.0,0.0,-0.00228221416473
+1475067026303570815,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026382563628,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026464290242,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026541776456,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026618767351,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026699077736,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026781039497,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026857156819,0.006,0.0,0.0,0.0,0.0,0.0
+1475067026937285804,0.006,0.0,0.0,0.0,0.0,0.0
+1475067027017265742,0.006,0.0,0.0,0.0,0.0,0.0
+1475067027098710270,0.006,0.0,0.0,0.0,0.0,0.0
+1475067027178459850,0.0,0.00096216528446,0.0,0.0,0.0,0.0
+1475067027259218884,0.0,0.00106334685829,0.0,0.0,0.0,0.0
+1475067027336801973,0.0,0.00112175213569,0.0,0.0,0.0,0.0
+1475067027417461120,0.0,0.00109771261353,0.0,0.0,0.0,0.0
+1475067027498378879,0.0,0.00123292661473,0.0,0.0,0.0,0.0
+1475067027574104802,0.006,0.0,0.0,0.0,0.0,0.0
+1475067027652698082,0.0,0.000826166811687,0.0,0.0,0.0,0.0
+1475067027734531942,0.0,0.00114241372683,0.0,0.0,0.0,0.0
+1475067027811807037,0.0,0.0011846282395,0.0,0.0,0.0,0.0
+1475067027886427282,0.0,0.0013928286134,0.0,0.0,0.0,0.0
+1475067027964620868,0.0,0.00129805286569,0.0,0.0,0.0,0.0
+1475067028041177501,0.0,0.00120837184634,0.0,0.0,0.0,0.0
+1475067028121010225,0.0,0.00116956674464,0.0,0.0,0.0,0.0
+1475067028196210018,0.0,0.000969207489532,0.0,0.0,0.0,0.0
+1475067028274569493,0.0,0.00127050535542,0.0,0.0,0.0,0.0
+1475067028360640168,0.0,0.00100530384859,0.0,0.0,0.0,0.0
+1475067028440644639,0.0,0.0010513456994,0.0,0.0,0.0,0.0
+1475067028522491403,0.0,0.00100710645098,0.0,0.0,0.0,0.0
+1475067028598449391,0.0,0.00126861120038,0.0,0.0,0.0,0.0
+1475067028679110269,0.0,0.00106984808129,0.0,0.0,0.0,0.0
+1475067028756770788,0.0,0.00109221626241,0.0,0.0,0.0,0.0
+1475067028833586652,0.006,0.0,0.0,0.0,0.0,0.0
+1475067028910097215,0.0,0.00101149161818,0.0,0.0,0.0,0.0
+1475067028987349382,0.0,0.000943358439463,0.0,0.0,0.0,0.0
+1475067029063032749,0.0,0.00115134398352,0.0,0.0,0.0,0.0
+1475067029142763830,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029222143131,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029299498121,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029374440831,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029450291230,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029527391747,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029607100495,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029684800453,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029772259660,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029846084795,0.006,0.0,0.0,0.0,0.0,0.0
+1475067029929460303,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030008963730,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030096215921,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030178201540,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030261555924,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030340806287,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030422310027,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030502115665,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030576641461,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030656846089,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030744157923,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030824189664,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030902755271,0.006,0.0,0.0,0.0,0.0,0.0
+1475067030983403691,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031061327332,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031139010589,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031221074708,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031300162451,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031379175963,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031459585891,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031537257112,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031616362892,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031693235155,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031771979410,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031848111647,0.006,0.0,0.0,0.0,0.0,0.0
+1475067031927377905,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032001287491,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032076894521,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032156036900,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032247299077,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032327432422,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032404928596,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032487983544,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032566470085,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032646358081,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032721109088,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032796863646,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032874926672,0.006,0.0,0.0,0.0,0.0,0.0
+1475067032952250591,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033033675026,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033111918451,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033188261925,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033266239226,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033345255174,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033420714139,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033502777955,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033593272796,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033674351072,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033753837699,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033831507825,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033907569297,0.006,0.0,0.0,0.0,0.0,0.0
+1475067033986330664,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034065670948,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034145324448,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034225597544,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034306933788,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034392050536,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034468161179,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034557302076,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034635973414,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034712134762,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034787088576,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034863724921,0.006,0.0,0.0,0.0,0.0,0.0
+1475067034948998488,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035024502921,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035100986489,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035179226038,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035255311185,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035332528555,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035408572664,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035486824161,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035566222128,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035645559019,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035724643104,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035802079225,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035881243469,0.006,0.0,0.0,0.0,0.0,0.0
+1475067035961065430,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036037287812,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036117685142,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036197628673,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036285704538,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036365317003,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036445021349,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036522140805,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036597071095,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036674495295,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036751888368,0.006,0.0,0.0,0.0,0.0,0.0
+1475067036828050213,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt b/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt
new file mode 100644
index 00000000..82f7cdc0
--- /dev/null
+++ b/Files_4_thesis/Different_controllers/vel_PID_.28_0_.006.txt
@@ -0,0 +1,307 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475142133471721490,0.15,-0.155687968624,0.0,0.0,0.0,0.0262040376663
+1475142133570973126,0.15,-0.128301917254,0.0,0.0,0.0,0.0262552976608
+1475142133659495245,0.15,-0.132192679193,0.0,0.0,0.0,0.0285806536674
+1475142133746193076,0.15,-0.127596980849,0.0,0.0,0.0,0.0262552976608
+1475142133826791404,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142133912415561,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142133997050948,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142134083427473,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142134168200746,0.15,-0.139931824612,0.0,0.0,0.0,0.0330161929131
+1475142134249984718,0.15,-0.143723731642,0.0,0.0,0.0,0.03640614748
+1475142134332259419,0.15,0.23602881493,0.0,0.0,0.0,-0.159193885326
+1475142134416533589,0.15,-0.213454988798,0.0,0.0,0.0,0.0412234544754
+1475142134498776413,0.15,-0.113154391044,0.0,0.0,0.0,0.0250136733055
+1475142134579934462,0.15,-0.138385270116,0.0,0.0,0.0,0.0376436591148
+1475142134657142335,0.15,-0.133910724266,0.0,0.0,0.0,0.0394171953201
+1475142134747776448,0.15,-0.102357944053,0.0,0.0,0.0,0.0226619124413
+1475142134826155759,0.15,-0.144368457629,0.0,0.0,0.0,0.0446200251579
+1475142134907310986,0.15,-0.120751795626,0.0,0.0,0.0,0.0371652722359
+1475142134988198593,0.15,0.17820376565,0.0,0.0,0.0,-0.129774224758
+1475142135072319109,0.15,-0.195723697929,0.0,0.0,0.0,0.0539032101631
+1475142135154992991,0.15,-0.120422777599,0.0,0.0,0.0,0.0443633079529
+1475142135252819833,0.15,-0.105699020029,0.0,0.0,0.0,0.0356554865837
+1475142135329530300,0.15,-0.103485268515,0.0,0.0,0.0,0.0345094680786
+1475142135411616147,0.15,-0.112978330946,0.0,0.0,0.0,0.041094648838
+1475142135493560629,0.15,0.143990402556,0.0,0.0,0.0,-0.107922804356
+1475142135575360474,0.15,-0.118206115594,0.0,0.0,0.0,0.0221351265907
+1475142135651258850,0.15,-0.0796729403151,0.0,0.0,0.0,0.0232999205589
+1475142135731797631,0.15,0.141368819191,0.0,0.0,0.0,-0.109394025803
+1475142135807848815,0.15,-0.146995445135,0.0,0.0,0.0,0.0452601790428
+1475142135888388956,0.15,-0.0864026349101,0.0,0.0,0.0,0.0364622950554
+1475142135970802876,0.15,-0.086822130925,0.0,0.0,0.0,0.0370523810387
+1475142136050115060,0.15,-0.0665029397789,0.0,0.0,0.0,0.0244763374329
+1475142136128579280,0.15,-0.0530597061847,0.0,0.0,0.0,0.0151815295219
+1475142136205879608,0.15,-0.0682369124377,0.0,0.0,0.0,0.0248736023903
+1475142136288259688,0.15,-0.0813738200368,0.0,0.0,0.0,0.0361808419228
+1475142136371318149,0.15,-0.0729917296067,0.0,0.0,0.0,0.0340259552002
+1475142136445635874,0.15,-0.0703435920789,0.0,0.0,0.0,0.0340019345284
+1475142136526128148,0.15,0.0892992494306,0.0,0.0,0.0,-0.0722493648529
+1475142136604916341,0.15,-0.0884210900734,0.0,0.0,0.0,0.0292674779892
+1475142136693672150,0.15,-0.0509359643101,0.0,0.0,0.0,0.0235844731331
+1475142136768727897,0.15,-0.0489760074814,0.0,0.0,0.0,0.0217934727669
+1475142136853693751,0.15,-0.0568342666577,0.0,0.0,0.0,0.0289546728134
+1475142136935686875,0.15,-0.0422360109691,0.0,0.0,0.0,0.0200278639793
+1475142137017819243,0.15,-0.0189076901089,0.0,0.0,0.0,0.00235961675644
+1475142137093483555,0.15,-0.0448263192315,0.0,0.0,0.0,0.0192937731743
+1475142137173711199,0.15,-0.0487122657302,0.0,0.0,0.0,0.0263116240501
+1475142137253257243,0.15,-0.0476733868343,0.0,0.0,0.0,0.0276014089584
+1475142137333114330,0.15,0.0771174384362,0.0,0.0,0.0,-0.0651030063629
+1475142137416383976,0.15,-0.0633412427583,0.0,0.0,0.0,0.0254649400711
+1475142137502799845,0.15,-0.028153543694,0.0,0.0,0.0,0.0154856920242
+1475142137582193759,0.15,-0.0329475307045,0.0,0.0,0.0,0.0181248664856
+1475142137663127093,0.15,-0.0419772888073,0.0,0.0,0.0,0.0270905375481
+1475142137739507500,0.15,-0.0380491141541,0.0,0.0,0.0,0.0262326478958
+1475142137821684487,0.15,-0.031794398891,0.0,0.0,0.0,0.0220988273621
+1475142137903391928,0.15,-0.0319519011194,0.0,0.0,0.0,0.0218888998032
+1475142137983771436,0.15,0.0544297489223,0.0,0.0,0.0,-0.0488100171089
+1475142138063736886,0.15,-0.0298774981968,0.0,0.0,0.0,0.00926398038864
+1475142138138984158,0.15,-0.0302559869695,0.0,0.0,0.0,0.0213926315308
+1475142138216828504,0.15,0.0459450451585,0.0,0.0,0.0,-0.0418475389481
+1475142138293193601,0.15,-0.036812122643,0.0,0.0,0.0,0.0192859649658
+1475142138372362827,0.15,-0.0141747143389,0.0,0.0,0.0,0.0111548781395
+1475142138450640074,0.15,-0.0338663982301,0.0,0.0,0.0,0.028385746479
+1475142138531753959,0.15,0.0384891365911,0.0,0.0,0.0,-0.0342036604881
+1475142138612265870,0.15,-0.0238241643728,0.0,0.0,0.0,0.0120314240456
+1475142138691659660,0.15,-0.0138885920697,0.0,0.0,0.0,0.0119547724724
+1475142138773213710,0.15,-0.0108706727644,0.0,0.0,0.0,0.00958781242371
+1475142138854452196,0.15,-0.00243766807156,0.0,0.0,0.0,0.0
+1475142138936079145,0.15,-0.0292603187671,0.0,0.0,0.0,0.0275338768959
+1475142139017747149,0.15,-0.0170440791324,0.0,0.0,0.0,0.0209814190865
+1475142139096989243,0.15,-0.0179822873285,0.0,0.0,0.0,0.021335709095
+1475142139173069922,0.15,-0.00955052009463,0.0,0.0,0.0,0.0133643627167
+1475142139255765006,0.15,-0.00911573526903,0.0,0.0,0.0,0.0123616933823
+1475142139337141801,0.15,-0.00988893896626,0.0,0.0,0.0,0.013450729847
+1475142139419273064,0.15,-0.0175581032908,0.0,0.0,0.0,0.0229226827621
+1475142139504982554,0.15,-0.0097038604047,0.0,0.0,0.0,0.0164586186409
+1475142139589080638,0.15,-0.00590664257991,0.0,0.0,0.0,0.0116683721542
+1475142139672285212,0.15,-0.00917185013903,0.0,0.0,0.0,0.0153034210205
+1475142139756226942,0.15,0.00475609848823,0.0,0.0,0.0,0.0
+1475142139837443598,0.15,-0.0101266086361,0.0,0.0,0.0,0.0154778242111
+1475142139920805614,0.15,-0.00590967418732,0.0,0.0,0.0,0.0135331630707
+1475142139997036025,0.15,-0.0065292888104,0.0,0.0,0.0,0.0145248651505
+1475142140078928026,0.15,-0.00451545933899,0.0,0.0,0.0,0.0125579714775
+1475142140160775246,0.15,-0.00153297227564,0.0,0.0,0.0,0.00899230241776
+1475142140240436572,0.15,-0.00465090712884,0.0,0.0,0.0,0.0127564549446
+1475142140330029605,0.15,-0.00495111652883,0.0,0.0,0.0,0.0145355939865
+1475142140408894596,0.15,-0.00658843698924,0.0,0.0,0.0,0.0175354361534
+1475142140489648760,0.15,-0.00566014544877,0.0,0.0,0.0,0.0176582813263
+1475142140571225329,0.15,-0.00543669332007,0.0,0.0,0.0,0.0177675962448
+1475142140653218300,0.15,-0.00356111025711,0.0,0.0,0.0,0.0159137129784
+1475142140730677924,0.15,-0.0038977095656,0.0,0.0,0.0,0.0164862751961
+1475142140809508577,0.15,-0.00268739188,0.0,0.0,0.0,0.0155179381371
+1475142140888573581,0.15,-0.00319487157694,0.0,0.0,0.0,0.0165468931198
+1475142140965664128,0.15,-0.00365632872296,0.0,0.0,0.0,0.017980325222
+1475142141042178035,0.15,-0.0011625453718,0.0,0.0,0.0,0.0149142026901
+1475142141119066988,0.15,0.0,0.0,0.0,0.0,0.0129239439964
+1475142141194933515,0.15,0.0,0.0,0.0,0.0,0.011970448494
+1475142141273189845,0.15,-0.000927193775816,0.0,0.0,0.0,0.0156455516815
+1475142141349438159,0.15,0.0,0.0,0.0,0.0,0.0137691378593
+1475142141424161793,0.15,0.0,0.0,0.0,0.0,0.0138055562973
+1475142141497930724,0.15,0.00173018951802,0.0,0.0,0.0,0.012349832058
+1475142141577616194,0.15,0.0013943334162,0.0,0.0,0.0,0.0124937176704
+1475142141659489810,0.0,0.00132772200221,0.0,0.0,0.0,0.01302318573
+1475142141733405461,0.0,0.00134613053086,0.0,0.0,0.0,0.0137510180473
+1475142141807621588,0.0,0.00238965986964,0.0,0.0,0.0,0.0119424343109
+1475142141884675794,0.0,0.00231438644394,0.0,0.0,0.0,0.0121669054031
+1475142141962920075,0.0,0.00329541674795,0.0,0.0,0.0,0.010746884346
+1475142142042893663,0.0,0.00372524751081,0.0,0.0,0.0,0.00979678630829
+1475142142122175748,0.0,0.00294647125326,0.0,0.0,0.0,0.0118586301804
+1475142142197165944,0.0,0.00398514729852,0.0,0.0,0.0,0.0103554606438
+1475142142278237445,0.0,0.00406016918606,0.0,0.0,0.0,0.0100839018822
+1475142142356676086,0.0,0.00442911884975,0.0,0.0,0.0,0.0091076374054
+1475142142442007822,0.0,0.00427077339395,0.0,0.0,0.0,0.00925343036652
+1475142142514691739,0.0,0.00385512869756,0.0,0.0,0.0,0.0102985978127
+1475142142594586879,0.0,0.00388973780403,0.0,0.0,0.0,0.0103089690208
+1475142142674089926,0.0,0.00369538516014,0.0,0.0,0.0,0.00998871326447
+1475142142751319782,0.0,0.00381901676047,0.0,0.0,0.0,0.00885175466537
+1475142142826371594,0.0,0.00383002425346,0.0,0.0,0.0,0.00742654800415
+1475142142903075779,0.0,0.00296868545326,0.0,0.0,0.0,0.00886331796646
+1475142142990056891,0.0,0.00358068056508,0.0,0.0,0.0,0.00667773485184
+1475142143072182860,0.0,0.00347315411276,0.0,0.0,0.0,0.00601731538773
+1475142143149154188,0.0,0.00321780962279,0.0,0.0,0.0,0.00566701889038
+1475142143229522192,0.0,0.00308622436953,0.0,0.0,0.0,0.00542347431183
+1475142143305539090,0.0,0.00317036365502,0.0,0.0,0.0,0.00458263158798
+1475142143380535277,0.0,0.00278094091892,0.0,0.0,0.0,0.00459645986557
+1475142143459807260,0.0,0.0029840955743,0.0,0.0,0.0,0.00354276895523
+1475142143540031863,0.0,0.00271965602331,0.0,0.0,0.0,0.00318466424942
+1475142143616983489,0.0,0.00235359222999,0.0,0.0,0.0,0.00366579294205
+1475142143692800049,0.0,0.00226127971571,0.0,0.0,0.0,0.0034912109375
+1475142143768118557,0.0,0.0021120094526,0.0,0.0,0.0,0.0031517624855
+1475142143845780875,0.0,0.00183159158368,0.0,0.0,0.0,0.00349729061127
+1475142143921910982,0.0,0.00178420414984,0.0,0.0,0.0,0.00305794477463
+1475142144002893523,0.0,0.00179143708678,0.0,0.0,0.0,0.00258164405823
+1475142144091051611,0.0,0.0013979650672,0.0,0.0,0.0,0.00327043533325
+1475142144170874870,0.0,0.00161296343452,0.0,0.0,0.0,0.00245289802551
+1475142144246170055,0.0,0.00153510492577,0.0,0.0,0.0,0.0
+1475142144324518847,0.0,0.00129290751903,0.0,0.0,0.0,0.00235586166382
+1475142144400209135,0.0,0.00140526883343,0.0,0.0,0.0,0.0
+1475142144479609432,0.0,0.00100994430068,0.0,0.0,0.0,0.00253604650497
+1475142144554404476,0.0,0.00120575466354,0.0,0.0,0.0,0.0
+1475142144629494577,0.0,0.00114345843611,0.0,0.0,0.0,0.0
+1475142144708909650,0.0,0.00113500582165,0.0,0.0,0.0,0.0
+1475142144787752832,0.0,0.000941105148891,0.0,0.0,0.0,0.0
+1475142144865699946,0.0,0.000856280365415,0.0,0.0,0.0,0.0
+1475142144941927274,0.0,0.000999504463935,0.0,0.0,0.0,0.0
+1475142145023814115,0.0,0.000662548983416,0.0,0.0,0.0,0.0
+1475142145103931305,0.0,0.001057595097,0.0,0.0,0.0,0.0
+1475142145188968120,0.0,0.000627531165609,0.0,0.0,0.0,0.0
+1475142145263861391,0.0,0.000588784894329,0.0,0.0,0.0,0.0
+1475142145342904307,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145429073400,0.0,0.000710142421051,0.0,0.0,0.0,0.0
+1475142145508183661,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145585688686,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145665702140,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145744820004,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145823729876,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145899860226,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145973245649,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146056231858,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146134545831,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146214539540,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146293147469,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146369181012,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146446917240,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146524739666,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146606044397,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146680182687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146768794597,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146849067832,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146929082947,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147009663336,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147085163986,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147163415354,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147242462893,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147319819681,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147398398141,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147476422278,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147552371493,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147631685535,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147711519576,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147788973270,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147867645984,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147943632791,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148021626178,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148100145924,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148177704162,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148256833442,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148334478081,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148414398790,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148493726177,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148578778565,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148657711598,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148734881082,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148815566119,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148891486155,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148973411665,0.0,0.000589623150033,0.0,0.0,0.0,0.0
+1475142149064459928,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149144724068,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149223853335,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149297931845,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149376310196,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149449624572,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149524209242,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149603068953,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149680556333,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149759873797,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149841070346,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149920159597,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150000752211,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150077074997,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150156601903,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150230151420,0.0,0.000638649781636,0.0,0.0,0.0,0.0
+1475142150304145080,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150385385340,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150459206998,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150539809853,0.0,0.000660748762061,0.0,0.0,0.0,0.0
+1475142150616061821,0.0,0.000698009869149,0.0,0.0,0.0,0.0
+1475142150695615738,0.0,0.000682366101543,0.0,0.0,0.0,0.0
+1475142150770427542,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150844783293,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150923803646,0.0,0.000680052568458,0.0,0.0,0.0,0.0
+1475142151004133144,0.0,0.000767516193883,0.0,0.0,0.0,0.0
+1475142151081311703,0.0,0.000528648362622,0.0,0.0,0.0,0.0
+1475142151156405734,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151231279284,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151309822758,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151391688404,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151465010512,0.0,0.00106759831459,0.0,0.0,0.0,0.0
+1475142151543468128,0.0,0.000651074044113,0.0,0.0,0.0,0.0
+1475142151620977846,0.0,0.000800909630308,0.0,0.0,0.0,0.0
+1475142151700006310,0.0,0.000725079302019,0.0,0.0,0.0,0.0
+1475142151777886309,0.0,0.000787340125981,0.0,0.0,0.0,0.0
+1475142151870550898,0.0,0.000653154596674,0.0,0.0,0.0,0.0
+1475142151946318114,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152023744033,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152100044697,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152186474047,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152262622870,0.0,0.000568062079831,0.0,0.0,0.0,0.0
+1475142152341605932,0.0,0.000718639524416,0.0,0.0,0.0,0.0
+1475142152418747821,0.0,0.000685282582733,0.0,0.0,0.0,0.0
+1475142152495781849,0.0,0.000847556879145,0.0,0.0,0.0,0.0
+1475142152573783925,0.0,0.000744595163991,0.0,0.0,0.0,0.0
+1475142152651924755,0.0,0.000646038644495,0.0,0.0,0.0,0.0
+1475142152727187669,0.0,0.000545674023379,0.0,0.0,0.0,0.0
+1475142152802758013,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152879881730,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152953942353,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153030596580,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153108842184,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153190287439,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153259546499,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153340348822,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153419016989,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153496069289,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153574790725,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153655389607,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153739824557,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153817246184,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153896543342,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153975234021,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154064103262,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154141142752,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154222900456,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154304811908,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154387144456,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154465466189,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154549714633,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154625609283,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154712932180,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154787736160,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154867972884,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154944966231,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155020058842,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155095873929,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155173896307,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155247306781,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155324992957,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155404809575,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155484563125,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155559212047,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155644223617,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155716222705,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155797941441,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155873800089,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155953095239,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156027478701,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156104472843,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156183714217,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156258737460,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156337525374,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156416726544,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156492824983,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156568134409,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156647791105,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156722422302,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156797309687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156876089362,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156958304971,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157033864526,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157109648368,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157188440552,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157262892129,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157344298733,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157419386687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157499216171,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157576136358,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157653971086,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/Low_Pass_filter_demo.m b/Files_4_thesis/Low_Pass_filter_demo.m
new file mode 100644
index 00000000..a2912fe6
--- /dev/null
+++ b/Files_4_thesis/Low_Pass_filter_demo.m
@@ -0,0 +1,135 @@
+clc;
+clear all;
+close all;
+
+%generate the noisy signal which will be filtered
+x = cos(2*pi*12*[0:0.001:1.23]);
+x(end) = [];
+[b a] = butter(2,[0.6 0.7],'bandpass');
+filtered_noise = filter(b,a,randn(1, length(x)*2));
+x = (x + 0.5*filtered_noise(500:500+length(x)-1))/length(x)*2;
+
+figure;
+plot(x);
+title('Noisy signal');
+xlabel('Samples');
+ylabel('Amplitude');
+
+%plot magnitude spectrum of the signal
+X_mags = abs(fft(x));
+figure;
+plot(X_mags);
+xlabel('DFT Bins');
+ylabel('Magnitude');
+
+%% Filter Design
+
+% second order filter using a butterworth design technique 
+[b a] = butter(2, 0.3, 'low');
+% 20th. order filter using a butterworth design technique
+[b2 a2] = butter(20, 0.3, 'low');
+% band reject filter in place of a low pass filter
+[b_stop a_stop] = butter(20, [0.5 .8], 'stop');
+
+%plot first half of DFT (normalised frequency)
+num_bins = length(X_mags);
+
+figure;
+plot(0:1/(num_bins/2 -1):1, X_mags(1:num_bins/2));
+
+%plot the frequency response (normalised frequency)
+H = freqz(b,a, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H),'r');
+
+%Plot the magnitude spectrum and compare with lower order filter
+H2 = freqz(b2,a2, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H2),'g');
+
+%plot the magnitude spectrum
+H_stopband = freqz(b_stop,a_stop, floor(num_bins/2));
+hold on
+plot(0:1/(num_bins/2 -1):1, abs(H_stopband),'c');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('first half of DFT','2nd order','20th order','stopband');
+
+%filter the signal using the b and a coefficients obtained from
+%the butter filter design function
+x_filtered = filter(b,a,x);
+%filter the noisy signal and plot the result
+x_filtered_20 = filter(b2,a2,x);
+% filter with band reject
+x_filtered_stop = filter(b_stop,a_stop,x);
+
+%plot the filtered signal
+figure;
+plot(x_filtered,'r');
+hold on;
+plot(x_filtered_20,'g');
+hold on;
+plot(x_filtered_stop,'c');
+hold off;
+
+title('Filtered Signal')
+legend('2nd Order Butterworth','20th Order Butterworth','Stopband');
+
+xlabel('Samples');
+ylabel('Amplitude')
+
+%  
+% %Use matlabs built-in buttord function to get the optimum order to meet a specification
+% [N Wn] = buttord(0.1, 0.5, 5, 40)
+%  
+% %use the N and Wn values obtained above to design the filter in the usual way
+% [b3 a3] = butter(N, Wn, 'low');
+%  
+% %plot the magnitude spectrum
+% H3 = freqz(b3,a3, floor(num_bins/2));
+% figure(10);
+% hold on
+% plot([0:1/(num_bins/2 -1):1], abs(H2),'k');
+% figure;
+%  
+% %filter the signal and plot the ouput of the filter
+% x_filtered3 = filter(b3,a3,x);
+% figure;
+% plot(x_filtered3,'k')
+% title(['Filtered Signal - Using ' num2str(N) ' th Order Butterworth'])
+% xlabel('Samples');
+% ylabel('Amplitude')
+% script available from https://dadorran.wordpress.com
+% comparison with other filter design techniques (chebyshev and elliptical)
+
+[b_butter a_butter] = butter(4, 0.2, 'low');
+H_butter = freqz(b_butter, a_butter);
+ 
+[b_cheby a_cheby] = cheby1(4, 0.5, 0.2, 'low');
+H_cheby = freqz(b_cheby, a_cheby);
+ 
+[b_ellip a_ellip] = ellip(4, 0.5, 40, 0.2, 'low');
+H_ellip = freqz(b_ellip, a_ellip);
+ 
+%plot each filter to compare 
+figure(11)
+norm_freq_axis = [0:1/(512 -1):1];
+plot(norm_freq_axis, abs(H_butter))
+hold on
+plot(norm_freq_axis, abs(H_cheby),'r')
+plot(norm_freq_axis, abs(H_ellip),'g')
+legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency');
+ylabel('Magnitude')
+ 
+%plot in dB for verification that spec is met
+figure;
+plot(norm_freq_axis, 20*log10(abs(H_butter)))
+hold on
+plot(norm_freq_axis, 20*log10(abs(H_cheby)),'r')
+plot(norm_freq_axis, 20*log10(abs(H_ellip)),'g')
+legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)')
\ No newline at end of file
diff --git a/Files_4_thesis/MSc_Presentation.pptx b/Files_4_thesis/MSc_Presentation.pptx
index f5009240515cc6e4b28de99c077d0ad11c81d3a9..73d1743da559c6d32b2ccd0753e07be532a4d197 100644
GIT binary patch
delta 85911
zcmZqfI?33%^El%MJ9#dHW9|mG7#JA#GfrN}Bg155G1*T}vc4tA>q(54;)P&O`Gkqr
zHg$Y$4%7U4JAA3QG}GQM7MtIgAC~EhPZXOUa%1_5M0INc5#LRAR=o1hueYlU#27}+
z30C3dHk4`qz5B5B*@)Z1{&t%)rks#k7WH{^P>vec38U1mw?@l^Hkd`uIhCRJ!sBb~
z_Z6pRF&=Ky^b2#gyea2;r1GTh&-^ke_xu;CGqV>&<hy9dN0l)r6^594tYnJp-~X>p
zzqn*U-uD}S)A{G^U1}b4X=~oCH8o+{7f+i#_BY--v-Stu<Un<i&4~(+SXpL@__0j(
z=Te?7qin=AnN56;w!QRhZ@X*Pzc?;7{;_CTg;sY!TCLFLMNhxZ+ON80=d#VG+jsr<
z^w8P2;Wrb=7*0czgxq%w3=HQdFW`}#+^x<(`3w(t{n{WGv%B3K-1Aau8x&_QOPp=5
z61g!y-=Rh9+Sg4Lb0nXAudOk@eRuin8|+JSnx}7g$ZPOPE8}%<%lE^l?<#MIxsW}l
zNuAR;^~Trj=C{pfZMd@3=GKhJr9X5MbyV#*Ctmg7Gv=RIGnYrvQfI4=n@fnhiOQ{I
zFI}RH7Q`FgjPs84sIKLIV{m-cA9HJ-=Fl%PS58jUPgiLv4c*OTD5)i6A>Oy;==-|U
zi_I0z-Ol)b-mU!P@n^H_KBbuMeI(<TDtc<s{G*F9D)&Ci=d_KveDkSu=~;i5q_1s%
z#V23n6Wu&f!;g*YS&8b4MQjWVj#85YOT{M7s1~VT6|w0lf2A*1^tRnhnZifj&0`Yj
zaXEfRWukJX`ppaf_c@>1a#@YdXiK%kB(|-o6Zh=;euw{)+}^t4=&31(r#xF^$M<Nl
zhQgY2t_NSge*EBZk{BP;BHp#!QC+iS*~@*{^Zn}nJlrbtYLh}l>}y3^zOZ8_5?3$%
zEV_DyozSGK64CWsp@GfwU+oIjsA66jdNa#CaD8ZC9Q*CBuQXpDEjn3jCirt#($>rt
zjj$l*vtPTs-!475++%WAW=G-b{Q)morak?<X~X>}J(1*ZtM2UyEz&zbRr=os%kUQQ
z1KJ9vYZ<&R+~UhwzH`3mvWJVlUj3A<-^rIheU(+EZ~KPcJ96v{|Lf1yB?-!Iigy0=
zEN$QZ+3U~A&78e{S^t^5pX?6Jcb(UU_PX+)&8#jKyECQdi1q4OD@DBhUH`SKZEcu)
z?a#42e-0nx-fR~AvB>qzTo$8aUAN9<v&qWU?JJv6<y!8ca@TIr6GIEOw`I3BJBv-R
z@Us%Ei!j~8(~;kDYT-`V?nmdE>ML9GpYvGhY@IoK_aw^+jI6Rwi8Tk7s%{ND|LVhI
z8wJ+zV-NjGQa4QseBv&0W2M=%tn_=6o*5J#)LwRyz06t9#Z~a?q-##e3R#cWi<d6S
zoARJuI-JvO=gDy6sE?PT8vdLL56Mg`n|J<ey_$^1!GP=*OUaL3ljmou)+?rm@84X1
z=L7F$G55z8N;XHt&Ixwa=WF`>|9Eo#B4cU6MvhMtA2*#m_W9wGmp_)Abjb|}I#JoV
zBBFCsLf4l4x~&zBOb<4{armat_x;x|kL`IY18dx~m8adApjtBf`4*ReWpCf<CC}PY
zU{`apOHKRSI-W8$r6mtVbv+xa+GD$8Hj3UYSXjUB1pkvRZH2S#XD9mZ{Ca)!TCL?i
z*-nLv7F^G1m)nq{f5JBC&HL+*e|l*g-g0xH+RDhSJ&U%PahH}$97x~QxHo=!o3~8J
zvo+V8CN@cVP0OyH;(9QcC4JAF*R>*YYy#~Qrr$ADUmlWt{*vX|>~BFY<*eu2J%9cF
zj&74Jf*kww`Ro1q^LgGGe8@3xD}S!yzJAFI;Y%MXmA@9+-E(r~OaAJUU8knyDXJXe
zrK)j*?X8z>wBBsCwC$C0Zh7?&>@R%S`^Dr%kaS$K6YuXu3t!emJ6|qfYGqvcMLa_)
zN{?AUbKA+xSry(>Z~Xhh=>8#N`s1h{?SKCW9hs7v{_h>X+TXJJe4*CM?<_bcFS*R`
zetC)fxnrB}Y4rVyET2-xx6OsskN?cP;M<K~|1(=Xu;Y9%FWXOS_0~(Qd#hWSJ51K>
z+Qb|Gt82^R9ozZsGm=^5I;=Xf%)0BZmz3>oex|A~@pD5N|Ni@xYWEKZF8HCatMJ<V
z?5@WvKm99Gy|we@@1NNhULLRCTr#cYqRFh5lNz&HGxdEBpR<tlwb~mg)~jY+pP60B
z`*z-|bx(HxaQU=n;rVlw_X1)Q_7~J_VZ8o1?%<5b#a@d2T+50-%)a^IlQLiUuOc^5
zeLeRerL8YiUzkM2=|!mO>#z8g`Kiy%-7~$w(@%VV-6^}+J+ksAe^os{_15@eS^cLw
z#)UVz)`&`Hb~0tm_McFEJKC#rw&>#4d*7CPn0EE*>s;frZSzlC)_-30r0Ce`OHEnp
zJEd+NXe)db%UEZ?E}3&c$>V7D;|1*gm8%>jO?#e36{^Hl8+0w&V#~KVZ%V7@mHBOp
zMLMtdFZ-+F#a1YmKL7123(0k+#Tq^;-%E<>=h!SL(4MEg@aQF(r;D;oV>T?Ga**}-
z#c2We0!kjt6KKiO+q<Xhgh}?~tD&p^Fg5J-x#ngVQ1tDa(6apZ$)EBVB;Gb={%|cS
z{TwIa(A1Pv=uqSOtgWE+G5=lT1x?Atj~y@h{(jISQ+u;7*t^)w^}zb+UbDCRguIA1
zvFTD<##lcquc6rZs{cl<>xX`wwtv#7eMw_3-!kSY`^)mV!hO^pW=vB}%oqE<d-6Gz
z(`p;bk9LWBXllQ^ZTrwc>_nivZ&Yl2>Qbe1&c@&Kvv=I{&%W7lWA($m&-c$QEpT)G
z@QA7Mfl|f!E7kGd?hDKxTF5QmTV^KF{@7w>>q(WPb_TCY>kmh6pR97T!r+uuaChU8
z!^KDMcsG{+d&-t)rz^E|N1_+klcUWIZ(N#}T$XgnJU{bINpV$mZemyc%L&t8*-lND
zP8B?|TjWa2fwpKNn<=IC%ib+-`1M$nO@=eVx~75aXp&F#m4CXf8{K#xl^&e7=UE#o
z%X)jBS3e5_j0;S+Wr#@STom|rwN)T(_43Ir>a*Oo?7d~jH~ogJ-#<oBRn5hjrgQow
zCj&#3_T)xqvF&xNj7M1NU)CtjnsV1>lV64INqer--SUwI-WR##H%c#^v|CWf+tDMx
zVS+igh6$5Z<HLg2N1gW8#0DI6=HP0yn|AHcugrriC6`WkADk+5`S8ir@4w&4wBgNp
zeqrW~gBNDrDik@s&AzK$*nU>u+=nTe>)SN+H(Eb>S9|2CCBM>?YZVKY-`-Jw&p7Ge
z45m_vpi{G1GS5{MeB0!>t<)@4$@_d;Devv1bS|dzewBgqWsN`fpA3HXhPCehnX0m1
zfBPTH_s{S7_UcoT=IL*9r57G#XJuJZf9eH~q4u8JjeqPCxGWd4{JE;6ZOZeOX|leV
zfI@1{!uxJH%ZgZ@>K#y>dS&Ndg`Vmo9`#%wY|Y*Ld>*xm8(1!6{9JzgckH4c6$P;|
zbMymiSN)4Rbp1mi@2L`-1&Tf&j|Z@~UhS0An_?<<GGWGH^QjknmS_rnbn1TKx=A$f
zokoC&&z`6&W=dzIZt@Dv_qn&is994-;nIz$=kq4MJed3@&t`qV!3}*s{kwUdva|H(
zG3+m`7iV#HHes3H^d_)$?=*RVPf=6yXDGxiUS^oed#24@du!I!OJ5Jo^S9J_DKC@v
zWCcTt=tQ@P;`*Q8%zNL~$Q3E?;5fbMc3aVFFM}(hQcjZhHnyBOKDFz`$py1!34MQA
zD^#Auds=@&pL)=Qs=HH9AO5nhC8jP)x8>;iY(0T{Q#RFaoV3bEyz>diWG@~CUM-8e
zF;BnW|8f6ar1p*_9X_s_&mL<}@4f8y#L-KQU+rejG1i^))HMpsu9-`}SscU4x<4tv
zHoYis&*f>sHy_R^Ik!9VuS;er-~T|KS(A_M{JE@Ggn32ny6szJg%{Q=4VBwzb>L<0
z($$9A=Uk8J+}dcibbtMVA6H^0Hh3@czudZJ*^b3J%U@b8mumPb7#!{p`0w}c{CXR<
z+>pfqDi4DLuV+MR)$Vexn9nhBef@slC5zUJzDid<>%M(u2%F!(py)r=5BPshJinx7
zPp7Q>!q2ylzFz<D-N9cX9bzH|b)Ns;-QR9|aQ83k)@b?Oq)9LKS(#tCy}e#(@A`9Z
zb923t|1nex_ix+r-*kp??-PHmq}so~@}9H3+*g0+^EH<z!fzMWXD^(Vc+$1gMf!Q-
z3ZXf%7x<Ul3JR$_cl4gyq!q<EA)a}rlXssM5<2uO#UQn^?%bqstL`I$Q`lFj2!2_!
z%kub@i!u57>&xfN51+n*arMRIfUlc>7S_*5`?SI-HR9`ni?igG{f{#FR4t=?YUR7F
z`|i2zuDW^DZsz7$^H(veyh_xnzqraIJbXvqT+5#sr{k7Q^4t5cKCNh-hO$w|d6OL%
zL&E<`eW>59p4(VvU7&0tKH=BRb(g<~iu2vtR3ml$S*eGu&)fW^9{De4y!ElnoP9cO
z)5jMfFYAANw*P)DYVoQmukyq*-(QP1Icu)HKv9$7T*gad_xJIPyfXXcw~7XY*e6@%
zFVSiZFpXWDfBMrZxA*QF-@negzG~X9eX75#T|Q3_cd-9$?6ce_reNp7)hmkLzdO9n
zujDP)0efABsEHn_9e2;BF70^Mqx>aquHcHR7oBShl3E@M*5BJ<@ATeg#-eh$?*%d{
zTyHa9upg|rBH#Dd*~%ht@tKJn>-<`6O^-Vj7O&p2b8~!9czDbe7K!NgN+<iSgxMC>
zi*0SpR>sV}siR@A+;nn`P5M{<>8E-h3TQ<+W|%w->rGx>_3f7Ohpxy*#!sr7ayZvZ
zswE%2d`afLkNAsQX{mar(jz+$OT6$b*kZ>zr|@K9j@UWQ;|(SOCm-!tm9pD^tB~1s
zJ>T%RuRESw@O-cbHUGJm?Y@_Dm5YIaS#@%wvv|FwUPW%so2Zj{k55SMV?SXn;MC_l
zd&-Jdr`yb(ld7a%e3RH_wNpZ3%E?Jb&9>`JOQ~+MWV2-3$;LUsJ5J@fjgOq-{rICo
zE05-#-*R~}%gZ*^P21|@z1Q#C=P#Un)>ZQPP0!P|MNwks57~5Wo;~^6@1JMnwyX)-
zq?6=1@8jfa%=P-w@$>(E5?|kyIMYR}EdA+(xm%_Mi5-6Y*eK@Hl&S8O2aV6@7ELtj
z3@<E};Vf$pzWijzTZ_GqryPx3eM^7dX8U-ZM-%)%6-@o)^U9gUe+J95r$%~S#Ze#U
zT;@9HEwi{Re_;vNsY9n#7QNpzgZtb|&FKANM^g*+u6()qD<-0lrM_<Knx3Tz-miDe
zS}|?qb)M573ifRNdu+~;w(r~%=j}^!zL0iz{+0uO*nb^SGkfy=64%#+i2k<I`TT2m
zr(b4X-OtOAuz}GlB(v+=$xP{@XB&NXJk48i$y;*UzO#pKUpiHE!ShM>r$d{!TJ~ft
zd)&QLRi3NB?NZ=XE8CSn60c3~T3*j~kym|Bo_thMhir4%?e`Z&43C!X?Q0fyIy|TG
z@z;e%1Mc;Ie$hCivNvCq$IQp8Qd3@N-3*?v4T=KC*j;8BT&kLP^Syp_m<adEA9+((
z@(7(vkoW7JHtAey*B(}G$454Pm6>xtTEABEm)x=|Au=xMQ0C+M^Dix8j~|Yg_Lobm
zPnOh6*Xb2r#PCg2Z>Gl1J05mA|8v`$y%nZ(Ojurg(C$OPvqz0H)J3_kikx3mtajt*
zVws=s)17=5DM@EBY&Cqf$fRS+k3#Q8iLDR)XFR!9$z&Vx%=1X=)k@CAohp0YegBZG
z6S?I<<^#5vwNIaTdo)zLv6QaU{Lykq|H00awSVi&%x0ch=2)M^-&A(~+p*2--m+hw
zDVtDYBGIqzxBIj6>P=5LmUykGik3V$Z?DN(mz!cHIXi_?kI3!Yq*tj}S;hNr%ir~D
zwmtrqHJ90JNx)W*ZEpf*f9n?uxX$sys8cy_?pl!#%NFdJE+CSm(0A?7uN_HFMTt+Y
z*4=vfSEZ8Is<yuT*?F7WGp&SgOIsS>e*bgdUCG~zJ(rtv&$*bQynd3#`3Bj-@0O2>
z{)!8F3AS4um~;GL-hnrg8x#E2vE<M2-a3nSW4-z*g?lXCKho^9xGQwHY`#tq_<48I
z<`qj4FNqy_zxgX$nX*Er^)2z!X>Ut~#5Y@bb|iku=~UFz)p6a^S-<6$vetgxhuWnz
zah(!jSLAwRj_3EkUGSP^+w(8Wzn%F0tL*;FZ??y!cQi`>aR@5d`*770g+A5EN@gb~
zzkaK#lPS}+=ZyF#jWd^%=l-0*!Zox1b;!%hvs6Q`G_bR0oth~rV(8)`ux=@b{sD{B
zX-h?97(3d;7i^U}{^%@=MMSYvy?gNMU+-e&6qjtAdS<HA+a-Fn_up^%t(CBw<Gjco
zQ4@v5n`YEqe_dwNG5^rE>$&BB=Y5*eknN}Cq8b0$X6p+^9ri<9Leb5SRU%fnZEcxw
zzDQ^))1;JW=7<&UJnFL!eUh!Wn!#stJNx@GfomyA{b`Nq-_!E;Tfg*aN_ZrdsQb8{
zL(C<?E<VhQ$I|DL#tg5il@mC;Jtwv*ehOTBaDwaJPcyD8J9eaF#yRC@S)yO=ZhPKy
zd!OxV-e23yKR-C}``m%DnEIZQlb`pV%$dDvd*Lzr`C6~vEqUrZ%PW9)i6dhulWFCr
ze+-#9Gmd?j5hk=;eJ!Jq<zmy6^Otpk4o%hZ`%+xrEZkCimXqU7N7T`GS`LRMt_b<U
zS<ljYwNS>+;iodow~pzGT9XngzV35LEHO=1>RadL+8A+u-IT9!XDg#(Vhuj7J}Lc7
zrgHAVsb9<foh?6DF24S_yK9;Asrz4?qvPIgu91{%@?z>KUhDg{;qt2k4+8diM&v0z
z@{ykMFf_RFU;X>Teo<zJx=#I=dT(N3;NPcwd)D1ocMIBeuk7!s?Rz_(Td8#Ym*H2<
zTW9_+bJ@R@4}RKw|1u?T*~5Y<2R<2Rq)kW{nz#OwYvvAd9{w*vL27y7t-TK-7KrWc
zn;c=cqL1N^z&XBYmQk$w5AN#yI3C*L$M|U8>xXZadog8nl&LySs$Z|9oxr(o>C#IM
zPq|h+3C(K^5=uTce?@bkiB_%h-Z$SDR9Yu)y<1je;kS5B-Sx}ba^dGDY*;;E^<iz-
z$+K4|HMq(raCVzG#<Oocxykm)46UeqeW%?E;;y`}jGY?9yrt`gHDmST83&!U_H!mp
ziv7^4mtRu0RoG-vw6Mt)uUm`igQsOpUVZpn*%D7P$1PE-m7XRwmLxIzUjNwd^f+y6
z6UW~>IX;hd#M>8KTcP)*>gh6VukYN(-X~N}gnmlfs1x&y!(yRGN?f~@$OV~hRr41P
zGh9z_Ua<6P|7oo@J!Gx)@5;WPGFeL(`fq1R>=oART6UO!;Z(lRHm9GQ;_F@aY1L1W
zz7f5upwiIh)ak3HiVpXsL@&&{aCu=C+tE$lyYi2Qu+?lz72fbA>c|<TcbZA7_MIrS
zG70z)(cHFcne&p2tKqHZgCy?#dHlV^YwyqQg&cECjJOW_8$O@4s`Y$IU{}~h`~RPg
z@88SRyyAh!%KA3{Q^&RBUYdXK_x`}0^wm1yTYdVUzlq}3ty~|BqP{LIu)68w^6{1D
z-3m=kOMBrvi|2E$yZv`2!~ehQtsBIju#4FrO5WRYV&P5R{h^NT@7oK02Cd@T{QI()
zenUtr)2bKxJtwz?G;}&K-WTAv3th2lzDC2NUaj0x`OhBuL0?l!XWYEQ7ogPsif?}D
zl<=K=bMu1g0|n&y(ob-#kF5C3l&Ny`z%RXLO76Rt+!V?#J9+PEwn%-}x2EYIzduWr
zI{L}R-E+mSw2bAwi}+Uu)itl)*CKT9S!J~DHs9xOi%xRcg-^H1`Y3ahXRcRuY1Qsx
z{Uz+1&&FO<F1P=0ZMk0WMCgByC!fqW#%RqGZ1!lX)^(d|?_9rW{<{lT)wPdScXI0=
z%D5cd?6o-A$NAF~o0!LSFEn%4ht4Uf-+p9ufNA-vW#4qAYS$R<3VoYku<iId^UZrZ
z@4J_;yS_C&L$2yzg#njU@T+9e4OapRN^5@~i*Zga(En|F!&CQ@wH{Z{zrAT$=ih#p
zy<hlyDi^b7>o!NRWx09n^@m;dBp=<LeN-)`O4-tFYtKTa>vyIyUh#e)n-s!tp7Pfy
z*f!<PB%_>TouALdsJm;2Fcpe@be*%%{Mx2~TCY3WbG8`uWmmnbcAt9j<QJv$D;GC2
zPb(BUdv>Mj|BTj3v2`sDr`GvO{^$>gnm*_LD_K#GD+SdG*#ae=^(XD+8aCE9TXw~-
z+IFDsPSeV#OI;G>Lra)ubJT8aS=f^+uzcp0y+z%VWHmC**@}1V)UE#aaED=#J=cVM
zwFJpaDSyRO*0fl&C?Bk`ZE143pPL-WEYDs3CSPf4;&mCG$rgL&uB!T!xy^<-@s6N&
zV*m6d#anMJSiLTVL;sFLdst5JeSt%a^%+ZU7Pn-sc-}kb5nszJ+0W9MQ(5ndzRIgj
zp5&={?!)7DuOrXChFsm_{(8rnUq&Jl=9ABgZ=JY6sw!n&q1b-6%Z^j$yqa?MJbQ-R
zYi+X)I)0|fx|$JT$G$iV1nD1Tm3Zu#eNbs#>GcMKX>I$~Cq;&D_m)brbu8}Hp16f^
z{e-NHD227kevhIx4fdK}`IWk?aNC2|vC@yTZ&c5lo7^RJ^VEYCH!rFP%zNZ^cX<vQ
zr?N)-v5MbUc={d-Dx}Z&)#<R!kF}&?&GUl7$L8yWA4h&D*>~|m8|$QsV?PYrJzdZ6
zF&Nj)c<|`e&v<a#SGc-kWiA^7gSim6?Q0Hh`$k0P-!>Deli%>)funj&lIOJ4lPiL6
zOu8!Saao~o{<MV&Dpq34ZhPGFH2bpuy|U&_zsI6CFEL7QVChVa>pS=M_c_J*{X5rt
zZAy(1@wMH0NBFqXnsc-EtjJ$}?RaWdyO`jlYnHmRXZfyWS6gGg{C@rSU2{8()NjOg
zbJov|%GSJnGC^UJ>FO00nNeZMc~?JldDT4K-aO~Bwa401jn6F(E?DH6Tl)KF@i+6;
zp%XVQIcX-kda2-{NKaK0@z;w)_ip)Sc`51~%aIp%`$Mc+Q*VaOT<w2R&ocSd%6t2s
zz74HD`1Q-rZ%vbx+V|@OUFOQ$$adFdyHEYvjXeC#`t{rHf1C8;N!`)am#>#F-9GX6
zO4DcgEA=^xgv<0j)7Uou&Di#@ASHKOoJ^$ci+Bd!GX2mn$?kcx9)EqN!yRe#=-nD4
zZ_RD<OmFHpUEzHb@=W^krq8+hJ~!7K*`BQ=A64O|6?oUmc;(-V>&0&^-@C}#|Hop(
zO;2W6JDu-lGF>|7QT?ue7Y>Rqb<<~l)O(>!>HTxxe+%YRHv2D?n0v+J<V`oT)lRcw
zf3FNWq5U(!=xv=vr{5R8zJ%!^4;!z3JFflU;r5lLSFE0}PPa012{F=>WNnl2ej8F5
znJvC1gUwv0yNk2v+`AL0!GS4t-ml#f4t@L}ZQ-2$<j0TCAD$#{n{d;reraf+mUiR8
z9N(P@Mbl+x{y5%pc(OsHq@usReT?8ztD9ZIMJF>d_x)9g__n!d=as(e-H~(S1N`*o
zKV18NU-P$PS?mgt6Uu6Lz2pf|_))w>@kpD6ke1|5jfu*ymz|MRKb+6FD`u8X?B$}=
z#+44r>l`~DDT&@uS8%!XUiSs#;)(SiM8vcW_AlCh|FVjw_(zM4hi`D_)X(dCqY<~H
ztmk5+#eDTX^FKMIJ`)aybjEx#ahSL06@%liy`M^U-Yb}Rxjp<z*Vaj)<{$dS_bSbM
z%=Y_DvzgYyZ;F*IVI5BM{yk;r{lySF)%DzopKkmA7zF&=&LNVe;W9hn@2-V0M)!`N
z{#|dC`EPAS>*0;F-B#vXbE|LsJ9F}_Kmpfp1#)L6B~CbYPUq%PZ;jL08O!(lo>Q>%
zalX)$Z6|yhcWD>}`vk=AYI@zM^!r3YRGx+Mtw4=i5h-R0cU-@@E_6ECbzPy*Oj!5y
zfyJvzzB|t`FVA)>Uf33TNXF~6;Nt9Ajh8N;coVW$v%cF*_f*hNA6sF&z)J27AIf*0
ztP%NU%=pMeweB!C!%6P+KH<t@YdOn}Z>=A<+IIihXj>+heE*}fdD-LhS_13rZ*s6b
z&X~Ey^?v=%f0O4e*D|`-k*4auX_?fFXDi<yykN7_?|Nfy=1o!211zgDcYM)G@{n9u
zB5Jd{<*|uT>l2>(ub#Z?6SB?wj_&5HD0t5qJmKWoyT8@kk1k%Z&uaO;7j<_MEWRyT
zsP}7~Fv~*CH^2QdMA#<2Z?Xz~DPP%W{z-0n9m_oKpVLf51NlE#np|7ID0;`9#Z7sg
zm-gj_tl8q5`Zt5&*o=wyMB6WR&B+kdbGrX+Z$e{+YNxGt@_oLba+`XuHcuJ#Jo&Yy
z6PaCKnd<XT>vLv~_$ImRcCOg;IWG(@={Wmm2T2^fv0i4yo}1a1jz^qqu08T3;Yrm#
z<L^q=yoWZvU2b=x=1t4C$8N=2V(Ol#zf4|zu4~rbJ6c8NTNh0<ztm_IASJfq@{xNs
zmGwtVtX6VuP}A(r%2G_-RW`v-q<(>T>AGg^%)nXCnf*21exGM>bA98=*X7|V2UT{>
z{mZ4!8ZRVdWRk9Qc%|CBn0gV5nAqi0#D9KWlN<Q{<<_?MUnhmW{i^!ZUgiCY;z#_4
zvx~O<`564?<)^oQmaNS$|N2y7?cR<vA_69Bzq0H;{z~u~lajFvqw0d&pB9-lSh02g
zulLN!y17F8m&=0BevRI9AKtkj@0$G7<LbHUyd`|*T3mk@K2<$asw47WuI<rwbL%><
zum0&j7%%ZVWX?F-u#x?FVL;ZDZ_hv9V}Hvy|Lno2IGJ;AcfMY}ZN5wLh7yBKmoHxU
z{<zYjyPf-Jy6z6c$3F3_dtR?MG5E1((k-*{p6$E^^&gk4`Zez{|M3;~b}et;cOgi5
z{dF<tzoE`ypT2MTyWwfq<ichqujbnZS00@^^5AO%r`6X*hg#m<%zi7sMO|dJVqxU>
za^atBG9gziqeV?UE-CH!G9klgdDz*4=Zmct%+Wn-xOZ2M)J;>fD4{8n-L_P{ifeb@
zvSxWb0|UeV|I7>llW+3za``k}kKD+|z;MeCR3&Y`Gh-`L{gVtc{ZpMgez;ikeAe>m
zbCkdQ-^I9e@%9OJYuZ?{4o*`2J0+_&na#4xvAxiQbE|mqygg?%e(OoF^0zNk-MnvZ
z_aZLtqxzqDeQuTh`J{7Q;&<}y)$d;~UblC7|L(f;-*;a-a9=ud@5g}q(x!j3GM{UP
zxnH^47F&K~iVfG2-xZSete37F{&oG`h0vUXo3r9tq(m}>rZN8cz2X0>(?W^IR&Uf;
zbaM4xoA$iU@B($Ex>6CfpR1Vz|5Sb1c|rc>wC`TkWnXSyKfIoQ9-rLPm!5}DSNUB$
zt~Etn>RiJ6!+VYRnP<d&IuTjBT4U4ZNDZ~8la^;)yIXet?AgZ_r;Z282#3C`kJA37
zax-B0qtBdwk{c3MG-;pc)>u2^+lR~Ny&|GsZhY>_a@KgSZS426j^!_29A39}_wNff
zx8LsiwJ-biwsfA}hx}J=Z}|P$C`GI1lSgZC+g`ClDuDqhsb*{CSR*$nCo75uDT*0=
zv07jyTKKj+;r~VxvxcnBCypD{qp~Ae*cIv}x>F)W6=Njs&P#gzwbmq0?tq*whx0dK
z9(%j$dA<&ujO=GyA~@4_B^*`CJ1Ar^%h2Zb$5`$bmGn$0yC%mlRngTA+g&4Vc{jT(
z=Dr|%`pL(mnlECcdv<Z^TAuBQ-y^v7yqR{*-TU9a+3wDsy|;EllF6%gz3pY&&CO!c
zQ+nI#4^LbeVc4y9K~w78w>b$)=>b8izNv*pHa*<EmL|{szv`Xdoo1~f*qy5JZsmQQ
zj5i0e^cigxa`)Vs+IZ>G)WDL4hVqlMHwrrMSbb=_G+V``;=6Md_Z)H8QQAK1=NtL!
zcPf3kGQRFgG%DG=oTKr0&TO&S>#g_buTHX^F;V-BhkyO|YLR`1V<v3<AW*0so8J6r
zhwbe^wxgd)Pk)$eZLCqaD<v^O=;>Vk+ZQfK+T{53axlHvYqQGn;Pwrs-p?)@<klwq
zx?6a@c=xv(WxMvRu8zI?fjyz;?d`=MH~p*;Tl(<r+2v*1ZaW@$wIOedSg)*3{(7tX
z8%!_yE3srp$*As@<*z?(|1!m8{-MUdC5MDUIyI(U*In(sI{aGL-+MWwlNan4Po5<5
zvB7Aa5T9q0>G!>i{GKi!tLBwIJXbu&zJIaBDm{s-0TygA2X9$Kw=w$5C6^wKWINzu
z&9Q&3yMy(EmAukV_MD0~ahsIH&=ShP7%@{yp7D_2tc?duZ#}QLG<B*%{etuzYLyj1
z@!X3-s;e~<Tk>Y~t#5WLwMn=Uc2;Y}EU8y#A2*(Tb^C{ZK$8MXRM{N4mf%W}$?OY6
zHD~V$3p%E|vYTh>E5EiWms2nHNUvReJ7{}>6>IM7n<`9&FLQje=LzcVc{#(y!QJfa
zu83D5+tSM;-<K5fge7!^g?u!4yr4c%IMd*?z#8^Y#onAfZJPp~u%E1LdvMk?hrOpe
z=!j3p<z27ZI{X>dUXa-G;_*+3(;18k)vhX!RDDtze2%8&w0;mR<_+Fh&=YYqr0+S$
zC+>ZFZ~uHR|1WNKjoS;2Hl{VxzHENJXx7zj9BmJ(dWwXPaWE9O%~kpPsi1C6UGR^o
z^<Op~pRvwN_CSNRq|Q&lxpwQ0&S_J!WJ@%OD%>m1R#qmq`N5=V3d`HBsIgQ&Y~RDk
zmhCye`Scw274u`ZZ#ye+BlWargJ!JFF|QX12e}XU$9ZdZey*DqayH>X+UnPjRIi4t
zK3V$x$_-O_OZ&gMnXkSdouLvL#a4EX%OTGvi)Bsyc~OG}BG=z0Ug9;{Br&g6eZI-l
z{@)2^ax04W_h?Dp3w=}998kBS?2G;XxX|nKcPjpU8NZsPa`m^@bxSMde6%lhemAr)
z=RUS~{g0nrF|T}^TYfK1d84I~|0`4?ossW})KuF!8QmpfuD|8)eS9>p`q1al-T(i|
zK6EVGvunlE$4Bayz4*0j@q=$0zuJb*UT4wo^?+HlVB@E7?<i)6^yFFP%N<u0xN!eU
z7Ce4jsY2KPt;U+2stK;MHm-=WJi!pMCAj77nunj?h*+4|+d6O_Eq~Sj*E3}AnF;S6
z+bCV?uAZF#EcL5o*P^7RtG6EOE|r<>^W>q=lZS%S4;MUEesJ7G>udeeId07BYk$0$
z<;9%k8ur(0RoWiYTkOAAU2Vziy=q?R(mJc~QK9BR4dcmL;bpo7%Qx9`9Zhm5mtA{n
z#e^-F)G|9<P2A@9eO$X}=4zF&PR)f1uPqEV8d~`CD}HF1#`khkfYh_%x!T`D?Otur
zaw#!dy~S2YjyIr)tHD6qq(7y(ezytp2S&O2!rFG$$SALaiv8EO#JFWfZ`UmM772Kf
z6<hUe)`__*Y`U`-Tcs@JS^M0Q*RR_5nAn?VvZm1!FBN+JGxOtoZSEs(eCbeD#6CT5
zL6<2~0?I2Zq#wLBm3Z^?!CSX0<&FFIF;?t8k(R@df6`B5WtN_vp#EeY-sx&_TJ`a2
zn?GtXGQT^;bZli%=F+H1SNxc_<ZWm5nSDs9X6cz`A=A?Z6F61`SM7TI%g(T3qVS5%
zj2g9yGZmP33S6I>a-eyI=chfsfxGwYV0gJR>cqD$2jl74>uywRO?A0>U|WO0?WqwG
zZO<!LgfH;X58AbEds3s$?YEJoPdkz$SG?L2Rd41ZxWO@Tx3lnEpI2AAPMQbwX9_JY
zknGr*b|db5$<trcXD@uT{OXx<o69AyBVQ+;^xm>6@Yc1S2<7h76Mgq1*S*{~W3}~3
zQ{73P3!W|gu{ETr_v6#hmww#S+@ww#zS^@gLYB4XNSs-h%KDmGWyNp2r`ro+)s9R^
zlwCJ})qI)L^~K@dqD(B)LVmkchyI(SGAa0i?nNE})hQl@|M{#ZF#Vb>d-g(g+q$`#
zMSRP`l|QXI{QkCVN$xV!)i+G47OP6!-RSds*TLIw&(6!Oy6$`7g}Cnhk2TMCN#2r`
zxm;Xz{VYTCMS%{^;=4R=`Lc~2ZcC?iNbWck(q_C)vPC;3FtDy(Z>q_8uT`(ZkErK0
zethNsf$6THN|oT@^)Gdnu6nsf=+f;{w!62Cz5DmQJ#$IJ+_+e9OVqYMvHA0}zM4Fl
zH1Yn?his|mJk-Qx-&Sld_K9v?=~A^h&wIMa&#O{~!Ca1Kg=CKQ8NCY-WQ^QY$=;RH
zEq3sa1sB`H^0(jSr7z}_m#+V2lQDbFO!gw#*t}x}vCW+grXPic^4}dQS}n2J<lC~D
zJ@a@=kNIqC6xe1PdfnMaSAOTT<6Y~XC3!w~*GY)>Py6P>tS7$Nvahi+T6%NL-AU1T
zZ6TYlvMh^RVj!Ky%-<=k)6Lu7u~9es%Yz$I;{OsYw(&mq3w>3P|GNK$hqi3Jk)ulU
zo0#VAwkhWSA{IB>OR`jcSDSa!JlF1k6Ti=u*;m}VkFGrYiN}s%a<*Blj9tY31+1@@
ztU0u2_BGY*Ne4o2I9Y46+*_>m@@bR6wN08w6)%TB`||E`#q9F=DN8o-_*{N%=cSMr
z`}<I*g;b!}>>A+}QNpWqdAgUonw`J7;Yz(Jd-pQ?W~n*a-ChrVKlrLFbkkgqX;IPa
z|9`*g|BrB85}xp>d~2V5qOSd;`}4!E7i&7*o5WRQlpoN`r0fvKWiNhhx+r&fUaP|W
z15Z4bhP<C!lM=D%_qw-_&rWz^RmXI1^RHE0M`y%d-+pE1o=m37z~T)zJnkea+R1B`
z{Ry-xt3Ps0yRY_V=&5LnvMHjEb(Q$KdC$8XIj?xQIXPVaUVP-0Uk`4ia^}aXX&sjS
zwt9}LV_wF~+R(cBG1naKEKL6Ye3f!-!5bE<`<FK6=NH-K9sjrP?c$<cx0iNE_8&-m
zE_D3e_dD#z<LVusI@cth$O>{e+gWSLTf%*uPhsvPo0jtWnbW%0B+9ZdNj(VvFX#8>
zb^MXcdtsFYZ}MN=xc_ENUq$eidqum}@WskKt^f15`FK6I`_H$z7mvUFcz^4|Ju{E5
z->hQK-hZBB>aVsLRhc%={i{#%xAJ@t+G_cQ?QUaY|L$)m%0HHN&ATjXJuR1?{ocI`
zx0YXDUF?wNDER65DZB9c`LT!3nkJM#<~~$eCMIS%)nHw%){$!;<F-5B->B5mJAGMQ
z@jSlmSFT@Z+EJnRN#E~hLQDT1#_vbHpY53Xcyr#S^3|LL(>UI*m?uyXfAWjQJ}$Kj
zlFD)?xy&3EO}2a>UDaA5we&<fGc*6k)~QT451SlGf7u}QKv{WH$tEwpO=|>KT|cRu
zSorlqNvMCjcg^<aCns-Y5$DVod8y6Cz`$q(>L^UE?~~>DWWhNhh25BM@{&IP`nl)V
zTriRHJ2mA=sHgig-rO_!eRV&()4y&w8O)qN{p^IEGosJGZn&O3NmSS4^OjYao$05$
zL|Yzf?|!kgCnoWl()*p;WWR7tnws|8Zuj}$SBqw<mPDz(ZkiV3dnm)tqU_$9O}j2`
zzWROU+O#bPO+LMyt1H{M>4}d2(f_`-=~KE^*MItCx%&JoVKw>vJ8cr(rZvSc3!KE1
zV_5yRxopOts3Zx!s_k+6FBngJ_;r$~`}q?BTO_Y53!m99IKQHk=cTE+P^t0FJHBD}
z<s@dW>ErKt_mXu(b6%k1)I}NdWx^*LpRe%aUB1|hSGD46=+v6~5~-|KtUtT<JUP2`
zp3eoHW$VN1+4iqID5<wB>-fs{N%B=S%9X3kZxtST&%Z#m{f6MKJdqCfCe6Ob)n@xT
za$i^)?47km?$c|}srNY2^giqtVUv8uYya5Xa;guT_6Y%L(A28%!mnGl+?zMkZI+?l
z&pZ>>{$j5L`E8nQTywQmE4?Q*9H|VuaIC_4eb41p3Kw3@s-F_t%)YIAf8*PmwYQJk
zi-+6IOS6eQ>oM_Z6Vr|GO-gGP?wMS3>CbsJ_UR5Q6q@AcUQ$gpD9hTT_NICV!$D^~
zOHKC+Mz)GQbMBp-(SE+0w{ucX2J;s8?A{QSm8T;Y={!^M&Z}lPFXyo26z2oOc;l=c
zbMJ1^pO83Lb-NC`naKM31^Fd+u9!4_Xw|>CU1IgRuqjK<_Vt#Y&X<gwcE~lu`p%~H
zd2f`?zlxmp+$rMGtpw*N9gR8S)iZYm&3~8~XDYDglV$d_-ZS&>6y)5VXua{#KH2Df
zwiertO|;*@_U+?=?SC(H&i(QIQSNd1b<$jqJnYsQ%L>TUpXU^hJhW<A)Tib3o}pi+
zm|u5fymx2g?Fj{*pRNfl=({m%O3yu|JWiz}anjS~G!<Uzkv^x<<8>#l>Do6twsL-j
zGra0k+6~0Q*RK{y^SZWYQjf)pzPXMf7J&*Wy9!S=3h#(pu{YoeFH^*~ZQ@NQA`j2M
zyvpDR>yF;Nr(92{&RE;_N-^o#CZV87-B0SDp5vXc@Lh&l&S}j}iywcm_@aBCw@-2T
z%PUgnlkRh+om*i4by=ZJ>6STRk+UuZ>3sf}BxIel%Eo(Z-pLdGkLO4RHK=$B#7#|l
z*Yk$6_vRZH?{MSr%=jle_SqIHXN$EkpPv7-R$J=E!c^;vEcfpB|9P1+eN}j*r~N#w
z$5|<Ewe{QeS-<Li`tg<V(uoZxEL<f{c1@I2(p!1LrR~s^{?j2`(<keMUyq(6u={?2
z)62akC-r7LWU_PFv2gd{^5-4PT7n;|xEDl)R(8o&&UFte6c?)e?=i1vNt6Adb)Nf7
zCjR3%zSwEKM?p*S5w+8L!UB#GBKdz_)^{HAUNTu}`7h0)`n?<P@+;J+Z(De2TXO5h
z_mRTyD+~(m+_c!B_{VIohohGJpU`<Z`W^Z0c}M>({+V@l)|5LohUYTQw(6&}N!uDe
zXln9hIg+=;ORleR2A9(=<(NCV3-<Miq#MX&?TI{nbUUl+Tn?dtxdF8k7EG9toTa)(
z{#uKp`qn)u8IzKJm3*q_+S_Q{owhGk{&w(b`P;_YT#HV8QoC63igoi1Ie+U))22^C
zyM^!U?cXuypSqw|w#|jhe<k`va?BeJPYAlDqT&7M;m_M_D=+@+*`Q-9f88{vd(P>C
za=YcOwRK)M)-TiV{Cnm5q2k9^{~Rs<Sibzcy8r7>i;Q=bot<m)U~$v_3-<MyC9`Ju
z=2#0nwOuk}#X}3H*t460S{FJWd}8>b--o+$hR^S%yBVgZ2tI46vzOv<>zZ@7R4H(-
zhW>)dY_ezW+uxHHIyznW`pu(@x?dUpT&`N9ZI{<-G?jmaz%u7su?yeCy4`f=+K@jz
zVds}V`^~ODFV)IUy1kflC6CwDcX1Ls8|!tO&#9HatDgAy%k4Wizc%fAe(Dd4)#s1f
zzRa+;e|9d{vYTUNgF=jlf3V8o!oHLhE*d?nCoOi!^lnqSsU6O*FoQK=QfcnOnzfA#
zx|?hsn+vsHIic(|dvE2t$ZvAChu=L4W$n0ZvDAKz@q@`Ld}JSH-kbVaS!Ly&RK9$Z
zmFu=2sAr$}N}B1+1&&6q%cbuYXfd8$-1~NGM9Kr67~X?B=iUC^?D6AoujKB;EAJb2
z9N@R{pY9@`eRS@FZ`tgRy962fdp)vOW*W>pKDCAW$hlcnJzjOwwqD(O=+BYn8vakh
zYZ@)$dwtB`@V6MB@_MpV=41SQg`cbf`&*1(z7~HiX_CfWKV5or&lBr_`z!(T^%d<I
zfA6dgnBQJeCjBaU%|v#i%IcJVuleh<owK>SHZ^;G3g`FP75tdx$4W=(kTRi#=5>2D
znOK4u6dBC*+pcCG3cuC%-RFG+r}mA^?VSy(VG{}q+4*=(cr+jWohdgtiSaJOimuG1
zM{C$@wlfs`e!u_E%lh}{s~&mPH2Lz+TcjQ@ZYglVzD%QO#uBz}o5+=4{^uG$GPh=1
zcR;jr!-K~c!|QkYF0oWT`90&cRHX8vh<TSkF~yfJ>74V>pl931RYqR+FSgxkbBX*a
zcZ97vwom=?UdbC<8GeT_I1B$2URu>OQ@ZB+7N@YycVlk7GvB*TuaWCy{qp5oPS#zC
z@4MVHKjc7H3OiTt%EDi}OAp6CP;k%_y8QNM*{sl5{?|FKSyt0^6D%X1EKdsixX#Pb
zdctS!^WLW0(l&JcH+!t@Ia9&;L!`}}%#~k5&%BrNpWQb_ag(>bfQHZn*VCm3rnfT8
zv9Z2#cJVvY3WvRVUp&)a{^s21WALs1bF|C<+KSLSuW$K8EO^cG|MPn5Z>#p`i|xJ2
zDf()4Y1k8q-%qE6yk5WVSXbWlh=mgh+b`8u^j=j|WDu?8_wXoLee6?{qd>+AmRiB{
zze83$whno<@mSUTlK+iz|32(nA;p~+Fy(>Kx}5EAT8{6kz4h$$`t@=wrr%eum1EJY
zF1=bG+xotF!LwqHwn@4wuhUId*#G~yQSRQHKezo(%DsNrUb*6vYuUy_jgzJn&H1jh
z%AFzSra<XE*45WiZ%Kq}C<Xj7v(VY0U{QZl;=AAe(Dnz;tBzNzZ&Z3#xAp4d=jV5n
zik9zxwb3^1#?;2`tK9j0#Y0Wp7S)K9nzStCw|^A1{#*TmEVsz+7n8s3S{Zkm`NJ!V
z2Q2OX?pVx;5I#OX@}G&+g9*tOwx`ve|Nhw1qHk|<q09!hj#&m;(QNu(`-KaN*BcjX
z&<qa`pK_Jy%MI(kSBsKm+syptZ@s}<rWv`WoLlHiKii}^d)2;fpT3FZc)sF=f+IgU
z@2qO<-g@GA8b{ZgH690;1N}b*$xU(CKIuW~84LZd>v=AjO3z&6y7i3L97C3-hG!gp
zWxZ!6J-RNf5l}cObfNAZi?v$!-UXji(W*4vx+814u+MSH?f=0Ol{f#@czAF!FicPa
zH}<xMO4J|x<h1BW4uiU3&hov68zd$wck}vN%bfhCC-x%x%eEJb-|X|8zvRBXifZH}
z;rz)=(%U%~1r$H3x2suvIsg6UDQjETOj44U{MMOjFwxz0&XeuRkN=it@bQFc&O2_S
zTV!Y?=aO1e{q4B@oN0%(dL_%AU!Bn3voz@GhRZ7#Ej>|DS|2n;>G+*R6C}fbXysdP
zd{S;<>TTVZ`qfI(zi9DI{rQ{sN9auQ@afK&+8J}T-D6@A>#5bLL1Aw*pBDRRFI`d4
zbMJ4*65|4~*rkSl<ELH^;;1@xeSJ!0Xq<=b-?Cc8NFnDqw$qht8zttZEs9*W|5-#^
z`?-7HZhup;+Y^7{&6_Fp{0F6X%S#IUW3EjSmhY-Qx~R(FR-fDHa`$U)r*BTYI`<pv
zf`rdOk5)Z<F+p~D>T|2Wl?mV4R##~rzxG+_SHQ+S4D*lFosIiac2~~L=JLm<lUBA1
zO$sat*}QJvl}{Ph!=skzE|m7HxNEoO$qWm&zQ^A)x>}NM&&z(uJ@Mka#>cPgolh^^
zHDBZ-GiPz%|4swDGl`QPPt_9ZTveXC{E}Df%Jz_qkIo)7E6P1Ite-yNS2DjJe^9<o
zMsnRUMZYDNb|r=`YYHj&F(LJW-=@<s-3bSkJ04n{bUAvj%epKwMP^$3r#&kS5-oq+
z-W;<!yYk2L2PY5bELxO$VzY{>-oxgLlTO!rt>`Uvxmy3Wz(Yt!SooFBgG{68x4dt}
zE}GW!WX+Z>**7yZ|LSvRXs*hNE0BEe>GtF!>-0aLBscy1^)~hN8Z+J>e0w&0wR<~3
zM0g&b&4wRVeSSNI-YB)6*6B78o3t}tiS6jBvRkVD;%rRji&n+5^KzX{dChLfX_#=@
zQQE#Fq28iLh+D<!6q|kP<xC6iU%|x!7PgmXx5QrNPg^LNP+~K~XW6vJ|8h(k4cS(6
z1s=Tk@sYuaH!LE5<4Vi+#+=l8#(#f<cA(b8vx@S^|F>CAyL&rIeuZN5tyNC~KO74D
z@ZkQM1$nC%tTyRnt=@e}|9<F{@2VoLlbGDEpZb+}bg9s$`m57Ff0X$o|1$f*x3?Gg
zZ7<J?48ANKz3}Dtn)@Z{|0-U6J9I$G-~89Aj?XezWce%GUv1i}zi5h4=c}69i7usi
zuDfzy@v}=VzRI)gsu$NX)>bLD?pM44<w9?t=B9i|=$xZ=EL2lziRh}7TZ)?9yO%yF
zbUmD6uzUGdxy8XXZ@t><XWg7&<v-cT=hBoExAQ)HC-WZad@7BJwtF?_GneMlbroSo
zjmnnI8&iLtJHoRoETJl_KCQ2Ieg3z#k@q+6X_UQj@ca^v+tTZ_7@t*G=}z7zvvqH?
zkb$>SWXMscxh}5PR%V~vrsArb8SU%1>sjXH<cDeszPr7>mD)Nu7j2z%QMI0Bx$Wkl
zAcfe=ADH%-J&xEjvw>y%q!q7)&GuIZAJJg2=n~8gu0Fcp?Txx<=AHKzq&r{zRl2}U
zylwBkt9L`3`m8t1tzwP4BNuwgYp;;&u@{U+>_>lv*6>c8oR%nkR%nr(zDM{k)y#hx
z4BW3LhKcOH^+~thYzD8*<>D&ijBG2@`s0ZYX70W4u6+4B6OLtNtJkIq9qxW%I)A;+
z+IFVAn^7~~*||*cT6XosVh+{1+(QA!%2M0kq<MR;PPXcAiN3uc-+G>DVU6({-e1ea
zt2mz3W+y~#vv*{D_4A%d&6%r}le*78@4DN|v;TF;)<tC<Z0uKJa&HEIcaL~{SjX{7
zO6H{c-X6xR$GfbaITyW%l*@jqHE+q+&wVN#zt*ZO_z-s0s@~jFXrfE_cll1wzkeHA
zp2&4;IZYPl$-fu=!ZhDWZ}N|{m}w`z|8d*>{_NHhr)GQW{WqySyH@zT?41ptU%%hS
zzi)qysio%UXrq639lmI+sSPtwcE6CgmUlyRysgmI7?JwNFFHhHwomblvkuW-9n1Wy
zUO-w>?Ne9Yge`X`76*D~^Me-dIR=$qK4N+4(DaU&;~^h^cLsba+t=y8@ZaLi&p#i!
ze0+{kciUr;dGik&H7kX8)cES0TGX6V!7}gUjz1f;d{d4Ky}f7SDg1ST<211_$1^q-
z&u2z{eIs&(^)%Cudfwe4_G^S1^gU{}wM%^8xNX7pwn^C<r9pQ#zf<E7s5`LYutM=F
z_mz|KV}A;NXzG2@J7rbw<ztJle}36>tNNtV#N3PB!S{K&zsg=Om2c*`z2|3i@N2bM
za@)k;_!TYC5)IvVC?RO6<HFT~b6<El=^lE%Kukqy#pjw7i{`xfT1Qms-7mQ^CYUjo
zJg5;p<Wm;VveBpF7srel3^P8MI5;Y_7Bl$l;CTD{z>%8P2%WDVPW-rj|DR`3>s>R0
z{w3z}U#y}fTs@X>9_bP1TE2%_N9s@IZLuqlezf?+t<aH*h&;w~^fz0|qnEjgj3%k-
z{YzZLT#{DV?~D4aCKktGB(ZeQs(PUneP<c3*BHE?w!-@1H(i-+?IMdFuw9zV+ifnR
zkyM-8!1eX=b++RP^>;LNCR%M${}5R+!E717tL%rIK852QZEAX%ON^P9-2DCZ{lCoi
zc`t<fI{kfhTG!9|wfw^a-yc@r&aD^uaX0wB@T7YM|ALsy=60_Zm+XmKbuKOYik0@f
z`epn%Q;&Nt<$BQJkYQY>Es>{k(`w;uzv6S+JnkAzDHDUbXWe<G{=4iyOV25@Y5%|e
z{xi*$tMvHBhv$|xT;E#5@$#JD*Vhhxug~j;9G`5ky}V~StJk&Igd*|PHNk5xHom^;
zz2e>RZ>M$quDCYti&;FK!SwjY`0%N}_`+{!mdfs~e{RcUW&Y#&)k)JIMa9RxI(nt%
z!pbe%-|2sQXI;PD*S$O0Aace21uHJi5tLR*pH;(hJc~vClf8?v<Sv2DuNU81E_bLj
z_XKO{uFPoW`w7K1Kkcd-cU`*wrd@X{%YhB^_Dwx%w&d0GyL&HP;`QnjfAPiFeA50u
zk3IHwOn(>aG*NbY{W0!EeI{plSH3-3->o*q`osg4AM=HI)Seyr=5%@Xui6K5_pXyH
zi#^Y+)?E1D9EYS%pqWe1i`$p4zs*-Qs0jEble_rzBfk@qbbd0-FN--}mb?1?>eO|a
zmrJ%^Y5MrhoF`E0{)bO@r9^o*IL0w5F)%bP6tX{-ai(%N3zN5z&jfpi)iIAhG5oSL
zdwk^ep1&8J_cZ-lxiUt@@|0afGlPm+qU_EC{hlxM6!T&{Qm4BvlsbM<ePY<F#V=P@
z%E}e~EdG`cZdchZ`~2n)I|IWb4N$wP-Wa?9EGjquwuR8Yx&wdNoh<Gw*P51cb6O2(
zAM`HPO*a)h-|u6IFc69rUcOy9Q+?;rf8T38I?LuPxmhwfZv9P@6}rJ!GVaZLSkRV#
zKXxi>q_JXU>|5)9^PUTYrIwys?f?7S@y%CyWt2qM7DZhVy<NU;X30I-KVS9pXK&Q0
zFKSw@ZMp3CxuBJ4cV3^&Iq9YK{Z(7&j_oU4Jw@xf{P)IO@D9-Jj(bpfIL@>3Y03HS
z<2Ld7Vm8T}t)i!{3DOlj$hGRg&X`YbQCVk`SC}?=PB8R;zoCTT<fh9?*Y9t#6z+Ms
zI_qzo$?~%s4Yv1RJKpp`=2wx2tM`hdFH6mLWj?D<Z_V8C;%?QS$xB_1hjRzY?OB?9
z!fo9*S&jcu^^X*-(!#q^-X?65Jv+_*uCaOax%V^gZq{dDpFKTmWmM<8F5!s6b33#o
zKAHz@4c3&iU9-8~JLu|!;O_ff(`DD{8tQIVyRXx^D{q11QqR)Qw`RM^m+dpL+S-$6
zBFN|VVbbp_g7vJ9HdnT9397MwQ~hJ%%?&0F`&4iBT)n#G-1@CX`X6$89FMn#EPu5t
z!R=%Kt88;(&4DGXSL4oWeSf^txkzuyMeB)6y|~;O`OjYr-g-XNZ4c{Ng-4S5GgaK*
zOqz2=wKd#)%PQ5p3dVnJardPw6#udB;3}NHI%npkN#apV5459$>J?|+im;m;-)pgj
z#c`{^D}~1ATwX#^AGi}67EE2yqjgp!?CJ543zN@hJ^LMgEX+mO><;6*<h#czCY3!q
zue>Z@aPpO@PBx0iS!0qS#Vv(ZDx~Tv_`XDU{8fDM<L|`v8#f92mob=duq}S^k>L{C
zdV$O8+M)V8vJ$T+o&Ir1d7*0k|JAbb%|DJdzllHny4-pL(-EHwnf4}IuDPZ^JMX&4
ze&Q~^*WTL`vcvW`hNNs!JYmD(%6BlVY0b`aK^)g|BfG<w+U@AN!}I0;o|Wc@RE=yl
zYdv?lx+EoJ9m{1)(L|>!O@HQ2J8R$IvodSp<kjt_u|b79-rxATt2ph@Y8jTdO_lW<
zt(-pHaO=+7d!Oyz-O%q(fBy<A+Wq84M?=DguUmf#U4Qd`B~yHa)sI(w{+`za)Any<
z`mgh@;=kJ4r~2Zv-`?W?`ZQbZ=Z9-Q(=JU`VpX(Wd0KqQ_51&ob{0y<X&%%*X*}6$
zwW_j)PO0*V)vQ@rMee@mH#=53O4%f)?oD%9y{`ViwZ|7{etdoGo!iEjSFTKO?YlK2
z$R{NJLGf+YZ{^#$?(e^z+q!jkv%a>+!hJWwmZaY>ejl><m;Y+Ftyk~FER=0{b#{^%
zH@j*<?82<m>vx@4tKFTj{Z>eGsiN5JeYu`*%e6LgZxJbp{X4zH%=`JtjAw411|^3x
ztqLBe%-hB3re1%s#Oia?zx96MN#_(-Iq{kmZ22qrGw<ig-cM^+wybR4{M75joVfjp
z%hv?1*>mCQt{=RdHuXDr+a9<H-<g%tp0|CjsZhP+(SiitlBf@JCN7>@`SWA%ro<mI
zZBE5(OQMtirn|Blq`yr)HR+ho`SkT1Q;(VWIbWY$ZEQZLVx=_y<N6zK{U4uPWA7uJ
zZ*=>Hch*Vmg6|Q<KmVp1dL7=p?Q`Lo&D*>ikFoA?t-f<%7VCGBSBfkSr)HkHFw5)M
zb9q&(l;@hFHum#PcsID7zsR}p=ub)Q*`I~A{+a!D*t>Uw{M^ZhH_O-g)!9|r-_2g-
zFCAU>{z%x=^lhD!bS@So2;bbmQ@>T{uFtC7iXusRf&WjXhD){VG+93_pV#zlJzGiH
zheZ#3Pjx$GhsFyVUYp1J@JPGN+POTnHm&Piny<!7-c=U1n4<Ax``KkvA2`Gb_}b|6
zEz2|dAY}f<t+-sMUAg?pS@(tFZgr2;_rF^Hw_wktGZ~533T|_LIc$A*`=s<m)4n>@
zzfCQ@nSHxrn{<cSy!WMh516_tUinsZU>0Y?G}jc>D7CYzMQ(D6q%F{yny{kz<wI7N
z_s0w?i<zx%X)Vj;o!EU^{<X}k1sciHu6JG?-f7U9`FBQn1MB6E&x;EL`U5_i&s~0?
zzqEZ-FVnZ5ZXRFfT~)m(e!=>N$(NT>Re8&AY0j#Dy6W1uP5L{NyKZzpzi7jC*FfT2
zV%N<xbC-C&;0vxdnejE<)9CYB&1p95%S?7Ik3OWalg(qTx#!21N}2%;SH--}?)NL$
zIrrLSxs9oZqt4e!zf9=aX5P;I;D8C2Jj2rWtmOqeb63?QyL^pT{KC-kM=;92d0VqI
z&mWDxysZn_GU|PLOSn%g(CpchXi;HiB6^i?j{yHIL22JSwmtvlr@Y)OoYQPPD^+9R
z_P_Q=HoG(Ax@*~U?9CL|{n9{cXQGr+qg3U@*FQgs{QYdem;N&Ejl~nu>Z&&i(|`N*
ztXsr*oOhYx!F3g{Uddg2vE#{!5RZeWYuR}Zt=sN@yh?XY_)gBL^<AG9?cFC>Wb)nY
z%8mE-5=Cy?gBx?7{poe~`yo{%$6>ip{`alKFPCgTJbW~fQ$ttli|4F=E9CjzBX0Yi
zkYq`GvA=E3^$DN9I`?^2zX>$j&1U+nC46>?zu@F%m07!j?S1YRi1kl+$;+N+^`bq|
zs8`Lie%<2IW)W@SGcwnHCivIiPyA45Ssom3bn(iGfA5#v-Dm%$T}uAj9?l&u5~en{
z46^)>rndf=XlB2*H7>dE20x>8w^*B$%=^opdf&8eYu@<%S;*W+bb-;93BLnvdNR|e
z+PY0&zv1$w*vG8vH?UZ+JpU}RZS8Nr*2fGtc88s~asHNY>Qm2H?aA6DQ$Dy|oy2u5
z{O;?5PTvm)A+3YUEB3Fu&dI=FqcXYCS++hZJO9oO(Z6vE{yT>LUaK8_DML;wWzUTC
zEQQymZ%)=330x35zSwPjfQ<dF8~^VWdj?KA{`iRJtZlc|9CJKt?ub{udzc#cw_^U%
zYr5j0K~IElTNmYaKMxdC|9SRE-R?L`<=d-NPA5+jvz&i}f6u0Ro1c&6<EB2=>ecNz
zx7u*_jrwTK(;q(;isn`xTeW!66U$p>ttVz2S-r!uk9GIqHIY?scE5XIk?fgw{qa%n
zW8$-Yg+96pzBQWXZQJ=kbMl2fx71Qo)3oD_qBSd8Gq1dG*P44^(+i{Cm*t`BSf78H
za(|!L)6`16kk2>Y?%Xg*;@_sVb5aYsYh%o>+`W?BmseqNuU@(?IW6h&@7@!BaT^VD
zHosFhoAckn-ms(h=iV(!e+{$tyWO78|D|`^Y39BCy$l%_I8;|}arHm@vDfmo%d$J4
zq*j-Nw=K-?dQqGDl=Y3u=dG0&Z?2u$le6sQ>9wlzUKMVaLQ3uLuK1JqEBw@Qw~NPw
z9qT(ni%!TY-{)t);^OzQe$RsEk6N!76em>KW?D}BzFDbGAwBN#b}lyQ<x}@e;nxiJ
zYtz0V!S$HkX_iscSDW&Caks+eaIE~37dms!@;Qn1JIqR#noigLY^KxH`C8@i)Y4<`
z*K{i-M_g4s-Oa_ju75xC_UGU3GW@TxVa@PO*%G@^$MYo9oAnu|U5=&-|6Ec3D{b;&
zZ-Xg46V&&sY<W31JM7~PrT?B!UElWp_n*!XdyjeXw>bwt|CqyB_VEqZ&%gRz*Ic%;
zZP4A&d*)l9wO8&dl}i^2=ehh2c#+&F{lj7N9nQR;ybV{FZ|v|<VpjaDyG?q2m}>uq
zZ=7D;za|SDy*q95jw%+z-V1u`%;eW!UJ_HUn(4K1LArNOW!YKAOOH&xUERmJXy3{W
zCrr1!b1~Xj|J6PCI`7|^#_x9*s~5C;r%SOpr@zo^Z<OxYv(x;4uUqxOitxf0=PtR<
zoN?qitN$e5X)cRaboJVFb-js5*PZ-l!d9E@ezn_m)|T6BlM4y%GuL_~Ea|u_Olem`
zyGTrEP<=rId+ogg*M3=Bne%ppzUJ(0x%Tz0zblVLl69np`<tb64Ol!fH+*fYoj-4?
ziN<213l~a%C-ygRH9Y;!X6INeUL+V6c=Gz56FOB5rx$LRbR_R#;oYkxicdc`IW28j
z@^dl&2G@GSc`w+sOAbHHu;iL^Kwd|1&Cx?M*F9@Aj&OWm@0xEoU*AS}O|H;!8+F5Y
zd2P`)CEujY2Sm<3{2UUY)uq#QK()loMd#MM<6Cl~e0@4H?TXgLH7$J3{_YI_+^Y#D
zB~76h$`38HE{f5gqj;4yaYKadwpYHBKCj<?YS-)=iTB^Hb|{_F#(LyY)aNIE886?k
z@K$j@=d-EP)=9{0bz8mJJEQ*40#)yzzjr>eWZtiG(y!a9Kl@BC`vVrov!7#FJ41rk
zvrfKa<v+1=yQ`G*;<#q3St$qRonNlIk>&kgb~AHtbF&?C9W$1T+itXEve%etzNKA)
zT_?}*v+$H;=660UpRONGvV8Sb@NJy^9IJyRhDC1oj0&bL+|I@Jx4`miebfCnv%HTQ
zgf``5SX3X1*k$9o`+v&byPaBT{Pq#k_e^2wIP~eTyv~CQ3(gi@aML|`xRNhe(Ib9>
zP@9?yL*`U|fz30*1z-HDsrkC?(8|YIM_q*CeNPJ|ri63Ft-ofYy<Ts|kJFE)>~wd`
zFG<}S`Ty<RKX;G5z8N_4zRAb62mjmGPYtbdaGBGqvS6!-=Q_dn0(rImM#8rpo5D+?
z*7{72+7ozzzx|2FqeJ_||7i!GUKsG_`x1e|;=3vnrv3_keuYn@JRo?vT<<hC+xgCC
zrED65{VSs$w4Hb&Wp#Gn9}EB0{Z+cQzm1M9<9M>IEhzPsvPy19?#t7RO5!V0N;Njz
z|6YIN$h&Ig^9DN)$o{mDoxIre=7K1v{2S6uZ?E~BJ0A4o+!MLLx$k}6-9P{27h9j+
z!3{f0w*~7gJ^i9d?QuQpV&|Pg!P#No6OXf;Sglyb^<QMZwa1$b_S#QJE={<8{&~aV
zdl#ZxS05;x{*FoJLagOO1)jP0bmr()HDA3mS5JyBVq*Q|A_=Fcy)8^t|GYcnqCfr8
zcv?MgvU30HBS!w+u{mcWyY6oaW?S$fF^~6;O3Hla$${tR`!S#A&N}icA<E#3JA;+4
zqSF*byVgv>%y8}HcUJhVRQaX0jyK`s{e$6VkzJR}`YNs&eEDrUt?W00=WRQ=pw|wn
zW@hWsRqn;i@0q%>zQiZsxRjQ|qyr}VA4ty?HeGq&y6WirvlqR;E>V;&{ji?B((C_T
z$IN1pwZAVJ?7R6O;GW0jsb}^!uHCY1`=p2`Zx864<Sz8cvaVSCJG*=9Qh)PS)f6lJ
z5Y8h>m0NTRv^tht_^DMJw7B)L&a`_A*lw3Jsq?>S`2Ta$TN!b_ri;(&z1Fqv+P|Ub
zT(aE%m3N<?GR^gUKl6~;&-dSBPv`lDO!@IZGL&)i&f|t>HomzMpSEJtkIxs+%&a_k
zic{>NK<HA(`;lL(9S!F9F8h3M(kp${EX#=xPCZ@z>=n0sd>Ernx3%6WrsGG{T^-ho
zv(39LU&)oYKz~cf?Bf~T{?EL$ypH<Uule&c%vHiX_e7F~>x1CVU0dC*_=)H2W|98Z
zX5jwp)sBWsT!$0R>^K+7$z&n^e#6g6HqU0OxCb8JR$!?%QBl3@T%kEfi2L7ywd;#F
zbuU^lSx@bTTIL?J&0&9<MMW#O2s3Rph&|u>?{Y>`_?-RMm9r)`oK;tf7A!HYIB734
zVPpMrON03geE-}Zx|gnhvggF(TYeeBi|<V^lF_w3mZ@(0?&pa~wwfAIdqTQ21@_hy
z708zgYx;`|TQ|gixowjw+I7D`WzKs0*mvu`wn}krm95o@c{BG|h{rn?O|Qu>{suAr
zJAU^QQ){8&(k9#6mu6*8Kf9n$ap_5MwucQSQ8%+g>KiuN<UbKQTCMeSZT^zbsUdR4
z(u*=vg1U?u5@eG;R|N&mvfOpF_gd*BwNH&RTrc0K4P^FQwb5P7YlX;ug|n-(*3DYF
zbMun2FYE6f_@r{VZ|jnT%BdIL8tdvmWz9L(xi``9diM1W18d%|23z0kowab!nHOP^
zn^sQrkGed&mAg};KKSe3DOVaecUP^?ns#I3RgESlht(eDH8-U7gI9fhSEq6+Xy5Ml
zRWUoyA9=L$clI)tjc=|^TA?azta;oZ*<P<cELgiKbo*gNiKQj$*e7Q@{<o`Uvz>gg
z?~hk-&C2@2`ETx@kGwbk<^A^kax<fAMVs`CJ|14EAX{X(uXHoVULmRE2iut*=3naB
z$-4jUdEq}|ma9*kzu5BN<&uTh1DkCv9GGU7{90i@sp*7K)Z^oupLx`s=dg6XEY4MF
zqP;}<wbsM=ACe~jULQPJ_G8Jt1v%>77iP_WSnoI^G{Mbb#zP?$adWo+EZ~!c{Ex9r
zI>N!gPy}lBiPak!LPmvN=RH0q`Y&GLy@P;beXCght_fRZJf>`kOejyjaqFAA3`=rR
zitqI8Jns8cPVD{?`77mbTAOm<wrd}^<?TLE)jL(=Tx;>UpU>vJpY!nJ_U*2DvBCE?
ztdhBXZ(?@z7N6BUQ^S*g|1Emhle1cI$r+EhsU<o0FCP2%?MeM=d)e!SlheiAru+IF
z`xez<_3rDe5?}61GNGor7q_jdaAc|bv^wtCN!~QwPxIdIYL0V^$lU(;XYjG`)uP@n
z*Laz;>bA~nxjcts&7R23y9_s9^`E)+*_MMQSzqo=@>7VcnwS1*_sZ#Wf+|Df_CNYs
zS$it<^X}Kdc^i3tZCX1?B%r?gZnpHTyjSU+c{^U*m99%oQ~LO}OI-c9N?Xpgw>R28
zy?>(4HgU#1F72!4m+#&!`TMtV-^;4H1?A^$7_@KLZSi>Qsi&dexxh1&OJm_yr-^p1
zg{%+d&9+VsbLD*+yJ=3Rbt=!|x<{@2&om=WtzH(@soe8A(_6|RVZ-w*i#amM^`$3w
zHO*aX{OfbuL62l<;aj()ZVB<9eIRYDGxNmCr@3nv?iP~x<U6%4W6h?f+9fx)L|!Vt
zo@SJ(ZCSf_+mTq_ZZ6Bv+y3TS*0cWg9%>5waIGn^o})zDm@UuZ(9?Ok?)&6<Q+97z
z@w~Nhb#;mE()4x7h1P2~S$DR0*POmOamSi^HR-^$GbX%#Z}z0uLcH8E)PHqq_|^H$
z%Pl8H&zyGdcX7_s_+#7TPl=}VaI<Q!)^wQ^-1PRn(|MI?(W^qDA|{H=irCa-cFnpf
zd2T4{!DVYbBTX|3YX9)wIq-J3;=kWJxGtV@*%ddT>1mMLj{Xwg3g@F@H!?rR&z7-j
zJQ2iE_^Cczt#($a-|1zKu4#tloRvQKp#RBR`7ZgTY^|3TOBMcf&GuR3sqN7CoO8!d
zX2+-Jm#p|-#LpLRBDKMAOMB%_$y4X+Zk_wFxGKa`ykctf^EazhDwF?i*q^$`fNiGc
zqgT3u*@rdd0vegmd=S{&JUi}o(YC3-Civ~`2tHW+_MSXvPQA~?P4~I8I5qVwm8Zq5
z?z{NEdBc_4oeig_imke%u~w5Y^n=zTw>y!pHNKxV#%gl~&Dij*<IZ%W15p#?=FeaH
zg>_MGA<x0o3#~4%Hcz!%ywv2w^o1>L%f4S-@MQXo0Ixu64<q5dOXE)5Ia#~O?ev=|
z1x4RnKTMgsK}gu}g>8`F<a)UWn<kcTn<@M)P)grpUi_pl&1HvA_|La)bkZsfYrK4#
zXNT9d6NWFAtjx^H+q-t%M8y@?jBjm-Khs}%>`3NOuf`*OTm3fe&zJfrtHra^=i9E&
zg>iS+XrBC*KYzWa?{qEq;JMR1raWC!v_?hO<G%gwEqqU`(!Vx6-FZ~|qq*8OuX?VX
zDV~c{7avWIin)}N^ZEMB_0B=c7OqCByVn?e<9W4JVfo`qXK_n?n|+Ue)(L3socMIs
zyGduZpAY8x8R4~Z(^2(heMN$)s;(I`7oObw?`OZQ)CUO%UM<s@_tO<aew_`P`(*y6
z5IYCS&AQuuoG|oV)StHT;gz7SOLM<4<nT|sSMU9eUwI4bTe%b4e%!R%7c4$u=jT~Z
zv{`QQlu9;l^D9iS&RYJL`55n%vyHdRd6gFGeaW$4`o8{O#-m*m?Mo-^n{BbsdXDvE
z4H+xvayy<tzYjwCKYjb$Vs4m-Bu%Ob+dM7%;XCGSUymH>Ub>@AE9^jBgp|&beOHB|
zElzGVvze+<A9CR4q1<*q-rij1Z;$+hFZmywG~GOZHP5|<1rrvE6mDR9_BD0tqqwgs
zJbN`hH8MupzO2rR7c=^zd{)IY|A=;!=(Ift!VX1Ubv|LLaxvC-x~;?FSBy-X`U`5G
zPnfG@KCA!P;tQOA56YCyIy>j266f55horxyAJp+oo44`utW=KrcUiBuAH7t6-{%xl
z=s6?HxxW-ouQfTj(@eoLc*<uJgT&Rb{zp~Hv<<IK4R)~eUabFV!RM9omfZ(4UbJ*?
zc<<s|{$xj-iR)FZo<ld2;#ZlkS#q9X-|UUDU;pki3Q4~>AtBzTu-d^yNSx=Xk9PXe
z8*T@4yQL&8pQSEapv7_eYiYf^aM4$5-;$5(7Iv9kVczPTwSU8P{$Hw+9U-z3XHV&~
z3Qhknzkf-LQrN$fb)I37<+Jy7_lWN|*;bk=-q!ZMv0Unq>}v&G^9gG%zvi=k|Af6Z
zw<~tyjUDsE-+y^Dciv^|lPnH-KR&awhtxivk!JC3qhGPem+PVP4#sO;y7BPThWZoB
z<tL>$$!nHmPUJgT{qOi1@6Q+R*4?oFCe<?0Uh3O-^QrPYHKhxboa+o;RC5U5?cldx
zu6|e5B_Zb39v91h?N7>DgS{(DzGqA5rA@w>@_<Ku-TRi436FZ5SoT#4xL!;U@L66v
zVeK~)jpknkWe&AZmF2?{t=u)N9?a3XE`6^)<;gqgISyBxf~xa=UNjf;+s$TusOPH2
z^4}9n%BnpUr`pZ<nVWp&-~$m!h8ZVXglF}bY4*iT{_&``dGh^k)`vQ~XIwFLaMBZ5
zy(i+*qJ0+1e_r3rek9j=@Wr93&41o4f3kdY_~pgB_EeedlRd#c|J=5vE4XacF1^!u
z!f3?Xu-u}4zF5K(Q}?K!LWkuZUhCtF|DLhcoa^^RgA9JvT7Hq=KQq2Q_nrUq>eFd9
z`d9W}+g*~8(QcS^t5(C=C@<r<g#Ek8>}lTfnokD5zU%h0ZC!qt-8=iQXDe)(gR}qt
z`P^18A!YJTxdk1u;=QszUcM_4;o0lDg+sRd-MKjhkM!nb2-Lg!8T6`cPT1ga=VZ=n
zKWR-%ul@etmhJn##xA&(_j6u*W5(T+t;<eS{7Eq>T^6^a;83KAOPl!%>+U*%wv#0$
zo=rQ?v}UC|(p>(^=jYZ+SvK?e(>ktS<$bz!O<QSP(}k5W0xf|iUzn4%bb@}mZjSIs
zxEJJE{BPQo`|-t+o*zDi@bd5mJPzx<p1Z~TZAoKlWFuSZ<DjSCI}})&4IghZS-&+!
z+Jz%5t>mcJlkjb=;f5>@CfmHbuD3EIrhMGRrQWr9l~C5>Eyjt3PX4;<ZyooXt9<M4
z^o>T0qFnJ;|GS=KV_?`T20B7<vj1J~dJC~y`33(S1%7Q5&E71wcut#c<W<%yLMrRF
zGw`}CN<Nz*J?Y$~-hbaMReW#W<a)VM%Evr_Q|NTex_4#oc0QRs|NX6FyB79buQlJk
zSNQt2jPP%vcVo}LJ^%WUXHGZwrO+iWt*y4d*W6xj_xGWEew$>z7WZyzJLTeP?IQ-W
zeJXa=FV%gh{@20!Om5XRp~m%Zs)7uQxL4*He~dMswPne>H-GEC&HDQ{EqJ=g`_r-B
z)(cw=ZV51+{kctU$3(L|Znq9-v`cLL-RQM^!<s!AT0c*=n=THqD>cu*SztKF(Dd)e
zXFZXnto1j;+@p3Jo%crl+vzLU`A&Z@sNC}RmWR^j-MrcL{`V(H=4^iV%xq4*{{Lj*
znHQ}Sr&evS>6v!h|NI)=?W@zn{LgSNIQSzdbLzGiD=qgKrpI=-McvDo8t1j)Yi<0$
z?&w&4>!m+$?fLY$S5Pf?+N1Whs_)n<+&lt*msSP+JiO*PXl(1E@Iw=~X*SRMj(orD
z;pe%$B2Hq*52dRHM)eAD+_Gtp@@|HIzce%a$CR##k?m7r-ni^v*?O;ZM%IoU0^fN<
z-?dLZ;qx|uqs&=FF5`L4J_fnE*|!@nEnGD-VB^LL?M-b$2`9Eb^_w|;ZqdQEDFugj
z<!NrWyA=I;Pd=wny+Z7H!-v0q^xiozcbDS78k^P`Yh8EhdPJLF@=Dlnr(WpTN{P*j
zpZqs|_(8>Inp?+ZQ|13lmcF>TmsKaaa_`LmwmT8|jPZJN^`^YOT68Nky=CI(@E@<=
zzhBh6@f4$nxXL_Fi>b|AY^5s?mW564?{<H1tYgbM`59u?Zo2g?cj}mD@|OPOC~1h_
z=IV5bRbD_Qw(X2S^53`9CUx02Jpb{lUb*I)=&J6<4}vDgw}$)Lij-bHk#I7-`)o$F
zYvA`AyHAB@_9=axr_5Ti^VY_yy#Mdixv%^FT{_wK?itRz6;E|88I&cJi?-*@sF*qZ
zuVQ)i!<^%qJ<7gzSK7SyeDM66_j=OTJ@-2%Z^~Dn#lbVbfy1W!yqfuvo6IbooL56q
zdb;W*Cb@aUT56wvXwh1%C&7B{$p^M=?~ZS*nB!o;KkvfPqq}zfy%6r8@2DEsR}peD
zajU%Rs=CS*B5|`$9gyp)68e!T;TgkxKUlv**t{a(s6hF#qtUmvPpbh9cvT7SY&>52
z(#U(slXcS<2I*(+VrSmq+ArZR!>(O=IdqekllqtX#iC79pPyTF!bx3gPsJ?u%4tvM
zabDZDPV3gm>ov7&mbC53e|1V_#w(eOYX;t~6Q`)2>N$6gU0dBKmv7b#0qN(jM0{-R
zOQzSo5(yNtP89T;Yf>i6-Wbtjd&uNWcYE00_13?>hDB~Kwx0VdSagN{O!as3413Sq
ziVB$Ed-vR1mOb^$X7-*@nHL_rv`O3J?u+Nj{vL1n=Uq6tzQA&lqFjJSif+}+f5)??
z2s^Ib%ywk!+u2-FEAP0(r&P!Z{`@@GLDi%*&vWy}i*_epEnXRI=CR4j>15s;6_w7z
zkDLQdb=DRC;SA5e(06Lyo9{~JyF<mE`%U^eQCN?g#XefpukE7iruvv?>*W6=zP~-0
zYZ+I;X1#R(mH#@fZT;<k{kH65(VhQK?pn}1fpubJ-LJ{5RwA+-g11&osc95CevHvc
zaGm&#$4>)%c?)A0oUZ)Z5u7E{t|K$kWqZ{B&=VIPId9>+y}!Ig(c1TkNbt&r+TABq
z9p8v%3R=B8b#`vSLoq+8r7MMX>My&>xwt;l`(#)Y6Lrtg`sMTMEa$%OFRb|1;PlQ;
z_4^GLj^eJHjO)5S3AxYBDf>C|@sZL<fw1uD-H8nMPAq+N@U&@e`|09Cb!YAieplg{
z<o){Zuj%od<ImsM^KW}s)${7#T>f9p>tAuDsA(xkCG#!$&hwXjf!-W$R*Qm!(&a1b
zUs^W(yvKVcm;Jd*sZW3^OI#4UwLa(aOdVOx>YDrBPdnYOGhg<VX!`%z_CWE%AFm5+
zckh#$xi7%J`f$I+=Z<?N{R=YBUby4^<(q22qQ`RF%MU(ny!G#V2Un<KwO-zRMU(A|
z4f;~;RSKt6T{NjF@n(9XQn(?1#pBFbF8BGo@7Mo+`Tp;he{;Cou1xo?2$<@|J0seO
z`JQ9!y_btm2(k0odrv!eiJM#f%w-AoH5so&E-UbCPTh2(X{t>ZkHxhqJ*&7+mOo1p
zZC-E9!~a(|)tO(Zu1N0N$9Wc=O$WZ*x)2n&_oA5E4DR!r66H^Pc*(Zcf={_+@qOpH
z$1XI?j=rlP<EiVI9k+c(fN#}uE~7n88zhCU&)uoGwk)IS)w)HqcOCwDY+J!stqb1g
z-u69uCfO_0cPYCz^2WUHdjn!NOlNu8BBne4+xp3V?)87Cf7E3Z<61wF|AQbq14F9>
zsD`UIf-LZe%+9}k0z8q^sPM~h%MXdbB?7666O+sw%(8EA{W^Le$)`_eQBA4Er^Vg>
zzR#Qa@WLil@xIxM-sUAAS!6Ni;oj%>s^1-cU%z9$_UmaM_vOrPeLHvOwxhH5=$?9(
zmRNr`#V;j#?*d=P)!P!ee>Z;p#xMWxNBj4?d+OJ7aqpg8=O_NnuOrWH=9iy+SGU+_
zTVG4az5QtxSItxN$xWB7=R}1I-!DDv>3jN^+_%ry-{fz<ZIqrl`+fE`j#`d%QPBx|
z?oW-)_j?^z9CbXhKl#c#b*0*dw4bS=C(iG?U2yD4Xz}lf<<sw4hM$hlJHInj?7-=5
zQc=ue)kZoz_5CZ?^U57Q`sC&}>0+U|_wy_NKD3?dZ2r0~k@*k%PwCk&=G^7hzHa{c
z`0k(Yo(rFUw)<=6a`k7d6B24xUh&E<S<{z)<>r({Nz=@;mdY=^@oVSV|CgeDxowyJ
zirV|<^jb@wS33Rg%cfPlXy}>X&U^l)YioPuzVI1Rj_xWaO4#%*>sj5O{4Ug(uA(u|
zok=`?iNrG=nf3f{pFOI(D#kB#CcDP#;EO$t-g@5`-JRz2zA9!_RiUPw*0Kle9wqC_
z3M6(fGLnmUT(j53=1*=SyI0$yCr&qyy~>^#(xcQC6a8*V-AxUSZ6@qIvp1#f{n~mr
zQaso9;ZNDzTXNj%`sZKZy|c33`@{X?q6f1yKgGJe-ZUvniS4uOQ(NK1<xl?Ze_Noy
zId!Sfqr+`qAI+UQ?Y8b?4sq{8IwCiuq*yO$fB4DkIBAb)^Zix*Th4CVbF<j@$oT__
zzJ-34dw<04II(z>meT=+2TF$>yQYa4PuuzI{%0fmQ|jyFrTC6*x>20=Q<<Az`o*4l
z?a%2pJZ^qv4>Y#Dv7XkfmXc<)-6H>eS&!IX;bU^~^$s^D-7MR3>(+@p58Jl;{1w%A
zN@J(ShJ{T%8vXHk&>Ow-kV|`)-|*LqsyX*6yG`e$z39GOy;HvJWUqbkWZUznhyGpd
zpSDi=x3>DsU7gN%Zr+MKmh$Y(ov%GRR6Ysm|J+@F=k3Iw`_eDW4$BOmb?UIP`^|lN
z#rM9w4V&{c*Y;v+^Gdq_vx;{C)psssEeM_<<r3^>tn_GFh|{TCpZ_q;h;k?u<2|`k
zd`{!S(qF~_9-B{HNshh$_lg)pv(kBuqyEn-`vvBF*SY=ri20K3E5*+)Q>mGBFQN8c
zcmJBTx|NJ2inHshIQO#duv$LTeaR1B?XydYqOL}ib6d~*6}<If!csj}=V{unTX`q8
zP4RkuDf^o5LNo5DuwPO)Le3@}Rjxjkx2Nx#U}1;+y2SG)rPCsv<`{fVyKLeyS><bw
zZFy?o2Di$K0UrDA&N&s78!Gn6;;ZYlMLH{YEamb2EW_zjZIbirNBt9*s%wi?j&Yw^
z9#pVKv!L-owX4MWdF_QC=5r?>RhaN+e(Oe;HyT;YPu0{^{;4kx+xbplZP0PuJ<e{M
z`z9AMzNje{5f<`K{c~#8-x8hnh5nBsrmqUNFK9OS)wfaSs-*Lea-qrXb`sTgh2eE?
zQW8yyJ=~W0*%T`u|N2NYibbe?vPtzRlliCHYTJ(#o><84!W35NW%=kI%iRk<&5Pci
z@C&Ls?Dg!kYFX9J<FlobyjCV$t89Ijay^Xo#{3?hrL#AiZ>?^<@b_Y(=)&Kd)&DHM
zpI~Krc~|e-`FyJ;9I+ExAmV*HcH3b)PNk$@`xWL?d8Ap*D4is`^4G>MMsMd^Ew`%A
z`m}9E@`<#6;ZB=MX6iYoZ!4*7S9y4;lOrZu_DG>j+rcbTS52cYTUj3nXS^y&Exw~H
z_oeyO-WN;Ds_%(^c{sQ9q?KZ}a^BC6*4(O|KO)SWrIx<qZvA|tFl%o73d4A_{}FL<
zN})!tPseo@zF_0>JLBNv|6k4gKn{m{cKDCi_4A5C#Fs6znb^y>m$9mL_tQlQ&r%EB
zWXj(z<BQxiQ@FkG4a@3^nQV#EcAPHR5~FXLuQ2z>Pt&%~&F^#OEo^bHv&&<gp!dat
zGkev)<0cCdYWpN3jrRY#l^jw&H84&r{Pa3!p3B;yLh-o~cVlA%{w@C^TzXzWCH&g+
zv;F&3_Q%xM#LO){dsgDkVe9!Ng8zfwE7%6IZV!BBIC<U*%>{majf)&A?|j^Jap~*-
z-aVIlo0`r1&Q2F;Wl%L0{Gw#kn|{!M>GR%*zEdXhGu#fFFx<bVJjdv0y}$4I{B_5>
z?1KNZ9p(S@VK!IQRI@W%t|werskr7{aQF(%KPpj{+Wjefp7oC<f6Xd*m2$aZLW-#F
z<OJQ-y?j5dp8NPZ+s$OO%-grl_w6m~W4px)3$LtXYm}~Re9hYCpt!WlMp-w+p!xNl
zNA?%rJ&)GY<ojH4K|kT}T0Y?l+4b!G4f&^~xVtK)LxUEaU3jBM*t~aUiFkEEz)g{y
zXtNCQTyEtO#;o`oyocrD1)dyOm>_NYWv%|LFpbMR>W&r*`=^B;ey#Gtqa3o+<W<Gf
zX^gB43|&0ni(r~A%JNoAC+Isqsx{t_pkk#odCf(=`dyQ@mKT42oc8u?jJwvQX-nQk
zS(VGLEQyc*^Xs&we`>6i#obd=&fN9VoY&{JX+?(flgQ(l-Fsuzr51e%zSHaF_%3nl
zO84aZ{qDSpYpv&qpSQgKwrtIU%J4VRw^rTjSYR6XAttQHJG<BZxRiLvp&rY>Q@zDI
z*6dj6{a5#=TfnON@V5_pADI8~n(_8~yY|BkLKQpxyrm92>TBzDJo_hSVcXFcvmcjV
z6Y`WVTeQ<cT{Edz?wQ_!`YZD-T!MZrn6pS+Og%HOw!&%qiZK6-{x_^29#pLCTh;&K
zcfm2UIlRH9rA^5pd$kT;+#dU}z2p{O;j0h7KXiR(&-OXK=IrNFf&KL|Cp2=iF1$A9
zl?#h!3TB>G6;bwdG2b7t`)(eWqE<<NjR<DuxTB`o^O*U=b(eIF+`awg>w=9I^0@Wo
zgoFh*#mFUuh(})63aI6?5V;|db79*arKXtw7pCy_F4-aSFY5V*Hy3{!wk<qbu;bd!
zRi2Kk*XgY+IHvDBW$Fob?qB{4^`HMAN=P!?u`<$g?)Tr%#17VTx_mKG_;tmJu_^P)
z^8L@=&97Dx5!IWw^w<f8Tp{1(kGqZX+Kraq|8;+Jfz+DGrB8lp+kaowy8qiG3(q|T
zGj%>0#HIgJ`u~P6Q@`|y?w)F+`1vO;eV8(TN8tQljMo1R^_NeZJV)b~sQAb84;F>k
z*7J+5ET6{mnW^50vryuP=d|N-MsttEZRv5!pLW(M|Ec>;CC<kMHZ$csH3U~B@ygoI
zZuQ+NzDcEj{T%62qNbJBesPw`_8s%RFRYaMs~tK=v{rUs($Vd;svA=h{ok^dDqXSA
z;x;*@bGL5Fi|e;d1=rlsvtVDC(!I;))!R0+n(BJrBl$m7Kb~Jyu&wl7UfusGwY%yz
z+dO`IcjC*3epk%HZcLgNs<E;}(NZ_${;ge(DlX;mfkCH&zdD|@|Fu?oB46nDor^zg
zORG8iDk^<boVC)`f=7y-r-fWM9SB)?L4HTVTBAP;9`2pG;zI4~+uUvD=JRxG>?QU0
z<~&M|d*UB{PpQ6h*}W_AzRLEqSR*IYUR&O*ao0O5;DqJoVo!lub8eG00(0M#y;}2P
zR-k>zjhigat`GPppKQG1%<m}PkiASgLR|5ZVP^bNjdhF?kB&!iuIlpAFXyP8;QVt3
zV~^i~7imr3imU&x({5zBx%wQ#$Fm_15>Hw1G87!_VLhlbOC^}MUgcX;;e>=$m%cnQ
ztDeWb^4^7Yg<qI<9QI9~FVpaO!tCa*vYl^D;?)GCpHB}_soOMbZQ4Zf-p8UVP88>F
zJg1}|$9~yU?pfqC_Gw*RQ&-g8x^sG_!GSW3<z};&?AU!a>!C#3wP*PpG4rmtSt<MF
zMSOd+-P2^kLe2)B&s}xBZVB%7cHNBTlOyK$olX_%-+c2@G~2~n-Jeppcpi0bpVtyN
zMK`@$Cnl4}LQkK?^zzfCb0;a*#F>41H;?Py!`PbX6C5o#4_8RFENeUzUy=D|+dZe0
z<<}R9z32E};LxCQG@$Pr#|?!?5{FIy2H37lIFZO}R^l79_8|KT0hzX2%eFqw+iBp=
zo0RKWz9zM67vHmt)@#<~(Ovb*0ox~>o?Z7Td);n7$t*VS9fbyK!w;86ESebqXR>0R
zC@05$#~1%u85pKb4k*>F-}WZLZSJ9IYt}i;V(Z+!mqkOOv#;f4vvQ_-<i-E{oV|L4
z&2=xC)kfT6*(%w!>yhpAd){|1Ki6NkYEsUO39iBZvi0YSIaXg*(|*;x@^jhD9m(w;
zuCIHh`JP>N&UEs*?&kY-wdd3~o#A-5?rDqP+!#%}mtRw6ZSFd?w{5f3^|0Rh6)O(S
zf3#>iXBFq_(3`KT@2v>GxTtK`@1xG|^21gur4~+JryaKXT1SFv=#8Ccxb@bW{u9WK
zG2k?Q_Rc!msv-Sl=FFG*C#N?V+O9I!XSIKN{7{VDEg9~hlmn*~P1iDXUw*Aua{A1C
z(`ktpZtwhiC~DE<)l*mS&AZH5qZ}U0{vf{owf`L#^*3G<x6Jj~zB%*Xvw2%H_w7h8
zJ#WWgy`xfN{s*PpSS!6tvF%K+1=g+Hny}>kgr1WkJg$>BZx?DTnide4l5Tu1dDV-X
ziIXpV$~mc3SLSr|{YULrZ(IL9cvJB6_-_0AbN9@7|MAx&wt4R+hU7Dq|I_un>teZ9
z|AtS|v{hpDLDs4+#WRg(dD`Apn#okX`|a%?_k89}XZ7#ebVcBmp`dWsT;mC<ajCV-
zoxcTWb$^T!34UH%Z}WN22K(~G3&nRfZr@*!p19%tyXx-02e^;bJ#m-+a<|SP(mQQW
zUuB~30e(BKU8_7?m1j@A<vn}Vb+`4tOfKu+muhZUn0nmu2UGn^4vEjX+d3AOIlT|<
z`oh97^Tq@(gQ?G|s#xQ9SL*EB$#81B#|sa)BlF_-<r%SP$F4rcuu-_~U&aObejlE1
zh9An93T@>08(N)9EclKq_nhUjxhD0<Y1Q;KD?8*E3g29}>BxJ~t0r)y-22PD*KWqC
zi~lP7IqAprh(A8S`)e_4y+vno`81bCYp*|l6Ky&cYkbpHubh~==GwD;bA_7Ag2iU`
zDr@SUTO1_d9GX<;W5M+P?WTEry>HEQdcW;nx;d4p*gR9iah;xkytw$1xagQ^ty+?X
zk`1>?uIL^;ywg`PWUjSlQtwNii_a?ku9&ia^_u-EXyx9FRg+`aA7&}}&{@B0mif)C
zY>#B_r%m$nTIqMS^dwKBnp)&s*<eS1ff&_E6|Xkjs;$12*eq(0r<-_V*RRZW_G=GU
ztQ74sw$#f!^=a9e84ij@(!Zm=ck?X0A~w<eL(KDF*P{=waJK!nxF8dhH{rO2K$lcw
z$Aj-aPv)=hFUU)JZS}=evgA_T8wa;d^-dbW&pOwHgcx-_-eJ11f5)v4+nHp7(<4KC
zCMlPB`pxQkB=B@go{C;Y?Vr9qjpkpN{=80ZsXE6U($x~?%K6!@@3YBrC!@{Ihf}on
z&n~pkjaq*7p#G1G8e3TT6f#^)<lY`HKOAiTXr)61`+j-LNo5T`Tx69#-Cue6`td81
zeb?8oeSY71;k$#M+P&9S8&n*6TBUxn?n3eFubEyU=Ta0;eq6h(kbO?B+`UTSUy+S+
zA4Olzd-FT8v0$6+UGZc4Bf^YlUVNSYWJ=*u=}N~x4<sG`+x+^)^XI?&*==`jB>z7h
zwRU0d)&&nYSl5Pq$gK^#otDNG*jc`Q&NS^3mu26xwldY<ef6sE!R%Y-M5nmx?%&J*
zxWMqs<b}7}T^_T2JW>4op+=eT3d@f+JZXUwY6^DUGjCqawKrIsX`%kjl~=ak(z`6a
zvN?61*zSwh`O6pc@4m>mb?K9JcV{14m(A4sKK_EJ^MuUQhF}e$9+|biLU;0d+xs0Q
zuf)vA%lw`0+nRL9D7`)^-}%O4Lw3!R{)bcw_O^=eK6u9aPJu|<y9Bv&j}B^d?uo29
zJm<>1>o?{e`>A;3=j~e`D$DE+cM9sP`Nti5j>F>4iA`%$EZkRoUHtLR+~1B(54gW8
z`uDcw8Og9Xn#iADbkON^u*|Litr-(%#Ydi$nam%|Q(1hHC7(;V^1dkV-}-|$z8_~k
ze@bd?MaH&_t7@xLmM^XF{W-h0vc1`Xzf3VBvCDbVbp?lrTY8OI!67>mrYzW1JSX^0
zPwMGgUiWWGZQ3x+I?Odz<C(x7IZc;yS5`{?^JXmM-dT9_mETp*%Noi&j=h(reQ>!t
z>)PUXg;K>Sm*K~3dNZ?#FigJ3$H}?fX1Xdn1H%*L$$_O}lmF{+)mw<|yT|xVmLpkz
zb;P8n@g|ZtHr>@+=G%Pa?oLjF1*%qQ?n<UAZ&h~BxIRmKhWPFNDVfJTxt6T`zU(oZ
zZ%U{A^P1=F$Ddz*E&u*h)0&x=V!AH7l?a(}2+usTbBASa%^ct6xaJIJS3hpe8<~&i
zy*$>R{{PRzQqv2reg@Gm7;SUwb$VB_on3Zr+L|T5T*7=F+;mzsNvbBq{A|p{=rvJd
zXDxWF&rT}3c;igC{!D#w?s*$Go(WSGUKZ!Fu}R8f-Sj<|>bAa8T^-t$sq;APeP;>V
z*-fjJw%3=M2KU_5-dMMI)#_JHJC8qq&Fxyjw@1q5g3tz&S+m(^C%#*Jz#zs%-gkff
zN9~IT?>bFQU;mO}*TmhI*$(XAzTdEu@5Wrk$Xesuch63fpC>t6SN(iX-Y;H-gJr?1
zL)TsmE=^j0u4i`B#EjLUwo{T`S<n2ttaHMJ%d6s7PoKN~Z&FzL?wYMC&-O7H%?!-j
zdiKJvoy|x5FY<-yzZUDsW3LNR7CL&@Py6Nj$CuvLtM2WSO}N+@ooJnN{nL-B8$9=x
zm>QHT&%7TU^881(>Jnzg`!ef#VhWPCR{U6T;n}G>;%9C$W?XEXy)fZx)2#yuN<S*D
zDp-aen|X|H<2;Qym$+v+ew5UosrLNMw3t(q4qeyQT5_z};F!Pq79sT?@{hF+2Ip;h
zI%V3P16_iP^rD06m(INT%X!)V{BGyU7im)s(#3=ny?0)Ea{o?RYl5HYX-=m1<}LaY
zxt&f{TRtzC;B7g*?M~5V74Gf@g%;N$EU(ycOI%#)$?Z0=_|UQPmU%InpHe+)+)veO
zu)2F}II}DzYC`<99?>d!{t8Yeu7xk1FS)KfD>2{STX+7nbz#Mijp~DII?gN!|7>Nf
zI92)luas}0l3JPNvD<E)zH@iU<-2JsR^0A;+irFJO6UIxl3bosE<9pm482nM>F1QC
z|C>`@w%k%%ufB0b>cP*N`dqJPN8LSh*=eGwuE6R<bDzC@)ra>@ep9~iiTV%ylQ(CH
zY9w8;XZ!u{_s+!+EMsOmB{mB^EUaI5oB7@Q*7sAi=Iz&Tv}1oEc;c;L?Uz&eIxD_q
z&1<S()MWq3TkR9~suxcmD?NKL(|=WP!%pYZqK)ga*44}MFI&Inr~IxJ_A|b4wO^W*
zz4FV)j9<_4L-_^eYJa`<SCxC(kSzH1(EH{56K&@CvfIqI6DeA_)yC=><D?hbpXO=Z
zURwY2m4^MaFaK`e-zM~T=Bh`M?02s+|F+$nzDoVO>F50KbBoz8Y)r5UnEd6T;uG#=
zCuOTv9jcuu-zDR6-0%l~h1EjlGgB<v{)?A=ez?N_@c+}Z7A@e(dX?$Jt1QlH(Y{pY
z!Gk5G9nUiIE^K#NU*Os8ntWMdZSelo%{q|`g-54-+gR_yZ8dxMwsp&cW1PQe&fmmP
zp24~0|1r<)*S#0zUGP2RH(`tQ-vo<HRY&zq-o=5pUT$-nYcD0Or`f)WZHw0%4dyux
z{e9Ee=QQ2EKIiN-?WM(4|GQ!~p4uRE&+E}YZK3wS^l%mjscN>jKAX1Z-QD>2(Yn&x
z(l5B~hPa&z&->ioR`11^sIg%~#4fXI@3p6x`&3r%)Z1x%`Qe+Z*`<p!>u0e%RFPpn
zX)uTFuit+8EpC4w?zlR0*~5Z8Tc>ZE#qE)Pv9@#Pqvjh+9z~uli2HCRi_hu%9pi1W
z`Jy()+DADaX{1{@FE^8oslQ^Our7A;r>clh4&5r=W0S?M8;6BmpC0nJKKswKHg(U{
z<-YgM*8MX5`}Nb=7fXc9ql5Flv79|<>_2Up_lCBd71~>-#kxnFIIFw#$=gX6W8VK@
z*IqsSw%e>yd-39b&-Of+`u^PQ>_u$XHVXQ_%H`uSXO7Q5U>w%P{dfWU)IWaBb5?sk
zo%+b^L)Bq}H^&z%<hEx{Xu0cY@J79({%}E4fKOGR)YAGJHv^3#GM@!Vgx@j#7x<|q
zRljoCl4;z<lTL1my!>_ESN2%>R_Sy5(}Z*q%y{ozU9wPIaQhm+u&}k8ycwP;MM@t%
z(0}VTw}9~M-x7Oj8G6bNTsfmZ^Zvf+mJ=2{Fp(AL|M89CY~}I$yKEJjl<zE#yY#Ny
z(JHb&$+By)-Hf@tTk7hTZmB$+;`xTPpnXPO?Jl-+Ta)TKL?b=2_4l6?4*qiZ-xBke
zs*XbCY6eFuWO$Zq7CjJIa&d>L-{rz5z8jxdI-Sz{{&re{LjAUP^LEusAC(Uf^L;I7
zZ8&fHqUHAzMUOOoesK4+$h~V*tB)@%JAQG+{m#qxG$iU>Pnvif`>SX0VoP)8?x`v-
zSD5=m3wJxVo;5ytr&>Dy?{D=TKaKL&JkbrF>Jnp9cw)uf*Y1Uv`fT_ks+Uc^7|FBh
z$9JbqPJ5SMZQr_y<58*jlbC>%9ifei+n*i3a92R4OGfoYueDrjH1~=CpJN+le$b!v
zMEi+CpHS&RR`WHEA2iy!9PR9LIVJ>pykgpCQ~W+;#-|{!$3B}QIjv_^Wma#!$v53X
z_S`>q@H)xHwiEZ~vobI+@<S$9EI{iduY|{fu1~0y-|&CI%blw<XHHXH?3d_$EntCf
z^O3)dJub&xRK1j6s@%H(x<R;W?lRUOmFkG5BPNxVmFIWHKiU2LyYJh(MN3_^pV$4E
z_Cs!ZYBXo1@%Q~}x)na!=FV6Xao5Z4`}dgN@6Xr$e;aFlx%6q`_AAC_-?!HvE7^R}
zV|w&GgTLF}?l^L5StzgZk5zeYQ<KUs+`6*3V?xCh1I53G>%PwU`!-G4Yu@&!>mFYE
z;w7?vX5-T;Z7bW1*Yg&y4UTc{z5VyZ5@QAJ^{-CVy~<l_v0b_H_wrZkc5y$Qc0ON!
zin`W^r`3~87aWzB72`{Kx4K1wZSnhU_jzX3-*{8Ec-H3f9JZW$fA6sWto|)O`$o@w
z>Gf~aPe0Dt`S%a=&7$4E8oy*%Fo@a6WCechn0Kg?%_2K7>s>4VimJf2weq(=t^St6
zJx8pLf4$9q*(s4{!fLmFJ+qJ5_}D6|6JNXg`W@q%gWad?jNf+k9@G9~%R>*P2|e6=
zV`iChkL`>4l9kt<oqCh~ZUvKqS+TW<Ot7)^?ijZCbv5gSPFZ}jxjSRcGoC=d8tr^#
zcPnM{H7yIXFBZI=``P;ard)}n&B>dtMkol@B^#*;JAD*SblIrovr{)hIco*~MAfI$
zG|!%G{_pj7z9zdcLzd%=&0nXTTz_xh-M@*PMty4AkEE6!6sh0+M^pKKy-=TkY)%Vf
zQZ|PQ&u@?am3#WzE6zt{2Jr6bmRh(W_jQ-HepTd`ZmylyDks*n?CXB9{9)~pUm6E~
z@A;AXgyX@!f~RLbxNkVF-+WiSHuZw(KR4O5ugBb%ZVB13=~>bJws)Vq4*2i5vEcKK
zPrv;qK0m58`<de;*FuNsN9$EQHirtP%!pMvo$9yfqxt`UPAvyhk54C-{-5ks7$tva
zr`h&0ukf7z$96xO`|#{m-tI5G;u8(*(xlgHT=``e-z*-!U8`J=?)^O1`j3g-%WMlS
zTbWhW>3_E-pDHl@ar)?g?cdsx{)d%xGaSNH_+K=MI7%(gG>BW)T_Ynd8To|2{@*3B
zoh_x)?mpk4?G<-abFRj3wo1iQ`(`fOFDqrIs_9ib-zvh)`lvtG(M0Cijz=$O7+-lV
zz3+mo{zd6GtqW~^G_T&vwOsvWqu-6@Hs{>48*b+2^Yc%>zV!uH;Pq)j*59t2X;Uq7
ztX=Wzz_Gm#7rV*7$QQ6youD4LNkOG|nxk30Vx+^#5>cHXE8b-(rb}DY62;Q)>zr4d
z`_`oW?V5AehB5D*em(KJ+7YyM*WDT0Q*ZbD+I_R&=;6CMD(&3&bXW7s3f|>hw$sUW
zMuxSOLqzmeE&YQNylrwt+>5tfmQJue<NPC$af!^#4W)ALcJBLqB`o7Qk2ssS(f!zU
z$5Q58(5(M->f7rIso+m{U9){2Y5uadvQ&9t(WkL5f}iKQ#*fg<&+7To=lKp;>Xf-}
zj1IWh&8Kv&>Sk2DrO(zH6UMoJ&o~@ixjksox=Eo<%u+|SE40ryyH32Qpm*q{iv07)
zY3<G1w=Hs-bR#+LozC-iu}E{58N1JZUK2L2SXtZK<mA5P^#>*0PfqNey;!xmf34kv
z&%Y#m4tGpSox<ii$A>v8;L0maPbQ&dr%lvMmR5e0xazL>^K@Wkd9nRm7vbkCgcmm+
zunX(^aON-nf{l^N0U~>&Op5Ilza2luGW+J4*psJvd4)^u?Gg_~)u%A=$;b3Q*vi;#
z8Z$X}ZK3dC@8k)u{8rRQH!aZco_5e^iL1lslCFjhbw@+V;90tpUCrVmUs>%~7;?up
z%Z{ht*vC%4diS@!)$2sx6@Im7JZ#asJhSOb0q4V<;xhhgOou*XXk~xxES;avDDcFP
z_nUy@j8`9iZMI~(xR~Qz_M(GLYj?QqI>Z_#Vdk8p+a4aa^{{l{iLU$>trq(l{`2O|
zWv1U%kH5YecC~B$Z+7?Mo7<ixEWg|$%)jdGivpRpjJovyOyJVHFQiF+8V3WzYbQ|Y
zJ-Po7SN&}Zv3>Cg_ZtPox?>k~rABVl&7a(;dwVWZuA0ZCom`*}klL#Ks+sCH55~L|
zKJ)j?(|z}C4%IDj*<E%iuWpxk;N3;NN<kv$%j+sCD*EE;%O@{QIok5XweHClew+3U
zHhMzy;$<!6^_Jz`R}8vnvoLewX65J8JfH7=Z2$jdsb&3yOs5YedhB0LL~4ZcMd?cF
zN4Pz84BRA>``IZa<Y9Q>RWFvk$5uq%`eeKQ_9>0?bAMHSobbH+=bYm?F-K1KJY6N_
zvSEtWnHaqa&9@m(o!zuqCrcc&*=xEqIY4aw^3H#nr@0T#*mo*C-=#8c9@piXO;(~U
z>IY6MTApR-zPw8MRej#G>oRu>F5asAbE?mU-Mo0B?EYoU7u@ptWE$#M|3B_rav)En
zbM@?x&+_*CcsOt0$D|_v_tR<_(>BztT()Y_3q8wys?VENPnq~_)~Z$7M;E{E`mtE0
zlF`car)cHJlc)HWWnMcxoqJK9x5DBt0j2v_U3`%E+q-$?+!s=v4>quC?yTqU+xNab
z_U;nL%<`(-zuoiNWSI|#H&0_OHP)IG&HIeU{_Bw!3i@r{p=Wlkns?J=NzmNYx2H&c
zU=);{@sDYZ-^y!j({{_BTgdz0s>mv>h*SJjLE8x*SIxy26wY7t&suqgm!VjSxrKY4
zp{L&sQ%h|luATasaULcWcK^!u_LaY=XZ`W~v6h2&_{StK<9S(93mZQ+ah<#pWtQ}_
zURuVYDaE(NO0HN^f2kR-R9vcqneXO&DXD}&=7c3rq{SxezqIDh@xC0J2$NZhHKuA-
zE=e<K`Ey*`*_q=yn_<<eH|C{BH9lFy-rJn8!NziF(>&V)Vf$)6-Vn$R^Z6n4!E=p%
zQvDs_w~Dp*cwa}D>u43Rs!yG>?1Pe+>nsDuKhG^wZ5q8Z|86_~BiSH*_RqS~`<&~9
z_iR7*+wcD8)vT2pDsM18efs*qt@b5_dqhn3sa7#px^7zTbSa|S^6`zV&ZMvvdv~lz
zc9ELL;~ea&a&VsXMB$*M=#|P^E%yv|E_E+Bbf#}>{V#w0O{=$<eU86%>|Mm%Wsko1
zdFjlFZm?yV%62nJ^0G}mn~1Ndz&hn9fAjsmt*&~dC#D`|w!INJueZJ0+-zHNNZh_(
zIUQTy)#T>d%fGyFaKTEZPs-P$ZJQi+>9pL5j@Y5!^zhG-BYT7waZNJRn%?wMxLf`3
z<&c+&P8ll=4PENrurJkWu{(X!$h7)+n)wfYmuuClJC@a`oskqfD7CHij<U_1Wn2;G
zA`VUZdn@%(-tVoa6*gR(%l~}w-a}W|#lP)&fBZA^r*Bh^SX>e-k)FF(@!urHYllJ>
z9}8wVAlhTZS2I6rLj1n-d%}!awlN&n)-iNlDCW{$KI3kvjpY1gdJ*-d3)1%|*=8Tj
zn(%Fo-PI<OQ0EDq&fgc>%(3A=@8Ndzc&)*CwfeQ;GH;JeVLjefeQt8<nao{FU8>!m
zdH4CG|9RrN(=$zcXJw1$(TRIjF~`*Ze*8WD|7KO!-*>-$T<y+u=xbxh=ktH_<vG0{
z3oFWLt7kh%r3C!@@ppUu|Jv)D^6Jlt{(G+Ib@<Ls-lx`qnkvoj``6j`e$boX`h`b+
zy`$C?gQH2V6Lk+?)pabhJsln+vePbV;*(j*I}{|jA~Uki2~A6K`#j_1+r3|=eg1w{
z{{G(hWnI%x*jbsgSM2`w^572>&r>TFrQ{h!ls~*7v3BpyZ7<!bi}%*9*r08Ee-YPJ
z@A_+2?}NpibR{-==5(FvuNJS2&e<leIptriVsxGQ)+bMI-{alLHpM;t^y0X6s}9OM
zK9i~)y6^Lzke{pS3<E<?-fvn~%<ekhs&-$O<;zWewMAvi=Y72Qr}B<V?1Q;dhb_A@
zN>yK;e|$i`ZE@Un-uB5GrN8`{XFaRUcDr!TFWdU6`WNk&&*}TchRkdTaZ#V~{zahR
zuUnCm>@?j?-iIC+?_N5Ab8l_y(S0F0vk$KRayb0R_gi;+t&+^D4)A(!JGR!3TmI|<
z=hF*5Pf_ogqjUDOzx~Qgj(u#41NwRvYN!1z_H0c$^y%~!9|^Ns+q$oTRaU&q8(;g{
ze8_&`dv}9$TV8s-2;cF!?@T_mJvQCHWSPzJH*%-+_J0qZ5%g)ts;{<BH>$}lJ*&R0
zY-je(CbL!<RVG)j89jkLvb=is3aMdnek&iGe7ZqrVe}WFt@};(?n#KOtaLjXe=L7x
zxj@OU=}+z+{ci7SKX<RB?3ABZXHEZV{ZRYEjcL5@+*2-XTB!5z^z4fIfVeB$C-9W)
zO)!~Qde7*_(&t&v*M|C@o*!scT|DhmQ5SP~@2Y)jNefh^U#Z+v(@5(J+_^3wHJYoX
znfIH<syg++6H!yc^;w&O?0^4V_`LPsiC(_FCwTYVJ0jcWc>ZnW<hTc{f6K1))m`-8
z-h42~sQJ*2C)>X5mA$jl{CtHDS7iN}tBx@#YgZNAy|#aG!QQu5ufEsr(#e%RaO_GC
z<Cfqfajut_JlArqVLQ;H^*CqdLaT`T^P0c>va?z*-Efg@#wv+fXV%>p=bW%$MXi~`
zn~-_CInK@uO8d;`b8yPM?Y|Eu-f*^@v~ugW+lpfHXXEyqwTtIkd2fS~@-L<x$+OaG
zb}`kT3k|>R>TjuUvj2_uyA4WT4tdsJ;=gm?z2AYZk2hrf79V))cYE*Q!gLwe$J<hm
zHmP6Gw7v7$GSNYA!IH39OLok1U8&IK9Q=8?T1?)qty^4jmL={?ua|mtpl6kotoQ}y
zEia|NZDyKwed)??>yH$gaP6+UBENHSnL%l@;kAZ`TdM0{`0-mi3iSRuyu$dR#FUCk
zof(}0`?tm?9XQ+WnH(8ooY?32jw5CJ^RKrOGhUbq8&BRAeDu%T=Yo$y_AGzOuf6c$
z;c)qc!bZuwsVl-R>~X*DD?Vk)M;_i~J9Nw+FbH+EUwo^y{eG~=Gy?}4{~L3j#~8Lh
zaOUN@_UFXOuixa{xMiAZ0&Albtet}#ZT*df?yXq0@N4K_tC*x*i+}py<C-Q0DNeHG
zWMJUe1GQN;%kSLCQZHUpw=pHwFK?fLU*_r7{f38o_Zv*GX3Oq&lG?b|^ij^_bD}G>
zmfy&%oY=z2e0B91fn~2Y|83m%Dl_uQm5SX{l5(Q1*K@sIw61C8)YkpcLTxFr(vfY`
zx4iXJ_P&1ULf3{#Cm$cz5wBc0`Pj<*o5s~yKa;JuK2qq@%@^ul9ydX){#(VaO)=_a
zan4o?pC6YvSG%QB&crJ^<&@TOSG8?=$}7yfyT1fSvz@Iuxk6ENsntqGjxS1=T^nRO
z?%%(~l&g60nT*zsE3qvzr=|49Su<RmJd5eX{&y1;SFSoYsnO@(1GnVceRn&j^1M0n
z>1{z;Z?gRsr)sfZ+vF`fC;!oKQ+BV9EECx@x#*Ty?WwNa<&&<theh^y2Yvf#@qvF)
z;_OesT^-&V6&16O8#Ug!)L5pl%jm``##K?-PFIb3x>uX~_8p$Qpg>WyaP@<y)`>aC
z9ZpLt%y@ldQJK>8=8#Q4o*r+MzumZM){lMfS?Bc_daPWY6?r`V(lVnXtbB?dI@6V=
z->C1O6j&}e`<DjCy3mc8x*e9?X%q8*<{30^T^5`@M{S?z5<iO>RhLy}THT83R&t+k
z!g=%h{<>Wom&i)F%$?y^Cny>=Yl_dzi7Ap=6|0>~?*>2HmhHKv_o#@|&Qt8k$G^Vq
zl#b36Xq`6ym&4l&eLA;0)mMc5+-UE+z5MI06)%N%)IYd-qKEyRgVd^MZr=H~@5$}I
zx6#yS4OhdWK(VVQdIBz7ic@}ZZOyr*?1e#7UR5~@JN??KX0|s@{QiTZ3|x!`e~-H@
zSnto|(3g<E=?k~agbADNZdRvM=$#O}dg-p;p7uEtCD|Ax=ZHJZaeUxfFhBQ*<PW~C
znJ*MxZD|z0weZ`4dfNvb#mW2@=NT<lEXiNYd+yAfGRb*!R1beHmz8@kcX^BG&!0PT
zCzeboJ}G|ge8$yz^98=Oztm3J|6%WoI~BFxu9}}TSJzk9zxC^H*LpkSw8p6PiZdq;
zibl2lsp3!M-=M~w&VS&gSb^n4`wnM+#_Mb|tAti<={`_rH>G3m{s_VPMIrw<_8&WD
zzTzkwcR+~O+<&upHQxPR9eLo@$;D}muXzf>UB3Fumy6Gpo8RP7wdsX${m!dv_w0|a
zoZSEZgilj#kF7wmw8_EFi3#_Xan3U?I2>?5OzC3zVuqBkpLgb|y~#Xe{7lt?VcX26
zFQ?BM9V>pS`cSSwj$zJ;?k}^I*NNBfDA!WV<2b;0!s9^UUjv7W+58s2ola~PcM3ai
zWx~qU5?{yHApDl`x#EG3&YkKH^z$C@%yGEo8_IsPx;^hj^=hY%=T#Tw3cgLf{@?Mb
zsOXKa)!VJ!=a_e06P~i{uF9+k;p6_g^-}E`N7<RRWh?g0_gPf<=&Z}dT}PWI_XPgz
zs(-Kjca>3|-MgKhw_^gYb*2B6)?cw|*6!|0TV*X5>U!^+AReUDKV`mE|CRLu>8jPv
zx7O>=TygTz*^C3GL7{iDKI(0;*v~lSwO)ncq7@euK1{w|q$je7lWp<s$hG$^&rM(P
zTcp(QxofZ2j?4$Pk$vo~%A1!}Oqb>n@Q=OX&9=u%I8*B0^Nu35H8=cq*Zq20(0RPi
zeey;YF|LB?+W!-{7#IpIL1oqCzIEdD%UptlTBosZO8IK?;GJPg=_W%1jmfFqnfsPS
zd`f29EX8tDbw;j%<EB$~`wd>#_}D2v58L=<L+bW7+p4Q<-nIG8T628w_II|Wt6qIN
z`uurh*4&~%Ro8o)rO(ISepDH9#Ix?w=KFqbe#f_Io%}Rosq4AwZ>;OzoZnvmd$xG$
zcCX}m?ya9!ov!*8a%$7=t)Z^L^ESS!4E!YXzK?sNVW<7klVLhHB%{t=TD$D^wrxh!
zo|MJL=LGGyu=7*0(^(XGtazogpiQdKr0~m2*7#&URa-l?DLljNYMfxE^ek8QOrPtk
z=5U;Qsb^oSd8)Z6e#P~CzwfP6k8GHp`&6en^3B>`uCet#e`hY1$lInDYHz5!@!ijj
zC$`0J&@0(|uG*}p-f@3mXX($KTa^A9MA`H%i(jWH?OT3*$~_}lho;KqOQv3XvC7JK
z@i~==n%kv{*Ommft*UnYvToBSrm9K5qV~QxyE3z<WZARRD^>NqBHV(4OD+Ef-8?*H
z{S@Ec1;yS!9HrwnovW9bn`WGIQQOFC@xyApe+q^^(iw5)QDskm`U%EQFzhc-Js4r$
z?)@!&lZD@sbz3W@hJA8~TM{!<-YqFM)Hz{8u-nH2#n0a|K6*HN-rL~qptEI;9b08&
z>0#;2v(xOV%KkG`Ir}16jD05cgkO`cOY80KIr!Oonz(4(4&OidJLlC)@35<zwd3<g
zvxyf=j%-p<)fH^MIHj}e^v-gZtIei--cG4OPI>*6laxD@{S4FJ7OE8;+3@vd#ry9m
zg)85zJN3!tUV2lnxxqF4`*z%^QyCv<f3SL-dx~*;d`jT<`CfWOYCjj8P?ZcgoGO;v
z6d)=5K5eP6Xe4L6mDeSgIE^dD^%lpa{!K00q$1=RDs%ezitS4kFDvM4naA|*_S$uD
z3&Vn_<bPjv7^S}Dm~h<R%c)?)Ea0~AugE=H-AgmLSN}{bn0SQ2x>@780;^JS;&W^F
zuSs9l9WxC`w_GQ`c=e`t)f?VU;+50h_LuR2ZSu-erAarKPDC0$GjlRmvxs&ySD0IG
zH1nS;NBOL4`>HO>Tzp|;6hF(Kd-CR{h=oU{e7o7TltD4pVAh)GJ!wT*AKr2KtX<gt
z`i1O{$08k5N>?}EoVfGSl_{mlnnAXnYv<0}`chbGNvWbu!p(^uGhCgnJ#l=wZEJ?a
z_A9I3@yZzNZsfVMaXZiF=l}nGJiI@Cf&MJdQ1Ku2YpYgoITjG+dpvyNtHV}*t*!oP
z*Zr&9S$s8r?Vd@Vy(+%NRT=ej`ToBN{{D$o^zV*;b-U{}u1fUY^L3ZOmBx>czfZ6I
ze66w2`X$fDwU0k(y4>5%XDGIK>Va2H4>C_(S$+EF6icnNLs701zn|0Sud6(%w6(f8
zefOHfyW(GX{a*Z`enoY%@OFkz^Z#vTdd%<t%xns;%<%~)X1&uXv=wu8`B|{?<+G58
z$nR4czy1HNe?&rj>ihP2cRgS1toVM~-+anbwqIP$THKGSURzej`oyboZJ+$%{DYnL
zkDlji_jxq?$?TT<qrPtS^x&f3iwo}dPIyuF<*k@s;rbb06oL+E+Y4FM*Rp(k-w@2N
zbd~ot*NxxjI=(h+`uCwFR(=BqqtcxMt-{RecN24q^-PxUoh|)MUz~OQJ44%db04%m
zo9<Kc_sN$XyhibB`hH3ZZ!A8dC3oKcubyt4__f`y%=d4*u&e6V_SVPtwFla^I$e?7
zXkwdm(R#0PUrl4XZTexxzdH^j8a}O87ireyTVJ_ft1?AyubyAwmo@kLDyP;Y|GUvE
zyfa>9=aI|>Rk!>9o2-5!e&WB!%a($jwu)VwHPb)7dfcq3{nKUcpVfzimly`D4w+u&
zG9hN8S!BZG%l1){GD|%zy)Io5YW<U}w0xC))}1|DT&AbH+q}E^D0EGq%EWC7tj8;@
zMC&cx?i%tWCaOMXSs4EQ-+6BaEnji3Td#vS7jX0aH20QRu&B~8DE^l4ub1)KhD#Hx
z_UcQrHw9$#P0RnL_C)xF&QwLeoHc)!Dn~E<cWJ^M&BMymtW=XuT}qbDG%V>^9c-lW
zu{BIIKy!Y2#{}2J_SMgKT%YkpBGYY3_UE@3UjKerf8ciMp1|q{KMp_a6K<<LU)a3B
z^h5N$0uzba^y``Gh9Of=?99+Q&afetY30%q-mB~H%=1ZK)OGWy@#}`^lWI8JZ#^{T
zUjA(DQ3FRQsdL!}{QKYEDq&c1MCC?sfSTu(bxoVBS(KkfrFDFp>~W4|yFr@adZiRM
z-d*ka+A0~ceG>J2TKvCLI}=mdJ&q*4eAtry^x=%o`@Hdn-*>(*<y*V=q<B2<KB@h8
zD&wB1Ke@L{{;qn5gV0Qwd8P*f?4vq!gR*w=+OGPgdF;BzW)5jtC+)_LBaI%i65rkg
zF~nb4!65ZbOQz=FoD*@gIAyNa-hT5X);#B(Me~893cKINE|>q6TfhA6yKS}C-<z=Y
z9xM-$ULLr)OIw@g^b)(wBbT+)d!?7TL}V2oUn1nFkg=8}Sn1jZhfQHhN(_zvvKw39
zZ2H19En31YT`kf*eSNpYgwqq+mhcp6@}6NVTD3;$D*Mg0PY0xA?Ky6zczAJUnK>0q
zl-ld_Hz?$js=iTo9z%mb@YeeCehXW~&WI?!d_H5#h2lyLC-XaR-;~uH&)-&NC~|n=
zWqID3<)&F%nirbO@U-z7i(FRet6bNx(~on{Zx4;bVwpn0#kU@*yElit5R_V3&$dnc
z=#`&OoOq0@o~?4fxTGyH<W<HReeb%SpDX#i?(<HpT)I#=Z{4G!iBE#8|D6{Nte>)K
zbKRYJPAk%@6L(+EVsg<8Yg#7Wrns}GEWc~nfwwIM$+Eul#7(T%scES73OufQp5aye
zDoZZz0Q27z*$1^&fo>~z*T|*c;B`DUYoq5@#|3K>+!w#xZGHBF<W{TP<MKZng}2@9
zdu(<{c1ixPh4x2cc(oaim0ozKYPp|X#Qt^t&BO~lAq6^|ye@H}{`1xc_LgpDk*p4z
zm0~M>(s~N_vOR4T@ABkUSD%~|a$nz(&oh6)v6%JEb6$VWf7mCL%hynMr^+~3C1vJ@
zpDO3uh0Ij)7H9h2+BeUTaVl?q@P}nDZvFkZt?znX&!LI$ckF(5;p6XjCpe=MUsPBp
z*1y>5#$3PMe$MA@T_)!hWnC|*ZCNXs<8@B#cF6|Cq)&V%yv9x$$4;E#;O6^le4gXh
z%j=0}F85s6d|P*Kc{At1>}t8C&sG+geOYyr>#pD8W#PUK9pWV`SY)0aetGqBi-4Uk
zN7Y8=f~(bBvkNb@-QKgw>`#hC#_P`JdmDPVquw5PpYVmjvc6IJLQ}42k<?m)56qu6
zxgV@-w4bN&ytCQPggsOu#V*&lWns*%)|-r;`FvK^=ll-KC$84bNq%{sYfj*UpZ^k;
zUp{UobMd>-7h9)oHmQYsjpCUfJxrTzkXm@m)${gQ@A=DKgx2l$H7+=PHF$#%Z}7%l
zQc<~fm%4*K&YBuOk1Hvr=f^jJV~3U4`n{ff3N~rf)9*^SZFurSQ^b}tq0u+E6IS#j
zO}<leRs8&h&(oe5+WQshaOQB!pYSkvI&W@qjV>o&hpf!rv$~rL13g5ymwLb0m^bU)
zt9J$5_xAp+2ltP!zYIK{$;QBtF9>dPZn-8_?>SBP<O*xp_4W6eM0#9~A5rmI{30d{
zbbY<*DZfW~nztCMBf3mX^xL1;JpXoaef{3`UazNhO}ko?SFOG-H*nr{*2m_>zaLu_
zE8WggeaNbr?f3i}bMD*t`+xpiew}u0T5Id&J##1S+&gvC%wD(LeM?0%{a>{et;x*_
ztQYL;f0P!&QN+G7)bdkoxz#F;$7S_#d!E$ny}4n|veJF4HKxxMaP(GMSh+jZH+zYx
z{={n>x14(H{(3Am-=MQ!hx_aH+-prirjNGgyB6P^!@akrtXfYej6whQqa{o_-&VxG
z*#5F#=C*-^tz})Z%EX(0-9qx?CWH2HKQ}v2A5j1QvB1oW)tOK4rtF)4cDsDvo3q<j
zEAMuH#*|?Yvue#NovOUP{4<fpkwK@W*Sy*$BxAew^Zn@V>l=b+-k&*r{#~iWQ)#OE
zZbp4t$Y>PQ`RaRVw-o>8{a0s5xw5M?d3I=6vbjI`{V_yWGr&e)V)u^)R}734_6grQ
z^W^U)JvosX*Xw_*7Ew0tn-KFRWpCmp>#gxx(UqF=UaKCmd!#J$=djqVq9w0UZWpH{
z|8LIi<h9NRTdwR2oE@rBl>4>q$%dM<TDPLoznt5(Lc1v;pJRQr&JMeOzIQiT7c&3(
zCBYhzYIHwsNzzgyp3Ld_of#`-n3VGWn?7XV57Sb9GTSuwskZjyqc_x<&)(pj{Qib_
zeR*sC>P(gAncOnFOzv`;ZMXk@@la`U{Yw>L^Fk)`7|U)8j=2|NTN|Za;vT8SU&+*;
z@ivO<vBylaGgkuiE5f#GP3zvZ*8G#o`qhEq48F3ij9>2T>$*2-Q@>CJ%c{)t5~7An
zdjfWCQ`*l^V6`t=Q-jIRH$NfUzW?lDra3#^7u9=fz5eyCHddj9)5wGQ<B}%DNsI0B
zZSQx7^1Z&jphqw5qDs+m#yjgbl?zpH{5yV=dw+M>zNMw9D;X8q5B*Xr;y$u_ifQze
zPkX}FU79}S&qbD;muWmg?dQ7gR*0@$bb#~EORjTX!RZrK8;#HIDVWrES;f=#@fuxi
zu2WY{@4wf6Ti>=TrIpj*u3=^nmv{BVCzg}eb^HBD+F!inP}=&=!i|%bA9(9z@a@lm
z*k2nb`!2q~xhdh%k%iKh>%{c~O`9z|HXje0Yvi~8zSir!yyL?4i)2d|nCJwwB;?QA
zW1l27Gt?(YBr@!5Zi|2X#gjfyKX-}W+Bs>%CTV$vg<I|`Uu4~1f9~``&V&Z1MOhcG
z-@X^n8>F<dG;UE<{_9N*ZjTr0l>X)VR#VNclXBf?+mbss7Vxh6RpPk5qj6PVz$AXz
zD<wzjdEOj6R{Phqcb#{8`r91lW6Ls5KiBcy94fTTZ_1Bg^@y~N$thDUIn%^17R}uC
z???CD@()ZaJicsN_sRBs+f<)=FRue~zhm6FZ@zPhp3okCO*MDPs=0?gJq{Q1x>j=E
zVL@+ST-+RCN4<GvHy3XIX1PAG>RQIWcUL=K8csi9mNob77OD1oymc+*2b&akef}VC
ztt4>b*vVZhGw;il8ol{dcHZ^zh0~983hqpuZFTU_**O(b$In$r>R<Y3;(f=}s$yMz
z=(OUD<pp(}kN-Si-@W|2ZOhMMIRPp5MBm8_PZAw(%dBrqDf_zd=;9|@%1xr--OC)a
zCTZU_T7PXz);hh8AF8$PcP1yu#6~WEecw)XzTQ1Of2lg-imm%U3r_u^$Fxu>@cA0U
zwEOb?2Cas>Wajw^z1<|(Qy%*!LjTu%i!-_GG4+1NnX$WgVm~ZO5NhZ0INJHWg=y+N
z0sh0R`{wG&6d$c`7wee)x=|$Mm;2GJkJ9xYu+(4YEWK^;KC0QV*g<L90<JnC-MLG}
zQ~V|zQ(SSe<WY*S!S)nM-ANz4CU&s3sECK`=e{>{J(IytBdOb0%0o;{KRuG1{8jB?
ziVf%DjV~u<TnI{^2ipIvUKQ8%eaX*)Zapq3$EYds2ijJ$-8U`yS+#-n>$K2_3sa|O
zFJq{4D3B1kerM0iZrLn>$E<e^_|lT1e{6DCwB>xR-^bX_s#1}XySDkOyLU~yWx7{I
zL*4pf)|L3>4(_{uLr(WNsrSaNg^hthTnv1+J>(R#h-lF2oI3dp{}ni@*CfSecpJSE
z*_KkuddbA&&UOY?<%=5)?z&ytne(FlzWb>ybC0~ew3T_=BF;xA_Q=frJomQyzM9hT
z@N2w}7v;?Ed@Bpv^<0&-KOVH}+3C`<1);Y$bk?44`TOd}^Z9XQ$$_F`W#&mf_3Gce
zPUYE1bkrQp((1d_XF4N#+n!}Y@jt&Vc<@Cm=yleE-S092E^pds{`+U~x9z7>XKvnd
z_PS|yihj%HF0Tx|uvGP)E$=KZS)F4!^5QOkh*ewaPuI{D{})9U9J>-+{CQTn_+82C
zmzSHT-_hcJkQ&Xqma*IRhELA4m+N__Jxu&ipYeO^M3>{`-f{B#mn7dvyX%|NP`}=8
zV`tyZxm!Nf8QkxEwz{1C+OyR^8?Q2dX3E%5yK>X2?T{lr0#9{C-n+J{PV?xs$!7n3
zBYe57r~ceq`SWG3;If>sN4ux0zPDCTp1R`fuDYPdiPyM$R|b}Jvq-jeOmZ%8*(cwB
zWeU^L`p+H@9(4yDKGE<aF2j6U`Q~jq!V}^i?k{7L4R?w=@w+Q?0wb%eb7IYbrJ|vM
z=cS(iZOs)`oi0`GeZ^>{glpZ7ZBeU|)?Iw2o5?3Eo_e;W^i<y3&)b%Dyy`Psd!Xg@
z<MJnL?=GnR`25kuAo^6z)Qh{;Okq8-zQ%QDLecA=F@Lh_4>bz$gu0!0?2xEtT4c+_
zp15OCQ|MB!+E$Z-|L+PP9^Kq<^U(*{)*~0ENB-NJ*7lW|EmZPZx$NT=xxF<l?Acw$
zr(XV4_kQ-@UbRf^6;r2O<G!R{oq2|<PS@_5y6D{ZGYU&5MW%~N9bL7S>)6@{(Ir=%
znx_3_T;#lZDX$jOya)APa|0&whCZBM68UBKT-N%_g3}k2b>06nb7`iT|Dh|LLiJB3
zM4FX6N||TL>9+i0&a_>1A1>b8@{4Ji*OBh^yPr&M+jZZq^z+o?-B)LIH{IL6K`%l*
zvX-^x&yUupyYFR)7hiB=y>d>KU#j%}@BKF%ogXjgUZpdmbk{Zg`{g1(#ro=*JlkH}
zi`>6nb9#?-{m=R7uK!QO2MSb0&JjF5clS!?WqHqzEVd|XinQ@<4xF~*a>;A`g*y2Q
z?jAf=e;{_=ci%aerdFPJIDhJo;bOi!1+%SYOv^r}!z&W;^X1tzW?APW%4%GGv(_BA
ze<P$shka(yojW{*_wKEe&~1?lW8AENHbuKfZEdZV?bkD5S68okvuV>Rk+fGgA0>-!
z_YnKH?1i%YnZGU#5npBM&U&j%n%v<aQ$JPN#wd=P?QzD`vZa;@l}}DCT&7oiud7V6
z|I;?PFUysSPaJxAqS)MhjdWD*4AmEMA(y|NS<#`G+HxuM!ylOgFVBcfGM*4(x~FCB
z>_VM;ehdd?g=`;hTbFl#8*7JB?CG%MR~A3^m6)U;lNt10(NDDddVaIfuO-5Kj~Dts
zns;k*eZ`NKTZiAroVdPbt?pNb6AL%g3GZcmbZX;nRj;4RLf2i=Upb4NIpRjYgvz(M
zqPsuZ%yK`X_%DMmed$W$vqF!0jPzxeInGj9nLcN$7Prd8s<YRBd+lE68a9jJ^6|`R
zA$KmtEvf8FyW?(9voYE-AaV2MBRe8a20!?wC{b-!m|pj$K4q~+iHBRjX=n4I82xz<
zJzSF}rSY$|VtoI<YW14ioxI2Swl4lQrH%E~wuJO~d#n?rWUs4sEeoCc^+?|p!4zRr
zt@+P=7tYnrjQo1O+C$@QxyONr$FA<G&9747>a<%|w@jsVS?~h37ga4xp#~ElUsIBd
z-zUDqX6G3V{qED5*B92`z3e@A?{x04^6Af~{GYUM;X6UjMc%JdKE7^$a`@-#n}OG3
zRzJAE-kE>Zt?;WxQ#p36n)z#&_f=+BZHGe-yWEwEt>esUog~+MV}9YzJNpLTt*(8d
z7Ydh8^1geqLQwM9LZ%?um$mv~)5TA5KMP6<pSEvLk!;b?`sGd^U$4%sJ@uvj{IL&v
zeeQdo+PCTJ$&5+C=BL#?SF)e^JNw{*+pE)!Lv-ys)6Shyp6Pta!ey!)@7x>-fk|f;
zWeS}MwS65RU3~6K=zZzp)Xsy?ORucko4O}^qPYL8RpLDEDtt=yOMI{GdU?k9)*+VS
zsWZa==)S#ow;*(Kp>x+Hwi^al9{O!Le|@jJs=}+(Ud~X3l*Jzztry<l>Fhps$5t%+
z%7RUrH#X%2sN`}_pCu$yoMg^ZzN?EtH0NUc;j7Pcwau%tJOlESqil2ImOHTD{s*ax
zHl#1fb>d=R&@=?qMUz9G7|R+s2&71+*fTaUoNP~-yZ(gu6XBvfQE&d}cVYHMo0mM%
zXR7~~-`za<hEcB5yZ_UkhcX@Aaw0o6;z;Vs3g5@;>{~919)6`d*?95q@{qD-_S;Vy
zAKXiO5M!9r_dNaC<P#cgogzEcUg$15F-5p?x`a~LoX(y|m%`PiS?hP7-u_^c$A$H6
z=e6#wWKCBQef^k2<G}U*|Gw(~uV}k2+<rCsW3=FfjQT!-^PVQ(GasujdECF?srsKk
zKh12rrc86~@=>h`;#|w?Z?-vq^XoN{+ove%Uv^fzaq;h==pB>J->=p&Ume40qgk`*
z<Iz*Llb_9CVCD91Gd%s-c-o$eaV(h!miGmBM7WFIQCF1;HEFhfzIfTQ&YfR3?P@U&
zTkO8)<UZqipUXaS^<j~kg7#NmX#D-VXJWkK#M7F~)~!=_DK&kp6T83GCfU?JaAAOL
zO;b%v*wUT+`c+CH&mv{hEAu+N{^?CNcC{Du?(%G&Ch_S}&+=;7k4j%N_)l;zdC(D2
zQrWlDJz))Nc}n};yzO5%ce@KXpRt~jc1L{e)kD$8QmP6g1#cd?G_{`L+xq=$BbD0T
zg}N_pj<U>uUZ%DDq|jVT*)-0h>?%9DdA8*TsrQ`R`9N$@#i`jWnw2ItwRaz+6i69Q
zT)KSmu6YJ0{U&;D{PU$n{Oe0W;r%oBB%JHJFFPlST|K^5xVHF9&7R=t;zw-%%Ki1r
zQSkN=+U7X%c69bG51Yu?=1(tD>)rO=I1{8L&2rb3ujzAlOX3x#Zwsz4uBy495c5){
zT2Fv^|93X!<D7dp%Ch>U{PwHQ>UY|o|9x)e{qjGJ(mOBmn@BSz-zzxU>N$7oPv&>`
zPAY8ksaoqjZTnBbBRrR;s7VM#uT_qco;aaN>u*%X)1bnwY`Sa*cB&?q<Ymr{-Mgkf
zsGv!4Vo1-9(tjHgUwYihlXbY$DBn_>q;f3gJg?^AtNF&CvoD@_zDG-ES3_f?&sMwL
zEc3rEem2o`YWVNH%3T*Ymp8vWu)TJ@d8>w+aJ7j0zPsIb>kMA{Ey{Q#6?kTo$<w7q
zf4=GbdN?V-XWb{ArB6+c>z`W`lfilP)#-}Xr^)qNtr3$Fm!#WWeHZdY;qqbDHw`|E
z8yzP*&1OD&NhPuIR{&@6<7<h1E;V6KHN~fW@;s&VWeva8jU_?ytZ6#-?!Tr#>Ufz|
zne{u!MepUMyu72n4<`hy;}q2LDi^DcVe`GQ*y@1B)U)qpg3mE3T+saWyTYh*d0>4K
zztZ~j-;XUe)E~}}x-IywkL~ftBOiC!m)vTO<XYz;<88AvvHbI?slvTg>+jglJnK4n
z(`@}U$#LFXOou)l($|r(srEMK&dP{Bt&?CIAFE=u)@n8H{ZoAR)UICexGJ+NoYgvF
z$7z0{HDZf`&Q_;#Y}zh%=J>}2p#?u)?S6QybkDp*mbTC%fg3C8ub%%Ow6Q6n?X28O
zO$&h%fiI#}4uJ<aZR|gIJ{CDF5+M4cS#F_}mLChVI>(>5*LwDLemUPPXD|I)@Q8ik
z!Wu!xh)E2&mtPvkd>2!6F%DPPSor$qxf|SXcbLDpUH9g&=eN0yZ+ASDI5A27*W?OY
zEx8oc|13XGihfvifO|^e8iD#=*){q8arrl-q{SpJxM`p7+I#N6LjAR-C68uITUmBd
z=k(XFUIwbK9;S$LpLzZ);g^J>Z$i2i=YrzvJ9cgRb!40Co9!B(0-jte5C5DrIbg<t
z+?@4CXT)BAKWXBjuDuE+3PQU4d)y)oi}ZLCgSK7gb~5L9!Fb}JPKwda@4nyeO{!Oj
z2ybGXp1W_Z@j>fp6DmViE}8MiJ6QOGWIl5Z)0C|Y0rCm?%?soO_Jk_gx_D)6H_te@
zxsvBWHEV|qWAy3k8_pVT@QqKL(^6bjzTvFiq%BXxwpE%PS9Du(yL#^bKR>=t%he6&
zd6Lh}we5sf#+Qi=>)XwiS}ZzMe8X1DfuFyw{_KeYv%)`S=T5cRGbivy7-cSeB(^Yy
zu~5*M<Mh$?eKXH2c<5Z3^5^?}kHga@o3FU;eD6h)cRu54d9lB`H~yZ#{lKVIQ&s8f
z&%77E9pAm0?EJj{;?~Fm{`2qLeD+Arh(+euR8E_no6lbSXUj8x^VC02#5uih-TwQf
zT|HktP@y8ce&Gkhs@-!{E!@i1W(hpI-t4<Y-l6or?U_HCd;k1cH|cES^Uc2c=3j$s
zmQF7(_;>t8!P+$&Lz3q{SZQS$ZmK1#vwv#Qy~{T@KRA*6_LbMg!|i;RzHVTt`7lpy
zDyzLoO=&)3thr2`hyC$u3bKj3r{#{EU%I&Y$F`_NH5wg@R%YkdUw^gmf%k@b=hf^A
zZnsrkZUu29?&og|`rY0gcGmsM|HAr}mIfN14OiW}Q)L>y_2Si2OICf<NqAmrdvDit
zvAK^TqNdN~eB|nQAY@+XNB_*oXu1ED+UJ||?)M(Pv3>4J<BfkO3g1rD=Xv|iLdJL3
zUW+2P$*xa#DymJr!Ljk7pF>pr+lMVr1CFn>j!3&Of5DzL3?-K*=1I9^UDa6U?UF3g
zv?s%0+wpbsxBscUSzNeC{6^u0uYWUaBwX)mPVLB2IobJO)z81JnU9X2eH#_=>Qz_w
ztXZeSqPCazyOaz3xVz!`cW2f*?ORiX4X-3|FWYH%@~C%MeeKG=Q$OZ2YOrdh?g;fi
zd_4R5=1&}1*CQJlLyzi(%5tm~;hDVgk!R+vkC!c_rgMC@Kks#AZh+T=7ykqe-cNeG
zUuMC(jE0M`xtlCjY2CcEGK{G(NZ&X7?dy)0FL-`Hj^tXT5}M4y!N4G;0@`(1ZwcBo
z@+Rta-t7~j|Kb<Cci{Ld8KvU-QRzse$CMdtC(@Xs8Kc&ScN<!6y7B4S%!&HCVmHcf
zn7^6)#oBm@$jzcG^>?Y8w<UH<o#S~v$N2g0bCz?a-;W7jT6(foXV$NZ2XdCo-Pa>0
zi+?@(@xfuEt&1B~MOPPxnVH(l-6^pA@vQ#p`}*&j=AJOxZm?^baG6bn_Eo<&=b39O
zk3I>!{7LG2SnrA%hr$aD&#>-3v?kQ@i;TKN*qRmWcPl<l_;@xeG^OTV%IvP|r+kzu
zPKt!-U3b;~ee+iPnQL5nhP`row=W5wpku9D{A<eFpaQ?}uTQft&fE6Bb>H82pZ0F(
zlKCYSVOqa>!L)-Lc3&*L9G_is_~?ggAG+(*%y!0gzPjpd)|hkc>qmxD`xpL~IHL9^
zDspD#nX<Jvf9+<j-Td{D!~4Yl3~Lg82TVHUQ4%h*UOYW=#iZzWVOp1`Cce0>_Ive~
zS8PR-ez@&<b2rsq@}$q@?b+UUw_NC1v~pM7vt`%Z@5g7&{l;B?H%m#%^@eKu6~W3l
znG3o>UT=OsK5%*S_uzyw<8<r5>zmc~E5^=y9DKXU7qm^>_vF^Tg`8#wt3L9J=}P8S
z#od<oV-JhtSb8<@q?f8{dI5jBLu}^ht5Lf|Pb)m!v|`7Wdmpu5FIg#JR(krC+oQI}
z56uhQ&fWO<@%h73$L~6&*1w(->e~4-c1QTOG^e7irZsB+lP4#;I|K+h?JbIbH2cuE
zH>L#vyw80;ZBjTdZ~5aV?+e#e?3&M3-<Nm4wps3kqu6y_@q&+0H$4?M`JQYky{EC@
zmhRsVR`usutaplg*8P33Q8@51+XLZ(+lSY<#U1+ho0Bag{YR1Kn{WGA>ekJ!H+p`E
zYkpHU$1`??v<+$gzWmE&%HO!?NlXa1S!!z_pqqL8u${x5UXJw_l_ico)P0mVd6#GR
zrYp^-X0_!>H*CD}i8IgWuB++Y6=|Uw*;lW;GD%i#F#mRpAuj3Gyc1vCb{$Sm2<o0H
z{$QmK=jLzsHMaV`?w(YyAMvmG>-qWhj8p5qzebo`*7|4F@o(n&l0BCr&i;(ASoY-m
zRsQoQ{zg3MtA66g;Pc>+?T2d~om*D=Gt14?II&+jIr-_T<~-r^!IxYXY8h<4mnJT9
zlbNG@&Sm9AjCZXk?0CF-?}K{@FBjiD?fRpdzxHU$_WA1>Cu>RmQp)|4d${G%qTmxA
z&HwjuDXysBHPxdp_W0*L8x@V!Ih33gs#Bh|DO&w8KXGQo?I#KG9<fVg{L|awYybRJ
z|9xJ6P3q;S>8$&!6cS_u&aa<;qRelN^8)wXx<z@9w-zt^A(xkV{8!NWv!Yrlzd6_z
zEU>L#e>`i=i^I?AnG>}`ZmziUrN6|^U)<AT`{E<qIrY=}-qu@0E-7oemT5BktZe?5
z%L`WTdLj_2nEA2f=p(<v$B!qmi8*JUE7~h)ly0uSCitFK++1ai?~lZ%J>PLK?|Y)@
zmD==4%MXMem|%DzGxEuus_hr~|65ppn9md!xc<nMV-dd@x;OlP`Bt>o$-FoCewo<0
zJKvW3WgT~vxxF~jW^R9zNqyn6&ujOpc*Z4{F1g!2L%U9B_7+#SEv(CQH{ITPcEfhA
zcPo1zi2c!cZsfetZ04NW2`eP$FZB`md2>td!>BhrTOGsZ=~iByH`m}}`%md-GCvo;
zI8(Lz&*T1+{p#z}-E(U<nx=mDF*~UBYg5uDH{L$~)NY5~NfseeyVVqDtu{^HS%2qg
zS%>+y*UJ(Tvk%A3_`E4YQ&oBCrLC%JTQ)xQedOC0qVJp<t#~-gHBftP)sm(8s$EHK
zn&yid9#>wxQkayVrk<?6u~t3i#^oFQZ!bi)cyKA37fzm^vE{YD*`#dUGq)G5@7?`x
zZdFNW%A$#9y<}5;O-)+g?z8JVwC#1t)sNowVP&C?OX?zK9ot{mIfd6rEed?a+A`Zn
zt%HFHOP-0kyuWp^vYL6vmf)V1)1sb--#4=~IXIy%%k>VIM$QbT%=c?AZIS-@*g|He
z#-XowX3UtmW&^iJl;YLwdm&=64(}tD&6^+VbbeX({nlxF&d%7nr`$)-`lC{m%f7eO
z2bq@5s6YQUbJmZt3A-Lv*v(QudFQR~M!ljPA~XM=)?GOD&H?w|cU6uatqkJwj@Gzp
zKlee=^;{3@r0qTTs{SsYmKQB_fb~zqo{hgPUQ7vDU=Yzccm3X?<B4<i|E&L$`Q?qn
z`~ro~dWU<D1!gQ_ZZ`PRbew<Ah0@&-cjVg(7A^n0=y2<b|MlhX7j5sTc^$8FdP3o>
zF1dm?jC^TRvL9HN+1{U7xp6LAV8-v2{W~;Elx`P3mb|C(bECcgcf-fJ_sVN5(;~t(
z?)FY>xy#yL`|-+G#)~(WXiZ>@N)43dpRljAy2-bLS-f=J#<-1(Os>m2@~++2KI7l#
z%?plwY`UGW__2ztfjraf`ge05^li59KW56duGD9*{IZuC1@^1nP5WrLSaw0xf5};P
zjJ|a*s+IX!<yO_SC->i5_v)>yX%%mPMh&~75`&i54@Zfeee23?IM3QMUomzlb^Jaz
z!o&QFyTPv=+pnrC^K3ic@E}g;?3<admv6K0cRtd5@P^-U<@^3=7fmE}Id0cSvn0)Y
z@N3KQ+5fI^Ny&@N+<sP6Jhxfqp<ltf*1#tZ*9P23pP=S-J^PL0c6;ARQy)cNt1H*+
z5Ge3q`@q-b9Ne93D8j`YQ63xcSV!xQf=S5MdE5&X4=0pFU;F!Ua!qs1nia+Sw6X+_
z9XPa8to6~uj|-kzTyy3OIXC^8id*R=6Ctnmm3MtAlFUtGOZ%0VDxdx@4xY(0En&QV
zhn0b0IzOnDu(`fz26KH>ez}v_mv5|=$uXISxP(;nIVyzSwsPK+xMrv8D=R&3<)i1q
zA~#v)hNd1o@$p<v-S!FU_DX>kW(P~Aui0M~qM??vk16;5l9$JyYRmcm)j8>OJ-X7{
zd`|Vu*)E=s`ovGxSoUqYGF!jB##6SE`Mt@m`;*q4<Ui>dZ@u7Ua%%5i#S{;ow$f&$
zfZI(cWsV;!Df<`r=u6eSz(BF*#peQJzuZ|dd25?;{mD<xhWB1?7I^!0+C`^#U&YxM
z94w8^ahA%pskW?g>JjwoGv0Qnv$1<qAX}|=jr~ls?mgEZzrT`MRQPwFZUf8RmDd<P
zKInN<*7Vn5)nAJ_DwhlEweECV-fD|I-x{($GFtd=gIdS7#5b3<zZ{4&`lUJRukY&F
z>i1@|*kn!aoW3UFQK-zWM1i#z)TVov&s(}sI`v=4CK>(9B`<HA?bPKCnQHd^{_Z8;
z+_z~2-@dhU#~u%DN1yL!&h!UPtiJ5FEBgK24Rf#7&3duG`tHt~X2zcn#Wm>2?%X-O
z#C`Jmc9r^dU$5Ph{P^j%AJ?9}X-(T#bi22+%KTrf(zon#ocY5g7yV!BC~XMexku=|
z=Klg!lZG7&ok|;};tKD0?k?JE%$mD#jbVaRO7a88_T>>g-LH?```aa}vLc6To2K-f
zd9qF3OPdzSTk#&AEA^KpB(D7Wf?r#5L*Fmo$nrcSJ<9&;?a4tMQk+(dO`H{M3=C^0
zH&%<+n}OSpk??5^2af6&4O-K3ekv(@CY~+}SMX&%emA(GY2u3+D_pWv-l|Cdy8nIR
zq&G1eMPABnTjH2IbGq}q_c0!|>HqJBPMpjeJj=WAL2GrR`wWlNV@HoRey=qA%r1Aa
zt*hr*&<5uBvohb`eR$sf?R4k4=`5RD<?1gn=coEu=4>t5mBf0rdQ%Eht@lc<tPjDl
zTZ~-w6}O&<eyi|eE7z&k@blsRGxeu?&)d}LbDdRqnb4vLKi;x+;d`$1Zuz8n$?K@e
zksUX;Z!6(Ad+D;x=KH&1G>*NQd}B}e)6B|6G2cHva}k`!sNc^K#UQpmwEW89JN}J{
z6&ZJD*4JJ1Saf*xQZ2skF9mi@T+Ph?ApW+$&m!ltRF5drWxKDHe0|xt@nzPp124ih
zGn8$Jy^<B0SrR|DZ1K6K*>ffqtPVAulJsh#&;BeWl`mUfg}+*Qe74(+t2ev!!;i#F
zcQ_Ui_;tss%MUO1Tt9H7F?HQBqutxO=0Cn|dMR<;*_Aub&8%l;xxLJp<2d_+^DDmw
zsQo#=T<+u!BR=It+>@X59GcF2o^R_v#XDisOpca`?Mav=v)S8dI%_NYv=EQpz6HJe
z<1TRSa%}mZYvcOjsaovWjDy7;{DRysyR^=px#qR<-}RQmH33(&68Y?nHcy&)=IPO|
zcDH!<tUA`z`KCq7s$OK$|9U$vYtgy4J}~bHc&uNsM&?)H_ID<Eb3GCTzC2NB*I$z|
z&(QVO`QoB^iY~J)D!#sd&pB`QKiep2%@oD!vt$B!H@}#|b#O|3U%ceb$Dj30I8#pS
zwQ$UDWE6;vTVt0abmPfZ=Y2O)EFYd$4K}-QGxVg0(LRG&5A>W0UM-I?{v<G|-lFio
z=G1@Z{ie^|=Nq?n?#tF=*LzjISZ^19bp1{7W3EpDXZEDcf3>adv&QXI`J*vXUXq$C
zesz_vQBTP$m#y45^S4V;%3Ia**EE;^)Q;ibQ*@`q^iDEsX!M>FvoHQSBv-b>@T}z7
zojctw|G9qaZ{6P3=dTOX<9p&hSwEdq*ytTte`?L?3CeC$54@eUXQuq!!YSfavO8q;
z*Sp{SyZGJWGZF9f4^9+}n&x$>r1W@cS@;=uj@jX5Ogh0w75!EuZeP)P?(>SyuKLqF
z9Cz#;J1^C|Y}~S?q%~PWmN)(9()5po-V+W?<NUk&^1QO;g}WbrpX_(Lf7jfN_8z-7
z${*caAl0W<-yEp^<Jr|E32dRf_fFrMxAniR)qAzh=PT@scSNk6dhW&7=%Q0zhr5cs
z?;gqbwC1R`o_{!R%>nm4=O#_nds;7FdnK2rWY*`NiI2BN|50lf`OD$l=-2+@R7Cxn
zl}0|M--@OmlFwQ1xLp3+qsS-hmlGbjFHU%Ne6Phf>&F!)FTbSKdm7BjdAoG&Gp60u
zt9I7)_<GF?3;D|F|32vb-eX!XjI)n&Jkm(Ea@AFooL9@%zT|vb$j3K1A=5Z?tJq%6
zdX~-|HYL4yRo%>*1qb7<NY0tK_-KCoB>m6dAMXu{$?=U`&)NPk^Kg~A_J(sgOT4Ew
zF>QOZf6eSElcsCC8ShPIKG;>C|2=o6<LkO@A{%mT&R1GKuFP}XdftV1ZL;#LEA2cn
zHC>0g8BJrg?sUn1S-~ljIbnZjX~J3yruDWGtd4i&etVjG{Ly&f|2I(P>)$$qx9*N6
z9Fq-xrlq%EELc0!IWg$dvJzpp@26B*{ij|j%KR1-xn<QZ@8ErocU5^_Jv!UgRG+n~
zsPpy&?)7Qi9VV+M-(4N{Ql??2$2B*@fLGfpIj_Dh<GEMHuvpe$+8x%FrFEJ8vzYsv
z)Jh!gXwLazaCDv9r4YYEj#qkrC)DTuRmo{L<nq6^Ct~f)c&*%f#*qz@mo{j;Sjd&J
zi}76Pz7_2^bh$I%J{8IQvM004qGNgUONCGMi_7x4f_>EfWlVFa%NP5$d-6FIPqoD4
zF46M>L1A}3>ppat)^YLJ>@B-2{EJ-Yw5Gj_U%TTTZ+2w=joif><37KY;XSs2%|Y7B
z%1kQOIaoB?KqGeJs-oi`E#7UNeDH>R`^7W;YK8I=Uv~XlbGvg<ij9Qo+?7Wc9C@@d
zX&uA&g_`v$i#}%Fi#X-I%<K2Iit~z#H{5;y&FZdW@u|e=dH2ueEp!Tg;9dN6;<Wi@
z0TcKFx4WEU&B@Rz6y63t5JN<^qLFX*<eq{b45D2pCAJCpx*9|)vlmX>s49NPpnt)Y
zj0xxYZ4L%xZuL}7?p|dPc4n!`Ig_m_Ya+V0`F|~{IP#LY;D<S=!NNIxLSE;7b_NFf
z$pNL})8o~QSnJ<J+{}}<6swg__}3`#EVW@u=x?PXc^;~ovIjh+w>4E7URbbNqx;3J
zHrL9T$Np5yPjc1W*i^RM_&|z*q0-bHqVIQ}-uZps--j#LonRKW&7b{wV)?T^j_j^&
zPtN}R`Qmcc%O%Q}yl+j}k|kYcSC#hnMSJ)De@}DGU#^~%P=49}Mg7kV<y3RY{@+Q5
zvu@4bDw}PvJ<ruwwXW-Tq2>!^zqPA3zTfq6$Fe<=yuXiTf7|}rRR6{v-EF4XODtVB
zba~y`bN|D-?aNEoTdoyebKJ1%`^Bkx3Xz4uQ(x_VAJ$~}^@`0N;k&-&s$aewZ`XFL
z;N0W3WT9z-WN&+C;>>?H6C~x1)z8n}zg_*}$;(k!#PeUWY?`?Iv*3aHu=zJ!)Zchc
zI>aOP`(o1P%bi<~rWGcAy|ItM{Kno8&s3Ev&A$Ajk%f_lkKQgZ^48oIx9zCDZD!Po
zl}F4UiOS2rN%Tr9t=X>lX(zK$kgVw%<H=I|yZ2q6ajW~?gpMYK68}RJf7OYt)@1Ff
zf8N^IE&odD8;?vr-&?g$nb)SB=Q?9ulbw3O^Xh5opD~8KMhg}Q$4JNrWV%khy7}18
z5@RJ*@u0_kzoMRrF8;t@zGRx#?CdQS*-;KhMAt|9+ih|$x_eC|?C!;7Zw(**`q6#&
zK<^!a|Ft%)GoEg`p_6%5Tb1$8>Kg$UjdxzIx%j{SI3K&0KnSOzzFy{emY3YOOnfZL
ze}qmFdeu5v%Vg=XkoBp)m9DIN|0%iLx7Vr`+<IdJ_l=2L<#U5>t*T6{dEO<ipVavJ
z__cZi-R(_+_0Js-vst~Y_&AgQ;OtMlI{m)C`$P?xMMK|A5P18z?cyf;PuuRk=D*WB
zokQ%JGQUmk_WEz@9^IW3E-JY85Bv1lvw1`LUS-Y>o9yBfQF~nA`jOw4t{>)bnr^Fe
zux0Vu2hSJB|1Ej7Yo>kirxR!AUhow=XTmM4UMTMQqHX2$>Yw|s=IPJLsb<T}G=0D0
zDVKhY;QZ{kj&1qZKds4ly^-_FG<|^=w&e-k>`}aaOuvs@-LmS9XuaW*mVolNu7$iR
zoMF|0LcJYKrk?~&4wz)Jnchu2(7j0U%C{hcA4@pX#MG8%h<cp3`?!4@OF)TsH1DbO
zz}w!3HM|9^AD){jzG}zPWNy7>%oR`61E=r_p7x)l(6woC2kT;iy*0;g&04{Jp#Su1
z^NZ{Y@|$MIE_#w3wbcFZq*a#nQVbkvM-~;W*m35p*h?kexflAy1Mbwk^O;`x;)u6?
z=d*)0=bz6Dz0)>bHG9iW9-04Nt1fG0YR9d5{Dpt2>V`c+F4<GWSXbPbp*LlFyk(f$
zmi?Wf+pU}$v(FfQ{&QjO&zYNhE+65Xp7<oCbGFsG>1Pj!B#NDzemp4lQ(G-_c1=tD
zE@k^mT~<3xR4l~&?dA&f`eo?})@jEbRymk>Eo;hV{aHcU;X!dTpEIjmdHdZ%!u^8X
zE@e9#g;Ns0O&^}xq}x$-BIbazTJg-_lP5x1m2Phd?UZKSJtMWOR`m6Bq0GnoAH3KS
z)jvUN<%N`tC{<^zl1G!y>SYJiv2}hI{9Z0mUEg~p_-XupKjG`M^&Z_QTrT*=s^3|?
zd+(i(VxKb}s%6TZ5$J9US<<pXC??nGHuoX>C6&zok7jKat@WILe}eQiPf;1xkDJX|
z3^nf+tK=>A{bb_(NJHZ#cgv@zF+72%HD0jw9X@e<ZQaj>iw@;4)KK|oaZBU%{AjI&
z$zk!c_H3C|zi;loO9~&S-83q>(`sFQXyxvfeVfj3rrj)&J97HY+;io>UQK<%o45Qz
zZSSs0`HLnWEKgXb?`gL&>foHTiXVX|e=+Tu<ez7+xbRi}^pFpq%5Iew=vJ+M`M&Jv
zt9RdKb?rZUKlr;2&!y<1oxeUl|MUEH`R2{*cHUoERPj7;-iPIznCnyPZarUPP+e!-
zQhDST<EFqV)j}oLIqyk`Sshiq?<=&xwo;)Y)jhjlf)`&;^gFeNi*hr<h4weQ_=a=*
zlAZR>*J?pS$jiO&Q#Hz`Rtd7?JWAO4r~mR_&CoyJFYMZ}|MtXRLI0&$>=ztoRx^It
zkZ91`Kb7xPK+gi*@(;%zzFrbszo^A%;U%loqBnjF_c!!iI`q2M@p$-#`JR0LXS`i;
zHSD%?q5J{99AD`rnKm<8JySy#zE@uuWh~(*RhcR9U-GbJ<D=;>*}i2N#5i(p{`PV~
zNnj>J;L-_e_4^K*L^fT$!M*XXi9;RF$_KoGk6d@V9RKAlaI7=^Xy0KAj+|X7jDPB*
z%5O4$Fj}wB-?XUlqV}m|4epew+jnhK*rI8sd#F;e_2ipfnxFou$}_cPs%U)O_eNP`
zPDW|JUE{4a%}hBzSW5q%-!As7W^Wpkr|nONqxuR*Z4I^8Uwb*>?+^QoTOJqs6SIGo
zPbv<~(eB!`dFqQfdlj$$scSCWabK{bLwfn=v-P!)y`o>1-(7vHJ7X=I-QUP?x9Xj5
zFGsPx<l{ObdCI}wKmFVp?&*FO=Y^*1EqtQ0Sb^trq}AExRxJT*k=d;YyHx+&+qTW{
z$F4Hh>vl#Lx1N|8SE9po{wuS6(Z$!sJT1{#YMZvVa%_7V6Y_}pZC%v`vqnFwPlW+m
zZB|>Jo_W{ouFBASea3~Q!HZWrT&WY8UHE9#M%!0K-3`ZPPg+~qyh`|EpW;d37bYe=
zd+S^3Of15d#YV?(Un}!&rGHSz?8R3vf3RY;S~c%JsCws`_VMVd5;g_~Wl_)qhI#{V
zuQMVRw3rTb)Rh89^_(QnWjZHU1fwpsKJ>+OQrR5dzwfP=sND9vqZe(Jpgl{W&nGba
z`@GZD?-b+r-ka9CF)`*zsj1;y;oBw=Q?EtF-Ss=e-+hG3$Jrw)b;}BEGsE{Y4dUnj
z`*C=6noif51DB`POI+^UIcbw5KbunQ#z|e1cO{Cx)6I?x>RkV)Y(ilb`|4D~g4}8o
zjm)^2cR&BJJb(Rk>by-m{I096PRVZB+~ifE7gniUm3_8&jp-cD85jNS3toy$TpI4W
z>|b}<LCN6otIv4z*UjQymp?yWZ^y*+1E)>2qL{>rFWh~x?B#mVWe@9<KD_vN`<{?&
z{`5UIwXVlI&ff6z0WGKdC?LCet;wY_gS-99R)2SYwrus!i8q`7v3^MS9wZtneerU^
z9lJTMdfaIiyI0&=Dbhdh>dW<qR%9Jnc_{y|_j&WZhN7E|?yupgyw4!H(x>$Et=Urj
zb^9*N_}2Gsg2KH1&?26`1Eq&2?y6tvP$*-x<)iD)i?<toUdu3^b~|$JU2TK>5Ao{F
zecX!cpVS^SInmJ6_t3y@!lkBFq35+;AD)_-VmV!^+<A(TmV|5Vjb*b|U5i<IIQo)^
zqTZ)ToR8<+m7HGcxp9?r)Kw<)9P$0i)fv@h2j_QdH|^f(6V9po*~zuxmsj`{Zng56
z_5Mfqr^#q228g!Ul!~SWDPLDA5NVUvikP_iQn&~6_k6kOTGe6(_igypkCn@WG@jYc
z`&i?nSCskJZ-Q!TPU&eZpFTge|G$0W8|N!AjHg(Re!H^jW|-i==exNy*5^(#oO))5
z#(|lucb$+hZ;M}iFhz*#Y5A9$C>`ID)Ga>C-*VKidat#q`ci?z-`^bn7Fp^nEDBlu
zU%B&firmkQqAu@FC~ZEn`B28Z2tl{y2Xn-3zxy!xX6as@g<fkU!_9lt_deaQ_=TN{
zzxZlXaml^^Z|+FyO?k@uq44m0-s@#<zfIZmuQc6S{>1To*6j!P{U%&jf3fO>aoU{q
zUr+N3yY6#av_QN*ahLD4{OnVzk8Ahc(dTZdpRzvTg|+7lfz$JDZ**N&mejh~U`yNP
z0x5oX&lLa1vHM!O_B55dS3j6oV)-rH(`)kbwGz8eTt5EjQftZ!<L28%XJ;;KY;v%@
zU&4RE(8oq7bwc_@uAnww*TX?CxKx9GE1rA3TXgZvfWuh_WujhdyVbwmzHQ39w6y21
zd?%WF#))tlm*#%h7`0tP?4Mb7xSh+JnGMG>p1zs&Ttmft#;vj!=hmFqtlWL$-<?@)
zN4D2gzZ0I#;`hX5eu$EcQ5<*MgA76Q%Kg_1P6*e=Khs?Ax_63tW-Q;WUZ?%{54auN
zxclz0HnF)Unm#pV&pKZvZn&f=pnf0Myf`L{*qKg6Y<rirP4Cz$ef-H?UWFa*i$v!i
zJ9~GxRdd>+?8w)qUp-!0*S&D&&1!tTW1)ML;O_9h^V|<jP$=|zHt9mOQt`wJy(iLP
z)7y42Jo^x_zblWS(w+6L$kW=;)iEz;biF#r(3I(3rNOsZ^wvY08SF=t-evUV9NlPI
z@2iy5D|Gz(qeL0kjhEB2r>3t^`Z{a6y7%*iZjs-#ee!i9LkgUiPh6&HRkXWhV$a_*
zjZx;+{=a0jt2@qTTu*qh<H)?73#axl-B;pdocX&f;ijL(;crbXDt>ZqrEI)^KCS54
z-6>hMZn<#j0~4hH>*uu<Mb#=MR(i!7mIXd}dZeCbip=|OU8@#64_!7{J2P&}b#@Pp
z_uoCXtd197_U?Y{WR}S<*4`GkI9c!Gk?~GaShMWI#UH<#4>%qwb*h{f>pz?A@4UFz
zpZ3OW*tB!sl0VCT=x+5tVX(vOoY?-F9=o`GGv}IIeY<YI%;K%$6K86%_-5N4e3$)|
zBbzs{z~bEmjl1=2&qJdFj-PsD-RbMY{bfn{iK@FR9|b)Z^>f&BA>3ir+qJJ-vXs|v
zx{!Y%{!q;EppW+xHR`H2KVI(gzobz<<d<XMwlmknlH=zb?+yyjtQWhQd_m^JO`bJR
z-433aWvQ~!L*`e)%Zcf#_a;op5c665Fy><<bDodo<>PVrzaLxk*wwFJYW7w3v2X9L
zic6t$1vzt#KGp0O=J^m59`|0?=|%t5OHKP1pZ(1nKBwohQ-D;$;eh7P2e-xXFLPM=
zTs1G_Y+PoIg1?4b+fmo6^AD$H7X-wm=FALN@VtD0aem8*IWt5L|6CU2AQ`>IJ?Lp_
z?CEp<xt!-tUfZ(kRorri_B;QCCkLvFaP<@mtA1u<U?>p-4UyM_PhWf!fjkhpCdqSJ
z>dA~CP?eOiS)uSg6Ax(jPl>eW^Gyr?*UD>NESptw;u_D5HnonkABrm0-M4ICfB()^
z(VdA-pSD?+{ZT%zxJL8VB=hUX&m9kacZ_dhmznC?TWzw|-+ip|{r3HTS86^v)U#mM
zMB}RZH#t*Yr7fPQW4315rxkA_nzxo}XRZ3Meuv!Drh83UvAs;^yWLEm_8QL-KW}+|
z-Ss^Qk<mHX*H+ByNDvKu5R+G-uDkV}<rS-gDko-K=8v#yOgZWr`YQkCT9)LhD|hyY
z-gPZkJM-z~*_jG^TK36Yx*(NR=yv$fhO>WeCrGm`KHpa#AMI6Awq5M&$!x3UoG0&Y
zG=6&jRh{pm<nG`lFVwsL=4|}=vUBgzw4X=bP29^M^G5G#&{rW_G4&0P*6dg%@v%JU
zYqVzHzWnZZ6;NOE==-DEe)&3vx|`MR=XUIRzd&-SC-3iHu8aA1$2%=|i+q)LaoYE&
z585@eJ*`$R*%k0zwBDGD@pcK@qaO{wv{%_qF@1NOyM0QG#$siq?5SZrho;-Q=U@GI
zQ6lWx76xnWIAc%0o4S_y*<Ac@GA?`RR4~>l=fCmYBT&!irWm$U%gl0ZCF>`<q=h#E
z6ldOwTsh&tMBxnnrYyxPp2tMAw=ADLrR+;rc+B1X$JkiEOHDa6>r+oXSJgk)yMMl4
z-6(#sgSWjwKl1p&4d37B|2F5j)t>Dps+=xrlXN*uRXF93(7HISgs1rq@=<GLA22sv
zH$RwT6F2+Q>X>@oJy#ceuAZ0r(`as5-W;}x(t4jdXD>N@$JfxhU%dMa_p$kN6#sd3
zta|XJk+a=>VzGq2+Nmoivo?!vT2lXg{R!6BBCFRgn6FUj%5=W}n;m=J7U#FVpA?i#
z^)B3uH@k2|>cyf*s>;iwi+?U$cxbwTh>^I*_hY|Gy<3wG-O{eGTyg6rXky0Zr1SOY
zs+rQ~_TKSbq*8diJ7r$)Vw<neZk~$^^1jz#z4q?&8QOJ%vrG28*nCJ*-|l>o=Yomr
z>-%MNR<BJs@`7`w(8>+=4B4L_ZGO{WGcm8>a*m$$f$;hIZ>I>necN_1$nJ#l?$`W6
zp7Ngkyqj-Vhkn$19=bGi*>RUMTW%|b9ofC9ye8%HccF}%&#$h1(6LxyUUi(1&YhA+
zOY>g%PJd^^x%}OgXg_EDp1)W8?K7=^Jj~ISY*`#yf2}b3%a4bPofbc9%}CuH=I$EZ
z|Eue$nB9tqntYAwybRM60T<2)<BLg=N2Z85eb#a<<U2a^z!Wb76=mDKZEFtOn7tQk
z(5v>%Fmch^vFq=JX&(6{tD_zV&7Ugsufk?tMeW0f{!JGS--uz)^Z6;*dU@qMm0cX1
zi!+3(*>nmws@7lSTzPNPHnl2-xy{MNqI(-pv8zaI%Xl|C?DnacAX9!dht2ahuCmw?
z_DJ<~g=Bl4go}5C_USv7^V;&J{J!jIcJ7kN=e1kS_P7YV%-(k|;uxRqqDxgXRu)D^
zaVDMd=w@n7iRU^f@q4cFTk~qaHNB>`Ywz4+7nZk*XX%{n{_zTL{bzv)yRS*tKTmcQ
zs!SA0`{}&$-siU3y&+G&-SAX9ctqk=L#D?9?;m?BUcKYI_+rg72H&8MzixCsl)IK)
z;-EkKl0<l5+}Fp<z8UYn&uTchcBStxxgwPbN3Kk$Z}RMC;M}=4Ws`&U#B+M~UL_{e
zEk*b2nNu!%$#$>F!|I($rRA0Nen<IlTECKQef(q6p7_5%ihq6ndHZPK^_cgUPBZB7
zC%j#Kz=yr*9m~A-sALwIUwW+<-m>KXYS^^Ps$@aFLfM-gFAn?s%>U!ZK0R;FAB#CE
z!D~HYceB?u?Ypcpak|60<vt(ZJ8BfxZauvG&L5s8d6!>~0pCtsV_(ecH(7T+$0_~#
z@aq%T3Wf!oTeMesa;(A2y#5zXv9p)XzxwlT+mS@$6%Q|}O<SnT*JN=?(qp#Z(kXKG
z1|=LUM$%grE;f+r*G-9ZsyBCj`{e$1Nsn{O>{YinEn=Ovt1g94aFti|<SV}WUOYRo
z-BNy2e7%!?O?F0WShLm73yV5aGY+kfa?RU$Ye9W2LxynVg=GiLXMGd$=dCbMx}bme
z`VI?zchjpAe;Ry|yL$5fZ}!H^)2@X4S!Alp8QP_kJ>6xi_1e;kpBK*O^P99E`S^CK
zgYpc{oZmarH}0`saawG}z9y5n9o+V3?izS6TVb}ibGHAn#2I>zDy`yP?ONm98-Bp?
z>+Lhvzva44KCj=(7F&JV<+{>-`&WE5BDeO5`>AbYv;M%X_jdcywBLS_;7-~u!;KBk
z!>6P*)ccfn%>Vc0pjd+B`i%>`b*@T8RjglZ(NmXq^+x;IqVA|JbJgh2Y)9o3`W7k(
zYJ8AxV^40dmFf=te=L0d_O((!Or{)o?-14B_Ik^uk69ns875!i6WRVFjPW<q_79<q
z9E{s91TtDNPPa2M;+ifK!uW6c0|O(j=_0|5|EBNJG2)uOK#K9q^b3KEM$@^18Lv%`
zG&T~L&JoTiwOuxf@gCFk0x3qd=~{7&*S6ntWRztDspOgdJBCqxdcQuzoEzJJ$1v(M
zPM>XJ#5LU}9%h<UDC0HGyWGKFH8~g<xTdoUF`Cs+Q~uX2;uh!eDZ{v-JZa5d_Kb<T
zlMP*s&Q802?<iAo`yGYt9-pQyKI0h_dUuIN^sEybcyA;pvkBdd)hW9k9vb^K^V#3;
z*H<6f@o3S>)kQg0?{h9cNDW$AS!rliZ#O@BVy4NYshZlWCiS0{zBl8({NIoK?_UQ7
zFR|a`R+QM#x2axo<Hnhuk^OAVYA1hmnZ92&Yr4VqHAlKUcZiBNhir&<_`XVF$2M8M
zFdcp0zk4j6{LI>UMz}6U^|h$}(jcXZgDPwGpZv5dbL-XijMc394!pK|w=Pk>5nmLx
z<j39}0rTxYE}gjidV=chvNMan=eYcSve`)@e2v8HZtmkUGJEA8DAy~jS^weTGCT1(
zk3%cJHm^AUD!9@7<nq<Qj8=|IGpFRResg6tS$OotHWtIB6|X;bhY3r^>L29_XL)9r
z(Aw~bx9*U0&XM&?C$2b{VmvFQ{;uNe6!|g_{#)V)uI-xsXx){*cX`Kiw-?Vl-6Xx7
z)w?20RPzVd%#N}Za?IM-)I*DI)=Q+aR=WkSSld(>b#zC4P3T<7Ps`Y}JwsMMy`r*a
z&6_9EoAP(RIHy%-z_MKV@(ySFFN<=2yR4ILx9ATmlDWV6A=~v$fg#;){|>C4+9;kJ
z{J~|C@`lxu-Lx)-wOk12Ug`d+Dr%`Y$1$dTjKv)m6?UtStX~#bqceM>r1d`j_tQ%1
zowZGQFV2t5IeQ{0tnu_g;Wa)E=WqBdS+I4AK<?zNYo_gtn^>i~Z%@XPnR_%XcCt1c
zcS{KS(ZDLo!#r>Lwe#r$AG9sCEt*>v#Cph`?XuZvl9KwtWO`d)bra(y<`pj5o|{Bh
zK1r=Q#q#^*w6t8MO}^Q}4t|!G>dHS^l{>}1tFE8i&0u?F_63J!d~e$=rZV4a=5u?N
zyEyOk>OTi~A6=;a7uT9ssPEp?Vcezt$>Y{PW?AmF?sZplEX6D&cdq@F5$`GaSZ-g<
zvB|4^dYj@uK4SR#B>8(l{k*4-3f?~9`F_D}{WYgFcKv(d_bLozKG*CFww6)um%3CZ
zed)MQp1eRx{e<?m5-r8<zg&{jM7?Eiu_((5SIoHcc@M{4hJW|Ca<6~f^X|ZhLk9|*
zpUdBje$LvORjqY_voO>`;?$ZQ4R7LSSWNq*`mE4odGkx&<Fi(sxLg@0QquhN-ZGv^
z*H>9hs?-ckG~qFG&kQ%dn0WCr^TxIJT!bfh7bw1pl8^qO*Y&49bz;!fFVYK)EX(fh
z6!pKm@TtGLakf!!&gt?8CEM*?4zINRFUuFIB^C6+Waj!E-qsdRE?A$xw#f75+45tO
z>s8}*7t|F#e$R8g?2zxHhN}-w$(h?Vnb|!HZB;G%e_`>Ax{MZ`g)s^~|M#Ua-CMBO
zWv*|8kF1pHyvM(CBez=nEULHovFz}YwR`5pFR)qX-?r9&p5uq&$Cqa@EqXt5%73|6
zGcSZUy^1~O*;l__M2@ZTd+GB(*NS&!am|~bU1n+XsqLK2yx-IQ9<<x`r<3=lO;7Ua
z*~ca)>(4p==49dY!_r^&2<>4uey6DU=k)XXzb{WeueW#Fw#;s6?&F1at$qB_{A=n%
zt}DsU-tW7-@Wr`BD@{xP?0hPJ+&SBbpE+BuVxRqNx5+cVKP-=^c>80qOM#NC-LhGK
z8V*{w9M$r7xf<gAQ*UJ$^U)ffSFgnNUU8iZQ?QqbHr6;|Z*lR$=D#=klC_*OazkEj
zS>39;Wr<r*hkRr%Ln`C(JuJT%{oZbz8F%RFqxwTf4PQKbY8tb2dco02EEPf%E{MP7
zIJ0`9-?41>1)0IY8w_hN_OZO>m{XLcmE*2(JjFFGuF3GjX_IN8AH_{C#65i0QEQcG
zel@Dj$5d#7`7Oa!d@;x6e@ztsWms}aIVJMQ@sP{>zf%?-xqaf*v!eAnH&$I<z53eT
zO$qb;!sg$vu1`H!G<VIp71gN=``)D-ww`u#lQYA$cPZ`v-Ng!Cq;#s^-1KAHy+r?M
zG4HiEIjEOa$*x+yUuh3(%xUhgJ_{SqPjj2b#LRTVF?6vfw@Pfsn~V$59V-_^`^fCt
zaV1nw?mnB!iQ;V*%~I1lBubc9{t!LqcWNa=JIjuV={jF^J5n6#XEDsI+@&Yn`FX|e
zm6J7#>Pt#zz2KTr#wGeLt!(2zmKH712Ya9J$OydH`-JJ_4d?FMfTmTyRV{U=yt=0v
zke~ed{ObLYtuAL42BdCRvj`UUEY4QSEJ%t^+?N}wVB6@nGx?FIuzK?4&vzxvr%j)*
z_h3kv^@VSe{<-xAOO?{{66+1tFK|Ej&0%JyQc>6px3i~KF|KBuZM@a_cKiEp{70ha
zo>rN?IW&&J|HVOvNro2-ZcKZ}FaBDx=fZ~@e?I-3e`=TQlu*x4A{x_w2k5P})tG)Q
zJaAb;;YQUE4?adupGmTl@<be}*(+npd+r-e`oE)jiL`C#9y_H;9P|CE@3EbnR{!vw
z<4d<I%lEQryk}ebJ7wi}!G$h=Os3TFd->Yz_tPkMQC0h`Zs{s7=yk;3Su$rq$=d{v
zz8#($)~jj#|2=>A&#$TqogXq)4$Dnyd>m|5+v@R7t7-#F^*6`PADJ5Mwi=HYI<x<k
zp5h|8pF=~?o;P(%W00v_H0ztyC)ewnX$jWb^QPWuHtKT9nHZmbb@SqeT24-}kIH_V
zj*DGc?3ET%a)+_x)N-zZyT;%D7kasSWK5iPI`FM##o@>0`g_mC$};P3D$f7^_44f6
zvhRm=-+xb=Z|ke}$M3VtmjmA18}6>1Exc1Ov@>6B%W~yKUaxgs4^P~>{Jg}kE~&cD
z3v91iUs0|;(zi!4!{1ki?eKOLU;C(%scHLnw8S4Ux95JO|Lg7lM2lbGwei!hY8we`
z|0ux7%gD8tdAElIGXp~@`*cA)My2WYs*F<HvsVSpiYP5=;MHNAo}$WVSf3F$@%75O
z%862q>o_|-`m($}gxpVFIRA`Y-HZ($SAJ^Vy4-t3fn88=)~lscbc}o_PTk@7Xoiu`
zgJ{RfW|cjkvW=g=5Gyj@`Z8i#zS#<;D*5yGh5fr1o%+y}Hk(cOrs~5TZbGlbQ;!~*
z(7RV%`f-GVl<41b&!Y1TZ$o=e^sdvaH{ZwFy!Jdp<+gRjy$jfQHh#+JZHg`ExvjqG
z@0pvk*6#RZdwboEu&22>@{4ExZNKNcSE!(w{j=+juM;?3cQ=`D=Im-<$~C|0xU%*)
zx1+`(>y@c<4XZb$J^d-YFLGzi;oCBN4P0{kxq+n}afb`pEVxxRZd(=D<{kBXM)o)5
z1A6sbj?;o?-R0;FXt-l^QSt1#ZO-?^>Z*mbxAy&taeDlhK`=1(#R2(-&7u)U175F@
zYpY-^(UyCvx9sP>r%$;4O%-(AIw5=K`i+mc1QxDfV2uu}Q|q4i^hRCIl50ts6`j^b
zO$voPw?DnPQu?gU=F|Hx3pE<FR<l`OVAFV{pmTy>yq;C~aS`uVGozJ;P2E>cE2WD+
zZR?hK+rPy$O~^d_K)<kDW?$-W;Ri8He4)KT6Q5`wxwu`tGI~=0ODgjtMmd|ZOMjvj
z$^|r*h8)^>UbTo%F;KB``Ni+Nj|vVcTvo_m{<8jL3;(GObAwImR?B3kORF9)j=SUh
zfvH(AXuoIgqu6@Gq8)sEcQ(##TbUl=ot;=wtZnLK&%<lZ_niB>zi{@xiZ=-tmDB_7
zR!jeQ`0x7i_TTr}UxZ%WbhxLbu~cip&zVxO(s2hvdmdjXpQK=xblaOZU$C#Y@>PFN
z$&;!$A@<KlV(&RVJo9Z)PqOLO{ZIaWV|cu}^L~ir@+PrQ7K?jtx~=7#d@=fr<k~CW
zHmt2<%?;#bJ|^A1@IBk(1@Zv_OLvtzZ)I3G_iyga$g}&E%J#K7wkSoEUHIQ=WEheE
zx1zczb0h!jqHpYz1Jy-14aLia6IdA-E=(8DV^p3#RfAEQdxci&=D<YxgbnRCrtj8Z
zG_F50X-$oU#QZd2W0L?~kC_wZOf5;s$;jQa|JTpur&q;4KdF0j!%~L>f!At{41yF_
z)vXUduBq!$dr&LtP&xN8ZlwqD|1Nl2RI<ENdVh1;)9+l9rn>#MdH=~KT4&RYxXl%j
z7lKSw<~(z0_**(FbZgq`T^mB@Tyt1F@1D75j@E~1XY2pZSj)R4p@!9bLm}(D<Ckq5
zRW%<Rn=zG1;zF`okcryVEzXIrvW{s^eNpsPd;PMjw&DHv*1oemCFFTENMi4|Zn0(m
zbQ#&i_ckAwHxYihUVP7vT`IL598vr{9(Ua84mmIJzs_{@?AaeL^XAmqH1%Gdt^8tM
z9b?3XTFobWvTUl})%UHvJ2O>jIY<89tOYD`ds9C?mzv7+XUaSCcSp;$ebs8GeF^QF
z^?}>->Z4iup*AM_!VIsr<taa`V!Seqt6kP&TDgGm@l8(b)@+j|9=x$V`pCNDyv0|=
zUkiGh87(UQ!QH8xI>$)kN~Q4gJz~KdPb!{WGJky$51Zm7dk6KW0W3@E=U+JbzF_sg
z?1To-gv&A3`;I#IJ*;YHSMvEK!2YAby;w<l;<RVWHBFKfk6EfZ-2bJr?pUQ*y<3yw
ztQ4kNg{=!@R_<`T-IO{hc15{{SCrcK7U9e*dYgS%Uml*VxbIf_j+{+@|ITq1_`dsr
zow}iK<h%yKZ?Cl!ycg7!PAu`?_jvkiEyk|;rH0zVQ!b01wZ5?Wo>g<*w6s0eyR$ls
zZ>Z;-O#D@9dT(lLC133}i&K2b?|iSGxte7*dF8#SMxp`|zpFy_X3RLr$t1+LSV8sY
zp$1t77C+S>UQ<oWS4pe1;=0!F`MUUJTkP?}zVq#S|Lpzv?3duSKjGXmS{(aBwcWzh
zHoQIIomqdYrjp%z;i+eR%O2X!on#!Cv`~2Io~<EOZsm_|U%t%ToAXoY&8h8+{A#Li
zRV-MnD__R+rd+kBZo$@B`dgeezs}{k^Vs^r<7wx&IUBrJtzn<F_9s(#@7m9AtuK6?
z=0B;_@5H?Q?6=nctkJKCwEHLjnb9gbUpVXFgzR_UziatxU#vG3Eb;H0QnoLwQ|O~l
zd%<Si6Y<jStsGT<PBt(8Jt2s3>u$XV$0z=2{Jg#RakaVMlNo|?$(MQCrdjsr+@510
z_$`sU`%mGIqZ#FYSz<&Z9dnoJ#D?9E-1Vf?$?W}wDPc`w#XC#f-cQI){GZv@WExa=
zuPo$;m80;nCx`Z0>)2S<-;0~QsP%zw-@h0kzWj{itacj(=1*R>z1L%bveDViEsJ(9
z^*Wvx^JjYp_Z&-xuNN=Oky!e?B`x}(Vo#%|NulrSW4p}mE;Kb%w(s&u7vWtmTW_?j
z?fPx5bxWVCMyS7D>&;mI``3B>`}_X=X4|^T#C5*;fp108hx7M&$ujFyvaPMRkaFE;
z%jf=#W4G|-y?so@79VYkA6c%mmTNt{vG_A9&-x9w`z=G+mG-N?J;-yXrffz~ieb8G
zbVv6L(Y?<?mW6M0KcziwWwT_?*5%gPOx8OdTQ|zKSX{|u(!P3V@mf~#CmXx6=FX{C
zxO#l*E$Ig`oUiKF<b@U#u~bgEpx*H%mUX^M>|aQkHBo)qDrr^*277Rs1=-8CCgOJ9
zZ8w2h{R{OG8`dv$?J7T1w4ghbr9ftJkX?fBIv=Gyr8|R`h%tVOe*651x7Fq+UP(IU
zn+}P0MxC8E_w~$&ar^H+le}pVw>;JG(iv@M<ux6rEOh6&-8%j>=DTSSchnIRZEmwm
zWoxe8yZ7hU=~B^aku~n+Poo45)N8z&(6_~<LraF|l}4iF+V!WpL_geL^~6&2!(@Bj
zBtLuRvU$91Z4dd1W{E}Zo<D!{{+P9wI?kTTn7i4@L}5;9NW;I<Nnu-^R-bcRZLyls
z?cKXoDrKS((MvBDtrpZgX1*aI%RHfS%Za3*3o>GImps;3D$fs|I6-r50KaB%xc9kw
z2`};4_ba!qklS&mYJcSem0rPBtrytd%CDXAC$d4phG*aHe@iB0?1=sN=h>{b2ZEbq
zGX-|Y)*Vul+O$?7aI=JL*y1OLId5w0v{keXU~gdi?X37LH2Gq2aoedmsai&EXZD8n
zYP7B`PyMn|&6Trk(a+w>i+|l37oO#aS6x!L-=Tg**t(y=zno8AzqH)z;$C$heF?tW
z6VV&)d{aE#^M22x8~d^kD>>e`Sob<|pN)&+K}FsY(XO{kddgp1a{tkG;-Zq5*NH3c
zcN`C|5#!!?TH)M>JtuuGbX<7D>807Mvmo(ISp9*Zzt=sQYuc6Nr#`K&<R}tnkMVIX
zV5vE9ttUx!Q@zvw9SvS*j+!KkJcyor<gAJJVt<z@Ek{=>ywB8?P`^|duzi8#BJRqz
zmK4`N4wkM<`z9KSnY2tkSeClEg!$OxrwgLBUaaDgGm_f4<V;dPQionsQXu0#4b}xr
zrW)cWQl}bBS8dAXvpt{Lv~1Pl$?V%QlQzwn&7tpRzx<D1SaKBK5eMBL9Sdt>?lae)
ziglm9(UnoOp6}j=1V`>mk0ROk9N3cjX?|<_B;Py+xuz`@-x$wtu@UxuW5c?U<6A?=
zB_=EP2D^~=sUYSqc83J!fDcN%f=gMy^fA~*yS-zY3}W*)bd=QvSlPKu5i_u0Dv^DE
zXo141Outvtt#gjbdapU2{Ah!LbKNwH3F{jT8Y_fn)vt}>n>a<Kx?_vr?AK1SR!hWh
zZJ2!a$i@YsCVL-UNU~OWBz+-jmb1vE|0cpG*_K<KSZ#6S%@vKZ1!l5(PXsm}_T;$q
zDE5S6ntE*Yg9!`Lxn4f_dO$&Tj~vI6=IhM$B_FC5^z+?2{f4pAWkKf~ck!8F)BP<x
zq>2u#v=%<68r-wEeny5H>uZCFciDxHK9c00=_~B=&(hOn(*G+m%hJyC#h#Ea3W_<n
zn`58<pSQp6-TAhB-#e+tEA#jtW+quR%K7x}6#en;Oi_=1ly%hcgjF8JW>+@sI?s97
zDDtz_vfbt>2el4<a+mqoWS){S<DDYQ0$!$Xx3ywK7gR<*s;IuB^TenA`{uJrsujYE
z?XOQc%$fD%&%rZ4XBm8bE$CmFGI6P)^7m}XzU2KoYM1EkdBpt1^ZK6!Q}-P+{mt_&
zampO_;%M`{-kEv*y*uT0I4+2uoM5y0&d)0n=f6qDEPl$GQJ%*HDk<~t@B4S#dEKdb
z>*C%wcD&1~IK1jf^!HiI1G*-AKB#y4>$`yA?asXOO#brcW8LRlPs{aJ|5uT9w~q0s
z_GLchb5H&r-o0Zld*jjca`8&3kDK(uA8BcQb}Z&JT5;-pPk5@<dq<zedwp&OJczi>
z6LWl<tamHtmMQw>UeN}O`G!yCO#S$M%dZU+TX?RUP52+YGvuHv?-4;)ex;1vyMFBa
z$;c0C-0?~=Fd1EEW?;C@&A^~Ey-<o#WV(P2BhT~(4@UO-!2a150(JH;|1}@oJ5814
z5Yw$CT%H!8xAMY$tKREbaIZROcYEQ<xmsWI@BW?hZ&Dxcy?5JIPI>#RmBsjT<+Irz
zpYN>NnXmDxV}fb+^1gb*B7scquxoGcUa8!E^6m}CpoiOzOxc?9N~WVE?p)pfw_VF8
zO}qZ%Kp7XKn|82Gsn*i^idU7JR(Lc&WqrJ)H9uNSYR!YtJC#ch$TRL<c(1~wYY*G?
zwZ=cXga6ztixy8g*%j*?b+wtpX=Brm)X?J0i$63oVgxu1j{Pq5cy&NATEQ*%8=q0x
zqGr+iGaX+Yoi%O6QC^*#ELTpZrVH^2G2$~8@!r%<R{QBDut@gSJO6{%|I~*`yr2Cp
zY{9N88O&XedF9!RKi_JS{PS^N@&3&o7I*Vqjdvf?+|cwbn7ym~f`7pwO_s*4x{W`!
zMTO+|-4MI_s$*-qc>~8g^VVIT?H0>lmb_h374+x#nyO%)b=TMYPzXG&;6Jx+eq7<@
zNQ1eX+n$TQ@?K!Fzd82*#Se*ZRSU9C)Cc|UnaV!*NA(ZWZi}TsYp*s6Idio11~as?
zU+~}fuHe$H_t!2w?2QU&ddR}_WaZ7KYe(6aNGPSQy^yUVDtLm0`8lJ)`UY9nqml}q
z(f5)X@7J}j`FvRO4Ugk(j)(dF56^e<=uGUd;<_6YGokCEkdx&6<{00p%`;X!6!>!Y
zokM)R)8!kdY+4I-l^dKk@I|?o_ta~MFOuD>{%hvf3%+@$6y>ijett)QpMUpK&sUtf
z8`M~vi+w%aUvPd{rsUsnKV++gtnCX)+nMX<ylq+K$7ffgRkPQ&i*Hx)waEgvCT}>>
zWn;zACNLpswe0>SdP|!Q|L2bpospOOTAI^9Y4Oq*k@Z=dTeF>B|JlF#=hF&7-Q@B&
z=@X^T{cW9{QuyFk-5mGTKaF}0y_sz65y!c5)h@;4=OG(!g;*<k*HkoKYtg>6=Q`8G
zJr0j2%GbV*>2PD7x7|TFdchn+-HH6Br%bLEdv6I{wEp6KYn=r4=w<N}SIqCYR4Li1
zqnsTzo#pNuA4|DU^+uNMWru&TUT|M&=vDHJudmtL-v84D*|l!oFCGNGQwyB5!*SY~
z>5fzM-9A69W%r(2$$fF|tpo9P|Gyufe*XXbh2dx4W*yhtA-7KT&ZRp(&enm41J7(y
zk<x#3=IkGX^24b`FVB6>c=T+t0*`p4O+3qLe*uf{hqnkEIn%cORH9pJ=u!D+r<Uol
zOwL)Y$91jZZ^Ns?ZxcDrWf?F2wK(y@TZ20_2UYkUS$ur#v7PY<ci^pfVO^b<jKS@(
z0UxD4o6B+t`Xw%D`xie$mCw24{oeyF&-2<p-3$k<n&W-Nu5(j~g@Iu=4{EmW*EeFV
z-x7Yi@3tAZp`>u-dPeEi9L{X^Nqe=Ja?HAKy|h-osI53<#iT9C+c_rO&$3sKzoe*I
zm9O{e?JoU&0do$|EKX}%e0uxtwne%R7p1+u@<}g-d*Zf))Vue5*Y>ZzGcUr!<Ic1h
zo2L1!wH3T}`)0p=Oj+lGr>6Hd_qsG(>|*g>TkmyBuTUm1WXZutO{Gg()3c9B>paxo
zU+mSlpP|fI_I|1I@`I(>yx;zaRBwyB&KkKP>GFiIZwhk)bPm=BUY%=@aaS`#R-Gwf
z%h%-TPxduuG)nATrK*}4y{=5`((j*Q^D3_KXlP8^;-Z_E@G$&Fl=uv#z4DC78LnkP
z`NDU*gcsHG+<JR{PjuP#nCSaC`If7^Tg?_kocoY)W7+?08+hw1{Lj4S5%Md`zIR5i
zkm=2WyH}V5zrPahDPZzjuqa;VU3mAa!xQ(qmX@Y$Pv&Fb=WB2J7b}19b3u*pIpLr^
z&J}xk*?O|WYQ$Eg3T$|^uz&N8n^Ga7d#skP4p`qAQWeqhv0iG*YgMT=zt+xDOV%~H
zdh9>5W8jnH3vXY3(tlWEhRw56<?hLUV+_q^_3W8wf2mzU#bQbOJE5JYBX)-S)Hme|
zgs7gqq7=b;|8S7v^dkSxYs?XcIa^rdH_S{5%~-P4UT@(ADa++7&We1uPTrhz?P$7+
zq*AKx#cCauhaSNUshksprz`Ze+>rp68GZGYO=}{Ka!%jq&nR5a9b_2Qq`j|8fa@T~
zxA`ieM{EN{PB9f-dvf^YskX(2CSr5{A8+Z6(Vw^C`Tyw~CggYIy>vVn&b9W%HLGrS
zr|(Hwt`85(th`y}n5XM`aDi{&Ce<%26}n%!AB2aV^>^q06=XSc{hZt#Yy8UWYBX#1
z+I8{${jx??Y?e@Tf~Q>Qw0gBCTc?J4z0lf!IJD#CEvYQ8?_zgVL({L?%Wd<HJ-^Iz
z#<FGB*FT$WYkTc~H@=>wPAV-tG41)n*|#6wDSfLG+w-<ne)l^SUMG8>{ZY>B`idcu
z=0~>sy=_{Zb=bA@d;Wz<C6i3%hdl4RuW<kCqTgp&^F<z1vPwxd799(DUwh+EeM!*X
zuti&+>~-6pYtSy-<MaR0?>ME)m6Dx2%HE(-BWH^Yf91vUr`eT_AB7h52Q9X~IMcX7
zsAsRuIp^DZi^R)jI7uB3l)3FFw!B;6)bqSu7AYG7CT@RlcO~bazqjYx*Z%)@U9u=N
z{&w1&me&uX4t%};QZxT>w#HGNZsmHrll5=Ta4!@Q|9Hdib4JSZ#R@#nZ>r2?505|i
z@f`Q$CSlv(`?T97WyI#6J?k4=pmrlFPGn8tFUC7BZ-^hV4tp(mr?}m*uKVG$&kJuI
z&wH?Q<Exzy^eZy=ZQZ_M30u0YdB8upa`|l+ItrN9^Gx_(y!XmMZ>Rj&JNbbdXHW0D
zd7puSVe%C|A+Bh>H?k{P7#M^FA;X{2HjEneE>oAt?sjeX6ZYHk=cIE1livEqT+!$`
zq;KZR+n)aH%mm|Ib-PzuMjEfwx_Bqz-PB~kYa)x*%$hF!`fzZbx>(>WGu5Yy63wqo
z(|rB*ZNGiY_L+~K+TQJ&s<vQppyb|-)1tQD%vjQ;x_ad<A>Hf;cb!hm%Bq;6zc}cU
z|AO7ml+PE|FADTseeBis)4|uek1o=>;Ultomg%lwCCTMdA6BPcUF8^E-L);uh&AiX
ztLqcKY-7zXU23_xLvV8TjDoe%8}`ijJjrBBTc`RIh2prWXZ8fWot(ncI_vBCO>?*R
zUs_WUVeb_*b;ZK?%-&z(duLSUIPkD7&Y!lQXI93x$P>T5%}RSv&#`Ie#)kE}{|+h5
z+Sse+Y99F}z5D5J<xNLFz3cdraf3nNjT!5z+vgU&Kl_ob*vfr}^=hj?F7NlQ9|I@4
zHO$SZOON}wL2k;zvn%$+PCECxb(&kW{;j>{dXm#L9$#a8eNHk^NX_rL;Q6m}4{*o-
zR_#mHcVPU|Cw-*vvZqYc-IaOu#(QUW6m`edw$&fzI=kai@!qFrDx_<ij2-yw59ltR
zVYp_a{TapNEZe6&PHtb%ytu8ozN_Db`_L(`$>kxLYMo{m7Y95wZMbltX8k17r^-{m
zT+cUI{5gZoy4jko#o*14pXt;7G%o%5YUl0C*6e{<U+)OAPUKBAFQ~RkTqnOf@O=G@
z`6_~QIM+*dH|RO9Ow{4Co$_wZ1=S|Qeckg9%DYQC&-yWIw}8cxWuNY)_+6bc;cuG9
zPwow@6WJqqxWf1gZb?q_-o_wQ5X5=n)1F6nY#s<6UludT^l3pr&W98Rw$*Os#)U85
zESU9Kpq00py{h4~qdiY`%?kFmdvaL<$6iPl)mK&sru1LG|Je8Lfh9MeK6IU6doQ8C
zT)b^MyF}o(hQrJUI;YRrvcu*;$0l}}w~W<sOf#z|D)wkpANa`lz~Y0x$#a2Jev6yT
zZd=4>m2_-kpCiZ6cj(5PzthDJcU+RWdbqa##rcA}hiiY<-~Dm0;PLqtX-_6zZqjAd
zU-<09`NGfB>!rHp++TQPSq<a&Njv}U?v~UJe{3srrdN5RogwR$eQB0e?(bKxV!d)b
zLg)WO^`9#Hxr3{D4(75apWm*YCvqci&hEzsUy9P7)o%N>Ya>f=X{hmer+t2!r{+!5
zUg@=~*7@0*t841m{#U$|eq@=qMgIf?ua-@|rx+j0Q>O&Y3Xj100=_P>fYTCvb<u&G
z);uPEy{EFN%<;KgX)DAlXLwhnGD6ad?{Ctn%8dPO_a54pieK2)^lI@sL)VR&Cg;Qt
za!%P%Ig5Q;@$)kZO>^(~EjHQu*VAg=&p^A<W1C}HwBIO8JCtWJ)c^hT+&_N*pVGDn
z)7CE+b~`Cou3sRX>Fd37QoZPsM=6us?wQPVU}D=Td*;#&x#xiy&lk$GT=q1Y_p5w9
zW5sK>NX3~iSJrF(z9*-)|Ml_Lt0p*gw(iq%v3(`=J5bxs@FthW;)UDG=l)}ET)A=Y
z5zfmNoywEt8pH!;xn($T2j7^f{HE!2`Ig%KZOL=eK4>yMl0TI{BkSQ~=5PG#Ib1G$
zdzgIeEo4VPn#U_aFJ=aY;~bC@Dqh!!wSG<5|Ge1-0{`kS-8-1{e;QNcvW7_^oSK)H
z{JV6?wjp~C+tnNM-lm*f=2g4)ZQ(Z+Yw3*LYbR^z{#PlmtKav2x3&D@$+?Fwv}wh1
z+kIPf_=58k;lQhZ%HGuO())YG`Bp+)qMC(lwe_mKlTY3@SDu+2HuvG&2x%6HnCBI5
z*7i)StQW}Gw21dwyHgNfw)aA*oCl$I*`^+fXV{&1P=Tl2u{rx)>F=xA-@2b}QY+Cr
zv1{R-Eec&mISO@qS1o;a@k#cDC5xmI?!3G2Y-G)u<C`n7_esuk#pkQc5_<M<ZcyhA
zQ|yyAh>6yJa_3FgwCi0#zmJ%|pBi&Q`>9z>&N`7*+T0iFbH6m@Ei5ixFLURC;*aFt
zx&1Al-v*gZ7Ch(3y+yWq!lt=@TYW8-M>l(9tN4d)+EsIK`WnCZ4}8Cv6`GDa>#m-5
z@qP)L?cA{T7ZXEYcO|}_sZcIe$Y`VccbeSJ8($KpZEl^e{l(|Ux%IInRbT!|nUp5Y
zeCrcp?fr-C-(11xKC|mvZyLU0Y1~lA_uvEbC*z#gvx@#-W_q>Dkae-dt9`=feYnCV
zTc@xr3eCM>d96+B$ts3j3<~ZG`Wl~<OqdcL9`UfhULm^9qJ6UB3p=NZ9MwPDClu;G
zk&*6NC!toN8o?^a^KD^fYQv}S4DK`2<V2K0JfCz}XXY~f^M0)QrFreU`uxpX=D1(Z
zc(FXw@XO>68eca%hW%I`IPJ_MC0#bxqW7hp>l#+Al(za1H+#|Rt5Gkx-t%2(@^YRn
zz1qL5fi2Ob#*5!2neqGV1xx$`G+T6go@;h}pSWmgU~Zq?`i)J(zf8XBZf*~|v0ll2
zuM&4yxJc}pSgU!jC%thNmoR1cyU3(|o$0rjgPAolQzK{oc$jJNeR5{RubT#^|5Qx#
zeg1KS&Y_ooHa2ZdJ*T+qy4Z*F?eE{$+5NfUympuMQhBq2&+{{P%w95^F+22j*qqeE
zjuX%QiJUT}&ggvK-%LxJPp21Kcy>iv={~w#%@O0~=_gWJ{K5I^*<^!%rp~ixX)HW?
zNk+))BFkF?z9m1LriyHxeLV06?^oWmWc|Lw2E3D>+}O%~ggbCo^|F33pR!4}HgE<%
zkBG~ApmfNx#?Ild_&Jq_%?qU^{q?3*|7SG%$qE`a;9NbWxv7bTfuRgEzG_|HvH63l
zme>h3$G3kO+!iI5Y6hxi9?#o&;9uBp%ipT9L5m(+_~n{cp7B-+Za+NJSiJAqpU10~
zWO(k-h`74_j`4A)C8r|dLcZ6&K5ep9nVYk7wM=l>#C==U4*jb5_}Tw?sZvH=>-8K(
z!4oT7ntor4Ic4>-#KlZqRV;mtn&_U{hV^ktoc2F!)t~=hOqssrv8CS)&BDOQw{>-A
z>da<~N=k0d37q6*=47!jqUm2!+?7KftNSO06)QRP-1{4%x^vyZsGkS&-qmfNaO|V%
znjP0zXUy}>=+lZhbm&XtLc!H49T(TT*gkF12-x~(>h;OLroEQEemc6ZE5<XUJZkPY
zSMJO9_1X;wozv5Q@158(`D)K}@#hwdY8O`JHy*zBN<ZfiXQby8)9#y(v&{D2Y(D#J
zdi4d_Vup+jmLfH==3=(y$Bm!)aC>qVnTMGM@I<eV_!hdLt8wnBKgagGsmg58oIUkN
zRbSMtsVl^;@3~SVv4_FWG_uGv<!6*+9sB>UN`5OQ2=A<4<|53L^_ZpQu>6AgNupPm
zY})Umu*%zV5sUMc?N3g23+irK?_uQf$!XE~2#-S(uat4Bev-K{@xh!hm6e~O&wR|c
zo;0=AqH(fg=3+$~Gm(8hOY%E%7IWSWnlsUIv8Bety?tRH)l-<48FMQM96J2t0c)OU
ztaYGRN%e&FR#)y^D6GG-`Pp@rm<K-u*F<}?#$NcktMElOyOigwhGS>jChv_4PQR>L
zT6*h&in_7u`b+n_XE`_C)@87%s@`zW>>2~Z>-Pt(ZbvXP<b05MZFlh?1H*0G7E^`;
zZS5P_7;fBCT*Js<W(5*B*1mz)q44gq$wfWq)NXV-98$}Tn;EOsR8n8msebcn%7u3m
ztqS}-UT~g_n5yhGtwl~TF8wCwqvfBQ<n?3Kk8oZJ-u9rVZp$af$rIgoE9<6JFFmaL
zX<4c6kM+BjSvLN@62qn*CvIKp``bTWbk(I7?QgA<<72s-U+mp*u=hjUjY;1RZOd%A
z$9-FnH~PBBHp6L8Jhw0N{`h}=R=uzA9Pbx_<-g3{E||`JN7MHs&%T5!&rifVPUvHQ
z?3nSLtuLK@aY2H+<CV?&e=YhBUy$e9y*NMY_RQxAt8}~`MXs75cRASqIk#TXo_`H$
zOQtQ^6MQ%44`XGYv|ZfE1-(K)wwe29$V@R>X7%%J+pgcc+IAIQ^!aqmy<W$lUD&6(
zzIMTWyQ9AOr#;Ra7%g=5yYSU%ck=A%A9O1kPcn4e^FG_C{YxavOi<>ht$FX|17&)1
zH_GzNxzcyoV%y(D8;ReERz+-&eOb6uD_L*JN*}P__y6zd{`dd)IIej$D`^??h3|2k
zKW41?>i)Y)d_vdZM476^85#U{6}C1P-r3Bad1Gt+<#qBbixW*Geonvd@bMP!q#j}0
zZ9k@Le=HnPWA;g-yT|xo+9#dl)a5hhmSlZ%s5r}IYgah8jBWFg3zw=LMRvzt@AP45
zp0;bE(XA%VtZxgioYVN<^Ln;wNt8unCjXKD9{N`e?lanJy-;?!nfJ_9{67-|!~g%x
z3<2KEEFuhS43p#4*|=W6yF2GGD+7b845Zo@&^2P+K3AG?155qpqm!l^M()43Y>R-&
z?&F!sKioF+T)w?8v%%Ek$0lA=9`4ndzgrAtHk+}}`{%tRLvKN+T@BC7`!nk7)P41(
zCkD8t%u+MFnm64@_Uw)miATQc#ol<q_-gUOpT}IDS}we~<^coS^vMN}N_w)B?-a5f
zTOxeu*4rD03k<gHJ$XW+$Gl#9hs*im4eQ=A{rmKDe*C_gf8SZJt&#~`-78mNb7zXd
zOZ_MRPES$~=sKMEB64xU4ar&OmOSop-fujkA}{^Xtv+KZw&sboe>r*deU^(CYLzdn
z>wbOLz@l<P^Hf#Abk*72-5sfSv$WSlZ*V`wJ?+F@gUc(nUkPJLtKB9WW%tE;nU0rm
zgr>RVl&ue#-X(dKdjGTz+7sWHH(4&{o?~n8la)-{UMuu-+;zH8zV&bU^bfj>;?t`^
z>s>ne86z0EF4Sy(@|lH!Asy1;t2YMiusjoSJ5SmiGDNg(ePs4~^9a6@TyBfLKudXt
z_d(Z`?s$88O^jkWk*_*`vi?h+a?O*S-K+W%e;kebXk=qt+-CFS=j+^~C)+q9&AwhJ
zIxo|`!79IN(?02__j%9Ck_1;~#0K2El9Tav#+JDFKYuP)&i0IpxfHuOjHN#3iqT@{
z?4=>IdD)EOH+G%cye!r9i>`EFAgle+y9)%qFyC1B<3RD8jDU-qw*C6~Xv)vCMUl^P
zZasP3b#;}olEiYZ52r(KdL^&5JsPDwgT=V&Tdhad^``BUp6)k{ig4i<k<KVu%l*MN
z{zKE1Elq8#rwa?4m}g$tyJ@dr&%+&6pX*m=h`-%>Ve&e&>rGQwrCzE>H}6|4zpVb6
z0goNqeV_ft(=xWjcD;HuCryBNlWf$4EwcYwJx!9MT|ccewBPb<^>+TAv*DZB-T2Qi
zH6-lUc(VJg&98g1=XVqbYn|)Z{e6|RSK_PG$@`}-$vfa*vcFh=|1F8+7sj*l!<TUH
zbqfBwqkdiR@xwjSt(LL9uoK$&{O7v$hXq;urdZu)0rd+T+?o~^{ykCrC_q0+=b+Nu
zmuA7Y3xnSnEZP1+-pKuR%~b|((Q^wVr)MoJlljDRU-})BlG9JwDT3@`7uF=4wqM}+
z&vZ+IXT;|)b-U#PjHfF1=hzEhs=cqoGCNH`=m)c##nFJOl&ydB7{5lW<V+V4d$l)M
zTsZF8`_3#5Z7<h*0V`)HShWP~Z4g|my|>Nm<f})sxVk>{=_ZF|uxUGs^nABcm@%{7
z-~PyM?N;e0_e_^tMw?D|FlCf<u?pmQa^a+LXwiIug^zc5-br7ky(yTZ@b=A`4gpco
z>AM_G?`oLKW^cHB`)lnRex{R@XC0V!qx5v!^rL&8$Q*xlcZ%;0h3Rum84c=B8Xt1)
zd10pToxdPh{M4V29T!0Yws#&dT>qLZ9ymuV?u(D`1IZf=3e|fa3f?>7ZE#YbU%%<i
zM>qC8^QJpg#4E+I+<e^I|KV6;ebr7|b$Nl5esjwQt{awLzg_$Y)V2J=kuP#gfAc+o
zl<mUuD>-VPDOcTi@~wS$+3Sx|4E6k0x{Ob3c|Xi3wljGCXNp$Y`#IO!U-i%X+{%>6
zoRsPM^U|E}cQ>{<MYMC<i&+)T^|}1&kcQ~u%U@PzolE-be7uyiOLpt``;SweoIUpW
z#Jq}+clgo@bNZVNHaVxu_@(c&_hSCO`0D8kOfjLUM{T%omU>C$g=H&p@2YkcTNApb
zewVB4lzmF`9=o-RFi4sF*y5yP!a2*Fm+L^XrkG8uNVL|)r!UT%if(A~yj=fc)BnlK
zmiKz3C~abJJbL14)bhs`dQt!WYm`3J;#nro(>v{eg3|m+2RTo4R9f-pq(Ad{oABh!
zTNAI~+w#j7uarNlelBBI`UaQt*$(Aejr;3<{W)EK-9LU_!|EvO*{cn5T&4@XQ&_ui
z;X2pOr51k5`ICCyZj^S=^t*gR?(E_V^V;hKd=><#|9hj%kbhU<H0$N>U+#DR+sh!e
zfA{0?R6VJiI#(m_g*3n0m~g>Neny7$h0`D69$5Wd+$?rE??u%_;bWfV+*fXV`FeZ-
ztN4d?>+=m`_AHcnd%O4Egol;PKlm5P%!;bGz|i&h!eN0gcWoxb{F$tnC(3#0UF6kW
z%nS@mrZZYFYSqW)-L?>@i(gQ#aOJwzuZ?eRIK4SEX^m^63GcOcj1rxFSAvwhFRj|!
z&9wL0yTYnTvO!6=wnQF?{O!7J#ms)=`#kpNuD-5y4s>r>6KP%E#C_j!iEc#X_V2~d
z|EiTQ=bOZ}U3J+S)#B$4OFmb9e6(F#&O0jZG4pLr7KybzAMdQ3QvYb<^OK8|c&CZ?
zOcvXhJ2PWLQ+VO~sZ8~3Z`!IBzW0YtawUT&xm1#mu2Wq5%8_MZgyWx0t9EY5_#<JW
z*TEw3_^*XZ>4OQnyMI4WNLI0`;GM(zBz8?^XVjeohn9s+QAl84x+b(Cg-7K+htrnK
z+kf?b%(~C@xcu^6uKJMaQt2Pc_dGnDkQNth&}@It|J`>n&f~w=W{8Dbuo+#bd*^VL
z?-!?^g<5qhXnJd3RLJ{z8+2D)6}~p_E`w6V4Uto4fA`e+s&9GurG$k)^6N5*nDvn#
z0~bwmoM-jdZttUIn-i?kdCzNKF<x)7xfwCN74*AhD*N2}AF_XDxyl5uy!OhWQ<3G+
zF~f$#%rBNln44wZ{hpoi#%<}8gp5CpHd{S1V{2Tx6oamD?L8VK*yv+Wz{Bu~>qcO}
z9L7mop6ZJI=$}8Kw9cY!u40C?;-9ygfAW>wr=3_h`-1LK)|C>viX9(JqFxKlI%HJO
z=C+WbqwGuLE@8=Qx%Jr`)A}XeMVf>hI-HkzslqMr`jUhKH_ewEwoLa7{__0r4efq>
z(S29nd57~i{Z_ns@nG@uL)UMsUv%_5ckA}Vw{Lm0KdsovtEjL#jQ8L4xG7wHpXV?5
zIU`S2AoA{;X93bTFFY!mRF~uUX=~B{sp*mXy!4IBXSE5Ndwtqy?H#^zcKxAOMYB|9
z%J=QFXzrLgVbv;WA*<u3&M&*g8Tsh2_7=66iO>Ax|J>9T`E~F~^>Zf^sSkTtrEW7l
z?a93OJFwa(cy839wL-PMc5gQ{$mYyEr{VQHH6=+h^71Z~7isCIJ}T=!zHG8{|Eq*P
zrWfjvX{>pDdd)S{+}G{@WNaSwtA3~T>@#WaG-m2<zNq5=H}%_vgF)%{oJx+Heb~Of
ze*d3uU*{WtS+!IDtpe-y!&_Ubr_cVGrk-Wd<!Lm#<)umCWQ9|AHD<@|I$dK__W7em
z*QJzQKJKga1uXa%?GQM^Q<;A%@kYzhc(x-*^H@t>7Ji!vn#amv`)6RWu}mUwp9aVB
z$1jRxZW=jGaZAtHGNDOMtn>z}Xue_n^+th*5^2dV{$J54oYD4m$A=Rx&-0eQKDr+?
zkHz|<+4_9MbfHAX3{F9b_`X`Z`sa_Pw<I!J)h`iQ<h<*h&#6_x>$_9jik0R~5!Fq|
z3Hmh0<HyP6U#Cpou3(#9y8mLwE6bBy*VjC6U!$)+S!bbm>ZTK!idzNzBquItoRK<p
z!=+WuOG4*x2`mnKFY{8y#K%qN==+Z$_4}3yt9yqx1TTKL^LhG`#b1^%ADgS17+Y@h
z_0F%Kk+Rbd)TdlNbac_Kr&E$vN7y~Sx?<PEAIg<G_dHY(cG>0USmYqVx`NTz_peUE
zEU`VCYqC@)p36E^Y$JH!@d3_<a_>I~i%sN<^;Ew&_vAA3nR}}e@{D%ZB$VCFV_3D;
z+;#01x9?X!uC+R^>Dj1Y-lI|yW|X7dGo`Ca_CQ4J^pi0buAE-=%3@LB4#&OR7z);B
zJv*_RD`D1BnHfLVz5cgRK}I8E+KbA9Q%QS6G}f$Ts_&n0Kd-Wo`GE7BLuuR^t61{G
z!edUPZ#g5IQxfYZymE%awChffHhLcS3%tI*e7#lCRsGA>dwLCP4lixKc<@)`$@@F`
zc5As@&#g}6i1z;KocqqIrn)|5kFnCt1uW-gTBkYnJ&|SZn#dPz#6P8sV|G)Zap}G(
zesRv?O3!k)7#UyPxLx(YUZ&ixFKq=)rzITg9lCGLo_LTsjp0<7c1D(7%}l|@)FZ4D
zOWOJEy8gu3ExBa6t<pre$%0Rr|J?SCyxE5T-R(Z)KRw*C^i=5H{V%@iNo|y`zphvP
zcY)ZpLmRHWa}8X3_eE>sjW=5#)qP>?Si@u5`g&TVU;E9HgD+RNnu+go*K&VSbU=e~
zpOn+-&t-Sp_qT~J4D>u2XmRMVvGJBOG8=W4o(uI`wwr}_pI<;h?0WAF=_QY!Ca^to
zs$RtOykLg8u+H97%i9i~lAFTqJb$^=HQu`VgVQVHBup;kGBz*X(J7a6{A0F%+MOtY
zU%7ME%$?dReJxY=$#o8v|B1(D+-ea$7hR&IJE3#BvR8wk`$zV!yDjb<OvRhuU(?wU
z8>Zn}->|vFV`9VQx4Sw+44J=~%?sB2%x|%8+0yIYJ~PT};(wGTJ=D$p>Bf^&JyGEC
z$vllKef0qwziCKGzEbEu#PIL!<rR|01j}B%;8<ep5}nRI`$oAy?}GyS2ggi3-^UuU
zd2rNc*E273vufY5l=1YWoyy+r%Vw7NFzFa3aqt{Sdc5{R6{Aop`>VrwD}`ikyuG07
zZlc+JC9%ZwCgY>2%$81n-s(JV_YU7<<@9SqOo65Kj}NEn)%pbI`^ruEcjKpb%GrvD
zCfWCCTh1Qe@R-wL$=sf>*&7c%)-b+SsKA!}O>uSLm;e6HjkBlQUON@h-h1uydY{th
zX<AkbD|VhZUft3u*K9Dsq~S%o#o`|oBI(<TAIzU<d4ImhcQ)Vmk3Jc#soZycMeAX=
z-PiVid6;}7?|9v5X_vzKJ$_xRX|q^k?kyC2@cFp^{@Q;(o*(;JU#zyKX`QZHL;Mc0
z2~pvz+%`Ojyk2|%{dVPgf$!P1`ZCuJb(gKaChd0i)&|LzhYRGtvmJcOZc*{Hb#6;=
zsMSs{Uru(b_fum(={#Jjq5jD;=vis({*~cRqff0i3Raa_pZLmQRo5f-jnC^@KYR-d
zV|v~iyh`W9Jh5FlnQDoDSXatu>^a~Z?(|JJ{DRl>3sU~IZ<@VYVjQ*SI(MsZhEylC
zW!{jJxNiH}vhi(W`9e9SqdtefndI^>si@M}WGkSXrlb9gfvs-mxg{y*OWSiZ#TTr~
z_#XGp^5OLvGuO=jz_;gq{>ciK^W~vx^$m)8p`RWF6vckAe8XauEV;(OK9Osm^MY$-
zn>D^Tv)tSk&r$GfO7ctoZYGO;Q)k>?ozJ+VBFiJIENx}%)#7}n(0S{ASI1qMapl~s
zNqZT+zBnj-V-reDc`dvu_u5y^r!Q;I+%z#+W>$QtT~R|#h)udi$1{iX#q+29O-Ua(
z&40u-)PGc}IW>pDDTK%2tZu`CeT%ggsy7ITG6!s7Jn=nQ;X<e5gGGX(%mLZl3&JE4
z0xV}rIEU~!d}LE_ai1FOr`EPYqTyCFgX`IACp}kRVGj(n{7|;9Lx0cN`a|>ng9jm}
zb0jeSo<2LBk*j^OjL!DSGP-XTv~p=}<<icq-tK%wjpuXw_I0Y;x35#{QQcm!U94tj
z`)^tP_TRDs?Z0IO+keXnwf~kCZvQPS(*9dkbo*~vvC^5-IW3I@w*Oeb$6UL8$6NNv
z!R;5$vb0|~%i4b7EZg=AXW3uKPuDOr5}1B`ovJ|l#92(+C(dGSd(-ZJT)o}@xW;z>
z<C?oI+Mj(=-u~>9%JJRX=TBxj!8Z90AJ_DilbPhVH(5)qWNSaeBDwtxi&U@K^a&2!
zT-%p=NT~1G{-!{D=k<1NC#iOAC+T)=Cz*C_C)svwC%JZQC;4`5Cxv!xC&hMcC#CJ$
zPRhGCw0k>pw0k>pwtG8rwR<~qZ})cOdG&4kEk^^H9<Z^~-R+G8rmMHJ@Na(<q4&&Z
zdwiUJkK%Tjr@D8!w%6~~ovY5(owYA1Y#IYY*tG5I(-{jV)c@MHJbTg0s%aZ*w)dtk
zjfi~}p1u6#uD*?R*RF+qiaDpVWv<e--(gqv&IB54zx?I2_F1P-xzoOtUB2Tf<Gawe
zG*Wcp)mT|CE33BfFczat6P&e~99aY$6?#HW&z=_3r&Y6l>Pd4^?do-&7TZPMmMoba
zrM6wmX3xdvK?ToZPU&jaTim}Fm}{~$`{tHQ)yp?Ni%LJXzU9`s`ME2dKk^@%7I5d)
zw>mkoTkqCqKU^Dk`$$#GMAzhpd)=Kr3cswnH~EqG&h#ehdj71c+GU%y&oeFUG<K6t
zJ{&J>CtGpuQMEs3#p^?MDtorgtImA$#b4lM)YLn{(Pyh!R(;zxJ?IYWXOq|U{~7fB
z^-s;zd8gX?q)WZv_5QZ~eEILMhwl5p-n72dwc*yfrR5J}xt{&a^?ef6xh?wS8o37!
zr5uU-4LWT$SBiv3*ZjD6RF?ap`eA;qd&?F-v}gF?f5?2b;?(6IrgbJhOxrQ##HPyW
zs~0#gSN;7_$8mkwgYM|PZfBCN2VYU#dGS;IeOHxrUvkYBR~)mtWnLDv>h7dHkK4V!
z`wK_ezSh3=@9o`L{&#23oqBhzx}V_HdnV6Ax4c?qk`?<W>xb*I^DCmW<%RwTFSzrv
zs`uU0>ikFcLYZ~4^R(|;{mCrvnDBbKRn2sPqbud#e5}mb9O+%PKAZQ*WaUK{rhjYr
zA<TP4%>QHk?1$;M-m&D$?yC6DaOjeU(k$-|g&i}Kug2VtI$xS?+9O^r7rNzE)3UiD
z>uXKSK4rd&XWJ*3E&g3<+3FAbAO2go;@&Ie@GJW3{>U%zEnWF4;oR%$)jr=?zecyr
zdKA5+*5%HWeV^V>&V3@_FLPa<qfR(3<J&#C-9O?#ynF4iDPvy!dFLG;{M(jad@INE
zQ#W^+=Q7hNynOysE;_W?%xy{A9P{tg)StDxo_zbZYpMR-rGc0BKIgyp*-vo(mcMsb
zo{G7?D){NQ$y@(Ue{VbY?OXBpN-tL4zB~Qh&c#82Pxtyo9@8>!+PvbA-v_pt58XbV
zxu<<eZ;!O}o9Rb>*}Pr<VnXekll6rwGBQ`(j=sHmMeDld6>l#+^3a_XSXi7d(|g5E
z?T5C{g&O-u)oa5Zyol4<-1MKp;fk(_Z+)Pz+r3wZZ2hjdi_KqpH^#ZRc=?IEwQtrX
zwtdT3xXbYN#?8A0Ud8{AJ{YyEJN4mS|AYU;uGH8rJ1=@|?t=S2>OJ>d%+X8u+#+rk
zRUdnF$uzUghxGJVf*o0k+@GJ_*gos`=B@Fq{~36<zSZ`;u=PI!!w>5tR(g#*+ir<X
zeZ<fEQtI9OMNvK*k6nwhUA8u}l5J+v2Iu^2*4{41%-q!M%;bEYu(D|vT&wE7m;Zhh
zcR2OmxdngsZ;iUQWqG=%;|eFvV|k0Syh8so6j#^Oi`s3>-ha>X_)RT+|00v0SKUpk
zCKnd=S{ywV{3H1hf6Jca6|Z->w{O*4Z>rDJYx4Tq<d;_0X6ntlwg2|NgFOEkZr!Tw
znmyBPcG;y{M=r%gEjskQ&|!L5uYG#V@%BH$56*M?uZZ~(e#lPZ!`X9d6r|Q3Z~wxp
z?KVGHY;#;pG_R9&tl6bo-WT)j7O(JUzZK=LmHqpq@~!W|o4<V7U1zs1ZujkF*UNT`
zzFoUMwK}(2`_JTEv6p<8+@0tu5@0a><8yI^`W1S4%3HSW*fqoFVzi^~kwy3JJ$m=x
zI8Ux}hpw*DyjQQ1R=I?IyKuJ9_-&uWl8IA!zVe>kyZ7myZ_^8$OEXJ(wp|a~Zm9C@
zyV>W(t|r2VwYC&Ho8(+PEz)&T$yj-1kgLznpXzUZhWbSoSuT5cKK=B$MOWrju01o^
z@A_t+6`wx4*Uz6ld1i6Z?b*}*eb@c+Z0p-v{hhMCZ}%-uO<xhYbK0eU*Y16~7S<IJ
z<(<7^Qibfoxk~etK3Z+;%XmDM^R|+5)1s>(8#Zjb^d{%aS))^z{Vtch_O9l&_usIs
z?cA|L$Igjt-?Dl0mhB#I-{$J(KJMeLu2A+!Xcf|!7#Qlh>r%~}Pe$Leyylzi6uDI#
zu>0w=LNC3TZO<}Q?!K91+;6T^`Lpt8xVi4n%C+x{?#D&nyMFEV{Qoz%->ui5AHV%j
zu>M@G?aM6roYJ?mb@7&WaS5ueemzHxfnko?bj5ZS(di);yb}D3g$xXg5*%y{3=FGk
zj+sqgAZut+uV(1!;uum9_ja!R8X3>8+XNS+s;Z<Yg>f`GI_*-5Vm!zztFVL7!*9YI
z1<R;d&L+``on@P)tx8z<WTSowb)PuM#x{v}?!ya0oyuE&bv~&3ddBZ-*wv8lU(S3v
z^JV_?iE$D4e_p?9{P)|-;N^a`zAi2<E@nR!UTD3zyx_TGep7wk_7}MqPA^Dz-19E+
z!d``Y*>CP}CPm*&+xFM>!s-RL>Xuc>9x1;3S5(l_Ql2f*WyXiy3uYzCE;`>_QE!*d
zv*dU5?R(BgUHiZ9<Gggk^@+wE-a{uk)Uw@5bOblrbMBHa@%mw7xBYzV(F<L_*DUNl
z;W)wUhegMU9cgCE#RBcch3dDxmPoj>q<kO8s@i{+OBQyYh)cM)H(2%iySuyp{&?J<
zKi{UZ==ZCut8eG-sr~)!+tbt2xBJhx+xz#)WdA&Qn~H+!%F4*v_g!sf#b<VZZ+-Rm
z`~CR0`nS()v#<YGvsM501IzRCY@_!+d-dwox5NDQYxdQ*@6fjRD%;uN!{d{b%~j7R
ze5fIQf8E|~D-tWdzq|XY*3je3rf)YpJA!uJ*dxD%fA5*uZxgC-=xxi-u>1e#^VFT+
z@1!45c$GS#gNLCxj=!mcXQj;z)$}vD*341<%@wwya?hpCJTA6of7dakb4%wUf7ZZv
zU%!5R%PwCNaCh0(MKiyruCBblx4Qi6&YFLkKkFZL>z5gpXf;Z#7MM7%;823t9Gm0k
zgo_Oy6l=Izhw({tB%R!OZChgMJacpN?fLiiMBYAAdEkzmeO*oU^K)}wm90DKy5e<2
z;Jy>B+rHhJ`tJVz``WT4T#FWN_T8H6`^DnLjQxTWJ&OfR+78;Dd2W?)!Ya$}PgbpQ
z;Dg2P{e6?{>MdBdwa+PPpE;T9k+rtsUxy=c)n`v>cxLyA>gharn0<Sn*l*iulYAy_
zZswe`c+R@@9TxniCEqsA`u!~I-xSTswFl1ZJh5eojKmKWQ_+V?G1d28oZa2><=oMu
zuBGu!9_J_C5{}fd4%JjBTJGZE(#})!wn)2AFmR*8yqVWO+sUfeXUz84`9`WSu|RsN
zdd;_pAkNx{NtXo|+HpPlkz?alSMT*K_E7$^<T(vrx=t)wz_$JTmX}i#3z!o3J<;iB
zWozE}KH*jE**#KIH^nD=&wazxJYnnKRh>a6EDwA?y6?(2!;ITM8cyikh?>~AsBpga
z(E|&VnyYMIckMni$GW%odO|~eal`u++v)?KT=b94E#i{+ljEs9k#CNZzSP9I3r{Vn
znk`$J_c$+^-FbPAVegR>jrmIgZXCD#csl-{(e3>jeb+CTzD;hjHV>+vTB~lmBVTs!
z35`tICr-gqFO-&Ep2+VOk~~4{k;*x?%+5P;dnz{8EwB9W;o;$u`_g|O^4D8ry{gaF
znGlyb^Q%|t<P%R0o_Nt6_<Q2|GaJrdd1-j*@EP+}IUUcQvpi;hYWMHQar=FLukZi2
zweFbFgQTlTPtLFk%+y&TwCZWoowW0+{#`S_OL8o2Dex<J9`dZkQ@3ZY&!-51iQAWi
zt+*yQQ-<eR?vp0TC$pmMBsz|)n6LNUoNMy@;H>(_TFv9^8hfq3^IR@I{BOHYN0HNn
zEr<G>|76cTXXtgVWp1zhr#tLB8>-&FuX%2Lvu^+Qd)1qbw?|2(=I#7f`_MdKWz@nc
zVPb5ed@~G;S&}C&cV4#O_%eSDv${un+xrAo{mc*I^p<#{H1)&U{95hX-|hc>?0@b4
zoH4Vx=n!}F?D|ilQ{<N&PuEQ^JtuQUB={)H_H8P%5f>jsF6%NmvG1bw`ui3Cck(_f
z4fJC=_~u!~$45!7(RX(A2hZD3qNByTWkuAcHwA72nU^*DcfIVr^O567YYR8m(#Be!
zxf;sV{6)>dYi({$H*%Vr{Lj918vC-qR}-w(ED4=6%f2w^vEKeW^>dH%w+L<5dwWrM
ziEmEv?Y9bZUu{~tb(+PA)|pF>H@r{h)Ktk_Zgk^p<)fT)oJ}XUUh~@C+31iLDe0ng
zyeuQ+bOZN$$4vS6o^r+flb=tUu*EaS`jpO@HCHvBnQm?Ka}M|>Xy~sKbL8~y%?jRp
z>P$QJ7rl$i4fV8jIeaX`U-Dr6#QR5XoP7Rn!#$;>BelsJrgEPPdbqn=`_YUvfrP^T
zM=~3OQke>t-ktSajqBK!;}K=;k{fe(yS=(&*L5O%LfD!)+IsKJf;2ea^z1pFb0^op
zxc|kbR3YcZ`8AKFSJ!S1a#UGf)b8E6zK4TN%Zgol<>Yz4-kNI41*vY_vc`9YZEAfh
z->c3V&gagB^ZvwN_|L8M^p(SNNyYbPMNL<q={R)eMElu|(^-DITsfO_<kmjrcUIFZ
z4rm4)`Wa;HE;Lbn`5bdGo)er2K|ZgS$XwztHhC|!C|55ecBR;-CvHzSmDGLPJU{e&
zf0xHeqjk@?9Nn9u<(D0}&i7C2`_>~bCfitC)vcd;l2==IVSbl~_|z$<%mQT&&fT}!
zhP|cg{Tel^u1Q8|>vd({*`4@*y-$$M{<~z4Qf|Pp+4K1K|2V2|X63kz<GkY4MKk3+
zUY{~q!oB9ii9~_zMkf#6%8b;R@^;yCroEvJLM~0Sb6J@kXZ@U4aA4JD-I>?&x)#VT
z`t+sUa(Zi{YyG!{CWU_%w<JtxYSewYXU5Oa311kP*FW2DdEpZOC7&KqiyfNYY|Y0`
zT->&(eO_9g@mgI2BcJMPZw?d&Jm0itMn{kInK>o7(FYv_mUdp78Ghh^c~w(HqN39C
zh7)_=gwF5K61%L;xg=l}+q(x#JLU+Vnx4(doNYO^{_L?Ym7jJ>)$i!&VcfG~@uXJ6
zJ+9&F4FV>}ittTiE>bcwllY<YH%pi4qU)wWc0VpxX7Py|otAogSEUwC)jo6N4Bw%<
zyUWG5@0roz!(YR-U&~gf<3Nev1p8A}4Z-J}`Evy)YC2qv@%FXs{grlp@`9Y>)AxYX
z3I}OVttz^eGC6aG?wTW$>)&qazTI^qM3F()R<|Sb*XG>p*;kv59TGGbcKFOZb?D5C
z%nNUBtZ;i+=Him_>O#)CFWVK2_%}BmJhMjM!ghnJ%QJ?h7pKNOUE^XlyVD_3<Xpl5
zp=m+F6Q4S?#-=VP7E5iH4z!3p<l^$oZE2?1(<_soI|ghH=1H^C4t9CQA=y^%Wn%a9
z*2gvOI|6rfoSErm;>Z8#WRc*Mw-a_22+lOty=W0<;hEPoOSY4HY8Obs>!>{ilTs#E
z$E5kXOk;R`XW2b*mz@uvB*^YcQ{S<-z#-UW8iVmgZOy5>9Vb6Z4A{*4{oUQ@_wzbV
z{5kkJh@a<>usZ8r=2@~8e|~(dy6)mq|IB}>S8CDUkQ0oi)(QIy1S5rd7?;UOn5+zP
zPRlft_RsThN%7pk6!5CqakA8%KL#sqR!AN0=+NoC!hU@g&&`l(Yq72qLMwGv`CPrH
zazgFr1(R5pl*|yZka<2c6T@aYJ>1=K;?jj9t}bdlYI;gWiSO?0oGfKA>kQMWSvxv(
zr0SR5TW%-uMK8n1hBM3T-^t19ukQ*8MzZ-7_|zJ7v^7kA7#Ohm<NTUWC#$x*xJ+|Q
zJ@)MLf|C<W_gDS+@DL)jwEWcL1t$yiSKO?ymgqWhX~&Ko9=tLSyBD{lws-6~*}QpP
z+O|!$zy5vSzyF@D;KZN7FK2&p6|i0Eb~sf)v|giU+cfEDQRS^lO5P3EZnv`U<FK+m
z^K(C6m261fgRsan4JGde(KA}M!5_|TE)@Nuv*OMQzp1Y8`0~0=2(1WNIw8r<TkGlL
z1v!cBW`+enUtC;#_1N*F@^O2srrNf@T&|>4+@>+-+U=F!S?BK2YHjoiTcBaSM6laN
zAaZ}j$E3aWFH28l%t_hbk@M+%{lCxO_I|$?Jy*T{-{<+)>;FzlKR?g(`GxZRzwh3z
z|Nr~`YxjLm{{8)Z_VNDTci-pz|GxkKTKS2=pC`}%v*f3q(A+J5btaccxUS7Tu_~qQ
z=JZ;2&CBxQMRR>8`UXwz`}Jn?`LO<}&jq^N{?7mZ=lQqW_y2u6_PGA3tAn3&s)6yV
zx(gRGd-ruNTfct&_b6rI!~O3MvmQ9;J8_OgWAd&4f8W>VgIu-#ocO=q#{VDM?PKmP
zVm6*%*^}`{{{N5Trw%MmT)y5^%HB5r{=V2$jYaoGl?;|Gdap4dC%<=}=S-O(sS|yP
zca{aZyh=Dz|Mzu#`2V?5AKm5aYqumGGfX;ugtP0>YbC?1>qq?0U%eXoc((2$nd%Q_
zTO=&Dc1z29RG!&Zv%Q1IdzPH1@&}JuWh*61O$sk-E?2#$xb)ZC{QBJ=w=ZxE-@Saf
zuIyGbyB8N;M7w-bmc661ILG6%=F<mhGrJ~U4$xHJvv<#)nAisGy}=ijJF*}4c-dCp
zC|%n<XL`n^tr{}Bl-^b_u8`a#!+wnOG?z_{iLZP(+cMACdWkLOO9IT;40aYtfE4RZ
z_6yeC>S4Vs>P-9mwpoqF8-9LzdityJzLvs+r{4Ic?R{_iGd=m4D(BBzq46$$?pc?%
zhMd~wal7Wn%LJw5%m*uSKhBQg%oLccS*}(ey@E0GfzsoI*`DsoE0%&x<O@2tHOMI_
zG1jKy!-5*#;E(0ASX^W)!rV?=3E+)MktvyJa>QfzG`*Fv3_oti|NAukYW-=0J9qAw
z{F|9IyV2P@Ds}nGA3EGu_RNT8%--&L%z3)!@`+{hL%jc(tL4@GDUi@#!xOOX%JBor
zQzhrtvs~M|=wr@QS(nJ3j-KXRwY|9k#<R+*`mWz||F-zjg{-BqJTf~D-!hjve~NSG
zqK*?49=<zPe_FD-#$cMd5^qh!si*=Y$=_^;re@S+&%Tv&FlmcFzlh*ORblma0#oHD
zb>(#)lV=G%cz5$xy_*7pf;VLsy-@6OjHp)p`c&bX+PZqD--n-dPC07eq@{G&L8@iN
zD&3=sLCqd^U!QGVp>U_6wP&{a!+)EkYl|it$!zr$boP%+^jUF!&9QB9cbDGsVshQJ
zqQrKM-@lX7!nBt+pDMewNr}C?&po=-O=gYsA&tx2EoyqtmkDjiSrU@5;gU_`#gO`p
z-N`C-Qi~$5FM7A`SN%)7D`zUig|9DpDiKgU@1I)p3d!@ULNdy4*feU+S4v(oXGPE?
zH=W%+n*NKc_4r=yH!YN8p8Bi!*%uRmS?2t^bY}HT&DET2GU=YGec#XN?{|8KtnWO%
zapf23^Hsg+KR;YwAHP0cEp|y;pmpWtjB}HJ7yNQLzT53WY{nxaH7#zh`U|Ps6tl}x
z*ME4sBu#LtTiw&g&f&f~6ZZv{ncR2g4Hcelc<{*S7wXxDyZ0$p2W&f>TWhm3d;1Rw
zhd<{3ZI@?Fy~Ua%|F+8K(#vPHK7TGSKCAWpW4`~V@8<r%_Isio4^)r7?|QIXu{vPa
z!6S8FSI3*O1@di6d{x|c;#k6?*!8{j;#Y%bSsZyjoq3gWY>10i@Q3hN-k<ZI^-mE$
zmA7Qsw~Oxbm7C-`H_omQ|G3v@`w7K6yUX*xT6=9-6|i&mA4lQ)lPe}IvRvwS?8p?~
zJ@2>WH(!^JHj2CDGpFfePQqnYg)()i<1>opXP*5c^Nue_`OT@${)<O`^PS3rDy;XB
z*(CZlmL;jYZ06dXy31{z=$4!8GmMS-mU`x@=53GtpDk;|i{y6s%(<#Gi#?}qtMtm9
z3+#+pAA82ms{0kU`;0}7@~j_<7voRvWHb9M@o+*~<r<F|;pw$6jXvfWa#*E#+AqpX
znDlYU`{WrPm#lN`Hk37J`FQNRl#zeEo^X3^ePCJEwDxzOH~Q3^;9jNE-QC@NHD4p}
z@}z5Q5!Ht}<#?A)6Mvq+b@Ddtvm4J=1Uq+RRqNdrU;Ot|sk6(k<!RCRQz~NGC754i
zKl-@n+SGkFw=eJZ;JPPM@1C9NyJ6Eo-_MUq4Laxl`?7rXWK&ZQjn9uR24tz{*5qaG
zyC`tWXN6e(((N<rvh?bI-@Y$3x%2kbRI6mwz1%BeWfp(DCf9v@W!W09OXqKv&AIfv
zEY_#;PDs}q?)?XU{EmGc8*uFNf@hp1XD0bx>fl<+7TZ1HcHZ2_o_D|fn)UHIkIbXj
zUd<h8vHQ|)w<f(=a$M8&Y(>qjo+5E!|M}gw_PKlb%1pf<`)6JK@`{U7K05fX{vjRx
zx-`ITT9BiD+@6U2F-k8_-W5$;yiIt&&CB4eGrdjL%@W*VE4F>9$<{BQvws_iF0x$q
z>el>RwYcj2vu^1LJ!Q4aS|#o+DL(bSc;k0A{ia#!9~V!1*eO_)#da~_mXA$c<5q6x
z=&B`RZx3HlE}SXvGV`4O%e4Av?OPt(B8(OlPvh}6d2(gLZl&Cgwix4|QAh5kUI{+e
zdD^CPfBwJt^DBcRMILFb;CjnDTRrH~qfR@WtsIrnU5j;Bwaq$M9xJlV^{>+MC6|&)
zL-}*9zH4ip-n`J-F;tEv)xT`#wudjeChR_AY8N)ELYJ$3+kWZR(>FRCJ$zl}*RPM;
z8)aX-^T=n*i^mqEoxHr@jcdQWecb-JGERStvee|{S4-yT_TNiAaq-LL<BvX{Z9P5X
zL3zBVXv(gA`{KSNnfe^i={xBgpe{1u@t3pR_v-)GuJ2$Eiu3h0_Vs?gtLWy->McuM
zI`Sk~bQjNA7i2k;Ju_?Fl^Og0PuGvXwrr|-{i5mLgr2Y8Q~SH@>Hec17tAWq_IZ9r
zjlnS5Ls?u>Kes&n<2jzI$3l;>Sbkb3!X2o2Y@5i5CXwR_*;=ZquU9thP_mdEoKo{e
zQf7XTR&T?`OWG+*RavJ@4GG@5Wka{R<I~x9>?%K{{1sF(VoS1GcXoy6bKhKt*||$s
zXPs^4(0E?|&UvcnyOVuurls5#o%G`A?3<gyQe2iKYZYtDry5;&`t)fVyQ12`GgG}p
z{BD2PyOU4re!<lFj~Kd7{PZk7Sv-e*!n1F|h6+~OUrkk9{6QqGB&~UFU<~i{7$y}X
zwo|93tX%5<%OPq-(Ate%QO`H6f8(B-`n!42hbgBOq7<gdZ}?RoP!y8Gz#ipt&RKHf
zIbE&gO;6w5-F?$e$%whw;FH(<DUORih@9e&XPYX&<r070hvuvQlV9cZycC;wdGfOp
z7jJlTm$zE~kDB-A;o<hz={}RAq?;DZ)eidQRQ1$1;H|T9;cDlSgt<FUy!7a;=@Z`D
zu`7GC?eeISi<|5#a<(;{zfk|-+1kKL-zS?T8WwiUjf|4oeIl{IuJr7^r+a3<&WTm}
z6qS|Q^|bxVO0Dn8E4D^I49GD#<McB3j$YD~oy(T{&tF#_>=Kl;CDzQk+eLVO@>Z{w
zxF=5?6b?R`QZ*$!Ep1V{qkF64x!$a)89R9L!lbspQ4KOw+T?jFc)7_divu^)>OT}W
z#T4zFV8Hl5WWn3KU3arDiv3xUIc2wFe)BB;r>DYSGoHCRAzC_5R4dhZ?~=~$Ey3A+
zVy4>}&+460E6#Y6IrY|2^$sovn{O*py4@G-OKlBVEwDCt=b@>aa@E4Ld}CaG1w5O2
zd`?)VVL^%hixoCpr|iBwdzQ90vi+b#y6?LB{pw1!3l1k%9=AWX#jCxsUZy03<Kt$V
zA6H%*xu(QjxulgG^=|Fq1N~wA^9~vPJlkG$G&(3hUT`K`ro7~l{l^(>1G93OoBWa<
ztWld-yW#R{*OZ<KZMuKEIDX8TP^Py%bM0gai<CeM<8Bw1V_ufOKgQ%{&+NQuG?9Jo
znFA+V)9dBmaoH;wrJcHCk=YZxyxuxYBPnO%$w}(Ut33?4#3ycaW{C+~H7Dzv`TV=v
zv;qZ6ANWkO(Olm&t2d!*MaPL7otwiJ`vv;C+wIG(y`UgwW%tWvo>0{JH0dPQt_~kY
zHsj#;iz2UWR48@wt@>5j8u9AWir|;GPlWBA?`6*<D5z1Ny{SF!aRaw&<fVv?7r&pp
zoGdbpHOuS->m=6{uPJQSAyzZG8DGx)vRB(G`peu&PY<v45}c@cFd^+#V!O|u!~>JQ
zzrOgnb5c&w#l;HIdyhZ8=91#|AaZ5<+u+#a)iLq$+kL0|yI!dN!WOoB(oBnRCBca+
z9TeSOCDyW=ORi9<jj4|`TB}wwNmbk3^V$b5mz1m}a>tg;mnwYAd`VaLuWweBpv%YO
zD>BV?<UV(GIp$;e^7;Gv|G!sF_l&u|z<rjADEA|Sgvw7<?`uzneK4G>q!j$v-Tqf#
z)}h~Bruy!)jb1iM9Zz$QS>Wih?AZGHzpt<K{N{RJE!0vtf3MF6fjBnPdTX;~&t54h
z)xHQk-}@rdDf2<;g_I!G+7oKO=d7N)xZ}jWkhG9Zeg=VNrxykaRj6ld+t7UWoc!kR
z4IL*8S9~!^oH+ZagPw-Av5CH(QgG7)<F6YQL@xFIHDT>5XWgY8Cqx!3TDRi2n#SBO
z4o~eSyvXNk>UQcl5u$PXBHKj%cp1I=^J+?yTh_I<)(5`d>#-@X&F!(05v$hI){rGS
zLT<&In;#nGDjB7nXb)d@rGMS&2bw3@EMB@lFsTug)Lv2>e4cAj?}<eVPgaKIz3{SE
zG76KkshA*Tk<@hl(aE#|C2v00l$;ChdoBf)U0gZk1iNEox^v3bu8tngs1^~stv^D%
z>baWdm~?0I3545(9TE_<G@r_8m$5NaGdG4c^=F}5qvjfMK}+@dHJ?1Q?sY6EF5GPL
z`@klbn+G4gO7DwtImg;96~3t8*rz3}?v76xqeX8-*J&s%fA;CqrZ37x4||?^vac}@
zm)mh0)T{^%ba^5Yvh2p<i~1=xVsb30mPIb}>gO<Lhv+FCZ#mTECDl6hWD5HXo+)cj
zN*;aVcQ(eQ@8It8_gS`wIki5j+!UN<xyU=B(jolNnfZ3LyX?LwDYZK$RFsy6ewMzh
z!S2NWY0Wen(Qx0ckN$y^PE0?;bl%+D{Pq5h6EX@+`Gy~sI~p;#Je|*$`{Y!xt8@L&
zPfvfXw&bb5*Dkr_O4l^yt9rWX#VvAfAuWO{KKwp@=NaE`5AQc${={`}yLqjJpXaIV
zmCUkPmP&UIEm|gFU|CW(p|)qb)(o%HCwU_e>lL?nZTM1d_uaExmhGQfM&ax9d6Vv?
z#RaE6sZ77SzrOyjvA|6BCETa)|D40k!SO1JXHM#MlMliN*Vgl?cJeg5OMS7sOTYHS
zl-?5&8rLVNXwBD_s94Iyn)qNz{!^ZW7vGyDIx=KA?z%1st^5D`{`w%JC&#8wke~AO
z)0>-{-+Z^fzT5ZP<dW=N>$5W-C_gspcoxOeap}O^q`$q_w%;zPt=;?YmFqL#ooy-y
zPtRGPU*XNlbx7XigQSDW`TFTIYY(nt)bd`?<M(`uQHr0Z`@uuq3abOsSi+OtmTlIb
z^{Zgw&ZflW`^$Oq`2up?rbg|`@04&~{BhnH0kPF5*t}L|Ts)DwE<k?Xzk8l*eI(iR
zZZ7ZhGFg<r{L*<DHqXuaamv$oep+t-_vN?O@&BtnN2lv#bUkgIGk>aUZ*bt3`UfVz
zST|mL9HTsaXJh1brLZ8aDVO_d%Zx&kefDXqYlXUe$+iE$>Qw6eE&0NURKG1>&Yg1!
zWp}ewb6%dRQ_f?X77;x4*xao;GkBHVi?t70iMe>0@k;CKnqFS3^hou7%_-KiJEIdm
zOf6oQykL{a+clnZBPx}&&8{)J`g9Zs1=L$lDRZ5?q4dL#1fl4Uv(p^rFGyYNv|8<*
zmtm;VqZ^AeI%2Gzi`+hTbkQcCTV{sMvn!R9q(ge|JbnCXg1>LSaGKroIGNxjm#kYl
z3k9R1Cb;X(-yG_bdHl{|gXBdo%sxgxtkm7>^Q&VDr?`Cay-icA9i=b-I(b?$^O=G3
zIvIn<^(oT|9r~>Q=3QH~XIo3qp8n=<MqiY>K7Xhb5SN}f_d%Bb`iH&pV$2RRrq^)p
z{P5*R!mH%<Wf4q&+_agSYQ-EnY`Z#cR4<KT6S-)%Qb??8Wo(X1S(Ci++XC~t9Ji<O
zj=z@Z{8c)h8TE8eNY={EtnZ$#AEe&-X&&#j?P`0a;Z?ujNNcOfvbBj%GYYiB-_G&~
zvHQO4SM3U(d25Rn6v<`XcNcg$N%3Hb;dhOm8FNZ!cdV<N$2_S>tivtpbE}K3x4+^P
z*-sN}Z~F7^KkOydDz-*RNa5BBx2GLOYnDDcot-)LeeL_|Wubl^Z>>3$z9xRro^(NS
zs__Q*kX=V69XW6JyZ+6$+4ujX73*kNn%ph1$|`qubY33llE$q3<Ib{cesiWuJV>58
zap&PP`?f7}xpOP~$?^86H>W->zvS$)tzl;Qv?RfaMi<Q0jg@m<WQ*pXl$QEgnEA5z
z(3Fzpi@V=2{QR``^kKuxyw3Ki@m&i$j-5TT`_{fvPi1?)DZ9e@%paS5tG^_6bMn35
znVlC-CKoC7ZQRw`xar1}jP`$GE)7#A-&LuP_EeUi#>ZT~sOJPjfcxo`h1asC1-ZPu
zc;&p{N@EFczWLUzwzGr`ZD+Nv4qm~3Zr<{V{LF88PbEvcsCxaB?KsgmVY-S{`h?8q
zGxMhO7_RKdkZ4vla{E2aC~3i-d7O&%d(>m4z8k#JU@Kc$_hMFVxM|Vvt?${(-F2H!
zNbT@oT-x$v=S;CPA&<9A=h~V7ugzfPzS14+l2x+}j&4~Tvx<4wv8^ln3#aEuSUy^J
z*lhpbhllPK9ekSS&n(WlLCB8nYNXW-B|jCO`74js9=Krn@q}!#;flS_C0w5J{&t=B
zd&0kZu~6mbe#u?UdzQCZtLt5xn(X0_$QPs1P?^70@1^Fa!@on=3m6w%6kuNbJH~@g
zw46OAAfx1n>|s0J$-8buTsAo+wyo4-zJc(LvNKITdS!|dMQ5_k&=nQkI{8U}V67Zi
zpqQZbdsiv7Wrg2vKFhcic!%}KF_$~7bC`nsukNY}s%O>P_fgd4{?yDbfh=6hf1Pu2
z<9>D{%GSwlX5CF5mSv)%8^825x_#PJSh-28a#QZ1j|#4v3-@G1A82?zsrV_+ud<%h
z0>x*Cv^Q0F%+HylGJ`|4Y<F0_fNANR3YW9@zU3Xtx&F#^%Afa_&dfQ`aPY;gj}hHp
zIwx1SFg>X@_nV|xA9X6|@m-;r*1Ws?(w#S|&af=6oHFs+w|d=0`Ij>P)wwV|Nije5
z`-Q!si0smYC1FeW%H7tkTx&VY@|o}4y4-qU!^E5yjA;{39y&Q8bio8W%VS4`KRwe`
ze<9F3x41RN^7!)0XC&JdYE4~##1?G7mfR%Td}G-I7cMil%Y8SsrU}<?E80{fo{)0Y
z*W~lLN$0Ozu)LPsR%5=jDW^C$UMSEs<?eP5R==J%EtamiMwZ{a`tI1B|Es`$XLa3t
zYpr7@J2d(aUhrHgSh(5Owny49<7WAy87Gt!<?qfhk$An*uT1Iam(ACWZoTr)H|}3_
zs##09=gW<)&!4>P+;Z|}@-5k|ck4|JS9nkD>nL&frDR>%H`8rppyz6d-uLVmwT!*W
zXT^Fik^6lzVH-#D@tVb1sY@>|SX|+2l6^1xv`nL!;myvHiI({j=Uq6l%Cd9Cb34;7
z?4H{dI}Tb~^6<=k)q8I0R5zt<6LU>dl{T?QYPEX2k_lO4=KtcMf~~2UvwEnL)Ctad
zD<$?xS6k<22Qq1CUV6*1sJxSh|K;Wz`E1Izts9LEJZH6Qeyoia?)Kn6VQr=^eeuK2
z6+8u2KcANbY&$WR|InSlTLC&+XSYuNq$R)HXX^DyiyrUo+2q>CqaKw!hsSL$_dAA5
zxtvK0IRyn@D!iWT6nb#yf?tYvrzzxpc6C|Oyrw?-;ZAXRkL{_tAO+g`DFq*640dYV
zou+V_$JJ$<!&Il_Ia~hNh@X-1*{<60ZHto9CC01Fy@m6V7x}kH*1z1w68Kg@Nl7*!
zYTC@_JF9|>Pp-Hj_NvR(C58LusgKLw%@$hu#a}UAUr8xCp~x+H-gAjNYo>@R{qE}S
z_|lMhp|`&B(#3Z--g<g#<oaw^Jke>Vq+~r|t6u8MEy0c==USEj{!w^!-PL7@`pqTs
zF4Z@J10u68Pkry|QpR%m44cLKdwZi}ITAeb^74W{_Z6v%3r@5>q4rNf%dKy#kM!yn
z)8~t)<nHJ=!Fb`YwQ-ml1F!5v`^ryCrm?5b+Us4^*&*XmzwHwLqVqolEQ=OZiM`Oh
zZ{N|X8FSLzC56H4)8jxMr+t;5({fMlcKmX8W5GJ%Y8Mx_mX|-I1uI2rkI%fhGq=l*
z+t#4sq(bJ~+NO>JvL{3)9(C4g`pW(IQd9@4e1yVxfryyxY5RI5{-n4nTvGXBuNd|G
zzU(pCql@_4^X7M)NU1-#Ba+=P`o#{VGn3MSe)CBMZFPEE_IB@gQE~P~wSp6m9yF=+
z`k3|XhU%Gr0-sebolh%!rx;`swxHuglA`M--B0(_7QJ!~Q+%%Eq?uIuVY9&PQ+Jt|
zr<-jNn&|4R5@UQS^y=}iU%zUp%N~7@yj0A(Yu1~EpDxa@S}EHzE5_!fc>TZJBf3hP
z+PM07jnfz=iWcsw`1K_-I&=QyY!??lhL!y~txheymfu@F&0Jo+tX`A4SyOPL^5m=8
z$q&BB-fTZ5lyPF)dL<=yrRWWehMzwQoR}*9-t%bZ#T^|d1Q+bvZFom9Y;k^MOXDhW
zK|x6gwO1x-zyJLFyj4`*Z7Ju~%L;<^f|3GW4AP7D7C%3iuy^lEj~V;Q1vEtk1tlls
zOl(`ddi7RTerMICNpUeQDGoDiF3-?WZE`LuESxB1u_+BCw&`g1$z*=c<|QwGvu8e1
zQet*G>XE!@3LBqis@U>aR#z7`mDPgke+@;ZNG^LXd!#2oP*74p>2c1kzx%uwPc^7d
zwXeOuAly+&$;d#zNoupKmVVsHc6%-%!HJD0Z=DYktH>}pcWcJW>UE_a^@W0hnT@yJ
z=9tPZdQq$XcSC{U<hD!SxfdOr*3lu;*?Uysh4Q}Kr9Xvu_5@9II(PSIm#a&k&$T|W
zz_pi_Pv;7>*3Hm1Hkp{4;p*bYkSVI=Vb&v2Z(RT9$49M8eF=Bg{5b58ae9?qhwEfl
zmnSX(MLW)GeK*Z~prn-E&|&l1aNpvH@XPleDk-J69X!!%Q`s(YK;>6i*4~a2jTbVy
zG9+Z9=KpmRxT@{L<yHL5<<640h&PSrH=bS7aiY;cTd3Gq`ANo(`D~e6l$4ZPGImEr
z2E8bqU|N4$NlCe>#NF(1QFq6w%HEESo`!Ts>9n&w-dBtm+y89q=$JEejl4xtVtdIh
zoBw}5JUslyGW#ySkl;k)BH=3%pPxQ`dTW=tqL%-B=_e^Nf)kA=pIw)t*k<;kagv?+
zi_Z#zf|knpO;X8z)w8EuP`0Vf6Id@QIMFys1vD9WBD>!Fn9sf4y{lKRzH&hDZ=j3I
zlb#sX)Mq}~H%da~{>|P$^*r|`D_55kmK1JT<!SE9pZ3-NuZv!vf5|{e$%tu2ZRG3e
zm(=EYH|q!rN^*X2Ua0SNc1!S0Ygd<)B^MS>IBEaotKQk!`#;Wz<#BaUW4QeBCF41z
zqkpz{bj)d8U;FkyGso#4{q+x+r=?9dbmWklZfe1+F#U0kq4@S33*K3Q+kd{-J(aQj
z&^qmlxzoGsjRdyeSgQAG?e?1c`XNcv=TBzhVoBsucbxw4oPkdLQfVG7u308;k0c7^
zeAh5k4W8{%_~Xyl;^>IeHyUR@zR`dG`pJ?y4eo8s{kLZI@c%MQPgoLq>xtz5n7!YR
z%}Eq+>pUcN;)mdb^XdKk!PDQFys@`YZa5f{QX|~ty_n-En^$A)>jM|=-ue~9V)e@=
zDDDksj98%1@x?1dZha`;zrTL@{dL!)4$Yo=TgWFvL5@q%!zORbVeYecor~or7?ggW
zx<qoO@zghuR&R@#yV5LzKa278fe$XLrTQk#aKF2IYU$UjPbz;*DNx&XaNnx;x@|qz
zr(V<*<6gU9uF~|@S95L&EY(Ob6V;TH*n7EUp6A529nXTkRm@(R`CM;$)cWGw8;W|5
zZC@$ox_8A*^0J$HvdnLvsx3Fq)U{S=SG>Fz)kf7nIum)O!boE7Tys_5BAb2FEiV`t
ziEk}&x+I@EY1&sOe;)?V7PXvjTeItq@=w0VCpzt%!QJiCFBmj1vON4{`FlJ2bpuVt
z`ep-(qwm%J@h>UYXgzDeq!YM#vbV>Pj6J4rx33k9x^!*h-|u1)Cl;~yzpeiJwRXMl
z_2s)h^)2WPFmhJmn8-d!Q}2nL^ZKX9_Pfv97*Z6a$th{o?D+c6H?>sXLsQzER<msp
zO|WsFq?YL0#&^w(^H`hgf@Nw2d@qm8y=1yIZ{_#;9Sh$~e#hvZSka!nVM?%fA^Vrv
zogI1}=hRX@FI_EnK(dW1Yr?ezA%Q=Sw=T&3{Jb%4re${G`QF(th04!8%MnojezN1_
zjcvIXj@9x^pa0<d+t1$itMpT@i!x7HK1Vg|2G=L2tqZtSmwe^oJ*K+s+SIv^PF}2>
z$(A+soOuZMz3j*Fe%DJ}d++XYzsdQ4|M|r)(J%H$^)0GCTeH>UW6j%jFQp~kF}>S4
zbJD`bz{+m<`KNeKEuL`a=fhL#fu7SiJ13?7x!AhP>i$`aoGa5a{wuhxo^<4-QrQK`
zLY61Bk6zbLtp{&$EpM8-YcDecgX?yMO9qOJ^>_1bn~Cg`-%xIG`RD}3&8f>fFQ#tk
zI*>QJyTUBTe5XcN)3iPvJrT_bTaw?O{3TMmOxEjP?2W|L`97a&Z0zs<TzF%)uV!NJ
zF|M`00=M7oWC&elyl~pz7l;4EzAk0CRyehArRcZCy0>2VetOKGlT^}rjB|^F)|9vI
zt;JV;Wo~b&KQQUGS*NIHQLfj!jO=L}&lOL66tH}?(9~{y>$!0~((PJ@*M!Q7xb+^J
zz4dq8(wTmH>%S%LTYKVR%h|1ui}bvFc3q!)UB~X-&BbOjeb-fA*U6jqX4|SI9y^u2
zCQbC{-DXv8ux@U9XPukzMJG$K`AnSxTSP)@-^R+87=`K1mU5|Q-Rxw4_~_NMtK%bN
z7&dX5*JM_N-dJ+`wcxWI>BgEyTTZI(+#9{ge#>WdojkEOekqcx=59IsXtS+!FI!NE
znc~5^lWCgMEfo4D&GGJD@~hy$y9vMl`0p?<OUy3ceC$dlbJ!nO(E`zfP0?S@d|Pa4
z-lXl$QysB+<@HUQ&Z!h@vDRPm-INxu@1M9lyKrhrHiPaz(Hk#TEpFXeAoTXX!NW|I
z`nVe(+I{Dw{F&2u?3l&!B|8`tr|+L@6l8t<!^IyvSI-s?k@2t$6PYvZSf&sAo42Pj
zmwNBr^g*HK{I(iBqXqM-7ENh9*Lc`Nzr|(7tJbm)Ix&np<0K`fd!-x-(0eI2z5YXl
zf)}@=HS^jPx+{<HPpfU3-H_*+`7k{$Z2#ekkITci+nqnaSowX&;j?lNuPtdUXo;J-
zxyz!#{RP+D%$3t`FSuFFH6_d7sn^1rt-iJI4)Z-~f3Y@jg~0<+b+;C7?RQbv+qO&3
zN;8q4lFi%V89qr`;n#{CO{erj%gWLhnmgX9*Dh}3PIBtxVPfCoa#&MFQ*7Bh<NFP=
zPkg_zvqtT{a3{s_k4UkJ$rnMlJ2n@C1zdi18AKftSR1iQA;oH5p#3zC?AvXcL7i83
z_lsTjKgi9mQR<b+_<x5^;^&!O+m4zmy*YTNAU^k2%jJr&uTGBqC!WUWg!6_b&gK1X
z;GCLypx$?jYen|l1>&d0&mI4Cd0oTzi{~}UW=&V=+%I|cqW>#vX6K35|5#O=Z{^x;
z=>EFS*6|<v`TdViiL@&92hBQp>Y#1W;y-70%(!=Xb;*mv$&2T+6m9$)Q*`;)ucQB4
zFFGe)p8D1J<%vkG@P7(x_C9#UxvlE!<&{5jc>X7UxX1l9#oi{Q*!BtE_xIO+D$W+Y
zli>EaK;K?&gLT!Wo-bZ(Db<}f<vs^J*v}|8YyF}n)mPtLSYP+<d-^}o`}O}->Y1lc
zOlK6?Zu`+tRdc$%BL~m))y_r&+r@4fW(!QuHZu~~uHMeF(rx=RM#IC>+x=D=?l9QC
z^^IW%%l1fF!z};p#nsyW#$1lyS)?Ou7#JdKrY~SL6lFFtGnoGIEQ{FoUpa;$Hrs1O
z_%v0gM>rV?Okc)m$iMyIO@piI+Z$gQYA|h2k}_J&#$|BK-QX4j1H*pC>Een;@l2iy
zlLOTxrcY2bGG!`N1hemh*o&3GY&|6-Q>N?6lLOTxr`IVNnK1oO0kh948A-9s6!Bx3
zo}g$X#-yz_IZ#b``YS~v0Zv1cgxq%w3=HR|+bbI-Ft$uzplsyBxO)0qWg~T&XC<mH
z7O^ofI7%@vh%z99OM25Us~M@waHi>;e#yzeP^HblAcm}fVY%t#z|+Fh>sc9Dr)O&$
z3CJwleJ|%K7Xt&cD!S4m_LCjWgs0!rG7^;$uI^Zw%f`T9E`+Y?tQT07xrULbj8D_`
z$c=mq47dEyRpkYORee@B5|zow7kR18#lXO5gsv($0jz30NY%}MH69+E3=9*L&{b{9
z0;`&)Y9uOSyX^CuKkN()k2KI#>6L(01%XsuUa^1ObxsBb8x?d_aW!C7d>~c+$5<vE
z;b34W!cdjj1`aeOZ6i^c_^bb2PqHyE>=i>dE3qG>YI49`*6HF}MglVHC-Q#~WM^P#
zl|WY+Hw~n6`Yce$zN&aSjgggsp^FDSG8fOCTyRl*dcUTTfDFfe#~1%u85pKXpsTvR
z2<!t_V<Qon_U$&)RoNLBo+zWM;#>)`agsjEbaxda0hz|O6Zhw{GB7amqdP5e!{orz
z64QM^miC1-$xq{8V0i6>uF7N^$hgT94zW(>0I8f9q&UfzlYxO>4_)QIePEReJ6WfT
z>KX~i6inCtpTNbyP-uy+GXDfvW&b+X=?xl20y5WM1|H93V_?V^L|4gt8KiRhIZY!`
znUi{N>{{3u7{oE6W5G>uz?@Ps5|!DIz9iR)i-AGY5Z$bZ2a_G2NKB6gMc5*h&}0@4
z1_mh=^x!-9YWi_iBXt?m62|LySQ!|m^P{U^{X99hNqoAlx{-j46=M@;1semyT3K{e
zB0r}`svD`xOrMa~xu2bZ!5$+z_y3>nt7fDwJMH7qRV8c;49cSDF5bw_IK4#0NL{w4
z7<RKZx;2q}jMKT*jMS#{7#m43)r(HoFg7xrzQDjpim6Isx}&a<@N|J#M#1TyjEtlp
z!cCG$!d-?&CQMyYNFsJdMkb7trhn8i5`pM^U;xuOO9rk^X!>3qBT0yXi)7)#g44Nz
z8M&svGc*zaU0^E3v`P--Aere-Dn_DU)r`xgJLnpTOgAtw(w@Fj-$;sSoznD=+D1y#
z`J5QJrq7i%5&)^=nI5HY#K&}68E&-D^nQJaL!fe3RN!(l;F1)iPm1ZTDqL7_`fL-3
z7AdBuYDmITp^RK$Ewb=?Q4JXw6j4ggx9W`3d4(92rswDw34rcFlVS=r0J+pg25}P_
zx~3vSkS%i4?Nu3}nE-x?ln}bwlO_<ge|3#SWhSamgWTJKp)A7+qRiUBNK{4&`PKpy
z=N__$D698iWSc(0z(_y_<*0KMwKtt1YWwt!*rr<<8VSfm!w)w`ccrxlM6IR1k*Eyf
zgi&;5%Dy0F#xn5p5i$I+CIF;DZn}@2k*Eyf%rbO?azi1?1ayr=L8oy^G4)4JpRR3W
zCyh9d3ti9m=?9ICM5a&BGg6Sb^bUH+4L7<f%_NA)uRsm}pP#|Tz;IR;U71qa^ou4&
z!qe?cjl`x)>l$%^wp$DEAOdh_4oHE?^bA`g73O`pjMMvVjnt-cX$kNm)U4uTo_@^6
zNNxIKYa=OU;VzbGHb$z`7l1hOwXD<kS{tcN@3%CPVqU$7ZF>E7F|p~QHbw%|eLzC$
zG3?VbEsfMbTe78?=6s#5YH6fCeaBmNWDC|8@lWS7H&UCv&df-P+36Vn^!sO7pr&Ym
zgtVRsO>daRBsM)7v};?{#z>0!!X=UEPBupN%<q1QPHzD@C=TSHZf^1E)z(JRpg{pC
z8H68Vj!Q5U6qM+fWTfV%g30L%)r`bI8@iEQqH<1R`c^9=)#+hYMp7bgu0S;9rlw>j
z>SyLArl%TC7ql@FnZDFR0$E!#x72h)khV)8Kd(A2HT}J%k?M49Cn<sHudIx?n3LyA
zPycRZWY2t~Mt1soc^T2^e%3|;)4d%zkd2WGP@NuVZsfq6>#s3=3W(8mT4VZkP{`bJ
zG!T$Sc!$GX3+x>vml>NtoaSzCB*m<ES!;TVy^-2<0S6-~W@82I>3MPb&=5UnXC%eE
z-%)$|Jv$?{>051$q?qUUXix9kt1CABg{_em^T#;t>7sT<4$SW9+S4OIj8nPV(`VZm
zsmUTXn=>$oBb>v)z+hRTJ-yo0NMrizdVOR+9pTcMUf^J)HvKHfU7=Yz(=P_=i%oMd
z5}1C>!bpnwQ;E*>#}-Cv(;YxOlRG-oV=au-WDy$|8PJ-FtJ8F+OMx`}H8+xCuIkmD
z?&xf!HvQ*&UF3A_eSf-wy^;EKeUSG=J@lquT&E57f0w<H6w|Y<)0ctdr#To&={`u-
z#|TX$y@I^-0B=SnT?P>bHU<s`P}TwuG9@}1i80$9)1O}DXrwe<#?eTM`Nwhn>6VU0
zD%0nHcvny8Pv7Ziq@)cRFUeqJU|7P$z#xbcTA`=(8B+3-1B&tsiuIH8i&Ccx>KcjY
z!F&9i3=9G&8or!C(vVnC06M;J`YIPAEz#!}F&%FKNeZi-jii_*e(O&^;cTQ1>SjnW
zPv$n5-eG2>HhqqhkrcB}kiqnwPDbj}(?Kfv^9-iPt~3;%KHJ$yVEWcKhRE@Fe4fGd
z02d=iX1;|6)2Fx?sZD<XGQoeb!Suf%6W)L_<<3tA(>ZO8)C>?k74%jBhngXJScAGT
z;9S)VN&-`o45u#u#cu@2{Jrgl(>LBU5TD)y>ejpmIdkKB!|4-V8H$Sqc(a1`urf?z
Rn8whj#lY}%qagzW0{{eWco+Zx

delta 112833
zcmeC&d7QDi>m=g_J9*A!!c&``FfcH<Pfk#fW3-set0GaqeVx+jWz~X-2PdzQPsmu7
zx#6etB+=h*dn+;%FLqbd7@v7>d+!aue4fzzIh%On4!W5s-1zPooiDOy-n=|HhbK;P
zmql!}XILIyxO?BN{U2PG%00b!Oh@ZzI%~3KVf&2V6J=8+m45G%bSes2<-?}@H9tk-
z_OhMFx1>01PwHA6Ho>p&m)McazN<gW%Ou!te@=dJzOQy?LgTg2_gqU-c4$lxlFjzM
z|M~6Qo_h>&=Pv$>?|bWSX;wc|*+1;F@!5wlVQY1sNs2F;`gLwR@55Jr?@qqJC$>3U
z;Snp#?Zn1_$&FG<(--VA<enVGDZm`+k}^4$(}GFfVe)cLGsf!4_c+ZJ^pD;3w=Aol
z*{q)ag7tZY=IS7^;xO)ur+%GX-*)BIZ?J(Zr=525P4?$fn*M&5A-C9`N$0(o4F!(9
zZ+b8AEN@fn)((@~-kOse)a2@Czg;eWlRd4-&?Dj_n*^I|FL&6X+lBStS$ev-+<FZc
zv~Y56yZiR+Gg0@@S3<mcf~%)E2(<-W+AOey{YzJckHo7b{Wn(!oz8I$`V|`~l6!fL
z>pbHH(FQjUdYoV{=6_?cbk!eo>u-B6@96&Z#BhqS(4n8JVjH!hb%ZR$<$8nfoBW-&
zJi&3!_KW}K_a67Q3%mZsak24_MawF*x&zW`g*GpG`gPWR)h`9U>C^eQ{`2(E*|*_0
z)8vcFBGb8c8}e;lpy9yADIId^v?4nL!=uRxD;4X_ME2cl*vp*wW>c4H<UiNR2dBMV
z7cra7bJtxKiHy#^o1RPDF8OUrT)$QPM)zCg)LVs<m@;4AEy=s!GVMq4x$?S-8oRxJ
z9&Xb)(WQBIsYRZPdt$S}#FKNnUq3$f`*h}oY=PVrCo&aTt@G{}-u?0L$?p94Fy`1N
zESp>9E<8SVXhwb3g`8J82fbGHryOOOcXp}P%7gBuch89KJ-90MV$b0XmvuD7d%xCv
zo%6HE?zyD&>6}QT#8<8&+AA8LR2|fQ8@_tp=BTAJjv3{B>+?{*ptD<}=y!Pd^e)3{
z)v)y;rGaxbzyByHUB+>~F}#^0ifNi#@!tg7GqoZTZQakBUtX_Mt+(1SclD<ys<IB|
zMb&p0ew2SRSG&l#+f-$Be%kHbHy_;<PTqX<N#{l1{fsI%a<aCrGOb$U_vY%(C(9C4
zZe@h>FP-trEp30MlFFAYudcsJU9P=<#?_m8@wy#5S2y^iO^MF6-BR~X;bZWY=BuZ7
zF)qH{IR8qAOX2p*UcYwlD5>^bU!Tk#QSvD42H)+iHg&2wLHe=0XWn`|D;K*e`7es|
zrNaU9c5mh9cOrD(*=udtX;98uT*eSp@*qtkV($VogBcw6;!QlxO)Xru(RqzJ*YYoO
z(gOZWn(i|>xXk%ns^`PkqM|{M9VH$w7mn%_{?lJL^?|1O%_J}HxP+q|fzx$YTsl*q
z^GEUW|C^5j<aR}>p6P6LIT561`g7*(H3DZ=q**#X_}lhDwa8DSQafFSuShTb(gf)|
zv6MVP6Tah8+U>X88I^aLWFFKg^1Jb)>%wGjS3BO$^&UUVmp<U&oOW}H5BI0jO&guw
zKVsB(bWk*@_1LAcRr2xU%#}|sUpiWp7L(TXy?)}%FGXSLYD<cqM9x2Br|qozcHQYP
z>zTV}m+YF&BU*ZU<KKYiv#dV8H+EL+6pD&bUeIObZ#Q?-7kQ6qek*)GRf%**iP_Bm
zv}nV=l~=#&=!!&MWZEcIcKFKc4aRS@Pu8V-)iwN|G-qu@qmo;#@r|$d`(;`EAD$B7
zlAglBUwoIZzTm%p&GL|se<C?QX*%#b<n_I54zEje+#38@<PWpxpT>BjiSq+p&&!J$
zvY)RBnagxWH)<V6Noeuk*98W(X=m&2yZ$}6WV*$auo&;9{O*^<>sRmU|M23leZBTa
z1$LRP73p>Md;6a}%(?aW=9hI7iq}3pX!w1COZ<fGAvg8Trn}ewT)5=>{eNatU-*ZJ
z`dhr%CU@iQOxr-)o$F`*-~E10bORsj<$1G~eCJn;H}K877%cj(`%l0V1uMRT`;TAd
zlucN6M)8mR#@YPtwKD(aUlU<X4G8v6&XTayK47Vn!pN?^w${YGxOtywRV#PY8R^$-
znR9>X&Q3ka)S+#*rC&AbLjBD<+e&TcK9XA0|8t7v4rlKLe<juL#_4zNax~|(cD(fN
zOY_4eQ(5LNG3{~7Tz*@s^k3GRol9g^NnOy|xR|Ga$<`w3T_IOqe6f-1?#_FA6~xyV
zt!Y_5X~);5BZ*gTPGgvGbe=<W^P4qM-?Qy^rr-VcY^Q_%)QOju-u|<1=A_ygob@s~
z)7JTZ{VjBqH~3!EI`?-yTkNyHM%~T0HDArqg7dhe5zlhR{g>afuMMoX$SYlzX(5xp
zX6f2zOqU`{<|nVI&^KFI5%zg@y3OWU&F5^t*5qD~W<7r<$goM{)XZ}imiw}Yzc=k`
z*S@}Jk5rf_Q+HhB`z1%Os%o!ZUA$_a{QhMR>jN*nik)aa-TvRKe^vjoN<unc_iA3R
zZhG=y=5nvgtQO8@S45>wuann#@@rbqr?i6^>$bmXo_h6k?&CAN=674v7l(Z~_5Imf
z(?I6eH#$_mTCq3IZd_}gAgO({weUi-N8Mt_vsb5l3M!N?+nXry?Q!6QZHG-f4!u*6
z_$KU<XyK?(ueMjC_tO41Z!{!zOp7&owBP;wr%`!i<8+(gpwl}oPo>;kbF%9E&*nA#
zhfE*Gf94P~n9Y)(ed<DYM|7CF_Uf>kmJG#(YkHFs+~2;n%;@}D%X80$!7Vx=>)!M;
zdG}7qcmx>C;_G0~scyKoCprJFoWQ}0Zv*u+zwcf!M`x|f(ZG87J?EmL?Dq%V+LN?N
z<r~uuXP@nMv5e274DF9}=`7hg{r;1Qn!gh3FU|fkNukqPct(;9U)yC7$pWrZ8F!?X
zzqI(YEaHQVV(RqYMcx(@?4wHk@9y9F=sQREvacO$CH$i=3cugL_2@w5hi{==`L9py
zeHgI&amJPRM>6w8dKRTfsnkEN6PGBtb#TjFuSq3Wq?fJjJi6e}vzbZn*7jci_g45$
z%{=q4Pi-r`l=S2*Q?9)Gy4WJqeIDx?+sh|k=&*(UiB^nUc<<7yyIzqjA2)Fq>2Vm{
zS#_X4`g8J&GLAl%KBh0XWcv=SWew3#OTMx6!}^I&yq_raF_oTUHDBZSp{~o(PT4+>
zBOuV@71O?&m-ki}Jl#3v*vz!OLS-gjFMZ3}E2~#%HRsRdzz3pSZ%@Q_X0tIcNQ+Ev
zY!jP)pPiATJ~#iinZQ50g#V5L-!^us&fKK3*e}sLEL_32`N&_f1qmuvV#~Hq-10c*
zMg4teuT680yxp{vd0P_aqZ2ijcWukR-<i1ne$MGbHw^SX?V2^?TxYJ-8n4$n>+{r~
z9d}J)U8bnA)+p+V=<FHaeP-nQ)&F@|YAoiOmQb#GtR!jOlAL4p&5a)6YnD7(k{8js
zGxe;u*2k&$`HcMDD{R$aTbJ9<rg~O;^X>EVH}8+r`#j}n=`OuU)o8^zq9IPj8&64J
z^v<5Ay!N4wL(jdx4oib0rp1ZQ{G~sOHQmQHboTZ=JG1n5%(J^6Q=ojlVR~lB78adn
z3ueEV_Hw=Gw1<fwGJfakclOn9_l}#lZ&~t<v>bJ{1N+10-*7pequskj*5~`;m#+>_
z-1;)BF6HZjdPb8QdqX0xMt!*=v)w#>;^`*IbLUo-X&$|{+3K&WL@2NI)SqiBU;bPs
zzAPu~(d?;;@1+%#r>@A0wO;x0#dYr9%=It$I3NA&n3P<=vQE11$`q!fg(of?6JJ{I
zrqBE+dg0lKy!6tt^#}GGtbfa6rPs1&(s$O&3d~$qZHIm|cyq5>G%xhpaqY_|iu6q1
zwP~b=7<B#F;JY>CXw1^H(U(Nj^gd1Ed_3o_<n&Tc!K=J$vl=;XAANs9?$$it56>TU
zCYVisskJaQPJ??w{L8MQgHO(VUissA3$v=ks-F4@%bi<iUOBOqL#Fj%8&}v9t*@e&
z4*cDHyfyti)3e>jA0C;JFMUk#&eSb=uih$$L`;nh@YCNv!~Fl>kejntY-UMeEPCnb
z`nhM(F8$A%llJQJ8%{m5L*szh>Rl%!%-ilaMHzSA`XjwcR(G1(E5WYT%S8)US!kV|
zAE4`zpMP-vg-7*5Ut>jg-k)sY_iUnkwBwUL9V2fW?Ve|yqKPF^XVNyl<+GnHdq3SE
zR4FaScdCEH*9qRH%%?B6JeS;CpBl5#ZPO>V7dsAzw`E%|u07%?F6vj^Zu8*Pw159M
zRqwfH8}2&K@Nv!B__`NrpLFlE*l{k34*$DrS&Y%W>eGL#68}WstLJLlH@Ss#<C~qb
z(J5K#VHRA@*%sW(KNd`J`DSvj(p%%Sc1HP>-~AS+H}3BYo@J9edqTHO?VXUF8dLYC
z8|Yr2BPpd}lJ<Od9<!|Tk;Q2&xt?2`IMahKZV>qzvNip$!1J$nyDs{yNE9__zx1o-
zVy*XV4}aUu!C#l1n60AE)jG4j%IrtPQQe@{{ikp3aQ|GU77%^gEbnabl8Mqjxz;7=
zVNY&Obj_*H^L2g{z0dZ0r!SLw(W3LG1o<S_vo;rQ>6pFe{YKeOOV;ato^pLr+^NZ1
z^w@Ko?|i?RF+q0s>rLicUd-YSsadh?=9+Lp=TjU@S3h{E+Hkp2QziXH@Rbij+sf)6
zN9>u+&{VB*YuV`?JFDZ<Ux>blx@NUZu5?GA{I3^HCCSfsEOfv1EcgD~DmhMPrsFHW
z^|joa{Ee^gxzoPX(##d?34Fa@SHEDJP#$tYH}F>Y)=yKntz03;b6`f<lJ-Xzq8G}Z
zYp!(AdDQppLzqnTWfi4s8ih6ba>oKitoLpYtE_L+30hydbMqGYtR<=PiN8FKE^3m#
z)obD#*neA~&G?%(yH?(}SzqkJJ|)b*cr4+?jwADSE}YuKbYF>+aq91~gqwaA&e6V3
zLhAf$t(@O~FIwHRyHm1i-E!H|1tvNH>c{q07F8cHvC=Evuq^P&(<3|~(zoVL3~@TY
z+Q&Nl(w>a@_52e8ZoQwFu{d6R*}8kNoh*}ID4!0uI9c!Gq48EySkrIa#UH;GA7K1t
zwNNAF`sHPgTbEzAs$DO>CTE?#=6}sP_qW1EJnMQlA3Z;Rk^l7kbamg--K+JFXS{Vy
zStjIoIm&;-?-<)dQO+tdeLsa(-u|#BOZZhp)F1yO;mb_6FDEao@3Wp7^J>mJmLuG?
ztV^t}?ets0x8W4`--BON&y=1K{V&({XuG*}o!1xt^dFAP<W*8n=j0lFJ6UO?Svu`o
zxq&U)S;qNi4@BjOoLMu|S*ZKSLjGxTm0^!~IXlx1nn;}!op1W!*c9X1yPwzX-*)K1
zXRoZ_`-b<foaj~$y(&5Jf|_#P`R}{i7^7aDdA+rj^KWTT)Q9g|er|Z!HM!86&5Jol
zBCA0E+OyXOg}%J3?Bu+=F<eT1i@L~c#lpa^-~De&$xI2CjD9BSaml1$qw2*JzcXDA
z<NQk<B%`;48$L~qJ?-bO%X#W#*p{kSamyXtcmHLde34I-tJG}4i$XRA1~G6oH2K_3
z)LN*p>#I}rq`>7HR99<HSmrpXjyu3WNS6EZZI4@?W?%NdS4_R-_onRaEyn1LEQKli
z=DeG?yZYS;aeet$r=pDYPHmfc<6dWW^qP~m7v;QD`?mY_na&(<k6R*JvZT#6%Fo;o
zKkwg<!`*p0s}3D{=hpM`NSxQr-g<WCiTaVgM?G(EWGn8Tc0J^g_I_!RIrp5iVtH$>
z%kpMLnSD#M|3ByN+oZr}I=P=i&r03oez<0l(5&v%o1DsPf6HXbrZXjdd8e*5_t2(4
ztF*4vUyLn2b|rXo-O=5v-!;8{`S~mB_ESt1H^ZE>4<zxM3C~XbmED|LAz^d7E?wnf
z{l~*i*O%+Rkk}T<FD(7QewBaDqU3K1Yxl^XDPR2a)7yz#e-_oHd_Ay-K`JMH)tXnj
zRwl>IpT$hylr(Mo)>ZLd8^5kOTQ3@R`H){~U4C5MKC?qp&U)2s-|{4xJ!Of|*2wGr
zSvF^?78;s%<xNyLED%`4(|6+g<B79^7F5V_#?%DXXGus3+~<CK>{H@3v3{;I(SNR=
zTkzQHg!az}Ltdi=3z9W@_;+ksr1dKD@t)nA)-HMy^f<3GN=<a}3I6M0-l1nqZ|z|{
zoA{_S(l~MM=IYm*)@m-=wb)nN;Nh<yvO62COE~}4*a)7PW)z>cMNd1G@soCZklu_t
zRd(Y4XA~@8ah_T)_-Ts9nI&%P+#hK0Y!BJ6DrDvQ32g7~+v*klj66{D-C|C}=k~rr
zmU89!iic)BYAUMwd2!Cq_sdV7bD68Cz$MVFD00@Y>zUoTr5<1QnJfu0dcBA#Sm*Yt
zggadOSl5aPmHsRbv5L~oxuPV(wf?zdXl_WC`~@A3{PctI0gsrr#@37Ou-{~I_L=7l
ztH4M7GDfG{{N|i7RzLW{WY*cB>-=^%q}S;uta91&W0o4fMCp8Y)8D5q_e^K4{d03y
z(%h7<x)(k+&)2>G)opi2v!2$RGQP?~mu<h+Z>(-RW*Z(FY4EycY5czT;3`Otb5V8p
z-))OxjPmw8t>2~bPdDGy@kM=Vp_@$kyJdVccg+;;e{_R0?V|~=TjV3Z%WJo{Y}(UU
z=3e=~W3$cs*%nK+KksAQsqy(aZ|H-z+eZ#=i78CWTySB^-1X+tFC>)anJQ&?PEtK(
zKD(>$>58SROpTrAZ2#`<#=WpD^uQZ$<DZMFr`b*9v)vr}b(_}iHEXn5XI5?d5m67W
zf%JauaDQB;77+ehEbplIl8N%ZvF6{>{ftV4+jl&?GxL~AiBq|p&~%r$N2>Bulx>XS
zIN2U&Of6gba=mTQh0E7c&qZI<d*XTTTJt_jGh4G+$>;Bu+{li~mEsPmUa{=vnH3$1
zsV$d6Kl~9o@N$pHB;zj{Srv@Y=8q%x%&li=vR3)kc6!&|`paT3gkN}VvsyN<bbF#l
zQ^AsIEB?Y&vn>9aX)Kn$TOh$-EA)M?Y-c<BT-iV8T5FEpx)sFVAj9?A{GzEqc;8*!
zz*FXHi>B6jUbT@taH#Hx!p8S&ZuCCCXrsjU(Y@G0+jnl}G=cOfl@ASgFR6IiK3<a=
zsnB_)K6~H2@LRmPn=Y};u=Cxx<k7TmN@t6wJhE$g*nRg@BiHP?YR8Ux&12fmfAGfV
zPV3Lf>e8+YosF2(`0t)5+*{GsH|vPX*?Cc=ZQI_zUc2d?x|xjimA+fSQerC(KRRdg
zv*3t{)jID9%R;AqJ<=D#zN=Ge>iN&hE}WaXWzDbWwklJ;)my7PD0rL|yT@Eq$Yqhg
z_WT7)E`)FuG(1xl2s!A|=bUY{uTs6BY~M+ZS2xaXc^&ZPW$(Frv$Mm>&8JWKKV{#t
zcbuGyq+h@JHU0a^->1VjPhPh(_~8EY&i)Z^SMTsqZAvpeync6xty2`E5TANY=b5(^
zH@|SEZn(w2;J;-~lC_3*{jY!(kNs4qTP>;<lsvYODQNDC8vU^J@TaWBYIiSQnr?jE
zF#J!oMA!Yhc|SET+e;t*Zd9wUS)KNJ@<o;9dehiFSF)e^+I?`r?Z=xXBToA-nrZym
z<JklgzJr$*FPzNF>@+FT#J6eZqs@GGW)v^WuZo*3t<6&x=lb?m^|9Szm4yNIA$t=n
zlnMoYD(7yx=9@n6qL|u@*-Q33%Fp;-c2-pVaTCuJwi^al9(t`ge|@iN#^uve!d(g}
zi$6M+J8hH{S}$GvHDt{J$JF2rt~VQ0a=FW+glwN3$&*<3C4@O-!|Q)y%l73&@4Oi7
z-Bcuf@m1z$D^{yrZ|xZw82<lfW(e?RW|@3jnTyM7b)&~AP6h@OWl-;^-q1*|A~)wv
zWOV-R6QXtc7ycjERQvjpn&vAf#ZOMx*EFuVzF}^ykwDMMiAUSE^SE!id-UJ;y7V^Z
zOPl6ccwR2+R`GBt(tG}Iu5o(Y--`K5ul03nX@2T_E4y>s(a$S7CjTi*+P^o-Qu+2O
zmD9=7#4P9E;NP>U-sb1$`EgSpYxU~ZuQ|8caP|#p&C?%07K-Lp99y+`(G$yK*IG}^
zII?<&Z6E9I!|Nie-t2z&z#`c*@A~Vb-q*xmmkND!70flB=e@V{f#&1~dv2+urj}{P
zZ;IBeXwALy%3Wu!!=@KTy)U<Gt!H`uWy<@w?oXR+#It_nl<TcgY1@~hoi2GLN&Y(X
zSCg;xvy!Fc`o2%QKWpxdA9cE$CWq(n++6d!llQ6ph5r#pj{S*?n)pv*Yy9G~`s~l#
zW<PDbdAyCmBBNtcNYtX`kAAq#S?#jy&L^prUqafJ=6AiQO?}GxMCIewii<bT<+vGL
z{`U0PBz{#B<;>Mp^W;K)8GP1W8hkioapwa2mgzD<$4`8(Kg`HGF~~;$#m)*vvomrx
z;_{>Vp8j3aA@4EM{72}qgvVPZP5-3$)azsbt8{bXANI-1diKnFe(tvS?Ji-(srS}u
zP5wN^_(*&9<&aN1V>-8|3A*g@GKz~#|8s7ah7sF(y~wx_iGtccvO8?Izi0dL{ITYN
z45h_qyHY*9gcSBI;uWqJo!<L&@vGUne7cSSLQeDk%nG<*ZNBEwM$yCTI{bnbhnxzT
zTp>5#_@Lgrt7qloW!H9i<yf%DoUrKor26!n=aS}UHl5!b5430cK1hhjW8MBot>hJJ
zPK??_&UruC`i?CRJ*gZq*I~&Dd(OZ+xfb24-49+Bc&p^~`J<ZesnAKwQtG*@wjG&~
zZZ7jd#V<L&QfI>xU)J4OAve2HlKwyIU$##AmvQ>N^5=dJ_@<vT;b}W}A(oHXT%xi#
z|DW~RZ%rS!J$f*AX}6K#g!ioe31;3(fgwku<Xm0L)_lBm!0yAX;_M6eH*Wb>S|J?~
z+-0uwNSM=cPngoKhPIFeVL=5gytQ%l&ewiftC=%z2wlzD%XsbV-Se(J4k^)*8m?~`
z^CXmPOwUvt-sgY5OKL{o4eOG-bvG6ZxUTrMx6yyW6;|mPp&_44^^Lma78Dt*(by<!
zvTpe-%_B8&6IO~$G^zi>xaozyn{aG$Yu*kSUH3-eAI+*gTO%wkU$rS<)Bdpch3>P@
zt@Y_WTRk7mc<%D-b?(wL0ZTk{WPDUB?EG7ot~s%YBQoSU<BdggD}C}V7bW@l{GM2}
zmAh@8{0?LLlCb8B7dXQl?{l`lJ5ji|fNcW*p@fZ9I#*|_Jdf9(T57)W@V@)uZLbV?
zIakzW9-aK1-6i?4&P17;N+;F6alAZU!OQy2sDEl<y{dQ6-#Zss3h!q*S?}*Ut(N|f
z(ZVs{bImk2u8Xe6n>_R8E<fQoTdDV8;Ce^dxp9i;pR2!#SoG+(deiKs+0vnWUIPBs
zwpR^V>Jp6dh3uY2dE7~QratMdRH*V)zx}#mrvumXXMg|o@CxU$?uo{qrZsNn*&Ax`
zqW$zr@jrRjLtW~50#z@qY1^#6bJy&JTYve7DRtgF%zsT)U-jU^4S(+Oiv?s{cxLfo
zk<6!pX@}hmE{dzPEHo5Qh)QLS(0LZxVpMLouP%Dwt$lHZAIfcYy(K2bY8UL?_b9Tm
z_TZ8GV$09ia#bzPetq_;|NCd}_2SO=o%*wFV;=9{|7+)5VwQX4qfpPdW~oO}Z+Uyb
z>*}tVH~22?)>57tKkLY&-ljSW71to%7u65<8*h{`I{M#_NpQQl@2`lJ_N8ub84B5r
zOCMc~$lUPR^30lr!Wv(<cyZqmsElD=-g&w|JoBsIa@}+L*2D!reY}h<NcEMnOm0MO
z_jKmem<2&s6%W_-Z|uDL-EH2=`o~P=PacPObX{A@Hg{q5;d=sG^J0(xENFdSdS|iI
z^J>}e^VdKA#nz`67+?H4XZ5NndA8yvlK-_|S#Ei`Ve7h=b~!U0US^%LYOP;2%R1s(
zAWQA1J(s4en;*~ESLK{9x{m31>@Mz*hIgkp*%M!UNqbmwQF_g@cO@4?8bmcU+ZB$~
zU-jm4IA5Q+@cOnYyQojL@e`H%Umr2@@6OFR8`%|qGm~k;&kftz>XbIcJ5CNbKi`-6
zJa^WSR|!!DU)&k2Vx3wtoNBl(D?M75=C?9%ZeZt^+!*cykLnl1MW$;;?Xq|fdHBNn
z>k+r+GOOf1ukcvQJoUzn9rq@_diE=3P0Lc}Cad}@0grn*mi=Une?4b~_piOp;eYPQ
z?789-wJGfQzp9DLf839rV#a>4N>BIkYtz0byry>#-j2Qzl%1yC<$6!=%%nX6?JKr*
zU$5FXEyDYkiH45i<;sOp3Sy@h`!)tUs<fU9e>wS{ib(p#FJgO-rwN%<Dlq+fe|u`N
z$t~8!54`ePUe(`@wtQ~b|Nqjlok700FIF#G=>6+=^7n#h!BEed4?U|IZr+KXacbk6
zlK8Y28-IMhcxGnh!Bd=K4+U(OI^K``TJ2~szjxW^dy{tQt6Eu3eBkwT`Lk2(^6}UH
zYj<1gonktEL|xZmy*S&v+wzrMi3jv|gd9xXaa6rnRCwv5^ss-Mg6qYO@d|H}@DuzI
zvM774;8tVS#OVqN`JBZm>-xAe))?p<>kHqR<-qX#k#3Xz$>e>0MO#X8xTiY_NfsqN
zmnlzjC@tY%|Hag;EKsE6(oweAD!uE^tP}m8;OZ)u+v=e1Q(k=Vzsal{qR-!d?V6>M
z@R{@EG?u#^v7h+aGu{;Pol&oEX#RKcTi|7FOZ`tfrU~C!Fu#Acp^UEep-ffVc|ScS
z*=l7(?U~Y*$-lRz_=?>tHotj#YGn+2Uu>^DrL|?>LJy7j`dxSKz35iil4<=XV#fum
z-j%&~41=bqUHrY2=}-Uar>s1Wo!lg=w<*rgzMB?sd%~qB+`R=2QkCCCf9)?gA6>uG
z<@G$Ny729nR(WOh&1}eEn>pnX4@1Q48++!3OiAl2+i`NI=Oq`rfYggTW${;>7G*t|
z*s7#;biK#tRnu3OWxjirA@e!gbc4;wElIkX5pk*|uf5(a-O`XS=SH?z@!Q>PEuAJ`
z4o|sVUE2D|Xkm1k=dw1tLf?F`b;^r;O1}pu)iW#QypFgUn&cjKm_v#|S2^~xqFLOr
zkkxl<y{9a#DZhVpN6`F@M}xm!pDJ`>(_Gbyp36=xk#X*+-TfytcP-bNDjBYWT1Sib
z&IsxL^nP>s1#8K79_zOpo&L)F&#_;BWxoIO`D^#*?}<BU+QKyxyX5&KUry-yxOTSd
zi>VhF_H(uDk3DJdO{`}7eDxoEma9*kH)MJIa>>HKD-O!ZC^Y(5)n1YBbWD*v`|)vX
zvC97RjyZ`hxI1lbiC&plD*DksW8=xc<||M3RaoT*Y@6(Q;(7XxzvgiXVGT1@s&?q*
z@%&>2O(%0%ALWsJ&CbBkqXBC0O^zwysE^KnY$jG0zu<qPKv%8Q(MdYdlgcMG>PBB?
zykz2GbbC4jtMbK-8+Pe>TA$SWb^p7v>aR)CM!w57PgZlxX<M?Q`1!-~AO8-QMotiY
zth9c0?diM4I)_$mIrr&R(fwaF({3zuZCMiP*1ap~_cdPOYwgYQ|Gw>$>{L>&*d?UA
zD_?g>eU97Sc^=|xmL#pui)h_g2^tUA-~T3cPF&*EO)o0@jNeQ(S-<98<-aM<U;ni6
zzq!S4y6Wnb-5lwxQy0YOd~%y{b=LAV*9z1&^wd?gFJUg2HcxEkFR`<d={{RmU3I@V
z$Lx3vzx>)h%ag_@PAiG(DvGVX&RcT%%YM;i3oq{e`eSK*WM|*H=X-1_{M{e)#=MUf
z_}BaEh;zx2b*i4X&y`%Btyi}*J#W{HyT-fI;~2QE>4(N_mARXG-1yC$r<)Rv#1>!m
zTUzmDgWrEukI-iSqjjg_s<s$)YtFm+>1@-9*=&<0X06PNvtIEu@fr7t5N_`{|5tC^
z4C@;6?|QnoPFVhFSwel3g2L>+4Hk9^|C+S8Q>Xs@c||Gm+|p@+f=he2-4ajtEnTMd
zdxeQ+@vNpfoA;zN$!ydv3Ysn=cH_b-F^K}3KYVld85h+2sm%B(aW-|AN5)L?h<mO2
zOSn(5PR`a{`e?N--`B>#qb)WaiK%lY%@F&^dfn}}++m?(S36rmZyG-RQvby9WX=CW
zH#V%e*=BiQQqRo=H*bACeC@9JHQDP^Ti#E8%%rw)MR!l(Bir-WKJ(1Wy7Q3HI9zJS
z(+~d?91O0+z5m8s-tn#PefvD|m41tq4jhnXNwiMBy?H9TX20<y1HL73;fnwIrf-_}
zJgD;3w+q3s-hbRB_bqyO)%xc8?%Dj-dG)M~FBe>{)3_cbI(L?QmrK23q3pHrvV&o3
zD%w|^$Z(#ZD$w<Jo~~u&Q?11cH<De?-f#K!LT^#h4$d$C?@W_E$-2pKZ*!W<wIwMb
zI+npd`4i_{pYvz#w6pdPW;$JqQFZF~-nHaU!F?mg<;H1~!X?E_q@NxA#L*city_}f
zsP^eV{k>1Wa%&IoyjkSq;$ZOO*QJ`?>TmP44untR+c)!Z@ubq0oB28i_IFv{tM{n>
zd;4gW`2Usrs!prO+gs(U+j0g8Y?{2Q#<A+}-~370n@?(={Ot8)rQg!0O@a*$vHYL1
z`2Kjm>3EsSr?K9nNqx<l@E(neq83#)md16~H*)7X`kB_>J8hhh9Ap$%+jutD>_%+E
zyLmVM|Bb%e7Flfd!^nZ_M^d+(e_`4^$Hl+SJ1>rUVmi6uUE@8S48!dV;o2=;kG-WD
zLfQT9{#fksM&`r*LkIrP_E~;Xhi_S#M78tn`6|rTUFn^&i_2yF)Pj${{-0M`P{0<Z
zY7lWg=$HGG-Kpx)^&i%{9eUz;=yT7#J<7}1OkA@kAR_j^>_?gM9h|KTTy?hxo;bJa
zZerNy?0`+`4_cWQ&%3O2Ucxf!)%5)4wtwC$I8#M*?yh=u-}}_VLbqtCDK&|?tp_A0
zYkbU2f98{0|3;<Eq(^DDedn>u{|q|kek@t5yU=32!`<MiPrt>xX!_2p-)7qN*e3U)
z?-Ypy?Nj&K+;k--J2-RP(MVQu71WfQTQ9aEb*{RITd`f9RE3zW``IS3=jm&5&iQNn
zFZ|VMRb6Lqqu!ow|5xmP*{8xy*F&af$CkZ6;%MscyHh!C!JPxg7A0y<5DNXaa<|?A
zgK&raMi&{I1Ew#!dSUH`gw*;~Z1r2-?a}z8cCy>aGjuDbyyj`P;y=M{N<Lj(vt4`_
z9lWQ%_02?f8Lk6=b0afO7XO$l-Y2X6Nv+JLAnA5_(@fjGKL_~cL_V;tdvPr9&+e*Q
zU){YAZV_4Lo0nC#u70^+*fY)buC~*wGh@HqYMQ<B_QD6xtYWX`xiU6yTj(OZ<nVmO
zdO^$1N1hk8Dyo<oGu_1|881j!Rn2#8cb!ihzk{3fK@AIeuKhcH?L4Qz$t4iY{Yb1K
z&slWWhsF09g-TAI;r;6<!tg$P!_L<`Co<i<t&uP<f5!y*$XKDP4R;)u#m!%*@Vso*
z%tapSvX<(9o@BkMV@`(HIj8&I_CDlUHN)?1q0sO8Zw7_U2e;VwK3<s}vhjrRk10{_
ze$Kk!wC>@OW3yQH@9E$^u-?nL^WRGe@!6TSse;l*J>Sl3f5vwzgPS|!0Dp<+d%@);
zvhVxi^Srd?KCIX7f3<(-1!cV_Y#KJax0I%s7aZ2u6WSuRfJt<Q(v;Wj=Pt<anPDz^
zwXa%HZi}tjtekrGJ^$tPgSX4vxOF~b7L!B%>iUj!|AH;D>tfEAtHq_LA2!(V_lWy1
z5sQUycU)vSYH$B(`N_OD7H71-{kh?|?%P@pQ`fgL(Jsx+vEQD2wOw;DaHevwqHEl{
zXbt{H?l)OvSMDtcOWmcL8Mo!_+6jwSm@hn5^Z(!k;X8h;W|g1K`RXnIMW3itdGaIg
ziB@x9^!Ed;o$Xc&w!|%bx93Z9oe9r|?XP)j9{k+*Tde4w)4A*XmR4^Kr|&x>cjd+I
zh}=uIjy~TW6(sq`*l+xsDWY&$n(s}@h3|hWg!&%;^KpI6rWtl>=Dt;*Pu`jA{QPp!
zyJh>5_N<)v_rB-u*zy;AQ|o8kR;ynilo)b3<Iswo`=^QhNx$`H(<3c|$5C=jW@fr2
zraL;8Pl}lnY8G73s-kbWK!0*bmF|-|5&q;`k*RunQoZMF2{~IaFZ>3RPSflXq2t$T
zS074cm=mj=@+ST5-SwZAtXq0cbl21mZa4MTM%{gV;fUgo2lWhyK_C$Zw#fo3*|}E#
z%RKp)gMs0P0=QZ5AWO1d@tf14BRLG}hB?dk8g7u7sGKb|ugv08VmIqAvAw##G~Uks
z;`!^Za}fJ!&pW-`IXzY#KD_Pr{~v#sKem3~{?o=~$|1U^AKfVGm+9_Q(hQD_k&l+w
zORi4Y81-4{X=G$a^6R)O*S@Ro|9^LNR!q9);mfYJ&yHX7dYyIW_0^MJPwMyBX=w*O
zxVI_9^7@Ze>#A2i+P+{`y6yQww!L#sAIh2^?q9htMlV$<Ep^j5*M-tbUMVrnpQ}_?
z?^+yY+Zwghh1clWOWSFF3Xw$<mwws3PH(C}N$8zDVOL#Cmz{ZAZl2zCQsmdBh=au|
zj=tJzek=D`c4O|27q%6Db}c?~yxe>0{Q5nQl206a*QcxTf1ce(0r_t0vy;*cZ?02Y
z{k{K<Z`fz|vhTaZ8=B90d#-X@<XpJNZ;tm$<AZm4L(Ycvx%;1fl6<yHsA$rU-injE
zXZJ~*^m(#c^zwI6lf|7OyVvi`{BrT_`h~%Zb!yFZFINlIG~Rb<>F3^YK4tCcrB}Wz
zx*Hw2wqE~Bty<421p)cl>LNUo3qQpM-jLUOu-jff`rm=ZwBVInE-J4smQ8Isd|$SE
zo{GE{&u;H|4NtvicF)=?y#39dGnRX{JaUbE-1hk4{R1E8?h}5nzkM}B`BJ|y!}F<Z
zpY$H7Miz#0@7<UZ^#6Q^v%0{{mJ8~F=bt!9_NQ$RT7RIue#L9olc8R_F1t0St=G6@
zyza+O;VEC=zE0O(6Ub1*%6FquT5op2kCK1`hkSd^?+|;V)7-u0l#XcE&+~%vEA!@*
z9NoN>HNf%6ZZ<}r8545ni|MNg@GVZ_oS?Skm$%LAqn|S@HoH$W-_V?SXZzs{x!Zza
z>Wg2NJgfMpA11v;)8%S?2h;f@#}fnIvP`I4Z`V21=jY$@H%=i@Pq;IVf8L)w?=j!D
zee7{3=5AxV$$eGr(EseuU#vgJq!@|5xqE9*&2^uH#WOfh@-2}L{=4Ow7x&f3)4xSu
zd{fQt{j*TIy)ePLI6aMBSbf`JM~PeiOy->V<0xY}`R1`GQ_r{t>r3x~d!E*_ollzL
zrRJ+<IoY%Mmj_F3+Lwm@xv2%w>!&8T1)f-U<BH9J;|d=Y7AtIb(N@?o<H}SIhDB47
zcdITvb$jZA%)QgA&DP)dwDVPvjY`{GKJld1v`9Cr#o5b_J=xA7`c*CWkDTO>Eo?bv
zJ1f?z96BNGE2I8pS=p6xCF_E=;%Xr_=lbdwXWAQud+wa*ty6T~aj+tmo8$QANY&j=
zCwck0Cda6)T621-o!6;7*F!90H@0XUFTEA?vMoK=jd4b^X>*!v_Y`SGmXA@ZpU89>
z%Y|jDPMDKX$r*XOH0RzOh8;PkjtLyUb@T2|)4U|>{>s$u>jIxbTXPrQ^e$0*3Er3)
zxAxTY-I*~d)u7~;+Vh}?kA5m&&n|m#RCcA;)n8jRirvI7SX!8^e`Fp|$<6v!?9o1r
zlVQGBM5?(L%$zyZPjvS+uDJzvv-+8=Kd==?WSebPFBG}ad_(qI`ahknw7m4SQ+)(o
zzsy>1K5e6O=Y}^nXRaJoIwfM9_QbR4(Pqv02|aJm$<_ZnJ8km0V=nzuZvRMlQPpVt
z)yZ0}r>#tYz2VbB<4v;WbK02IIhrH)=wDr_bL6`B(Y*e(8{U8IU061wjV0t;{?W_j
z{T;`S?_|l^<n!$KwG#{HAIsKQ@Z2@4XZ6lAvtG;k3Ve_DJ@8=eO5bmJ!73AuT$wxn
z;F5>V4o+GAu5%as?WjK%E}vE67;fmUw0l;F=qB6!Mh~k?H9x(2HD|T`nR^A#H9ok9
zzxnd1U4F6r`FQ{SRgY#J`Ju9=R&++7LcsSACRaWMRxJv@%yHN2<RZ=$e&M_MzSIj?
zZ_9ZidYMmR|KbOW(oV~={w?t6S`xMIsO6?Z#R}Jxm;HFFFlAR<&Ie61`+Bu%JKlMA
z;!`S(=B0G}VVWm7wUzDD)`%(U>^DD5Jm`4t>haQ4W$UnvJTarmzwT}Me?aj<UzqAM
zrt=MX&mS${dL)9O^E|J^?rh#J-{Rf6`E0UNVh*ji{HgD&xq`!7-NpZ!?yQVlx@!sd
z)4Ru}C+zj^c*}8swMu!Z)cuk|Ngk&~^%q_AD>XLhTKT^+dbn`m^WSxsb#pZT-nz2O
z@p5kUmC`$J!V16qHVxf(D9I~5FmsjQ<QH16E<RrV<;4=I8J|T$53aCZ!WAgyu}g#D
zO<5y{-ZjHJDa+I6X`I}=*Q}<?%*NoY#nvbH9Hrke-;&?<u-kM)#LTD3ukY9YWq&DJ
z$35>w{nE4SKW<CQ=d`mqDf%)P$G!OQz?QA-qWt#UgOf`>Ih9`Ivk5&FuqWS5%VxKp
z=rOII7w1ho(R`wQR)7Ar{hlr2M(o~3ao2^GC3Ev++uho(ePyooVS{by_F6j(o6jD9
z8r?TD()fZ~>#wJcWtUgI<zHg>Hcqkh$@~W4o6A~cF7K#6xc{HnzE>ATYnASO$gEHZ
z$(r#?No%jdYTFH`)J1k2eJtK(>)W+9Ugg-HD|amSJ92J*7Fl-wnyXfJY?4jK#_V(J
zSq}?J?4DS%Cr!Vi_bJQPUM=HSHcv|nzg&24Zzy|LF23fs;eOGH3;K-Iz0R`>|Gc+s
zleudh&s#l)XXitvPOj(Mo*wyJmFvP?!^iKQe9WzEuDf-|w*6?`yM1SZSDyDOxtS)`
zDfm?7@8@0D>>sQ!SuB?{{ocJBMaF0MM11s$ndNM>d1e&nqFc{6UOYLt^H%=0))#6W
zK2v}BYfS7(QDJ-eGhs*8vyT`4Kg^l5aQTMcidp5aIBM><#s!q#UT4guyRH5}sKla8
z`LDj6{amoHkMXgm$zc`ymo}@ilYFF0E1a74wg(qS-997pvFWVhZTtWG!fk8L)o!=*
zKKEw>YhL7Az8Sl3I&3w5K09gFbJxWyZA+VP@TENzxP032e&6pp0hh}cRX#m8dA>S8
zSH)|_<o)J%XWEGIcg=8jKO0)99pXB#rrsd;+n)npW791%O7bd<Ys&9T>fe_B)N|Rr
zPp|&=2CDyKVc@kt#u>4y;Klulcjv?++@I}8d=oN5)B0S`&W+JUktOY~UrIe&E>@_?
zEmHV_t&wqhQ@IFJ{T2sx=1gfPD|>zK+?vHpT^3xLux$0W(j7+v&z(eW8BOM0$;HXM
z^Wm|-><kP-lNDBqPyX|YtKLoO?|z5-i4JehUr^HQ5?Az73`{a}n8mh@>CGa&E<?*r
zJ5EQZyX||k=)gYb`y2c>rKfpl?y@KqDleaXt4%k{!uZd+=erB$)z?N(eKM;s(B$jN
zr}Het5=*Z=ajh-Q+8e#3EJaW;bMEC$D{rnWJ>K&5YxnwpU-rm$8>vUcb{pE(Zw(9D
z_V}Pfigs9F;iWBWj_pl7tgZENYCLa|U;c*dP(GXEoNS`HS*xSZ%Wv8jsn^|ec2-X8
z#;94o7TPOWo+gEES#*DG?TI|ybf()cu3D??Wk|nSIdirDMLmn;SF85boxJ_|o9^}P
z_ha@yU2;NEzx&FTrie9;<%?%8+kb6FTlc~Gd!JU<sax%f{q*W+u@zhXlW$j=KD@tD
zud^t*OxrV!ZS&iVZNI*qxRYaQZ&ZE3o<Sr>Zq*JW8QD#bzrNAoiZptZx5Fq{bK1VV
zP4yf><`055=HEDdFXsDf&3RY9z3n=&TWr$Atkrq*cCLJS@w|A{GTVjHo-T(u!is!k
zCO$vfxNB*Bi_q_X8XvyA`zv<i?wgx^Pv34i`F@Iy{>PQ2j>nfyc>ZZ!O4P9lEV9jU
zf12IASM|)h`fYb{_Y>CXQEyyAj5H-%t1YI@TII9u+8y0YHa>CJqb!w&^G-wt2TGKB
zzjk}j_V}TBLEE_#A3r{Sc<T6Fr?k~m!dyGw#_kB;wkXD6XJAdeTHWTeiGm3shKlhO
z=Rf)$vZ>~j5k0Ibx<+TpbAH)Be;A(xJ?9rXBc3m>o>F()i0|>brE^7WqNh)peA?~M
z{O>A9Uj5O1`sGcW{I9>e&rWlFYskRI;LC3yRV?!AF8|sO#lo6mT-WbUbLa~Ve%3Sj
zgJD1z<DAwBEfp7=KOH`JO}5^0BKMo{iYL3|HiS>y((7RN;B>D@P@<bb&tcmWOCRs@
z?A~;x`&5+fT^@$mD<{|kZu&gGnxZ>9Rq^Del}{_(ydC`B^fFj#9s44%j`t<QK|yB@
z-SrI@W<F{AX0Nfr|JCYAwZ}96+5UWb-(I<cv(o9?p0D99i(UVuwpjcuoKwGYV*NhF
zvrq3wsvRxA`n_7{=Am1*H_yMnFSSjlPO9j*ZIL>I+L1%DAFg?HHZAmTus3oQ`|q;W
z>2xalUA4)fPn*0hHO%~~wm!^Kx1m6~xXQ(3K{Z2X^ty79><wQQFP`3g<o&!4qS|}@
zmT=BcI@qGG+ADv3iuW<=Mjq22_q7F5=TxiKUpY}~b6$F8!ZQ}f6s8k?2E~U3g#Sq&
zJkxPIM1H>Ht|<jJvBI?<XFiXAyWdv1dztEW*4>o~39^Fcg-aIRGKsTZJn8L&X=Q89
zf4vp6$b3t80s~j-=kHZ(j&<4P{uAYhUbKJ7ES>*e>6=UDwHRA_?K$vm`O6c1lPj~-
zCFZ(ZetD+;W1D?s?0!Y|)k3b_>6(A#r+j@c{#n5-^nj**QPuaJIh(^ay%N&gX<p-I
zbDVeEHuk71Pma5WHcSXSUm5wNXHVqo_WkkFKl&Nhy||p1y?9k@h3lpNKW=rkEu4L9
zWj?4?`de6i>tlt!w+~I`ooRENWik1tTeMSQT=TAWE$upy`ng+Nmo<q!%9;4~`<Fv;
z+B?**&k?K$Jm=D;mTI)GLj8jFUJuQjXGxc~73fqo&Xds97h991e@^57=QpCIet!~6
z9OLx=eRBSE_~z-Cp3(8SAvbL&_c^-W_wx>WVY{(2W8$)vLVU8@@;W|0OFNpOw{5EI
zre5B=TA?>yY)F5$Nhhj4bb{u>RoRD*pW5)y`%h?}lfJWi_@aGTm4V*6RU%8*v(9o<
z^IKQRxc&2@&c{dYUGa1COZx3+v0Z(m{H=w?{DDGld5_fWS6*FbAIH6HsX=!4KJ_=h
z*lTaBI#HoKYpKo2Sy>5EyK3Vlcw?`>+;!;smN&Z+HU2ov^1D+d6spTHPo#crQ+m3<
zjBm+`md?q(y!r>L%==ExmUdXWHo<55gqV9Zm!C{vas9ZGb>nou8v(3c_x4U(BmHx+
zh0H9OLtpPi98F!?nrn5bNHKoXGNo5cMeH-H>Z^DyXRrJ#;`(V>+_gV)E0oF}RhsnI
z-2UEV8Dcp5=46wPZxu=pU(B)ao;36J>iVS6Ck2{I|DC_yB38sK|8}kCht;Q-JaNg^
zxN0x^ILSJ9fliXQ+xor#f{V9jay($FTd-&2Z;Mw`R@o+Q5Sq4rZ;|vttN0)BKQDhc
z*=YB`VOjfox5XMJI~yG(z9t>!pL3yfx6d8<)`CUHKQDTmyW)TO`=I>uH;(Pkn6~hq
z$zPiXH|m*X&Tw2mQ2wTBpYhiuYu-f{z6Hxi2ETCG_V`%v9><T#_0!%Z9n1dm(_Y^A
z1g})N@|1-32OCe%+hco3N;aJJm3@%d)s?M})^6ss3NtK-doJ}_RoAQduiO=lSJfRa
z?d>_UWb|*aOV3q*S@KijM#=j_+YEnSKD6W5fvM+KlwUTPThIFL*%evI_wHMi7v8IH
zTE_1%S^n3(3(nQ<U-urKxcr`0*5@GED&ByMYIa2<hO1g1nhlC%@4l^=V(_0Oz@Oo&
z>RtAo6Xag>%YCWLU+vE#ku#s^;9iwkw}P+x=hln0pI~pEIJd8D-+Z6No<?)DbMhy4
zq|SL6%(wp6Whsf8h_rk4X68NHd9zxYpWNYIeB!Y6!VT*ce5b9;eB-#?-gV;CKhn4A
zs?UZx9C#>jz}iWsElP$xaHT;*sWq$YxkZO~TiZ5Wt5!5!648^{z01CA;`+dT(b99%
zTzeZ51?N1UkRdxS%JgudSg6C(oJ2o`kaS<=(pk6Owy2jyuU`GG(CfvDPfY)r!P6**
z{g_wsu`@7qNlY)~W0a|n%mz)O{N3m9pIPxsvgqs7NFz1PoRhQo3?{R6K96o_n)o7O
zg-Vv^v#s6#zS}Nwxm|fi>1|45t~KYeFpW>2>?+RN?)m)g`0s6s+kH;VDnH&=|HQJT
zRCWEUcfW4@+@p8rh+@#ib&Gi4-`M#1z>?38PnQ3$xPCr0Sa8j|Cv)ViqwAOc`kA71
zS~q*8%_G~_AMy^ndW-%OxjxzJg0)BPY|jUkAD1jGecto>X!f<wXP4<ko;y8zT4|Pm
zQiQXp$@JU1riVrSm&)9mAe40GmAls51DifATKQ%Bo9j)6f3Mu#C;r#9UhT~5%eRdk
zUvd2_@^Fvdadc*n{;|ww=lL#wFsR)0=T^PfqR+p3GyLyew9HZdew=U4{{{9NJI>wQ
ztMt?$;+^~Hx99cG=x$#vp636C?Lxx#mD{p5yx3{kXqq0ox=pY?{i?y#q?hh-|Fk@h
zCoVUuH&}18ck7`oXQOKNtG-&;o<2p)^qh2@RQ-*gLUyL-g1&pl*=8JG{~?#{<(`SJ
zoNP_bSk$v*UAAm_%=|8Yh26q6#rE+QOIEcS*(q%bjXbPzZqxG@D}U9LxJ~8NU3hL+
z-b|I{Z~EqZp7x04+m^>d`g<7mZxpWz)<3kL!C&y+wN-b-wyc%z_&$;Q=`^mBSM<D=
z{+Z9|{v%<9nbX`K?>|gG6uC*R;v#Q&$fjl2GNr11{FMITx~e|h@|k|UUEhgU`_h@(
zcUQj>ycU`sa^bW7vorJUeZQ&A;$aM6NY+{KpwMBD{$n|z+J=vFwA{`~DIA?<E-I{2
z!_BcqB<scgfT<aq3j@p<UhQM7Y;LhSx}QtPe8u5i5`TA}_?$HLY?1lNrW?J}j$ZNI
z9QrU#B39*e>O0nl`R6)L*NgguTIe@6o=oqk>R8NHd(~6%RhQi#2fc{(5!I~kSswDM
zeE3r_zxjfz{PJ1{xrbZUiIx1@eb{*G!<`wgx+Y$h-uyFh#-i;U!asOi_!s_q&MVr*
zDZTc=Tdo^=QJxl`ySH@2<Uf6yx8(zudGF;bywhJQ@jq7jEcR0`Dk%D%<8JZ#!vC!a
zs`)~b_vx{(D+rtJztdmpMU}-9-niA$2Rl9r{}AT5w1MH`y3^`&7~d$~UR1TY^-W}F
z(5lEOvO-Pwb0yb4Q7+qf`(HyGPvsXIgWWsBeea5wUe1{QGF|D}uNz9iN7}P2zCDPL
zS3ULWz_vV>ULCGUt<RSpymWS1+%va(IZx~LE@eDBx96(Pr$tB3|9N9B%WgmGz6aam
zjLF}(E<IHDrKfINspgI+(xoAv%8Wilc()%+uFY3DynTygCF>@ZRWoxoY9)C{FD#w9
z$fo_VPn4IcghrR#y#v<@WhR&FH|SRTXXv;n?%4JFi1r1Rs>M4jgZw*I$hSQV5#~5s
zwajtJ$@-R?e77Wmq}(^pOq7^4%dODH*M@oOjT>FBT0`DT=6BXLoL{){X4kz#PnCsw
zg13B=y}r?Cw#nVaj3;E=)@buBo?7)%D^hi$H0wvMi>Hdq15+kSi~q}+)m}O6>Av1;
z+ty8RshYi>e_AKAd)O`Ev^+bVY!<`BC8?c3HUcRu$@azdi_V{o6P8Za^|vm!XkN)b
zU%&Z^?xU1vZmujU^D8@F|9olGyH}(4)1!@{@{Ygv-P0;6f3xIrLKYKf$G`>g-Fquv
z{bRlSV$WK}SxZ*lPFBCjQ(|LkwJ<z3wP|(6U7qvo^Df+aZ`;^#J7D%B+b|D>&Yh8e
z#C@vRJXX9Bovf-iqyFZfPn(a}e&4iUMe_9SeeN5VPgkqezrN<J{`r+Z?EX9KU991w
zck=jG|NSZZ=j@M{`+E25x;;G)K5<;z$91Me>BaAduLHD?u(E6~Y`yZ<^)4@GYHevn
z!@kBF8y_!P$1r!E!u0trmrIt(uH2~mA-F`@N3fFnNtLF^e|rwqb?eK1gw)TNfAK@J
zkG;n!#+z*^TTW)KddltjGc`{(x^F{U@w7kle9BKQsb+AwT;ki&9vFK+*Gpy_hl$Ot
zLq=xaO$wd4olH|Noo7qf(5o3JC~(5(LSx@z3m)B+NXPmuPH*4bk2eaK<9og74rkY~
zjw^pATDq)Id%SGL?5d0U0r}lkYw8ZybNzi3J=;0Me8pt{Kdamxznl|a==v^e>(Q@_
z3w%>Nck|uPcp8%7u&~$TLHw@gJ0kj<vu;fMY4B-YY}UU|xedX7QCf9Z=S^zSat++7
zz39ieY};RnyEK2FDAtg<U&SJI&?o8kwDm_n{cD)6dvITqPUJ3cd#yVf{^<#`KVH#Y
zmMBu6dOBrdtM=K`RRw#5*h9WAv%jHd$rfL3`r@aou&sM-eVO$K$1Sz`v;2g4%PxpV
z-OBGiyRACb?2+)>`hBK58<yFukbEHTZ2KuaqSk;lB5ZrbLd|KfdUQ$(HN_s=ZGV@u
zd-pEJ>8o~k<-X!e;TJgW;K9OCcl^VBj$dlw8^2!oDVlrUGJNqoH=!@GuCJFDTE8tR
z;r$1xDPzLkv)*H4U`Q99thiFF-W;^R^h!i@{v0=n+VxldHw4IcPk+s{`o>kg-Ag9U
zxw1+2>(L;Swn%*~o|3eh?5qFp85^I8OIlt!IV3CjXxq+@vFE<eWnN!b@gnMZU(v-c
zZ*K7R)m&e==GE)AyE41q>wD`L%PMlN_PlLe^~Nsf;lF}UZ_U@Y&CJMV-#v52#N_&N
z<);R-eO$IKlofRU>md2;n(h0JBf9%%UYT>}@s)LRTlU${Em@NIZpZxnDfRo~%td3r
zUCni$Y0_SBONjII(Pfe?wz(B2Gntn&9e;6`U2X1x&94@%y&7*AQ{;73ba(aH_U?y0
zuV0pzr{BrUI&!*H;-!FCxshMb=`Xs6jbeQ4Zq?T%`zvj3H+}CHH&L>tSgtRY<$vJc
zV`@f=`7f<Jldx5Kt(m>;=54pu%!{<$$lt(vyIpI2kGua}&b8LldvjI_=j=7|=G->#
z+g1HTiMD@2-bsI7RbKwh;OS<ox*Has3LR3GSY^eetCiZksalwv#e3IHsdLeddNY|w
ziD$v4OPhr1Sqh&#cAJ@a{=mm)7ZTOv#cKbqXsYbpZzY*>jjK{oK6+JiPrw98o@4q;
zwy1J_ol^N;KW2H}jw^-bF6!OWgs!x|U$vC0*k|{4HPM(oIaXS8%D>#Rd~eMZ!r$_h
zNw}_K{!00uo$`<CJ620<?p<T1`f^rSWy7ykW-Z)W+h?vnvcJB}ViAk`RN+rgrf{5+
z4HP`4@qJxkxV7n}Zl%zRQ>>O%>85^_eE8(gWW`_q-BX`0DwE#9(5F*pvczQ7>{D0H
zMF!ixWUaH<`n5T;^7KmKJnf7-4r$K8wIR+cmL)MixwumzgH>Y1x}<iC_wUW8TzRzM
z*0%op+S`}8ZQdZdGd%P5*81zY##4N6TkV-{Z(dZqQE`<6b8n{U%MX%o*J=Kest<0j
zlJI>I!oayq_U@-=H~!k5dA4tUJNJ5zKZm;imOMTC+2U(Z{nTT1b68yi{wyqG|M(^>
zpu+ps(+d&nI3B70-I=X*ue(mSf7QO(Gu-ljGWFVhaNo8=`E7*C0d=3tD>tbn)q7Yj
z%n{vV<*p*ThHsKdp{(c?6_?8lms2b+mGm|$cpeMWR$0En^YWRT86k^8l?&IszyHmY
z$u%!^ee<Wl>u!PR$?LfuS%hBSwf%s>-2;<tcs2!GwR~mE)uh4osJV|dpg=MH^1k9L
ztcUm?f1P|nc2WMU*|CfMB=0@7xX$A=ADciui*eH8P4jo$IUjygt9!4-oOKg+JiRn~
zy6YR?(+a-RE^gA8*64d@*~;uwCNXY(|NrcHIps@k@ao53dV@H(Wb9mQ?6rz3BxgbQ
zleb}hA}wXpZj`K64k_T3`K-|M*L6nqQxosKJ9>om{r{f%++4%BtmAV<q+C_$ErVa8
z7b@!CJoBud@xtY;BriYT-O2ptcetg+DqpO-y^LAqV4|4msvF^JuAQ8^B=hXoIF%`1
zcYDlmx?s9X)h=eiX^B6x%2IENx!7unf0z)c=dHA|_*&Bmv)bsxi!yF+KC|w8(%&d2
zvwv+)>Thqgh6JrWd0~r?^QzKA9@|2BSDkzCaoyv8yvgeoZKu}%`&B#d*TEXoxmEvc
z7}s@YzIl3i!H1@+Mv*@=!(6z(EDG$pQV`m-+Bdt}>Bn!A{6qCYpO&fh-?tVonXt;V
zNWEuY`GtwgtlL_2r6!y&R^fB%vU60QAC~kYQq5LeL;BU8-B<bV`%lhOoUkgasy1wv
z!o$KXo>$jzZ(*Kj7CmcMN&TdKaoaX&@SfV!V_W}Je{aRR=_kVGRbNz^ufI4m^2g_=
zX3<WS=Mv_2z4M+lwQlO1o~g_e?3VtxlEzv*>wciCsi<hg(iyRP+vf;{t1_modv>_t
zkW%=pKkM`|&12>Y|GWE%_hbJfjon3l`t^STYAovaT1eeEyY11jbh#BR`j^<a>g#qr
zT4QWoW?WKv;HRJkmwvTSius2&NxrH+&wu7Z4%a_=yytSyHkdGpZJEw?;f{-X2Kq~C
z`Hg({%fCpE*u=ld;$*O>hw8h-3dc{s3s?UAJm}+n#nQUsy-U9Y{g;-#uYBBA&N%77
zhv`o@`+vL<FRI!yHFN4Vjmw9NoT_-9ub5N6e~(y6y=$=Pr4REH-Piu}Q1NRv2?+?8
z(D_#*c>M<U1DuyF!kexzsGo1rXW@$pU9+n8+QZAt->TbOFKtj?A~wN0aiZ=XSApqq
zd(H%(IGp)ts;9{Dqe`>IFM4sVWL&i7QAoX2WwJeE;)m2tbuZp)%2$<4S3hOP^~Zoq
zSpNMHwXE<BLAUeQwsL>F>~r<g_LLtl`S_f?1R0+({V*_j@b&7Od(ljZ7fWVb5Nghx
z;;1Z`bF6dvnYz;}^Dmy14!c}>c)__3yBsd^S&CRL{^7>9;Gye-OEuSCockTuSN3Xh
z!W<L#)vG@iYQ4C?UJpLKg=_V)j2-`285pKWfNH<Vtc%6!H@%5)n|o;5nspAd*gALb
zWzmr6>}!45to*WO&5Qc`imJyp&KAp@ZKsplbc@F|_T#+b_e<Zs{49Pw)KhQf1lM4H
znfmj^9IH30>A&jk{9HD1mvXy@>+3nwe9x+#<DGo2yZL@y?YZNd&Tzh4_jHEeoT))I
zcV3^&IjW`gUFuv`Ote}3qD5TwUEOhdFGSabrRsm!lem77>)Vp=-R*bo>r8h&Hc2fy
zd`;L|!Gm6_HWcsF+Og%@59c+72UX6@*u8yQ3B&nKmyNF9pQO){Ton?(Pvp-OdG6w$
zFFr*~P-2hcTbaokF(<BkVRYKRH5+-F@11)qeoaU=Uf;F!!<@c{(mUr_F#NA~tAC_s
zm3F-=<!#EgnP<cD-$l+|`|SIgcQ@G+*thdPO^!=h>wVmH+v|V~*+ZsV#d=uyPR=}Y
zAi&11T3b*fT~pMx&g`kp!mfF;W|F$+#nwDZR}c9!Z_lE8aUw10?cMhG{{DRT<Y`X-
zb@A;VO8S>n3Geuv@A*nC?&7Z|U)A)PS@nurgPlymwcUzWE{|3*PRQS0D}Mj>$<Lb}
zWCl)?a<WxRI<u;nZPSs}HU(BG{7W}UtamjmyvM$H<#X4AXL{M=-n8BOcW18K!+pEo
zpZ)HvFY|MweEo&;-w!KvXMVJL*y_t*|3~A+Dkb6GoM~D5*{kBD_nL7E?A>>L=>b(;
z>vIRi>pk2L%*fyD%Cl9tYJE_Oy2FVhZ6Qr7bCxcj{$cCv<Bx80FQ{p5=}U2W^YiL!
zHTMmdwr24NSU-Hu|NCG@Mv}pS1GhPkT+Fz_F2;B9p@jsmp_%rFi0lsTm2sPvDOE8X
z*%<#>p^7u#q)}mC^rG)^=Cd@V-^v#XRbH$yk#EhD;CWvEK*jS;rd0bogRkG&J?%Rm
zAK5-<O_xpjR<rMKr$}s>z3D`*jAvn?-1H`iRY9MV4+&P}Py1Suk+Ur^bIX0*xw^tL
zcKbSW7L_*s*s(+5>#awdG(t{xoMgDNY;m5Z+__w?g|Bj!c9<?RcA5QLdr_Xnitt+@
z)4krh2G4y{C9AfexxfDE*EJ{eO$46*Fq>Qw<5jvU&nu0?*zn}5KQp+hnjUCPJR;nF
z_1*2ue9~(g3bQ#6U%TpWeP=u0ao@E8b50g|8gI)wHHT9~Y4gVQrTb3=dgTgMvYaoq
z3k{L+n^Ul%pZTofQ`Jur>`sBo0)l_$b^iJMRq&i|PHg)=wdTIt{jw)K>f<<4PuWbI
z+U4z5D6?Jdi(t6)ziAE0k94}aJd2L3JK-4|D6?qJwcaDF`Ul=$cwNn`e`G&{@|EJa
z1wl);XnD=}UN|RRTT8{*+QcXA({9Q3%Zo~*WdAhD_c}#CU}$o4d3>?1#@yzs@;t7V
z=pTPiOx(hJME#Y(#Q%PC9OQ%j&Gy!t&8vUkvWxw+yx!J#2On@we?3>_x8wP>*OyBM
zYO8U3_PsahwSJKEso=Hmi*(kiBjHP`H@#11J#_P1Nxa1Wq{_1?e);nz1|OT6_k{K1
z;dGY2pFg}d{_tPkbaqj4|6l#=t!&$_Hnknz_G`_D+rQRqJ9|cSk<j}%?I^vAf-~=}
zzRFc!vU;_3Q+}59^Z>c7f4<pyE&6%DpFNME^BC{sh0o6|N_?~|pm<WGh~Hy_zYj|G
z=JSP%RxJ->af;s*yz>2)*k$@b?3yj>-rnH;wR>ax-WLV81UBV<-M031l*8kn;$MzT
zNRASGAX3Gm?4CWDsa*Q;!DIn8UGZhnm;OZtFPyPq&&>K`w=aCH*yHH&>9PiIZ2mjd
zJd3YE=2C7GZ_jtVyu{uoIe*rjPikAAo0csvtmDZ2x6G(!-rVyANl&;||8tsZ{E63m
zQI596Ie`pEn^`-J?R^BRF4`Sg`S5@*`(J~e^u?KX=4TgnIg6fRF?RZ_tvw_8Q(~23
z{<;|td=pvT=bpUqzP`Vv{>t|?D=vDqr*(&AZ?Y;2>$*N=|4x(qf(g$L>OIl%DdhMh
z#d5-Hw(5nPE-vvNzL4_1;;z{na{{9uTE{z!TuVB>X$ALDnWpK=ttVz$m>#azP{>m>
z(~G*g(kfFbHAOKa@RrcL6;YR~uGsn|_vQTJXMpdy11-0@r_9dfajvp;3mXGNpe(3b
zn4~XKzbs<YQ~pX{w&-oUm@=i0yqw3x)8lgdj><&kO!b=={_k@>wdJuYqtTXXiAii*
zQz!1(^ZgG0r1t!}U2C;BC3+QKlwtoEC?ar8WYLqeUkg9HRN{AMyx3-@y4K}zU$gbH
z=J|g6{yyuKdA&+S;_eGWTfVSkCkmG@?iO9W(oSfSX-0HCS7>na{8zhzwW^p`mR^17
zc5y*)@I98>A75EMK3a5=+f4ZAuC(6FR*kSg=CfbByx%T8`P^f2S7t}yV*U`T#?+&W
zwBBx?Cf;TE`%2C|t(_CnPnp)=n4@{f`+?|$wrdTlFLI=}-Mw?3?e2#QKaYRN*6-}g
zpT5ej()sv?-aB&a4FBuT)g=kYZjN^D`j)z}K6;Iv-KFgjXXRhs{V43ve0RyURo51^
zKP%a5DSjuU=ZN*{TkAxe{aruqR_kq;d+pD)J&z6_<KAo*{jtdP%v=_uV_mntWlPJ-
z?b}~Aqsq11L*=jHq9=wHZg=ynHu#E7vGA)Btcx(+!_$%9dTQg&xm};mHPu(P=0E4L
zTDK)~#_lf535=|=&WSY#mWpl-JU{EhWhDjG@M91CN^&=K1wL^Xxv|ddnN<3{Nn!>c
zo38sz=6};Rr+b#tD%IQ;H|Hxy?<>4={i|{Czur8dEk(g=ilRQBifZ_y6&8}2RyI%n
zOTC(m#=(H>7R#9*q9(u3)U8*MUtgD8-}+E`nQq^)g)gf%F0)zOHP4>&+<*E0y`ATB
zTv(J&xc70ZNuT#u_dT!ft0vVv$?2Sy%Tcco)!-$+Q#Frxi!jVj^-tk{RIz@2f641<
zY)8vCnI)a%jda@X>Zr|<dh6|bqh-F_&ktW;ld<{H<EaNvxwM$<SthC(_<lpyMD1;h
zr1k2rIMykI$1rBv=k(>QTDw0kC)6@EO1Mjwb#I#Wmj=~p*LM?>>i5g(hdD_uJIiP4
zd3IH@$kwfqD|RnutXar?<9BK5jw5cV2c>jHEE!%LRZH;XRXx4+?uEr~w43JU9sFu1
z&L2><HsNjA?>f18LA_I>#kXYM$lhC@(_JOMHhxEUy@|}S2~F*{j~{P7o!c3gQ?}1q
znbohS%TAd$-YjUo*k#?2_SU}&tKwdqn%)@|bd;~La-*f|(vYU6%1i4Tc1+$I`|W1Y
zO}Urlw@)tDKKGB~4-4z3s#EOwmyK$Tvu+#|-2Xk*{m(R2ZQhJ)_Kq=^vLqX#wjBRA
z?b@a%3sZCCHl)?}&-*RA^6P|$QBAA1);x_rd@<*S?3qOc_vWi5PWsaJFl8Rk;hI_e
zYK10eeog*TykY6P4U<#8J-Noa=D)l^%J)n|^YxY|MfG3a<-ak(`|vAm?}jgR3U@W+
z-Zb;?iYW9yBEzzk_22!82DR_!xgPa)vs-ib$@iHvo@DRfoMP^>eciA6WZ%M=;Cs<|
z8_WEDRo#>N+EzI4nWx0r#gQ|77TNf)XG(or_A=#~^pi-FnQ!+jUHg=GOZB?Vlh!{H
zKG{9Z&+f6S_unSodzT(FzZcyy)AX8lO5n*7#(nnE@pXsHqT`>57#3Sj6zX)<chtZ9
z>QmFzPoL(jdY|?_qh!h#x9Ly5JbGRqzd8Q=eZT&c;=RRB%ls}F?D=q}WE)fWX|<?D
ze<F?8Qoeqh8uTdbXvWIzGQ4|IOTSj#w%PpfxzV}(dsgi@QyCf=@YXmmS^CBa)vxPV
z;^Q6^9cc)i++}{uk^kPmkY=Y`$v;~kdF+0dA>^7_E|vCIgL`s@1;4uHr96qV?VeM5
z9@Xodv%7t<&?qkZS-=d>ck9C+Jvlhl?JT$ImWWx4ovzINmUkq6<AXevzHQ<<(p+w*
zgr5YQT{=BnaAsQWrd?T~bC?aLAHSu+)^%%N+@UXTt4r>gGAy<=(7o@sF7IBqkVim3
zA74j(OkPVt>*LFJWdaV~%{#Jq$$Y+p3$3j7OD~`Htv<iIL0*5VS^mrwg_Ev+(CFK&
zd!dAR&h2&kx<hvgUW>1r#J<jBaf#im{(wKbnk{1tXSYta@jm1z$NzitJ)P5O8_SP&
zP502$es|jTp@Z0oKzZM&*!a|`O6Qz+{@!jH^L}?}j?0^?AMSm=f6mHc@!k&ym_HqG
z{qXPEsozn%xR;vA)GxnWa^bAo<pL@7${A;Z)-e5CAph)d+@zGt7gb)L)nyZ!EZ()#
zdsF$pP5k=v#e0M97^t#-dgSQvZBgK**S(8M9{7~)vfR6Oo59ieL!wiw{GT50-Nf-I
zPta6+!^5d8`q_8;*ZtO8aHz7E&ArQ<Pkw=up~PK1sru~jb%D(l!JAZd@^>UM9xPqp
zXlu_W#rE!!Sns6RE#eVhcM7DfUOu@+(pUSIUGDP3%3<x3_cKnus4T)&xN=7JEmj7G
zsr;ZSY_sv_8O-&kTp};r7Jt%Hxb&r#he4g=fk_$q-XD$@e9KIHwc~>iul@XaCzd^5
zqs8skSDyBHcdE@#!OTMoIhXAY`MY(olVRd!(Tv|}p7wgtA1hv^dy4J4cPe_<!#k(%
zsCWsL@9}tcx^T+Udo`9R-mgwbS1iBycUp>XormAAQ;eSSue08$JIf~-thp`Rcumab
znT5%+&7b>)(yxE+X)=3Wd@eBh%bkqL+257xJ3l#V-dnv{;O*CG7oFZ+6+b@zU}<cY
zvsA84wPBT0m!Myt@U}yhjoq69*=n_`?PnTw?+JhWJ|wfK@b5m|29~=kuQ7al(DJ6N
z=&!?yzZP>;E*I9T-SM`Z)fRicHDrBcwD8{sv5sYlZ!T+>9Edaer8(=b@9Jpvd$U<=
zvL<y-UlZ{tRAyJAz}gEc)4j{*EnO&``mbb@jQ-`4m$%h+>T-unHT!<QddWBUZ5qM1
zZ!F!h$3xrE=lz*8{ecs!FT3pue}8vF?bW(jFBVweU3qhx(dR>P^*XXUcTO!~pPc$b
zrGDAhYxg8Re!6{*bI;zirtK@b-Q8Jb{w-GNTXs3l{Na*|{;zeEHi+-sBlKSLe}Sq=
z!;bk*rHxW?g?Bu57wt7>_1(C}FyU5m@&m{E<q<sHuaDjP(<Q62B8O|6ru3Y-vQ64c
zn-<Ai@gDA#`pXg$S3Z5guPwQu@0V|6c^;A;W&ic|WR9OwTpN}qckgFqU`P=HC5(DA
z(17ooi0J&=W+HX+8~!_RRNrXOx^`Av(vvHC+a{(=DT{aWm_&M9jvrA8Qhpf&I_*YT
z_onCNB+W~<JlRc0O!VEK*E~P;{>6u{v9S}Smzhj|bb_0osox;*#H8-m%J2UgeRr3;
z*w!^EENFxB`+1q~zkckumoZC@oyxMjRj&TBa(=Fl@w=}j8`Dg$vTsUc%GO?)mGvPs
z_PdvBzT(z(Re=ILRi;l5WuIUDe9rXMqWU*{#AeUp+$_2%!j;$LdiK2+eo>!gGJBJx
zlJ2~8*OEQF>Cqysx6AXUbs1U<nX9kbnQ?AvwB2sY@RsQZPAfNEYdHFPEB9No@1Y6O
zY<vCt>f_5Nz4(#0^wnc$tG3)H?@loP`2NkF@1o&u<0Uuz#D3pQ`uonfy8G)N<K5MF
znHL;<xA5AkwXXhWJFSYR-3jSwv0l9`TC;E7sYm6$EiH4e{aIUi^ro-+nOiwW&9jr<
zNh>6;Sy6Vs?Bc_VZ?7M?(wO>g*`__)+u|Qy_PtcN^la<S_4PBDS+Xu0wmg=9uzp2v
zfZCt$;&Pfhjrf!oWls+6QJThlK5y$s#W`BqQ4Vue*UwZ-e=|)d#aFPAS2QSDvEzd^
z$D;-EDnGgnyf&Qj-FPnZtab<gMDC-rw9cM6=iU16dduNjgDX;refNzvPg}a?$=AP%
z&v+NDI@;9vX^z&eA4)3!>uW{6sab6nWan6@7iVyX?aTDTR__j3O+KXX@?>ReM8xS;
zDP1o5+(mIpuDfl1$lZ^hY{UP!dXr($iKsji%cW9z7g<G{H2-tm_X=9{>cP7TkzW??
zv=05>sbkad);w?hhxZk>D=+dN&N;Y)L0xmkQh_H^0#yaVo;*MLQolcmd;9zP@0))4
zr;1*GJnhe!6^Z>>S${Uo+NH|3l=1T);h4TKZT_6o*CO3}W$HJGKkn{0!u95A(2o6&
zGVaY^9{7fTv&E;$bv9q!BkjLVHsOE%FvV=vk%R8*Q;k)9Ocw}DR2KKIIN|*5p+&dl
zIZ^$Wf3=GaN*#WsUH$mTdJmD7X3*Je)%D)>iqCY87j1p_I&W{?^LgD}(|hLR-Z?BE
zS9@}Mf$%Pdj(fXa_49_dtvna~F6-~Hds0Ua8~A@d!vE~x8Gkj$cgveizCO;hnt8O@
zhFfj(-0fSo#yD7azbl^eHMi!{hosXR&R2fSJZ|t}Pm}59z#fHeuVvg@9B%&jWV_C;
zc4qLAGxblGWKM|qBGfZGY`S-t`E>48b+h&^Jm@IYuXpn0r|bMT+mD|7vOw^<b@;aP
zE(bm=Qht3?DrKf`$zd*o@Y`EXlzC}Z?oQisrCNyDX#eHgLQ>Lo+nR6s#)a-V39j^K
ztk}q#^JG$0@S;|Y3;I$9uiOd~Wxiyj`k7k1-nR0lMqmAwZnwz_9*bAb|Jr=Uzv<zf
z`Abe-kZ1dxD5SF3fO~WQw~`q>=CdqC(s<unoinJs^z`bUfS}V;Ej3c^-rm+7d%d&F
zkmuIC&uwA4weC@lrqko*cFovi78$!$ON`;n(~V|b3xzja)}C?iT=M5UMv1qL8|R3$
z{CV|ltxh8g>+V8_n)*xce-<3wx3!sT-9v77PkY&>Ew{Gm_Z$-WyQx%v-nF^;Q_R$T
zt{vfPu)b3A=_PML-fP$0M_1`A`8wTr$>z@swJ#~m?SHoTi2tI4GV5lX{o^@L^`8QN
z``<{L)0-l1>`XfAy=02$_ac9b393a~y4BXMTffOm@cF_!f48)~{=02nZ%6%Jskz^G
z`HN>1w3RYEyU=+nr$ji`_<rJr9dgyueU~$>IyPOrGQZ99o%-ey4j#5z`}fB^C;7Th
z)|nU0BW1HE;LKk0ipzWdA9(V4(Z-3}eN2TaKdLB9Hjw(pURZzSZsCPXFYjh@3-9_a
z<hu0UrDu0}d6p#a$#Xo*nlmHoK-!w$8$C<+v+fmIzcC?uk|3zwFO;}FZBg~az`TIw
z9U3>gxbtSXe`q_hV4i$s(?iyYx>BmqdDXwF6qgpR%T#^Xxi-T(OTJw(ul@0UNUh&~
zeHObW7X!n8L-0PK#soQzO><d1HZ{-WoV+~2zutCs^ukP&Ia4%GuAbC)M*7x_`!at&
ziJyO!IC(kSJ-ykAk~6i>y-r+zT}3-;!n4fK%R=X;iE48k4==muExGg18rOTpxz;a4
zRkY83t1X-Vef3i#?-yIVuCeOwoYiu1PQjZ!k*TGN(^tPYjy{{wocZLob+i>z>dDM`
zUH@nQ>Iu|ZSAXjC^EGyB`)AhtdG=|BWF%MJOgB%i4M*Q><-e8qDZ4Xq$BVmFf1S>|
zv|aZOld)BHzK|Bv?_==at>%%c(UR+TJg%HgDK?L+txm|<G)q?E?q%)-_PdLkv|KOR
zS*}xiuJhQ^bWWd^>68ao!$UvSCQlK4A@W4~(<JlhRYs1RXY7lsm;AGgEq%v~RkF+F
zyy{+j?0vHGUdD0G{q_yhWRl!p><Uzn<6LIZ_x|P&rELqJANZ1Wsp`af_0THi89NXB
z50XfkVg6^z{U;$tl4}&4b0p*iGW}YvUA|ORoh6ldY{!$`7e#E&X*Sm0SSF!WvTn)~
zT~8*V^P8H?j!9Rg&Iw^{47*;xWQ~-~hS)#6Ip^Qqw)?kp$ES}bk56X#b?JzU9N0HW
zG?Dk|+$WQt)tg!FU~ys<{PUtkPqTSr@MF`&`-fRM<cdyuS~g94X_)xriQh4snz$T~
zDJjm<3v8pZmneD0o)bznJRVteo4Mi}gHos;L;ufNfrsC|SytP~^IB(Ts^x}-74@vO
ziytpr#@V7@)4A_xMCsN=D!FAjYohB;pV%a#=XCqwwA#{S@yf9Cn{C7o30-HCzLezn
zaL<j?SEl~r@&CN4@xj#dk(+Z;{yk|+zTJ1HQ}p}W8=u}DJR{})?|{^e&5ilL7YbW{
ze1G(IpM8wE$dQRPQR!9+7XRi6>uqWY_1*f!zkc$n7n=F&nwj?OOx~{eaMF{tst&Rn
zO*JL=y513T>DX(gW6Ah<iKO|QK#8e4_Oh&fTg&rK&S8eMp9X)T&bqj8%`;QhRH{lA
zUXZnJ)+kuyaH8b#6lV2;y#dt=Pe`+Dc$2HoGI4X8{qoSn4(<Z!>Z#omybYpxuR0$&
zld8HzMf_y_>ABJh&UY{R+?W=e;=Z{+?ANsSY{n-tt+pQfd}DjlPU9E;doyMHWp$T_
zPFuD`<aEuR8AteLYn=~T8*TLIvPF8Eh=Qk3OZd_m*2>jR$!69UFI_zodQ04LUB3UF
z6SLSK9{BXU?tT|rS;kF2lg97gmFunUFMSmncBy~)sU1=?1Mk<r^>*CbZBtj<U}B_W
z<R|F1DJi9`!&}Q};zEO`ku$v>7EOBks;XN!>ASR_#@^{_H(8Bi4zzQamz4i_Cv$O1
zL6*#O4!_k}{u`CofA-LN=cM#r{$y}p$OrcurYEPXU6OxT5%NNmv#+4%M#{}pCMAyM
zN4@rc^#dz9OM;$+*t@Q)H{bS~vE}^{vyfY5YYe{GW<NU1#(aEkKeP0q{L9@UONx%f
zKRx-a=||a%us8OzHtVRG`}YJ#6+h&h`LN2L$6`T(@c#|sD<`xoE2uSfyyFln?_R$C
z@e$24ZBqHyiazEVdWtuF30@v7ucEf(>5Qn(SM8>W7d&)zC1)&|U^jP*Q-1w}GmCfT
z-!!hy`k7pv=jtdDc~3>ke{X`^?Z=twYuy6klFFNQe;1r~`M-)&rZ0QcF8PBK8{W3%
z&j|FI&Eo25V^e=y!O&{Hu*TV+JJuyeK8a!5{n<F`%5(LWzgfQ~-SDr~w=s{KyZ49Q
zzjsf5KFN%YD^a_?Zs%l{nvfUbztnyG>V-FV=CCL2X=f1@m2qFNIx=jPLW#x{o3=j_
zGZncfd+sk0doW4o;G7HZ-I))1Ox(EJPbEwEDQn581<pTzyZ?4x^rL8z)$WKA!&<%n
zTUzp6kFRxDwuw>nK#9X{?FoBNYy9?L`1V#vXZpR5>Dx5ocdd6Wsy0!aYQOT-U2bLb
z4XGFEZ>F59)i0V;H`{V|+=cHkGv_*_+ufTcXZ-y5nVq_6f{LO%E!;0NyHYI9P2`!%
z(OMW<G(|o4V1P>X(N~OrHZgc?TBj?r-t@zK*J<g0+!jrcDtAfTY<}Lh``+U88?k#<
zF%(Fte`zmeD-kMPscdt0w^3b-%GBL+4ods3dae7yQKkM@TZ55_-GWIabFEicIegAY
zuGSTjv|tWrE?D>c+g}Bty87f}c@kf(CG<WppTEp{@px3B`i{S+4(>=|*^sP!DJn~<
z=Xs&(L8gtHm&q;eo1dPWyH>#dqr!dWKP=e_=fagQ^ZsUj*t1EfQq%p<b#sq8#y$EE
zeSZBqTE*9U)9LB4dL8ATd>70aFFf}?;NMX9PVT~U#d&wxeu-s2Y4o`#H}n6m!}o7p
zxaG9yO~Rx<R}W8mcg2FOD(eDU>D(jFd*k!F7!Hasa5$XpPW(FS!_;jLZ7*9V9O5du
zm8+Q0DVh><r;&-7+u5t4e%bLQ5f0`IE0dx!4d*kS)n&N-@3(&auiu;N=j{-hpK!T(
z`HPd+UHMqP^viZBsI5Gx<R7N>xBhn5kF$M^+6AskIzKADT#e7;e%UkeNwrC7?;62C
zo%5NMjq9y1xtuGIaJyX*D!Ej?BskZ3(V8m$q~^VP$0xtMC-Ww%p;oJ5Ve6mHAlrjy
zcz0C?DXzYmr<+?oJ1%^>L+g{v!u7XO>|g0`HhFwpbc52(dZ*~DIsfwReh{}{o6vov
zq<Y`nu+ZxVtzsw6ns<_IgN)9nV8hiF;Y%0Dp7`1Ne5q8lam3O3*&nAa@tL6bLr3nN
z$(3JP&&qR```VupxVcoGLxl6hqNi35PCGI9&69m~E%3XP&4M`bUrRQB`P&kqCh_~H
zZvCSFc6+qmmHMjbT=?4f|L1kt>d<@Q-S=KKbA7#PrCrqXx5#VN*YNOU*X`MB0#593
zerdnw*sBQw4PE=#RaAC`CRZL*;4lekTG#QsR_n?~S*@=T$$R~G{defEtB4QjWi{9E
zDv%7{CS7(Y`L12|=cm`h`I~0_z8c2gG-dCuSL+Vde|HS{Y{}w$Qf$&!W2r0i|Nn^K
z&p-D!cX>+x*AItnf_^IPj(F(c>1F9xEqGO#VOvgz)%&K<*G9QL+9HA)wbC-8F#>b;
z<@8i9zrV`)gW}c4dnZQ-7Vp3H>f`71JG;7e$A7&cXY}UOf#|D?+n04~Nht@~by-Or
zy5ufjxHh~xz_fnx8rLtD)ptYIKmAx<DpAm+T%RZ7x2E&)dEI&`-hv~BFQPy1d;a^Q
zip=qQJ~C`;7#FGaoSJsf`|o9zJ9l35$mE>5dQ~)aD}(JfzQwy<M6@sL-JGsl))?z0
z_WEuU%iqb3D(UMz|Gr(SbMT`#hlxyK9n<!#2T8i0HcB=rS!;iAaJ@2l&lGmm3u{#>
zB#q}y{bkPfa#pX;#YItRs(unojt<2v>bu?2JU`y%6<J|%eANZ9xH%!B`QJ6ug{JPA
z6&17fH0QF%J+~(_t`y_?7-N;Pi;scfh99V<w|P$BHm3TN7#HEfkDX-_&q8O&G+QnE
z+L`vsEnl%Zg1hr_lcM)6&8feRy(tu_=6jqWl%@a7rgFCLx7ZDw|9G9f!)mR?T}8#Z
zqMu1iY<a!oY2-S?Z^z5R?_YP1t@f8M|2yw}`P#<)=9{V>FWhIIwIlS>x!^T@D|Yj4
ze%GN{DdO?`qY>AV`i1Rp*Uw$J`bJaw)jb@hD=w<&Fjss}{C{=2YEw^mGULL^t<#@h
z(D}%9&gIDZzC$YYr3zi~{dVHNly85E%RJv__q*!H*MpZ2F1E4FtcX0X`75IJlk;K8
zHMKj!pCvLhd;haooiFNIX2yMVNzA9<v%7Ae+qtt+#{H*7SMnmQ*lgGO`6|+<LTc<9
z%XtL2LJL?b1(%9mmW%rp$!V?q_v@aH1?9`OFMqwy@&%u4?TxLa<?>bOyJN%em*?L7
z*0a#?Ph*vIS$$laPivsu%7jxJt~1S0;p$p*X4%!n3f^TYDodEOT%6kC+Jl!Xt=r4D
z#(vtdXa2eq|EPa+$=2<Dz`&9`v0i7jQVa9q+rc?|_w^q;%N((oHSt7M)5GKG=Qnd|
zC_b1sQ$Ty6kNBDh7u^V^<3?@i*88#>Cp^*eJ?yS=V$~8Q(GS}+RxeMSmQljED|x2P
zJ`2{l+0B9G3ssj(e(W}1^zCL^>-yin@9j%3&)vM8Kdi^??%t0V-hDgP_PS@y#R3bX
zdJ*lki!4^Ihwsi4_IbkNwQ9*q9lyTz!i9$I$Nt3c{aAD{r(Gp!BhOLWud`Wu?}oos
zUckPjce=GvK$MkH7q7rOy`M&ANgQRNAIc7Y@cXrPw{gq#A04iD!i?wdeLTx}y(i<^
zICG!2yl*0kA7<oUPWoKh{yjBx4ZCqstK`d<b^Y~C<ukZ9iOD_6UHUpFKxTWo^{E9B
z`|>3B6{oYQ`c2p2@maLzbE34ARbzYaN<l}4z0=uEHGYU~OFLO3wQMcF&wlH7m3i0Y
zZu?y?FI~S{`X58j#@cF=IJ5cZ7n$tY`}4}VGHZ@-*=xPm7Hw>P`Zn~r^ft9$o-GN!
z-HTJUKYsW@y?$=bi(rcl^Zg>4v;>cS+Lc<G`SsMTRrhDF%@g|aJ;`U1l3c*C&?ZIC
z4bS$OFHr2%h&%sT?@ndk<>!SW?pIlprMQkZXh%q=pEh`KGI>p&#c77=8SD?Yf98l_
zx7nK5JSV)e`<O=%Ps0W-0S4{h$I1>Chm6ElxcwIK-?d4I<qJ>!brpX9SJ{qJvhwv+
zdp7W1{#a_TqK}>D_NqwM&|v4il{On9Yo-5ldI>Z*obJ2aT%g6D^y$ZDrPRsSy-w{=
zEuFY9=<dl0MZ0un6)r9<jeaHOw|qga@$4h=dUMxio;5zyYA!pO<Hm_)k>cKSPkno%
z_j;}#-$5>~i(OiBX)-2RO7*;Hl1*P1Xf2u8d)+{+>yN_D^8$Nzw!LjA4D6c0Sr`?5
zSKuROgQ!%qSgnnGvZU^h<n<jcds<fTG_1JMvqoT7(mF*gu|C1o9j89ZIMyB9UT*#W
z@8SE|lh6N<IU2xlbyD58n2^o4#10C?^atcQNifEr+c0@ayxh6|tNC2}C)s_gm$-a&
z8M8!ydb6tiqRYp(c3cinIj+#-roHa_p$+HGC5gpc5_)oF!mSnt{XY}T4<zWmEH0S&
znc?f?*Vnd5GVIQ=<P=!ieLR9wR;PmT$H{C>)xvw{C#{m?xsy{GyJyL)EYqFu=1J{-
zru=;QeqG<c`y?i-c%MFSE|T#?uV-(=*PTrDEK?rsvh~>I=q7e}^ZO^0m;EV}KXZ(^
z^xgD8)x*2H?&J%c;=kJW@A>`JuYMVuFR}ldJyjw9YTe!SD(9OsU5!54r9IC(xZ}I1
zef&hvy_pjV_D|`FWli<n&-Ga6Kx53}MeV}56VENm_<z_s?oP3P#lEcX_xCH?oahS|
z-&!;0hDdCEe7VRSyKVcHXI&P39>`g<fJraxUzTS!!;2iB&+kk;MEf!v>vbOeh+tX&
zbfs*n>2{Vi9>!v(+U$}IU1ePx=9<>bo6FSxY&pBef**c=H`;funl5>%c8<GCRbl?8
zvwPOqIeUiqY>2Afvvf-G<W8G8oi;X)k|gqKSpLj#Te@$`<@$^VTlwW<gEJl0o>+C?
z?P||<x8DizTW1-p-S|tbe?@??pN*cXL~2^l(^KnM--Ud0Ul_sjV%_3UY0*hxw^VpH
zb{u<g*>GQ|QSsCxT8643DYEQpW^B)2DzePGa7i&%$m?*;y5gt%PPxm5wRZTWP2J{x
zXfdOgAEQ88>$8bD1=G{&8SD-`)?fE-gMzoWrp1$wv!<Qa$bD`0G_RA1D|RjS`557y
z!c)@=bFZ|m5n1@vX8FO)^(SvM-QBY|O*_a+@8tbsnu&kgUM9IkMev@!?yA|;5yYIN
zBAU;<XD?gxUYR|2JAUbXxNgpnFMhL!_kr$BPSwz}M^zuCPFncz&=K#ar&H?9;#3n3
z#6}*l2-R8};yvkBX2Z3&+Zr;1BU;u^sSH?@CdntnSnB0p9&=xvO}~h#)Qn-NzKU>)
zg7~9dlXxlwOg-mq*UXwOF0No3&V4gZFymR#SyAcr+j=ylZ-@yb?H1xb{K1C*E7z2l
zu3p!_hUrX5-EF&iolKz)x9QyQ(`_2{OlBH6<r#}6d+v=g{K@vp&^Kv{F0<ivp4+cy
zu8a9!WE}Em%dDS$>9g`|vu$-MJHt%9ZqE|TPT9zF^P}}?)4SrurRqDExf*d^*(0)l
zn%4%yeS5U-W*)rcp={|k)qLuzY_;1;W?d@l&Bc@MZ>Zt8p6bLSdF|n^mA_7Iv?<>j
zqFC>c;JMX*OZZcLPbEv%yFzCf0-ZWVzQ5nVthr$S&5JyH(_h@0srEdf%2a8+)t`NL
z9j~WFZSL}2Y#!BgQTFtf_0oIp-g|R%S@~U--nxsQWY3qco4xSvK||Z+<#%}uBzPNV
z7+gPl;oSx^<}G^@+h#Os`=nYtp5?g1Nlf(U^B~X9YwDM*s&lP*Bqp)`AB+By2aCiF
z|I9iUv})ElEycaD=@-`8ZvOJZ=Bb#m_u@Ne&Zu5kz;a%v{`&3ZQMSB0Q=XI;?r@xF
zJn5vXyY;=dGMB>=wI<$MbNiC2Yu#42GgF)bHnX^IT-;+F;^HtZ=U$`I%|)&T_I*u`
zKVo<9eSUMrq2q0~{Pnlg(w{ZPxKE#L7;`;ADZ%$o%aPf;H{8)WrqjDOQ*Cj&^IXHp
zxe6`0{#U;W1fO<a_jKc;)jK0D{S@TBac%NU+sh57kLL6xC)~SsOecK%lWDURujZIG
zt`yfi({}Sjd!w{WhN+Cwv2ANEHYaDt{Aho8!)%Uq=*q);*V->qUR!d4rG6sMrea<_
zsi1p5l6(37r3gH^JG*82zRb^zVpR!??k%y4((#j>mi~cpM$G1yk3Jmy#i|>io+|q6
z?iRhBqRi_KiQS4+{2&(UsW0BLVVbWd-^_hR%gyH>yS?Y9it^OdgjsRl0+|Y5-xBvb
za<OC6jVH4muFeX`O^mS7-Bfw5ZRtA8`UsQ1l2;zYM20ZkXJ0Qr@x;DDL4m2a|GZyc
z|MR$((q5*?`&XC#;mrOi`2XLYUGuyJKTQjnFuAfhOGJY4Q&7#Kpr|8Vt=8L}Cgdj+
zEeTrn-OtWQ=VtBoZy(b<ie&8>-$&MlwkDlf_d5Dj%srFFJu56Da#Y@Jc(=#0tLwU!
ztfXo^tJ$6}`=mM#+&<Q4?{&QIM%B@c`uja9xsUg4O4{RkByr=znH@hYQz{DHyxRI(
zyE{r=X1C76wWnQDD-PF{F8=rV_LEI)kN9MN+lR}(Y))3c@N-&UZS~~Oh1TE7bLFRA
zzN_bYrh<jfdb&l~{^xcU-+ukplz$}c95$IL%kRzU%mww)7G(@Cr#w;Ib9zfm3h!$L
zfeQ@#e|;}VivKU?_j%i?=H&X|<NwmqOOMQ6^mW?h)Y2E9H2y!9m$&&BZE-3;zuPXa
z|NlDP=Vxu|=Boa*tf+BYaYg*d74OHE^*6lhG*TL-uQ<EV`~@FR^_{Km`?}W$f0^^{
z#>Sj#ix1!0uG#I4n_JIp#N9Q)KJ44hUoWKc)-mpuju$w$dGm%7D_aWR1}kps`@T!|
zSC^<_&K{Gmvp<*YSh}xO?8wpLiS>o2*p+J@@$S%%GdjLjM!t0N-e}*3%`O%0Ut13R
z_FCrt(bu5yoWw_uunmktbI&l|zo5P3vWBajv_wUR{u+@Ja?2F$yx6ZW$jD1hTsk?l
zXhLe}UOzd`?$zzfR##cYJlbvR|BoL$DeSu4S$HBF14F48sMAny2;S}SCgOJ9Z8w2h
z{R{O99d>PE`HMUhixeg%NgXKUiL6}Jo#4ApXVIS0os-^*{ro=f?o+Q#PucS3GU-Z5
zZ(FgKC;i-==U-><US+avN~vqGzt8g{X1r19zHwK~g+D(w+Uj)qg~iI^AT!gsGrn&z
zzCWk#|J~PRcc$)ayj^NuuO?i4w$fUTXIGA|_NBQdx@$LX&x&xh*tco6<GB;ME5e>0
z*!nghVB#XP-@o5jexH4H)rpKtDYLt-#Rw*DQIVNb{(8|{ldaz@uSB_7Pnft}enSb@
z$xWw?#OKHEPMOlRyz2L~t<&GKPQLy8Hg}qc<p-nQSs@KaWxh!NHT=2tn4t|%y<F`6
zi&IYg$UC~~^7Ry+n?1WbIX}EVS|6j7Ty?zHM>p;F)ttW%J2&5~`gi1IV;!T#jlCfr
zOI57Ij$eJG!yOlN_@?L5KA{-f>`n1ji}Mtg3&eL$pPO%LsJL0-{yN^e`%IF09$%kd
zS$4#E{(F^Wvo6XC{VQP6uH@>wP`cP5hclpF=J@xV8o`_lDTVbN+mh?dvp-ccJ~Opr
zO-_k9tg>AC-WslTd2hF$>WlyMdy>}=Mj^@5(mbd1IzO;SMa%0y<lpb><Ns-bc#rp8
ziP)o$Ckg$SklQu;kX|<D!LF2s#K@2>#^+wH-I$@pbUNSjZpn=ev47aMrSs>?*Xzxz
zc_U^MUB7&ZmY1SxjX|{VwZMIw`_}wE-ofnIq0{nUc{l&`wuWim4WcqaGyWT@IZeIq
z5O{90@s!;1BpnUS{fwVEX5?SHbbQU>4WEMDH_w+pDjM}%yk+81W2Mve_6OdzPHhxD
z$(HH8Tzlq07ooqOeR@R}a`m?qWW`K5VfcF48BOCo>nCohFJ8Cl&a5fg!c+N93Am?5
z2A=MCQZVI6;<swfl0#Exez91)F2J(u)64HBo|h_Zyw(_$F`u5l)LFah`AX5`QmJ!k
zoo}n=pWQd<grb)Fo6^)K+jFPbB_sAtpTBI)iIab|A5YpgC+xbz@vm``>)x_d-)7c7
zH0K*v<%HK$jsK^9<=I+QuXkE$`LUmF`~C#@{<|I^tW_`}Y}Kz)XNl!L*{A;&o&36e
zi)fXydT-GEP0!1ceg<1_U8K;ZlP~5gtnZOrJ?qVutDGmZ3%-}^ELfwH{v~wEC9#=W
z`TAWxQx~o9`(1R`wQ;FwbMC&xD-#?RJ~^&f+SudxC~#(XlX=`?mL-?hEtRZaWf1t|
zwd%21w@p<m)u*){lnJ{0Pf0uJsmJkIH#b(riseR4S$e?7Mmk65jo7+F_nw}5cTsFk
zsmAe;<_(FgcTVsw-zK}$SX=Ja#;3Oz?=<cGGtqR@bLIQroYl)7op%!Kv%gm&a%iGa
zCimUFmj42ehlomM?@BxBziFA&ifi8G1sU~wWp=;6zir8#_VNvCi)W?@3dVCNR=kba
z#!zrc-};=!s_2b-n%4Za;(Kq_@Ia0;^qlnd?eAyHd^K`>tC#yK@ck2(dnbBrZW>vX
z3AC)zz41Nput7%+dt<N(pR;*E`@6%(7`xJC>%C{665u}|BXc@@qOQVwXUBS%f_QVM
z@StUz>gzTzBwp!idlV2oQTFWN$`{f5q|Yo|tFm!f=9_58S3PZ=(~lHB%E(>YEfc2_
z_qiz5)7GTGJ2!Dt<nqFkJS*KMrM~Ex%IPfmdopvPd9~k`K33Zk=^D~KGS|1K=cO!l
zwAl3Lio1sV&4sDf7kPMR%m4KJ6|idaqGkHiPwkjH<Kl&SSua;v176M}I!XF+`>UNy
zjMj0v_%7C2)yX;e<!nzQF+SV%#Vcd{x`J%w6%=>eS7vO@4n6(m?s5+op_@GQifXL=
z%tAUQ%VXPSdf4pybtBQFc&d=frq!9Zm2OYgez`B)J8Ek<_n|tEdxF1@d_Sc9IOpf%
z<v%Vzdi!R{+WfMgPwQ81__ioPO~$d!R5s!JzF#g^n%vVQ6bg6bo$iXVoO0~dg@%2s
z8#^-<*Pp0t+G71MCW+}u%Rd7tPKBce2TGL;r39lcDECiyS+_jo<NMBlH_xiX=Lh|~
z%w6~3CA;5BrP)PpZ|4|A%ULdsxp3LG*RfjQd|F3Tp3J#5GaoOXHs3|L-sNRN#!~0=
z-ycU>^zPl+k*=GRd~Ah`%D&6YfjV~jOShfXP0eNAZ*gkXzU<%kIBrIVeR&`r<8}V>
zog`0wt<976s=sa56*iRo9NuDbplzv`aQM^p?Ct@}#YN3hj>dV{1k4kNVLO_-R(<wQ
zHp3Mwig#&cv3OoSaAL~h6LV&m9z7xx5#nGOyGk*BYlhT4akEK6Gah$ssdyFN?mlJB
za_}J6QM+=RSS|*Je9Os=ZQ_&Xoe-;E^kag{!l#Wok+!@$s(EhC&EerWm2xs^)_O(n
zx-$u3%?i6&HuI`^gx!2Do;J7tr23OPTGQgD-Q9Hi-OG<Vq|Gun$$h`K>-&|Jt4@p0
zk6+SRc<i*+xy|!#*5u7*JAcTgYxCuKKfh(9l=>_d(&>(vl)fiD?$fD1HP5&2uM8|%
ztzuLkV7+?RnsmQbja|KNqJEX9Rz0sgXuN0klhjiz|8)GN15cj2m^I5p=60TGkXU+J
z?EX8;>g;A7QIvo7Q0M8)fZi!KiA<BiFYj1Ul6}-{t*Gky3q5Q0DqZ3;;pU&*u`aYQ
zq{y%Q=FQWaEOhw1e*QXp(=qdi;G0w_N$*6l&4K$@bl0D>Hx@bUo4oed%Dm1}eYMnG
zpPNb-&Mv%YocPE4SFhKa)A}uftJ)tv%Cz`f<b1PW*Y<@a&gBf8&*n}F^IE+6l||It
z#StoZGR|!ca+O^5?)k&rr%n{T@O-8H^^ke`F2hSRXX!6%+o6*n>F9g)=@sux{@8t!
z%&s<_(|!0ex8kH)aeax5dd5X<Bd^UbcbffEFf5VIh%=2UIeIitE_RZke}U@32=iv|
zZ|O?&k2qb8+T*2FsG%pUca~py<GMA0NgIUSJ{~ZB{Z{eO!`bs*25xr~neNor8@M!S
zLP49vCf`+_bu&GMeIhuFWsYjD?=k;#N8-6=^K)^X)7pDB$o|Q{x$bTKZMiy`JCzmE
z-33-jnR6yg>o{0&>Qq<v&hnP4&8B?bPN_joZ+a@{D0Vpe8K%D}4omAue7yPNzxO8}
zIo*n#_B68OfS1|5LlOIHe(Ow`%GR*{!0RpBJ=yP6PHekdr&KZ1@F07o+KC1(y~_pC
zEnbm7^THw$=ZSq-I@zN0=u#Kk-umJ-FJm*+dk-6}|I}I0SH;UZQ>rp>XQuX@sh4<{
zSu$Le_`E*d@WO`lMUFq-`7%7rYPi59tMcJp<~)}@CUf|kyDgY*WV-BR(-fG=ZGGQz
zmH6Uv({+tjrwji|#7-@}-<+FmR<Y*BH};0_J*vktCEeK^&UF}U7u>aR(q_>T=1ZRS
zlUK&K6r_8;U2T3=@a#F|&r5%9DJYpItSvI*l3nyh5rrk(Zj;MCU-$7by%*cKlJ`r2
z@LuNfIZP8T<&|1kUksl$>r$S^DHq=$>E-FEzh<yy26OO7R0SP7qoA1mNue}bN9vgF
z*Hu-_>^}Jl%;j%%kN)|&zy8mM_u?<Q(}HfY*43ZBr?u2@%GAprLzn#8;P=0;?|;|)
z`gP@czt>KkZgg_ul1x9|x9cxIoL~DYZr_4M^4IU@U)K*a&FS18C*G!IQ1_?qu6e$!
z#P-R4!uPH8<~u#v`&uB^Fp6`H9>=_8K3jLq@t?W4CQNFz#;1FdPcQ20M{1Pkzss5K
z8}XexHnUztuD&!s=aHDhzsvPu34b1*yfbZ6<KqmW$jft8*Bw7JK|@~8^zNK#Zntcc
z7ySMIm)r1|>(k#0)60db^zQxrbXhlbXXCy@3obS7xL0-Vp2+3bE)UCu{z=+=cmMMz
z_o!gzh0f&b&Hs;-UM=!^QzNo&x2VwFzI}HOX}%MkEa&1?@zmXEd40daKiPs;j!SkW
z#xhplm)s~9a7}*RhS$tuiViK(eyZ2DJ(s&__S~uX*6y8&|BC`Yypp^8_#S6m#=f*g
zuho|y&z<lysr1bGNXba`HIFX-xsspzao2`>q5FSsZM}B&@_x3y|5q5LuW==oADQ%|
zrS<)lK8sJRa^L3gvVVCj(|&Zy{Q3#}%PjUh`@8DF!n!Y3_J=QSuCaa=`lt6_vVPZ5
zN4a#S<&B?m?SEZfBNVUjUwNVMp{L(Y8QIS-5?gC$H)m6m{K?7nkv}*xd9G+(T`DW6
z5}xBDcH`NX{xCLm&zPP^Du$<G{uqh{-;_697cZ4MeYv{LtC>$%d&qez<vLE0dHyn_
zKBZ|_vc#bSUgthBZ@>3<{&a?rS9(jfTwf~WATIMMf4YH#>*hI2;%*E7dKs^6xHO?^
zvwkLfQ-CzzwES;sPlQ+KOjY#D>1kf79KG`2r3rU54=W34sV1G8)Y-X3!s=M4rsR|#
zPOG_AOgU@pa$?bj!&i&%Wcye-&JuijtH!$Icbq|e!FQeVD{>L{3U*|(I^N%!b3dPV
z&opZpUbp)*OK*9ygt8Xt$-I<c*k(E*%Io@szg=?$`xtLNHGVunyvc@x{nk5U=JaQ4
zk19BdNu9}F;NSc1SPFy6ks~((C$M!so!7L*>WI?SsHz6OM*(NN@)C|H#kHR3mMZDL
zALeo1O3v^^dHo%IE*>RoHz_{vzW$0Rnf}P1yB}(&*?+%tZsW%KFGs_h*B{d_pD%t>
z({lSO_ph8%0_|4K>C8G;`oolFPl?KN?p;~cb@A#cohCQd3tkdRxe8N`x7u#jXw)n6
zVc_{K+P62s?}^@7FPUq#uS<SyleO4=?Z9@!BW2a+U$MvC&bnP+oqPV9)mg{l53*N}
zMP6C+=n~gqrFG{eKYlso`FI+qVB4Kr7du@9IHJ4{F6l7Un6M^PQmDq^fA0pTvdAjN
z)4Dv1KTYbH{P}t%%Yjr6r%7!Q-b|YtW*aT{_~y86q0WZ1<DZ+&Bqs?q%}HZW3re28
zE`G|?ij$wOERa4Re`Lzr&BpZ_3t29^di=6f()|)6*L8sJn^m>!`A>7M$+aa}Z27gg
zF@3As*=_bE?ac=_tZYw`au+<WqH~?Iv0R=r^M*~Qa+Y7@pD!sBrew9aeVWhq*441m
zYNvp6|Ga&x0<Ux?N=&tqdVPA5d~(^U=1ZHIpTufDXqkO_N6eBPSNi@JyNam3s?U+z
zzFgqd%)ATlw#YPS9PN6)!%<+uX^rp8GCsZaV=xc9_+;0<%Ns>)FM75}T(@=)o)j4V
z`2&;O3ia6x?=N>6dEI&X+2U{<$ET}Xd{^l*<+57O>Pvrb)o7YkdTW~bryA{y+p?$g
z*mir|`@)ppF;gmxsb}?qyZy#>{2F!ljG6D(e@rdV;pBCR3-yo53Fs}oEb+6-O=!8T
z@Jj0`oN9a9BHqP`ovc3i$mOoSBcJE`g>Lcdo9DdVod2+oE0?da?oNgAWR;Ye>nc^w
zw_h?{lDjz5_2#~L8-=v8uc<xsowW6La<1(5yE3fG=Qn+Sv+(KHw-ZITG#w}^Z~k{7
zx0kJ~-l9G|S2S~;qgB^}T#wn0^S#fB%`VxXnDmLygxA<<!EulC9NcVwjn8wOdTE|`
z=5o&k<J-Dhi<>zQ=I+*0eRi_o+Lu$AtYyn1FKe?4Jo+W8#pwRCpz5oMB8$IpQ`8%V
zn5%t<%4D`=T8Ce2o6p0ZYg>3hdRk%K>bKRhJ#q@ix7SA1Z&>T(w^{VZy!G}ej5ekp
zj|)GsDZJ4BY=Kbom-gIQ1|r_O4R$NMJhxzT_FJ>Pf@Zgx%%=U*y)X51-E-bD>)M<{
zg0=b%_nn`d3g)}6{a05(E^j+$@RR3zbTT$qzC0|l^;G`$Ot!q6SzOZ=C2CCz_g(!}
zy(%$iU)s^>>8gfqHI<PZj}rx(-C2!(YR+<)F7CSFrNr_IN1dpYO}cMb4MN;DF7~Ov
zEPi&wXR&m_`9~zDu`FvmpUg6&==>RreN$Q3kMQ-~dLs7H;(Tk*?Om#0BFufuOUrk#
zzQ6a=e)2^=QLZ<=@r5>=3=F(_pa$n=-TfO_>Zi*uU322(S@C0<xjR3YrR}&U&SrEx
zA=m$elG)Z{vvW`FYzlcQWc^kz$RKfE)l~6A0k!MwFPPctcF&Q@pB~iXd;6DvVsuET
z!PZUh%e@axSd}e&`oW}WcQcb-Mo2{nh8UIpnQ>Q1zvPm|SKaC~f8F|=<zX^MHa_)z
z^zjP!r6Y3n{^4b>kDSZ)Q2+8rV)M>^v-8bvncY5-Pj{R+axL}Gm$br(HCd+@%+!}O
zU9u=d-IO6QE@c<X2Ilv_qoXJ2s@$66+&XPnx5DK~Yc^)H%TxsgH~hFR`$;+Ua->nf
zN%=b&Ikz`jZ=BRPH)5acxiy7v+QTx=JKg`LtX?=t{%A&u#_9S#r?Mcw+l%}o3cvfE
z`gKC8yU_ELoizI|N0Xf3IxoROO*560w-IUu(N-7uY{J>1O&vnBeOGw36&8M7cCxTU
zXo~I<rM#)TYt(z*N<>sL|0$Xq5#slxXoA<YeSa)IBwGiV3g7>}_rPRBHqEagy03qD
z-wJ8laX^rz^J&l%q2Gb^Mz8deg5_HeY}GPb%W9Z@QRkEHecrSU*GjT_FCW?7bcK^W
zIDeK(uzPfN;1dp^%9L+cFZ!EL+v423LiqAY{YCq{CQs5do}}aaH?MTby6RJB%5*!o
zZJgnx5&kpb&5nJxg~{5yi!OW$mY*SeYhtSPN0zNx_TQGj{I)Jm+_aWSd{4d9%#R0T
zJ)BFk7d|Y$ef#ls>uqjrp^O10rxr=g6g(AqE1Tu!tgAb}DEM^+#pY)?dF;P-WZCuC
zm!$VdI4CkK`+tMu%U4f^6M}bq#p)WFg^I2{uj=PH&uY0SY}f71?-PuT4l^h;e`e}1
z=GepWZgZ~%^L<B6VOf`{W*?laugL9Sua_yzd&BtLl7YSSOYW9~GiP4bJ6yaurQ+YZ
z!;g1=p3<N+zyG$FCcEYInumXS!ruPmOst==Pw5-?{qA$U*VE%`C)X5zD*Ci&?fvyX
zUKuBgttf44?~#dFn0jK}cY$vV*_#T!G0e$hoG$#c+2V^xLGFZ=>I=PgbG&)(+<D`7
zx2U35{nP#r**P`MQ8^nJT$f&Xx&CIuqka2lv96hCoh7#697DNl$p1Hm<tJZ$)a+QI
z-fj1Gdi32>zkW|O|M{cujLMDUH<%5#ISS8_;Cz-l>wzV+IS*@&qEM|lmqXgr^KUZ`
z%~P{Uj%#90n62rt|Bg<wO?aHpJI3dX2Riq7>^FZ@)mUA>T<B37gG@sYi_CR?W|6($
z8aC^<*i<W~d|l!kyujhd)8`Bp7v&1%m}KmyR51N}#CGlg=aRc2r2%_NU$pJpuGLbp
zPW&xndVJ+y`H;B4#@PL(t3RJBTbyC*n0d>0QKxC)pDUl17j^{I7;L!I`26=t6)E+5
zJ|b(QZ7fboOx6Fful|z0*5hZ7=gr=7Ry1{O#ijipt5&VrxmzRl_C(=Zo1So2Dyn|+
z__^}4$6uzxuubMm{{EWOIZNkWH(QKy=+U)e`A*%Rr5$#@Yr3w~#l_2HU#a`tNpV(!
z!LGSifAv1D>D=WX_`D?U%8HiRZ1*NTtq8C%%I-4Xd641b71zB<2UbsBCj79rPb2+M
z*WW9TR>kv8uXt1OMIKyMHQ$`ewt$0y;i4m`tb&}}^CsqQ-eWVdeenz4J4hT&5|=o-
zY0Zsk)}D!{zm+u1H1ROn%N1}zNLG09e$|(MaxSi}ZMwI8`tQ2hmcJgIWp7fJl^InV
zcB#*Z5Y+5?Zr$GA-u~y$uiv*#6tDYu%u9Fgz1DbJL8trEjP!8#UVd@m<<}L0F6u1v
zoVRiDv3l9bz3=<?|GfQrk^bZv4_^9wdl{I#F63gqS*l68=2Z5|gGN)%7EKIlwLcna
zEcS(M?K02H#drOTm)c~9obS$^cRt-%ZeyUFZqT%qn*<LEt-4Tb`Mh<@TG88E!Z_3}
z_Ec7_^*%m9$I3tHuVy#*!5RBbt-IgxXpe>HvL8==g$T$o*RN+gnZXqyb#~Q)RcZgu
z1n`QV?LEFe$9qe?weZW2*|*wro_t%u_~HGRd>fbFZ^9<7*dw|2o!e)5`IXXVkN026
zyCuGW{q*##m0q24U5_IR^>%nkWa=)}S{-EbORwL~YtqvR!QJs);&WqeAKP+f*Uu!s
zE3u3zQ}R}=3Kx^I$*Ik(H`pp0tMpL5EK#-p;Kk2-7A)>I(O6ryed+%TcQ@oN__^ug
zqV;+0l{L!`&UqAE-t%p9&4z%VJ*z*>40Tkxx^tKJ3`Ti@i~CmUFL>4R>f!;T=Z7ub
z4)5=m%DudE26w87bIPhiErC4>+ZWEi5;jwkA<cw|L)<2H(wq&_Mbnmxl*M1D*O{(S
zVEd=!&bI0ozka-bc*<Qf{9=t$@VpF3L#D-+qLWrG&2{<o|C&WX%ZVtCQkzFcQ66ul
zO!k~=$mv?9FC~=_$e6I^39Iyp`<YQS+Y_auXS>z1dA;;1laVwPtp9#6K=|NRXP)_4
zzf0#De$w$0>-Uk+>Gof_AU*oWsrC15!s-vrk`&&^k|ZSEJ>!FmyT^RK!?(<MxIg<S
zdZ;evT+~rH?}(4U`$|X2e!-wyJKhR^l(=(q)&6*!GN%_UFV=qBc$xoCmfyBAe(41@
zf0Gj=oiAxbaY)@2+}p6{mhz&$%gdu&bJcq_k7orxxg7KMt+TB1%}*&3ud<X3FY$TE
zO=Qxp&z>8i^kv$~t%WTXS9ETjj<-6u!*A8hcg5O2d5=ej|G5{~c_Wc`gKWUcizO<`
zvr^ADELz8Qs5Ho5aOZ`{u)YPwhr_}Q-yY7naZKXZueGVFYj_`MKmYXd&M`K&Qq#%v
zcf{QhTyic|@5#M|3ERYYtku*`%L-4OJSA|afY19t8_9X~yQ27oouYeBN+q#sgz9~H
zcXrn5o97?Tep#omDaN<e<Y91P+1ie>n>|N$;tummyU#zlHD|}ly{p$<tvh>k&P4v_
zhxguJDfFpK{`K<D%%8qZak;Tdv_y99-rYav?7k@-yi>aVKC6A2tM!_tudKFzX6dYN
zUCAkZS6cYewZPBU?PYcA)w5DIGaT2>us(lv&WkyGo4r@7KMoGRy>gSablT?r<S!K!
zoz3pY4NrVY4ViFI(sSjH9p`V{aQ5@&U)(%P>3Kxjxr#j<7QWYxowwWYGbZ7(ob64{
z>lu@*j!K#wTJp$Z$;!)C|9^b$zyEJ{nydAX`Mdo5)|augypC=E^*;apTMqB~x8{G!
zw@y}7FfG!k|M&5C{lA?rBg;D;XFYQco0R`X`N4(Hb@iYAEvo9fY;?ZkW0pxv(z1vp
z8htJWrS1h?b5gIzJehefV8WBOWJ66!4rvoZ$uF%lF6ktFN;oUKp0z%Dy+W4RuW1uM
z{dQec(WtEUJneSYW&7M-|G8^=w7k-uEvbK|CZoOl>vZeArp7a-KB+GMJE64ber*1&
zGu|>zSEp>Xxxa$b{zUYR$zENj`m^mS_fN5ko4+LPkKfb0<%bS(Ywv7Resbe_U(5FS
z<tlrgyga&U$+okZM%fK_R`hpHw^a9yzha&FB5&K1pP5~E7e7BzDEwzTd(1A$6N_dU
z{ycr+J6rw14Yv!M4puz*5xf31kGkXa%-@IOuFsaKI=JL-_F^UeV*;W#IiH!9te$bf
zeA$xfE!LmoN^JyfmX)tJxGLVYH2BDrxZk25?}VkBN?a7bd*{^M^;@If$-b+}_<v#5
zbDM{T%Ie&oKV7a?|Nd8hq1uGJizO>p)$6VZ@QKKkOlt_dG`;?E7(dHtPlJ!L<!_v#
znadxs%vC73bvVHwt6XiNwS?|g)vZq?tG2J*wCA08px430lP*@BQr5NN*rPse;q8rC
zjx!JKlxa#7F_vsBlKG}@{~%<^o;d*$XP++6Fxd1$RbrjV&OHg4g_Ukcw=dp)#rDJP
zz22YRJ!+qSc>ei&Jp5g6vg%i!el^!Z;h3^_AMbO8o=uH90w-tZ1WXIxUcm4y?OcY=
z>cuMqroUVLcDr20t$$}GY&Kucsjqe;?(&LP*-F1|Z8Ds3<hI0=yBvRVSoJa$C-9iv
zXtw&}*R(EjQinK`=F0dz_YRaY=f7xa&wKGBulx-U)Be{bcMGqV|BchmY2E*7d3|(U
zz2Z#A#E^p1AM$?kM_kqHchUPi)2idsmdHz+bx%uwc{44#aL;;8zDKvdnC?nz(!TBL
zA{wQ3H(Ya(F+&=gQJIjW#fD$scov0!53G!2=m|S8WlFr!-pcvM9h#aRW;fh;5N_>p
zM)J_QO7>j|9M{&)tCuKo+-2C4v|jYVgr2Z^{d;Ni^;<&nBjyR!GTyo9d)aO;+qu-x
zXxDPf(_8nw@s?YmRM1?Qf9JF8{ntGUyDpxP^l`fX(kJTf;lOH<w#CyzkIp$R5xi^X
z^Xx+nbCM@SWlwsPC8gFR!RvcwzgNM|RoAYFZG6>sb>3f-OOBGN&!xmA*flPj>r~!*
zwaZ}6w@dXh?S~gUZr!`kIOnJEars0x2_LKWb5AzB{rzx*ImhkfUdP7i?oBiQe2M;D
z%e-UfTvM^1yuxXdpENp_?aJFO%HkGx+3<4a?a(jx>o^^zbbR0P<6~6Dj}Ld*KI}Na
zvz<%E<N7Z5tD&L-%PYE=oEM(rv1n*{lo+!6#GCDGN4PB%=II~JIcB^rqWQsV4v{@S
z1C=j#S6k>xd~)?%;D3HYYs}ZnTUyLlZOW_--OD$9hIHTm>4{d1qFf4B9NxTUWnd^2
z2DM=(PuRd(|0d#Q-fat!TKR;3j*FkKTBZ`!9k_ghYIeW^?+Z)h4|tULge)=<nVZV?
z_q*kiB{w{y6kLOO*fP4Vm`p!i{jTU8Z~WeUnOV=fR>y5AdihJg^L0Vwwy6`Qdw;)N
z`A~J;<!m+Wu<eud??&I-z23j>|J%^*FJ7NIn0ZtG#-+QNcXiY1H}AXivF)q=?LO}{
zxzSe*de^@y3ezm(UFmDf&C!|0D||`z{OaX%^0!9^e%hn^op*Ybz@mz?CMNI87rj=`
zyc@ivwClS-vj6?ymn<hvZQf-xzqWjxg}HL&*X6Iy?Fvqvem{P$mV3yC>90Mm9ng7~
z6C<(x=6a#q1~Y6e>MT8zx@Xs~&GL)e$hyJO+*|zEe$)St1)@JlznyY8rE-RDx%|FO
z+wbJ=+f;29%fS0i&vXTwOaDU_;W@<%v)}zFU(vRf$Nm1cr_b+A)Gd(u!Mx|w->WKT
z63ia$p1U~TI>Jpl@bSLHi?@<*-9NnSTEwrkyJ6eeez4m03T&IeG5>1Z_UMIYU60p$
zm##nmCHL&wl?)xaZ#Y?xUpaF`Z~DFE#@AQ2T)I}}cmKtjXFP#^F`MtZ^lkCVi{x}Y
z?|QiUx$XWkyKTJAIb}ZEY{fhp>IFGZ&I$O#CK0%XEA}1NwGOFAwJDxElUF_eb*?`3
z|K*m$LJV0BFD8GMojiZ;?Xv&vh7-1>ZSsx@TVC(8vH$*-6aVjXuy=@=9b(vM$|}_6
zyrkax-eJvqo5Qj;G!{oGi<ITY7CvRM7yG-&>75_vC)>t+<zIyr@*D1Pe^AulCvC}8
zp|EaFW*vXokK_&QOV*pLI(Gj-Vpx8x!BWH4rKYogtCh@mW4gcLsMyrw7v9^u&J&-l
zb8fE+w^IMQ`tF_6(`Fw!ZLr(x+Uq$i55>z<7I6ibPO{nX@_&bB-_L{hR{L|QYL)#y
zWchgRv$L(7T_0M71?;V!NR=3Ne%bSGrvE$3)vib9ey^_nSy*!Ed4aH&g$w_>U)krU
zJj?ntt@mI0w=kh&brZ#|C`(VOE^+13@4a+|`}#{Q{>4hltN)y<kKXI3w{Y&pcfoT+
zRn9+};y1;)(nj=Yz^Q<{$BO(txfaO_v7fG5|3lEXhy4bV(lVo&jdS&Xu6ke5c`D&n
zYuTKjReSFhhJ9t9W+3i6UFw*@&fKc@-6y-FN?KQBCkq*uT{+aEYUH?gW!na~>mRnc
zi%R@z-z#)tl0u~5B(`k**^}$fELOQ!v3km}I3F`ZRg;g#_P>+fyt#aI-}4J|uU4ur
zdv<Plztk$XDXZSzURxKr?QG7AGt1cc=g#y$_U&EQ)nr?j+@`E)%hW}EZP_^%XRkli
zzhQ#!?l|qfOIgddAFw)?{P`|ZPtk^!#L6AdAN`7rUKnA#h1)DeZcCUVr?8ardY}5O
zeUCaOvFC<)ERwh?TPkCnA;BsV-^0F4jjJwn@4w00dz0BVSek4L->5yK=7v?S;jPox
zew<2L^>i=i37IstV3}%d)t72FRjw>{+|s!H)17Eh$*+qJ^*^tikskTZ|K6=mF3+TO
zKMT_%?YErRrFkev|NQ1C%WJ)BbOM#yyV%lY>dVgg+>tSvS(EdGalY}9gjeiS)-+$y
zUZnCZ!|~u1Lr<GW%U_!)nJld=l)oCS__Kd;(Yon*R{YPd1-g4NH~tKM%HV&$hE*!s
zglWl(D~lp`aT?mIsogk~^3E-+Y|YFS?H?zq_IzXaKJakzYQa5f2^-tgDj&@H_*moO
z`#`^66N>oiRjX3k{&y8QWnbmIxp8-W;JHh^O&T+fe{`@cZu!rA>|^tkWuG$=WbAz|
zm*m<0?k=n|Jm;S(<L!9)^sy;>?+Qk)cRcAhZOz`T{@ne~GJAwX&hAZ;3!1fda;R7y
zPh`2mzo5e39iP&wcn&?e{Ht}{-e;?_TWinkyl?a)Q0i!AQ&WD9_lB!yjh-#hRq*LI
zNnLwy<GaJ68loj<t3H@!i7m6*V>WYD&)Rm~AHM@kA`EQjP1_dA#BVHfY+JGA-d7>j
zdptQKKdzmyf?-|rbERIk%9mb!*NrY85B*b9@gT!)+giD=TP77e*0|Mk?6rZ*?%GfK
z;I8Zi<=N8zSr`~PctB?oOujf*mN#2ELErIFt?`Bg6)UyLzvt@J@9x@KUi|&>t`BMJ
zltnYOgUWU1?(PrSwO+sO@6$QUH?5PIlb7oC?46(Hygs*0cP_S_*xYwntopW}iOa*~
zJETLK?i|hv?mxCqzF+E4RJn!zyyAVg^CCSzue)QuC3LT#WA>s4JMS3ktu_58lN}Sl
zY5eR<xL&NnrccY(ecApb+i_)m+}3vUru!eX6Sv)$U)OS2>%mhi-AsmVYbi4})6bh*
zrNkEJ_uY^5R;j(w_3Y7{B^_rgXY6M9A6WlL!1HBu(W$tIc}t$YJ1o5GY2MeCZztjy
z`1_{6TJfu6AAfqz;Yj1qV08<(tE+`%YHv@i_gMZ`U^(A@{`EEW8;+Hnxn*<T@>Tsr
zX33?#yj6df9X$NXJ0a^p5dZ0QRaYACKf2A~8RcENSS~w@q4Bm#Yhew;zgaJMmahH&
z@mQ&r+LVJQCib4n@|tj(x#yMA>nPS$=Na3Xq?>tfg@wCJcr8Ec(!z-%(+|bJmYHT-
zWq-_Iiv-_wt8i1zm+Mw*Yt8w1S|C;Q)4`^H!u1FK>^GPZ!IPI27Wn+{zMZZg;+X{Z
z@^sj34QNP^`ucMH&fm}Hak#d2r>`_La+vLM`Q?vAJ+~K~dAa@Hcbz$Gu0byI_J1nY
zkNVL%{fOtI*3&5y+Y2ZD?EbUaddc1^6SseOce18d$@_3{-6OZ!SL|>89N#l1%CBhA
zi}08u_RZa1U+Zn&c<kM(GDG~wWY3Pn2mCkLe4F%A<=diEk*du(VpZDqr^GxZ+8>|%
z;^EX9Ae#N+$4woPrqCxJrxrW!T%?wL{GoRG8}^UIFD<Vws#opWylMTR@HKz7tyY<)
z^=9SX1%54D?x~$-GndZp7rI*&EKsp4vVhO(BwOgrE3-{=e>|JjQGfrF_oMl)4|5*x
ziT(di^LNSLw8~?*cPpPiJa<Ljnk}rhw-+wB)cRygNNw_Kwuu6F|MpGtnwQ1T_3vVS
zY<tOyU8iMRx0^m@U7bDmc-7mEki(tnDtg*eP6!#dI+Z_Y+Inh3bJ_Q>MRwnN^Yta-
z?o@31@Hb`8mrb4XD<|5=R(7k*s;>&JH|_nCA(rC!Epk5Jq7wa;j*8FE_^CR6xvO$v
zLr}@4+p9Kj%69wfk*F@*BhqMpMwLB?UzWv|VcpEQgxD63<4bC%F51JE&>^3#x<aeG
zYNzXqW|>pRc@s*Q+_npu%)kA+JeF1EL|iFbM}8U;zwxn^e-E=7i?D3YnB-$R;YL08
zF~_EvUYEOXzp2z)Qsun+*hTIKeCEBiMGWVh^Z2xGJ>7P>W~M{VocN%LKTc+Co8=m3
z(igr!>HJ>TiLP-mESEjyo<&Y$pVlS2I^g$~ozsmI8{P)^<eGUFme0O=$dE_$Sw2V1
zyen>2%6@qf-`;HZG?}oFvw`PwS6#1L0=r#zJ)?PX#QeU~sY3mmZ(fRK3w-EWX~fF*
z@rbrsqDboLn@Zf_Qp|m)y&ccyRA#29aLk|HyJz?Ert%8$`>H7deuoU^u`SG;|3N%X
zYX92p0yl4NU31j>kiCq6f~Vo6#g<HF9Tsf`zV;#hS`vj3&AhRbL$W_GYO%C0+?Mxt
zL-gCgX1$2$i@Mn}7p-g7j9U2d+}&x9=5t)pee!A7{NJ-)uM2LQbx<fz#^?3b0@-O9
zkH!Ck%eBmDuU@CKF)-u`f||F}FB~vroos$tp#E--x7*x<pfg5qv333yTL3EK)B>ek
zpKn_9zgAu|uuQ1j`y$_s!$C_HR$AITx8B}g_xE*eXw>$QEo+_?-?lEy?f$e!Ph$Vf
z+w#|E3f~OV=G6CyEVkM%pOO8)>epxg^|K?R#l-wRm$^Or7IrGlOls@TX<<ujS4yAS
zxNW7YYrTqH*X%&W6S7Ofo}MVbdvb+R&+WgJA18hOns&Ho*0rDO7R8h~vFLWTJbOFM
zbnV1zdt9QFGq??ZeNmq3ml#<WDfTM=_8QiuSx55kcRbr<DPHyS@7tXlA{h7NbWi5m
zaAR@Z!u!kYi*gPpe0lPtccM$$cj>^n`_znYq}@HA+wgzEzxv~fMvK2+I<@;`js5I=
zdzqWF^TXZC`p>XlNZ1h)c{TFO9hv(xHm7Y`GR-{VYObn9RoL_W+r`!=E;rh5tY2TB
z-J&^r>W{SSlkIFLJXBZRzpk5QbLL-Ia+Zkf1dijuE+-8wl<xPdXL&Y0s!V+Fs5$8H
ziH0A38OD>ppWamwkP!E{etl5S84IVPjg!B&oqTttZe`BXr8OEW+vF7{&a_i}@MhAA
zngw@$R&>_<D9&S#YH#9PS-aS5b-<HbuXs-;{+t!MW$V4m)~^?><7nEexF>JpgI_<)
z3z^H`wEg&M$hGlQ%D%H6N4-)dF6rGDx)@~1;&Sg__8~^OH6d;%E}P~))z(g(>~d9&
z+4q6p<lL*?_1jzXS7)j`kK~rwWpbC(Y`gvMi-$^+>tCuQn-@Bj?<x{2v?yKnE=y`x
z;uF=lPp)&n9lE)0sX^bA%)>ssUk|01u1?yy;&zp?|EFD2rK}gO1d2GEf4lmHuI6uz
zM)w7?zV!qO2A|?snyvkbn_>Cm-BX*C9$fjtw(Z;J8#X!zW>%}z?^?2H-TQl2S)FDm
zG@A(cYe^_szWRLa^WKQ38}{*@dXXg7t8C8kux{$!#}}MG*q@905xeCR?^<ndUIt5%
zYvvQ9749uvb92#@=Ua=W?pyMtUoFAgJb8jeN!XiXt20Df{a*No6@<;Q>ek_$>-o(0
zc;*B(&sUP^xsibZ>(>3Oi_fe#zoM$`)9|v-b8=9`t!|a`6H8)C4vGJst1N0(?c38m
z)rK`sylLa}_IH>1=jI6c&NbjZ?q^e~eEjPp)m3Q{?U~<htTI0K@_TgZ-Lr2i-t=!>
z%r~WtwM*d5*~#DCeUvwMd3GtCUbVCL!%J<enJa7JJ~~;43x$<EW>%T<ty*Q*gZk^0
zmL`lm0UjZ`zp8FauL|^1*?P`9<b7_e*aZ!VQ$g3)C!F72e!!_rH`)7CFYm1dtNg{k
zbV;mu#i9E1f}^kdpW_GQa_(G@zx-lXNyW8uW(hf6+iK2TGKp5be5F&U{!z<mp2A6M
zjMNXlQHs(FzRthzMlHL3Lzj#GYpwgA^CC{xFImF!X5;zN%2}LY6WYVCspc+OHRsT$
z=5R5tYbp2b7IgQ;#?29S)SLJ1#=_0tB-cAuT}#{d?()W$2GdWNX6?P7Y06hC{g2~*
z6SH&4^ZWK?E($%p-KE}_=h?nWy7BdGU3b&U=|>}9?9etZJ=8ke@}o-M+yqJeO9_)y
z-zmxdxu#Wr+Hy;<#r`9?bw8T#UQU;5`eVsGLyA4oH<%$M(ebuSeq&16*NsOfKhaX=
zShCvnvV!5ssd+QPv!hJI#a;eP+Nb)?Q^F<u+Rb0v{ZB6MHa|VN?LJT3+xImtD*L+a
zR(M>I%<j2aeq7l`(V_qFVb4X8W=$X0wadPC`G2`>=i7#pne}pOxu+{~$BFbkUda?>
z_{esy!(8(%hYcF@)wz$ye7vv7`si8J0+yNo0t?sPxXCSX@cviFyC!E=UrV?k6VRdB
z(KO%1JN;$rOyOl8MUG?`m2EPth~CsA=D8tAWD%q6N!F|Do3=meX7Jh9bHwbctf+7A
zo{D41dq0-Q^ehids8ZRIab;%umR8PZjq|2IlFhWcv#7nvWrEmK@ePTq4x01E?vu-L
z+?y&YR`T@eEcFIi0hzWVrsn#;lG>$?R5+UVG*7=Fwohw<#@piA!8O5)?#ZymmiOO&
zwP@YaGGBepQz!klNPWGodEw%_e~|O0{cpXvcY%$8;j}oYLYO?EpR3+X1hn#Apv5k1
zqgl4$G03e%b2)|1LvAHnyKT~$Yf1n1wlC4Nj-FVyETh}6>4=f}-PZ4OocH~Dw=H)~
z_Nj`y<;AzHi*mcmQsb}QeR}8L2E92)w(U@eb)B_uaq;iIqTjn8uisx~dZr>ca>m_{
zk~42dE4JNCIdob#m$Tmf75lA)`Ik3O<ETlUKDle6^qN~{!uLxTdwRb*ckgVv{>=ON
zW~H8=_wC8bRR5yXW9D+8Xy01)yfEpwO}7qc95>4PW;?m>VPxgCkWZ8Ov)xwKyjmB(
z`C*Pl;;P?wzjAJV#r1L1+P*Cu-L^MN-?Xh<FWdGo@l(RDrIDRy^32!R*44YFeK@;o
z?rn~LbN}>vrnu#|hQ2yhbU!NZzP;hLJL~32*c$3Lus-%)8h&f>@pnIt%`MfH%Box(
zUZrvH%J$ly#@lzv)p>p2TK#l)_U0L1BK7QZbPLTDjGXkgN-wt#wK-F<E-8ygR$0(5
z`OT!|hbI20lRBv<DRQ2hSv-D;WE!td{d#fPv`1w(!^@3ki2s<<HZihYcjpeFzstm`
zuI*d>@R83Q(~wqqM<rv^X2qMl6TdoGKR+z_>f!aBvKrE>W^qoH?%uAHt>MVKbK4xv
z@2Sh3HYlnd+ORJA)Y|ed$E@B)H_f%5u<rSbg4#cBc@O;V3e?-pbNX^^(H*fRYo%YR
zW^K4rFLZ3BM7jIP|J#lVdhXDfD{ws9t!~lM7dPj&Mr})((%QAPuczzce+!$+y*C5c
zWH!bzpZn4L;lesA#hy9)6deBl)!kek_LhGNKi5T(1*<$+xl30be7;0azA5v;u^T_7
z{4eURli2!4u&GS=M9zxS><TOvr?zPX?0Ud#wz@6#@{x%8`prw1Jo^41tL86b+*Q#F
z*Bov!hV&-u&#KaRwQS<aN$168U;Nh8#C~J;sqj?(3w5Uh6{YsAkFecd|9Nuj>t+8g
zom`gptR-(xkyxgL^~T*@&gMRQ&YZS8bu-Rl_al*W6V>Fi4zG>-(Q*FPt`yt%=8smq
zx!tMec6hyl+xfd2Uz=vumo+r*YR%L#KIUTLslH_GoT<w><{YxslVJUJ;u&wv-L1(V
zZZxL6Q(k!R+O8cx7p`weV>z*k>0`sq2V3P`xz5`vET6v2Xk+yxZzg+Q<<8;*yH|=I
z>6E_XT>4~g;m29u)~d=26iKYP=dw<)koRd?N6gOGsjIGd&w3ZfTys%ZO{l&8q}Sb&
zscR-(;QX7>n(}n#W{pi3I=S@cJ#(Cwx-)&!*0rm<%08LSpQoLv_<r^-BWWK^%~_^r
zf+AH?IcHql{rTRB&O2t+-acKv1z*K{Z0$>?*S!)66tYef^qXr^Cd}R$(d2vB<V^SP
zxV>wwf4z*0G%vQE`zv_r3i~4eJ9ZDHX4Y@rx<KLnuDQ24E8>i8XP&HzE1l}KPN8)1
ze10XxwfEhf^6NsUFSa<q+~AUQ@pDmz%i=j4S#wPkKIPsI+2HZk_l3*i>IoC=*Y{{G
zTzX`hiL`W4(4zinMnMK%B`p*0u2{2VMdR`60Mk`&??1ZVN@cFpGkulsI!}DH&bhfN
zpOw{P>cu?jwrS1bS=*hm^GvM$kBs+EqFBROw{*2_K7Q%B!?PD3<i*#lJ8^gWHA&f)
z7U#5|2e*p_XxzH2m=h@dNzzFsRb-mWrg;zho(r3rZYgYIT6Ar<cIvUjLx(21Z~5@Y
zoAYoZyZ7rQe~VltzAZaB`;q3<b?2vVSLxWRr0aA%cIQsvdc8Y`JQtgkHl^-5(Y)fs
z9ap<&z24`oBh(-NnY88SzjVLz>*j1ImJhDZ5o)nJ`dVXc*C!$N{W)d-8Xy0uj1$ON
z^7*L2f?FqcCLR22n%n+4_|U$S_XWOd@JuRx{r1;y`OWhF@%sI3?~2a6dN=p`m4oV;
zOgn``C8g58P5I99lU+fte$FITiGqaE<()4zt9~wGeYUMRc(av>CWGUYD~8v-4`oW7
zb~q*6|9<JGKg&NJ$l!E-UmwS4GqtOp|MKS3-4ma4f8AXCr@@f_gs(P>Z&urrdCJ@E
zwY*-u6}0e;eb@O`e%*=y#+$*Fzk{5Lt+^gYtWu10Un%Z;n7!O>#atD>vZ8vcdCNS%
z{LFgUJ?r11W#!9b43_N6I^66ebv5CgkMBpmS6adHF4HXXenf66nHCpekvQ*|MVxE!
z@)>N2Gju1rimiF#m~vp@vXqe6^ZN|1pUJ4X8CdZmUqiY|;N#-U8~VQ=@f2Zk%RKDm
z`t?}Uj)Zmfr`!HIw0*xG@W`S|fNwARoFKQ$4b?fi0(@-_Gp_4eO>ucIqM)qBGI`^p
zUB=&!UKMrmzZ+T-TyAmqhM3+W)-6x&ywiC1P;pAZgt*tMFMr$ezV%VlT`vQ_7fYXB
zephPr;==X)kb8yLE1nAYaWOE+8G^Q&O>TQ&A}gT4v59BXd<MscC(fJBg+Jl`#A&&`
zYiYY~`D%IN&DS63Gu78^I(pDEXQr9r_xjVHwHlM6o@~|Ad9*2H&$7bn@`qk@C4QZB
za^}Uq)>^v{Hs^kFD9AT1SSMk2{Il_A&lHivE?qIgU&I1aPId0_<`L9B=W<ME(T=N9
zTd&`J8eQP2@*@0jy6F2WO~#YDz812GJb3;8-?!`ac86bg9)7j<$6AgIlX~}#=PI*)
zZ}}*E>7)9EPs(-wie}5XdYx8sT_$9=vgKNv`s|zAZ<bzL6MbsJ^p}dlZ(h_r)Qvg$
z{Jrh8*`e#0=84$d{E_r@o@cR7LsP5j;TcbVN_yYR&~Gw%5PV$IWzAx)caw#BwPqch
z`#CW9^N~AMk+Fv)S6@`VmvVom{jy9o{`%ExrgY5DDw*=H?%s*@6HYu82@bz5ylB^~
z!fEU7+s)fJYyOIW6>@ftc227=-DwxM71a8?rf;*&b{Ez9=_h9{n%|*%bcv%kPi5h;
z%X|AOCRS}>f5IA6;G(n3=J*|DgKJIJn-1q~zy0gxQRNQBXR=<#@4ByLJ=9G$+Ph;-
zM^4g9uX={x-|t`75p@2(YVk$KwR5%?TTi{5(s^zU-{zJ_%tCiu*>0P!6h8JOrhq%p
z=BaPf6dS2|`|=8mEP7|2xO6!%)_+FI@)JuU>Z%TP|N7F=dEY0_ApQ7zKEJiilh^O-
z+-F&3cW>os?nm?L`s>uqCa9`$-d=Fx?OM}Vm3eE{IaYo#s$U$JlcqV9x9Ob{`@x^C
zhYYe9s{>v!gxX~YtSgyhE8fv~zq)zi<Cc3j`k2%=)h@T+>b~&)_TT5Wytn>$p!d!T
z_F26RhWR@l9a?hk)*r_5_bCF=YJ0D#p1%EuBZ)23OPHr~?KQ!*y&fKpQ|olM6s_D5
z)hx#R;LapNtL<CPt&0n**R(h|!9&aKj#d4Q4J9gh+xZmU9pFD?XDF1s?s?mkhp)EJ
z{JAybNpYO0SnPoV4$GqE$2Oh+75MqYtW&H1-V=0v(Q^4<$%EVbuFrN7ncQjHrF{S0
z(LDPZCF+4Dg}oYSk+VJpN!C@1{Vnj+Pz$e|cByFAWAXGry)7+CUsLxS`eax?)k){1
z!6oDQS>;+)6J9=KDsxzN@xTJlg=ZU+GAC_ts9n*rv+%WnyOQ1NPgA(Pf2yPkR$XJ4
z%?VoB&tyDpzVcu1!XqVHZMN2GDoroRG~fPcS%HVf^%f4%rPkfHdd+HY0%a4XoO)K?
zr}>;g;DyNFTAP_iF0ZiP$UgD<=D&q9H|i5jdf#%CyElKVcvNv$-s<f^9oBG_KGk`b
zHteo^daBcHZ}_|81@Uj5alf8%eUekdhCT1Z#ro#%T{@XncgxCDz76x%>Rp->HuGv(
z{!_O6$(b1`S$%g_C&}u}dCJ}y+8v<zY_AZ@&FJo@k1H;$GPn79H{r2W+<610!&>)N
zc<g!gw7!0&hoi#bwE8b1QXCc>zqqUyNIYPfC;wwfVOJv8GOj<4{RX_Es!ff;EOqNk
zr^(B!npMv^d#TFeV)KT8eI4>To()@HK9TIJ?q*mtbM@uP7rxe{ziBPIBmE`U{@X*P
z-{%gL-6`OSIm!RmbB~-b|E5XxO>drXWrRLpJ!KKrag4A2+IIEz<~hB*-8>PCr=}l`
zOMh@-`ZX!5e4o=H))~{D{;E=)BJ{OjQy1&A;$n@zFByDGk7PeQ(eI~skNW~k(XwC$
ztJ2=p*{l6?qFw5`mH3b5)|Q)Uo4st|ynXCjRLjlMzj~6IYi@8mu`6BtbRc_*sPf}W
z3~EoS_9~P#H^?=})Sq!u>#x2a@?Q64W2ve{z|Cj3Ers_abIx?1>eYF2zlrI=c^}O-
zs4GNrfB3@q&5Yw0V`H@HBxjW+W!24MHnWd6><v#iAvj@c4ew1E=9^zc4|!@VFK55`
zM#<GXPjPm7u}osiuD#cPzL)=Zanst?&WXQr4;&DSWbL&RdhzwbG7<OskV?MY?th;@
zY+NrXc}}hGzFXwY59tl78NJkW1MWPUtSz9I#HP6O#|87rk|s4P_<H{TG|s$H^oi|j
z)d}g?oR_)*Uk@+Z-@5C6sdUsbgQYG@?C$f{*q?~4Eqd_BaF-ePi<gtFZ^ztnZfjV)
z!>Ccce4FL1{p}Bnw@sS=M=8;>dUw72{~u4@s+?keuO)2fmcM;7%kdNILRk;}soK!_
zjd{h}{p~aDmrj?zAH2!(L(R6APnY?1E&uX~@6>+@*>zJ*r)8}cwh2{#zRGQG^V97?
z=c<2IiOE#1v5nQV`f<U2m)x`l{(F}fZF<n&w*H;&{Op?iwX+|;eY$h)M$0CNX}#_9
zy`}5fH)e0u`x(&S5`5;~y8X@zrzQMv`^Tryz0KQU%hHB}b@EJ0=kbgGo!P(Q<>P<9
ziV_YyO`fuA=hv)tUW-<<dWPPLTyXYv)t*vj-CKt@Zdqq4ys6u&LDPKotofHVZBzUA
zdD?9DyZfZuH|ARhrzibZR^N6wPU6<xLW@}?)rC)b)Vk}7ik*G5HVP&ko@=q?)(+0o
z3(bPdH~7r4cMOeu_-q;P-ICTTtE^+f+m5aHUvV)Zr$5$y+h5Nc?%Q4TH#}bO`uD{O
zgRWh{t9Y)S=oLN~di*!{<(>VrZ+~5T<*KN-Y3Y=;U$S2x>v*T|VRz#B_w8Jt!?tLu
zC#^Ut=Hp&FseAgGf4`!G=1%z7&lJEVa-v{$TlV#J=}!fxtl7-Oys9F0)hGU6>Jn<n
zM<-v}@?d#!iMHUC`gv0|%ojEtxcEsq;hyU8{bmk#FMeGVeKVynBy`i#;I%A|mc-3k
zck8;~<%<FzCWB6`65aYvnwOn{p;-dl|LvW|UZ0zP+f3k}UBZ7yfo~hTzB-+p1e)$&
ztvz9x<D;Z_=*iPwi(l+nbEE$LM3GeWvNn^~8`efQAKRo6RDS-h?e|I7^WVKXwM%i&
zV&2)e?oG^&ZV~nMy!rLYza3}h-q>c<7}>eHZQ{yWf2-eTKYqWzH%~n_G-|`_Qem5|
z*PXW1PrkT9``VIYcLOgAv1PAryB={Myv|n3a$jrk>#Qfc^GsG5rk3rWZ=YVjIqG6l
zitomioWj2Z{Iql&KIQq|J~!u@-SaKeCiC?L?w0Q;;h7~W9;#`-yX++A#PB!Ibo2FZ
z8Lyk>pMP$LtM`G^+a%U8idA3H|I)v5J&#;-_r=9;uRp6-vDq2@@z)R2c@25j?p|U0
z@cwE3jTZGMei5zvB6Hr0z2;}1r+clN*}wk`w?oszr9s+jFYdG27nttp>Z+4}!OOlY
z@wI30pF5Fj7;TsSirV|=%P|?X(rL%HXM5k--q16_{p<OcuC48r`+{dkIkKw+Sg`3^
zvbewb?Wr<dMPpt&Q@!{;55qH(1$*qa%<b4+8GO&%VEuz&t~Pa^n4)chXS=xeX73Iu
zedKf}+~pv@!o$v62M^v5o%YdT#^;Yrj~-rMDXSsrb*gn!@71eHYdP8^igI@b|56PW
zSX01gpp)rq^?J&ksOP@D2R}!jnZ+j-BVVUvUf?W#uwH(hz?z`IHN`RYm%Xw$4I|bV
zzVDFOv-rioO@|ph10uB)`=&1uUcaViU093rjtHT&g$J%((3mi<@w_>U=dU21eWCK1
zH@f2Tcc?vbe;^PxFR}0Ze__2%p<%8Z1{?(wA1b(dcS&Y0{Q12{torAXugZrHZqPBC
z6Y=lBp}%Z4nVBCu+8ZZcHZ2gDSz52F*`St^X0+WRKkqur^t;T*<l^=_-<)*w+K#B3
z6YeT}m8iS_@NMGtP}kdY!loXT{wOT^y4!SG$$QOjle@*{Px#g4Fzv~EulT!dQ_3ze
z*1mYM?O{n){kO+6U#tDQ<LPW(I>9>5Vlzwc+>N^>l*Nz6y;{2e<XyR0IaW+nkF~N_
zuB^AQ*)siYcGQPu*<p`XWW1WFC++i<F}3;mx2?x{*Hu}u1~Ffpa<QkQz*|c(^=(BV
z-;Ah+R~GLk7pq$^wq1L9-a+xKR&al5>F<4-j66J*Zklxl=c_pmR`ze&>sM1-#l5#e
zX3-1BD(2Up{r0H(=APts5Kjr#KWNUd?p)?GK~1~*>?Jcp{8rB>wca}U0{_*vxl?Cx
zF-7)W3zl|y6|6PSV}0a?pj@#TVZWp{tc=J%YFn+Ax2Z$iuxNt3?tyuc&(3@ju?&3I
zdsyehC6muRw%51la0bU+5uc=QzI;<i@Wmjx<@-(qO<5wkeagbZKnJGFa=d1D?JOtF
z+dB0~MdQy9F1~tG))<Emw#q%n`wv_E_<bnCki+Ajd!mlu?e1F+J3Bc$>r=02U4Oec
z^wkcg_Y*Fzd7Ki#P_oaWOVG<na{s0@dzsULPZq0OT$=TQJx}0hyy3K^R?Zy%-II#0
zvkRYhe|N`!j!oBbzEgoORFcihV)SP^cQ*)4dCEWYS&PvpQK92{_3iHjI5(VfJ|$Sr
z{({Ya--K-TvPqYu!;I$pZ@hfjHZG$>^Ker{x@d{|>t$Mve=i;g*kxHAxI3KduKe3D
z!Cm&%2kd|GE(<nZd;7w_mkYWA9yv2jNy^-Py6lF#V~@{&ahHYcCw<sA`)y(l&G**7
z{BLFPs=aFYti?Px&(ynVoKLI2sZ(^!_<DJO)Y&-_joG?QDxQlpW}J7{aQ(G!8_N$C
zlhR$AZoU^R|K<2Ku5eCq)T7_w*H|-K*Yxao%D!Gl!(&nIMV?I>sq-~vx7P({|8Z&k
zx#eT~qfbmisvG^xy?SER0}>9g94YytU&J(n=itR#f^|0&__nsL)Zl-zC^nv9Z~eYI
zd4&ewKB>6(?Jh88KYQnn=OUHDrb?sJO&b1pBh7BCojl8Ug5RS*GMj%M3^((ScW^Mf
zm(QRO`Jz#1&B|BuX^g5bxn@jQI{9?JEYB;wVxGPd%k1cmgqoFHk4~$uynVX(O#O*_
ziQhS#o?Nnu{P#oiZ^^&1x+|MrD{lE+Zudg5{$I#*1>3;ZZGmaC-T6aA7Wgqfc40hP
zcv|yv>+Aol#~zv;Y*h2}oi5VI;FTr!;;4qtF-Lob&wE|?PMOHhFgrZufBZc~8Ka~2
z%NISr9`0;Ae|7!dN7j))T%Ydol1jUlZIE%5BdmO7@d}MUCiAR|`JeKgnq*jF8u;Q#
zVncvce|ml9h6!8UxNq)y;BwaK-pr2{cWUA$-!j|YvYq$H(YX0iEO~EO*NICov1*1s
zk<4^tHQuJD^-pfQeBO>F7Bh}9|7FT4Sl#+_ci;87?hW~wyxd)tGqp4poIJQe(l5ry
z__?0>0mms*Q(PrYy0@`1moQ$j+bY?(U;ad)v*)y`C(-lGg?j^*z4T{#*kTtI_jUc`
z1<t#E%Yx5pF<AFH!I6!D;R9&yP;9#29z(YJHxa0{rRvOWDvSLRy~Cmve4CH_1y3Yi
zTPEJOXl{!0|KD;!i{9?pa{3z2jRw^Y<<Czm%Fo{|cHdi996j~gw9aiAuU5X5-MQ`P
zt2HOPe^q7GM=kTqh+ey-)bI4NwBX-;TffbIEMH%7Ry}uS^o`i<!d6?a*9Uz%nQ$R3
zJM7}O6%W@OyR%AAbm|YSb?iGAm`{kB%6z}{cypK7*1PY;&)>YiCd~ENB(>WiYo^T=
zIOwIduyVIvMfQ@9&pjSDZ53Eten0r7#I#iL)OG*1*Jw%v`+xnm_JQ~xpBFDLzn!_E
zOXlCEwX?zsx@}*m|4RLp-J4n=VRNG{w_fGq$+uo1$Jf7P*%rAySo+-l;Q2RP)Zc_f
zMVile>%RHxarJ9yua63^W`D+zvB5e7G?jP*G?l26a#ANhJ#_n&q}QI4|6YnJWwxIB
zb8h9$m)AIg&9pz(<es$VJMW>oD*n1}R{e~xYrm}wEP2jp#3i8Wzf<|k-;6cOrUcvc
z^VG-I1ZGJ{3f$*>DqLxu|H=C48SOvU6E1k(JjGoZZuB-~N0Z+I13QLH&(JHIZ~ZJu
zjILB%@@@CkFe5!l*Sa0sqE;oXyY_5t2AlA7*P~Idr`(Nr?&~Ueb<Q>4ZqDn+-`|kk
zr9Az?`QyR|a}+n1daYg*BBro^lc}igWa}rJzsU>p)$1P&NNur+<N9TMIz{>2l+R1b
z7S2m5t#f0w{lCin-*3MgvsavTlTgU<+3|uS$nnotAI6^8N9rL)uh+Q9teI_;en@Jc
z%cUnmYko^t^i0#1_F<O#uuCI6W)VZp6c>)?ds*v+K4=?kU$p-IWff2H!U-0MZ~A48
z{N4RT^n=uoz0j$jb6)tmeBH+1KIalwxvcnY#VPmnbmFuZcP1TQsZmt*{nW06m`$&^
z?tN@uuXF$FvELoddRlY7HQYIUNN?kRBO7Jr^RAIk&RE@jahN|*NuN<zOTnc);P0-5
zPDY6rKJE9dtmj@^AW@MyMd*0!j!x&ayjL!dHHz9kXH4Tcp84k7B-#3?wVU>|m7Uss
zp7C^d9E(U?N^GU2_NMlyML7uv=iK2ao1pVI%j)1ic2l;iYH`goZ?1XzKs&VTo3oRN
zdA8f<Fy7S}j$iHWzB^~9;T|hy+m^ch+bW%ks3}W}W>jrE;=-!?$z{*^-3#1(?J^He
zi7ma?!DRWQ-S~R%pPj<}cWx-=)o&<B6Xcw8AeQBb>O%4AkK(OO?rO8A9khs2+heeH
zvb)???a+yx%W}g$X=JZ*y#9U0H_qDr=ikm=o;I!aEJMAssc)*AE03n~lyz%QoO@_7
zcgk83o~Q1->l3o=`;PABtSETjxo%oixVii+8P?vsl*P=i93Kn0T)e<vvh!QOoY0r`
z*Oog<-aX8sY$PRgV11XF<j=(!Ybu4FOL@j@`J|hz<!yW5X+Xq$m+c>RFo`X^s2_Oh
zdT*1Le9*P;Y#TO68_u&}(Jor-x`U(B`OinD1l3Ms@8m~4!TJ)ahgJH7&o^w<D@vJQ
z_3Zb?O9mz$p27*c0@DgLb$XS~8kH=LWnu3ATYsvNYxZ6>wj@=5%kA6;PkipQ{;sSp
z+urCL#3aRk=R)D$jJ~u^7ZuO<(WOCG-uzy>DQ{UBi-~CfyVqf+QvMsW)$`{Y^!lx0
z>dBnyYP!{VOQBj;h@Jkcm}c$Fz_Rn~^8#+Yw`DxQdu3PA_osp`i=;2+e-KpKw))Wn
zhO_P(uPy7djqkWWI{9?D*!4xHr!4A-J!j#*boq3vYW?YJ9!-B9@@LAP<?jR~+ooST
z`RVTSAD@5T{wcVAedq`IPZw;%e(UK4cP@x#a9;O2q_$~Gn}<crJr$$r-HYA{o%-?0
zpyA*14J+R+So5MT{`g!kz0%*GoQ%4do_bte^E>WJ@$GJd>%jr_f2t+CV&dQa(7bBD
ztHQ2--oB|*th~>jz4fC({=-d~HBXN}yfd>}rPM=+HR0vQ6P|%C9ya{x9}5=#=xLTV
zKKMoT-`+~e#)Hp8L+;%%I4J$(=;B3I-<l5e#^}Ge&8o3d_`C);_ZjP^H6rpF|96OX
zP5StXxrc3iV#niD_v!1{y)U>f5*Jkyu|E;@U1*1Pa8BEi)Z93&C(;1{fzNY7uRQR$
zedsn<=f9$?>pc3|A^#_DPA%WR?%Zs*Z&g{I0qexq&inOv%K3|#lQ*)6aoLngneFFb
zU?^9e+}I{pf4k`R3Bg+b(0`1rUQaU>A06Ws2#!|qsESRk4xKc|W=&AEa)O3m&uzZ8
zU2nqvsotNYfBL0l6N_rpL}As!Ynx7~bj-~3iC^}+#5}IHI{L{q)9Jk{PHhBNFQ>Ph
za;Y@kW<N)N&cs~PuBnozS5NAHYklv=eYyYN%-6r#anhK(e)Va!wB+igA+q1Ae0M!!
z&F)(@Yq~^q*ro(7`=_D$li#p~bnkh-``v<YgTPy}zkbquz4~d;lA5rkubZZy5}0U{
z&Sjk+wkR(u>ud0etCP$X7KgvjeJL?#X?msGecxI=%jK&-{o1<b{43#=?f2v7dw8cz
zn4UXzO+&<+dua*AzW;UV4SB`)R-axU<)yPP_SB;vqTL5)ms)RA{A2y=h?3an=+vdp
z(su2hy>6eqfqCp%{xk2k@*m*a#;<#+Vv@F=_p*whsa#GsG8THwSK85Zvj6oh&((|C
zKIpmXU6~u!R{Mu*%j8g2-K}L0Tlqc2l%|FT>s}S~_|g*;eVak{{N0FSn*ZxFbr&qz
zcy^D#7Eft6Vg9QRwr5$0YdxQ~{c79HQyaeIPOZyXv#F`hBiBv$<?q+iBwlu%xUTJe
z_v(ceN<p(L(*j;^oO?ebI)io3)r1@Jhjwk1Vm6m~SmZxl`F=l}iJ#QhJq875d)6)E
zd1@85{j%0>W$ztF%-{AMO*M^Nouw)Ac7MI~1oKxucb~@C^A;s-oTs0-+;Z{aGv3b+
zOZI&_pM0A?lYQm{uh~<tifEm*Jp8d-F<tEPM6InN({x%@&bc0xer>ydqu=VLhZnA`
zStG@>!|oqj-h*#<1^(B@v`UC-#p*^V7CjPtryOf|vtX;~n=L>41>1cN7#S|?`>%0g
zd1U&YoO-Ryxe3R`PWoh?lzf?CS$kAzmbupf`^huvH2&52TTPGO%6jqTFB|2bqOx=E
zZ(j88ux;^=RcjgZ4p+qJwoae?u~Pl<b*V%SyOUbm&m9Rp`RUlN#Q!HM5_t;3k6g80
z7N&cws-c}v;i<EScwSYi@YbdO7AS-tSvhGZXL&zM)xyMA_4eGKIJNbbCWyVgnlSCZ
z(~Ng-BMv;hWDvS;>lKq`s~O^ji{GtL+L!k8#yV3K?OO)_IqpwqvCt{#Kd(ROH&eut
z3f5zslNyx&?tEzXSXJ}KYXPUjmwzW+_%qozW8n*7mmOziR*Dx?*T}E=Xk?u@X|5gP
znScKuPm$f6B5Zg`c1c=p{jL^oFOlloF(S`3dc}3l>qq|jxbw3|%9Q1zLDE_*At$+3
zip@7M^}ikcepR-LSJjs(=8v9#J8mQVYKhQNr@Gbd>Nn%B_5R{(oi?ZFo}R7d>e-^{
zH~+oeEV}yVPQTEvPl~T_cWA9uUDKp>OnmxXrr_s`;yP@$r!4)aa>c9IF<PyD^%6(#
zV|#Wyxp`w+zR`V`MQ)ybb0#g*+4xQ5(bfaYA6Ghyue6uh`}k*_K-RvAZ?<3NJe)so
zIqRpDXQI^4`kz^lDV*x6lf#fWJMZ7${OXJU4R_y>RE~W4H>+ozQ^%DnR(>vC{1;B$
zxiY6_$*tVI%!jjdcP?d3Rh!9bA*!@D{If-U&O+(Mca1l#{hK3yU$Z}eGx6vr)uimU
zPa)a4bEQs}UG@9LK1DiX?%}NaW*iO6?rojcaee=f#htI+{$26>mG`LSUBNq_MFlT-
z?*24z2|en)=gImlQV$dE7Hl~ADN=Xd!WT;v+t%H5sJ|g~#;yLfZr+*BZ?{fNSrZ_A
z?%JKQYneXv$<_^<cT8s4sh;ua)3eyA2c-?J6mL=Bo5r-)PBi<S=)^-8x|QV399);|
zd;V?ZykxnXLMu}j$9-P4;RTaBXZ2P7#On`^_~b5sBWcoQe?a!PSl&CCOTkavK3}X6
zv07+9!`XlHOyfwEg~kyThyUr!P(67j`|B1V$)sI&zh=++xIeC5`ij(wqKSf*f16jG
zvpKnRspyGIBB8#?GcH`sTgE1^d+wH7szMLW8(kBxobdBX|D2-<CMAblZ<H@uXk8Se
zKWkBixZA^=jpwgM2imzG{hXHLUb}z2=+&Dh7B|xU@5&|g9&L39y?)Boa9d#cohV+{
zzRH=I!J$4+p6ycRy!F>lD7L=ZeA%j4^*twr{|K=v#qzbYU#Qbm*!}1J57oCqg`ezh
z>j!SEEPt_k+Q&!Jk8RT|aK8A#_Jg1Ej%48_FBt-NAM&|Tsc!#5I`mD})3vWFKl<t4
zduh4%@^WdHzt;@UUiiAnujq?uSm?Zi@mUvc96WX5#Pjc6MyXcXu@NawpXU9yyj}l=
zpO^3M-1fci?kn{Cxwv6}{fa*c4_@yRYW<UN;k$s^F2Q(pTQ-etl>!3O^Q1G6{};HU
zcX7{BzGwQ0J7)N%O>Q)vvtysIT63o{m*9_Qjv}tjjs|nTF>W*S-N^IE`E<kYTkdu`
z`%0`l)gH*`FFA4Ju6f4cD_sqHxBPh^&0V|iU_GB+vi_~7bxQ4b%U1CmXTNM~@=mVt
zOyKH&W_k;Kr+!p(y>Hp6Z)cKGAFm@(R%N&{dj`ku3o|}Fnj`-8sOIGTv-c*x3zX>5
zTeJQ7{l7E*RQ#%{3Yi|>@3x)!=7Y-{%{H#eU4HbxHA5wX*Wo?ECND)lr07lz+2^vs
zeZtn{rt7u=^>2F*)tT^^&5gXze4x%Q;BRVkdS&U()^pr{^B+fBDQsyL=Y3%}Mc(#E
z_xx`sn!kC>V?18``ft?lwsq;(<lf!?dZxmibxCjezs$2L3PrQG%Q1AsviAz_(AKiO
zI<v27;r0%(g^$nOohj^hr&XAD(Fx9F7gNM|#5%2K=FZJ@p0l|A-tUz7SJmfV8JAwj
zh%d<W-SRHQDfo$XozX0-VEq`2hdNS9`=!6kb+zX>oMJUg<=`Bng;JFjT08Sp_GjMb
zJam?QZ(sBKx+_<Cr<-0qv}=9+3l}|(LmE=Q99L`Q1pPi*w)w$=+EDegPp!l1>vc6J
zJ>XT*kaFvdHoa$QbZ?6>tNScbR<<pD-gECNHyP-#9sRticDs7CvQvlAWA8wv-J5jx
z^e;+qN#6aWBArXEN9Nv@2O)(~p<eQHcvW-!Brlb0t&}+_bMYNyUwr1l>x-XrGB8wV
zPi|}z-+ayVFiU+%istUhl(`?GCY6g!dv3q!!IVX!R!RC^isg@$#hN<qF(~AV`DYv{
zX4?GlT6b&J&s{T`+69CU)#$8s{d&2HGh@lbX-wLxOWG%g-G9IHa)s25a|?|(HZL^Z
z`dFhcw_b!_z0O3|`tZr1DBi%hr1B$oe{-BJmUGcq`_jRCd*I&m`Xfz-tS=1~Pci45
zH0R@kH>u4ruX9c<FiAhWt1We-F>6Em@;xig_s#rq{E24qH>UmdX|~pX{~iC>f85`#
zy0miRl+@qndJjBkKE!y*KDDTAhUl%g2WsUNT6+SR{$x#@D%Dcvcv4)NZGzFZ1Nq8E
z!IDiyVh<*Hy}VN=aLhJIrS*ILJZWWRwU39mXY^cf__=%WU%kK@n-zL`=cdoF3$53E
znEhf0TZ)y`1%_oml2<ezdS${deoCr4#o)}t*<KlHlSDc*79M@CbhAsne2O}kTAXf{
z^vBfRJ8YT$YWX1(4^9ykNY7bYe16B52Zm+l^TJoeM;!mN+_miyvy;1d!~I>{4fP8Z
zr5gMlzpdC6cbbo*T=$fj5661L%QH5$r5;{9HEL_t%c{il%Xy}K;pa0i3i+|I%YE^Q
z?&*<b=gSW}u&&`>u)zCZF7wV(Rf$zxybF2WM>suu>~-{WN`S9#=I<|dnbsTIo{D=M
z6V~+D`|i|}#Hx5FHT$(<haO!w73awFx*6eFAG)mDrHI8-m2Cox=$yQDn||m2$^X7a
zG$zPq*&>n8AE%x^mZ|(nL3J|w<Q%idO)=+%r<hB>p3VC$a9LAPyy1#@#+K&yGEc93
zQ{ZRy`0kq8MH{Tz|7)<FJ^AQP&1JVP#w&K$qi^+f2JE?{)$b$w;LEl{S7(SmS4tLp
z8!`J*d_YzGt92d+R4*=n>EsuDCveK;lDWaG2Yz*|)Lx+R|L@=J_HxZ;s{%A8eOS37
zdyCFgySs{e{98_3-+x~%=;C#*ubU@6TYNi2i&?#XrS3o35AA<WqzBpDJJQ#G;pf{&
zU&HIaC&Y5OaC1rQSE>L0{`R~Fv47_tTHEht=vfj!S9;ak=!y60!=HcKrnc0uzF}{t
zd-R?EQfFqGeNq?QxUa5udvSBgefxKn*-D=}%P#ES8gP2UlSM9zdM_J<aGuk9!5);W
zxyt5wQoge16-%>KD%+z@-c9A?Oe{8<vB}0h{iOC>*GCMem_sLVRE6!Gll&@uo%!_Z
zzt5gu?R}-;>I=gazi$4q@G-8h3|VNj#_B?b5C7$QU8$e8e1cCyzDLF9FOJ;%CUO3m
z$g}=eKMH;|n7ThBbk=I^nC*UZYPO{62YW6*_rc!SGJJ}l<dJl#I~gli*YW<?e|O?G
zhuyL}1ZQ!3{LQ)k^7krs_S{Ij-t5m-OXQY)+a9!J`<K&Y%jRr3o2q`ZqGVOcpP%*f
ztFzYzhI*B5@7_}WS~u$1Y|#r7L>Sb!eCb^LeSHI4-~IkuTpFw98_qQgn(DM-*1C(^
zQ!7Ike_wp#d+GM<Q19CNLVsl!{XDI`VE$juWx;BCJMLTv4cS@#Ju&?G&N9{q^Tim}
zdMq(I^6uHDAeZ7pf>rDNIIg^Uu+YxT@X$k!{5$pX3ybA^E?V|iTkr_Aelz*foM7{c
z|M)*e+1V=spLwu^ryrU(%X#6BouRkx+|*yWT3auRsb}qCn}zbO8+_-?xhN+$J7nG2
z95Im@n`e3I&D;E|-TUdW0v6G=3MR7(Rv%j!Y+L<Su;S>N0}MZfBDb|%=b60mQD!Dz
z`7-X3+|5Q$H|wl963FvK#Ug4x)43f_EKIncw>UdUtw<@13Egyec@*dD?CHx^e=9vw
zEW`E#T!?O;8_k%(xINi`QI?VaW0&SHbq)pw4nqb8MFxiH?~fZQP1n(2<f{);{?{$y
z7U%IP!?>Y5Y0X~tjETD4h21H$bl30gW_`xD(=l)26J7V2lb5X8<r%omWMZQ9hU3S0
zR5tC7c(ZQ(s$H)xpZWcMefXhWk2ak<os_csz0B=Lu2E@~g@&8z?dE??y1hzN+eqzH
zQ~w+3xZC&T|9<3uzdBKOlYHdb9a|jS1MB&3o`};5<^BEFD)y7;>ibhg^%L>}Pl*N>
zXzTx)nX<p(-P9M=eZpVEb@X#S@3DFEvuNXq;JTP)uSNBzgemPz;JOyC|9Ms3meBT$
z)hg>9d2RP@U7~y=zDmvL&%F2-=jZ=8bZT?<hDncie7jg}wxssc$_dv*g_W!89^U%9
z_<L;)OMS~(QM;J%=aY)}XsxT8a5b`2>!aG=l2R>4^%YyzHmyCdZ$*PzkHlRug=M1o
zwsjXXk`BLajd|F0z(#D1K){}Z{uLd(KeuiQvYnCVcKK<1`H5wx`K_1yKFghu{nooM
zyvn_N`(xAFmglEFxVADuGk%&9bG)MPMZT}e2}fTo@zKw&U#*dNK7(s-sDa;NiSPaE
zS52F?YvlniuB%d(ww&79Q9ozBxvjHntCs-ZftM#t?kRNqskm*o@wuwtxy4gs%s<HP
zIJh-OBy>}l{fDB|heuCLvk85|@#fW%u&6D9ieJ7uty;Ki-jtiXO@{6H2V|7^=EYC@
z6n<MszPl<#Jx}1kZqd8-7rb)4%hI1k8+-Y97g$y_iE6%(yt#7HmT63ja`%KiRWjGU
zwEoES?x?vdr4OFeWw0@0*?fpy$HRc9BJN9_U2{YH%9RgzgqjK!OHD*8t1?$!dK9@%
zNBBDn^Ah%e&aj{q?Vyw0Z>D&DyR3Wmm`lp+V`>d^%9i|n_hkFKmVI}=s@3x|R;@5!
z*q9@Hi@#7yd=I;9&zajUcc+E3E)-Xr`2WvduDg%o`d9?hJGDP~-1^5X%e~gUE;Qd#
z%tCVK+J6~wo|2E{_SGD_yy=9_!Sy>V9BhByu)Q*0zqoQoSy5Yc#{8+-E2pvR+g-R<
zVIZ@)W@E6mjB>x!B}d^)$9;0;1yUx|x3`rnQ|SK7B{{9Ll{2?#VjriC&%4SvmpYF6
z{MK#Hf7Mkd{0Mwe_3(55o3)>toVHquzG&GYq}OI7EI#3HYj3h-e1e>N@va&73fAbk
z&O2MA_=4^9USG*2>q<+Pd~$kuC_^Bx@6xukMTZwHW>1RV->IfB{ejb$t(Mz9#ESgn
zo>(7v^^5cZBfD>VBK2ohG{+f8`d2^peDj4#+^_t(v&{^P&G#P$EM26?>>vEIt9nbb
zGvD5sXN=1}&n-QseKfpyMV!rl>(j+|GA5fP=<Zl|yti*dXJ2GwQsZ6QPa2ElrR2Fa
z#5gYQUq7?Oe1^nDb>V42?Z-OaS2+fUyycr@!MXosy+Y=zb<f4s`d?2Dd^|Z_;MbjB
zTb4Dvs8UPa-(ICwGIc@K^x{d6?`t=@C%&k^Yq|d`&${TQ=g(*5vi1LMwDwMOJpc27
z%=e~^%sXwoCe5?=Ja)X!WVY4g$7apfUsSSIu&3Q|7Wy&${QqB<r=R~{*OKEK>vj2v
zb1BzfIWxJ4<?B-G?KaiV_L+2I_OZ$Lj_{`KePAK^<=AG8H)oyfIhIYXu=#5LhmU*x
zorD=)ep3z~KNBEtP|?0F;^|7A*F_8OEq%IbePw@L=)Xg$p@&X#U1@(U@vr3uySdyC
zzX=wePOcnldtc2-+q$8(?UG09pNXMj0%8Rxv=!tZoRPbEQ#IzSzKu+MGhbZn;m|V9
za2?-9RYuO@i#-SS$YrMfNn?pJvt^Yw7C-B8qvwF;^5u)tSc=XBJvpi>!Mr~wJFsj2
zi^gYM=I(bcbMDr>{wg_bLc^YmJps87b{<sd_^aWupkGeuxRQNZTg?r1Zq|El*S1Wn
zPCXd5HZFMcyQ!?dw`_X$=bkqAwEFB+U$?v3+@U4f(swtWnI`MBp-kKQhyA7oXKint
zlhclF|H@~z=}A@mL{_7XS6>I2{uO<w`#>seMKTxjpQ1!v;|KN()+@4jQX8jm2g;gO
zaeovk>Fzu{W!kc1M<3sAVyQg$EIr_%5N~td0+Zc`Zh9I{d@zB*d{a;BPS%O40csBQ
zsq@x#hdi`-wQhAu(;4~LxyzRQTRPXNcK6J=>+KomdOa;yw`68!snXx+qV?@Uko1%V
zuksxIxR<UfXFPKI#J|t4@@*Fi6l;XsT+4axi%Zn~SsvMQZiG+Ej~3PNR|tGJqvGh3
zlPA70>mTfW%9@gI5V~G6V^`1eZT2&QE*ot(m@&2f!oq~&1!qmBSqg6p-MDDY!K?#M
zede6te6af`^T)8KTCwMDXo(*X`eiUdZ{`}yoYN)kpTCN@WmKfp|NP^hdzbIjE|p5I
zDc!Xi;(Kj1#P_aW<a6**qVtN0G7OVus6?ymwP<<9_i4vV@%^bP{|nhY_3Ktu)Vin$
z+D-oUhj$Y1{=4;!m%3N_SMvtk<Mn!fGU&asQ|Av!jb^?nZDn<H1KxFb`F!&)>atUs
z(lNi$=#Iln%ZCjzg_9HFeMA0zw=e(v+S@_sp|OXXtctVwf|6fc6Yqq6N#OkUrdjBt
zaR8rHfEx33zF+1Vokn$n0ZMgjrz)72=GkoHx)DA(K0YTzsgAAw)Dq@Y8TT7X`_HXP
zcW3-9B&74meNIZd?uxdhQAIb4*e__#&pP0H{?6a!n!1XKE>e2#+m}D!?Z3ab#HzfO
zXU~aqdw*{C&;NGwF2DJn`?G7mnauoPeOCA)v%c<uvh8_!Z;pnj?yI~oudhRE?RF7f
z_iOX)k_9rdew=Oo7V<vey`ZA?r?dsOriCJW_a>SA&A1pg>+U0=I>!5dbUOCGF#q5D
z@C9hm&-4kBj7HOM$uM5y`j{%y{g9P`!C7YdLlZ`&?aM<Mx3bg=&pVRx*KPJCrwec7
z(tE#2pEdHy|2>a!o5J1G+b$butx0<;e5~NaEt&FP`V$xIY!LhPK{2H+`P<JqDtmKW
zoJ1#P&N>pZJN8tG$zvsV!TY-l5@)lo=x=)_{dvmsmbA@v%o5RlhdM7CuInv4E-5kD
zk3)NVGXLR&H@>MUCmY;bbH855_WZ$J+fIK!{k*>J=ck|d#UoZ1Ijr4Q`QTwe@S!>T
zC+ybup68&**S;{lw<$3_!)kJ$G2h>F36FNp?aa15mm$I9_U)^>!5)LTaYt6(Y5t|V
z?)#w!PY(VIo#rxUYL1?s(zMdmy&Lil%4zCHD1ATVv-n;>wBU>{H_I}9UU)l0%U3&L
z>7As2Yfaoc+EuseK7H@;v5s|>Z`FoUc2ToQ%eii>X|_=+;dZ=#_1XQapz!4S?Ek>g
zgPDQhC<izcr}v*SWUXHl_Au|Vfxy51Bi0cQ^&=;#y`7Yyn{}B@u{U?oZDxt%vC1;H
zZ{%e<POi|cm}ASCu72~F*%Hq${<G(tpa1^%yK~bgm+x*{s2jRVtmciY`@(h&^+l_G
ze!a1Km(JfS&bJcc64fkZtE*S-EuVaSy<f_@$kMLwNy!2U1#=&7+-~Oftln|K$ysI*
z@|>QQYu2`8ZD<THl?~ylXMWSh+H4@h%DZmo^|#^rH}%6-&$_TvVRl>5<tB|&8ybIn
z-8F5O`(%B`$z53ug}eXroqVIZ!E|flmpPmFw$E98tI6<_+JSjGk*yYa2MRLxPAJ~2
z9TlhL^;Y=)zVISV{VBH#w(SjAu};UKe)~o4U9IQN?ky^4Zhvs`+iN+_=ewt7si|AA
z>t4uv<9O=ZH*vFvbKdbNt(|x$`sA-alJT43Y#z&gVRv9DZ;uMoUA(-6&30~B`-{HN
z*IkLPS1QDtJYuSd`lV}IwC(Ldopf&f>n|EV%#Gju;>(M_rWvn}810_9;@h+z=|9Td
z<{0PJPfI($LYU>yG0TR-{3p(DSet$7?`qX6rO8}whF5CU=gkyZqZU6wup?}%qx?p*
z5XErT3#<&4Os^z7{MbD!OB+T1ec`zI>9FM-9>?#3hmy4)?r-g>R(yUVpyZ&z!t8@u
z9SH>-zS_)F_B%%>Z2Po8V4;_i`yJ10;Scdr>leu9l-B>BvGl3UEH`C)-|mU?TMl12
z&ldSmf0542qpndrT~Cg^7K&vI4K^=%u-C+O=_>6#_1)7#q;A!0dvzrLqC$_`_mhng
zI(HH;PyX^!vvou2M+3)?ib7kAR-L_Yoj0t&Y5tOZiF_A0+Cx)rXm3g>b-j4=*wV)f
z^-e05G&(Y0IPdjXs{ZkTud|OG51cu*Q(o`T&iOuvFP(Rbe0F?uj#a;Vs-WNV@~^9P
zi}^0@-BOcZ|F5d}_vi17Sy%6B{9Vyl{XgXJS(UpiH&)y-d!!@H+g0-H{GugaCRdid
z@jrd>f_{79B$3S}QAfI^Ibz&A{X|NGKR93YO*XKbxxm+V%7vuVzK)D0k1`SVpqj;A
zUAKH6YrJv$CAN8^`0>OUZJtGMZZSV<)wrvB*_~U>+CBG1%gX+UdHD~e4q4XNIQ$hq
zr}D6Pp|r$zy=m3|e;WRTY+lftwOU1-nSr609g@S=7&1z6`-E!xuCcN_z&1@{`b9%V
z!}`p?iLY1IRZf&_T*ukz(U|4+A>@AY!ue<H>Sk>4xN=nU*5%$S3haV{vtDIuMyAYC
zihs=3nS9EiF<<p5@1zf>)}L)!9DU;Mm1W71`))4idQodr?{A}fTI;yxS#w^sP2PtJ
zdsVLJUlSE}Hv2X&rze>)Gvv#C)swc&Tf$A1%y%uTzw<+kXPX`Klb@^fOq!$&j+|O-
z%2jsIFmL{eZ^r4`+n${Ip0oQ&ROptCwLN*?<g3iTdL7`EJ0t$^y0e<dTd#X()HIm5
zw%iS2U;6E>KFdOm_e-XgANzB1*821JKb*bZZNBI1LxvR(K3)(DZGT}Zlin~{sdH;;
zZ_%D*rHwn&?3v!wFA_+xT>7*30tf2}U18Zve{!s!<UZW4zH#fdz<7_0J@N`ltGs1@
zFc)lNS}l<^_v&E*{f4}wi|-uWa%20Pn1lO`7OfB~QvGfk7Q?6{GIc?M_NntKvXOmn
zkGrKU<v#3vXQCiWXY!3{>FMi?zdxQ>zntHdF(lITMx&X7AbX-?-Hv*V84}aAS8Si?
z*((^cBu>oobVcZbzZ16|@_F=(>qg-n<+B@e>X~}H9TsK<N=-`YwD|Q+Dcf7LYeB{V
z>xSmzelzM%Kj!<CGR4c{+fIjbiY!{H??ry?bCmIuaFIIlR^+e##1D>=AKBc(N<$Og
z<}7|vajv_XBQ8P5>6Q7)z&+Y-^?cX&H(GDoZ19;UJ8@~7`F11aFNZG_JT92Gt8QAv
z=Pw)UUAyNvl)lfs-~Ky(zTCTd`32#jr}>11j$K{Z@GL#6Ah&{5+_2C2zGu^oj$D1?
zJti{JpU=ok-aPSjj|$(j&fPnj56yh*YI!^>tzPrjUB+YKpZBdS@?+I~TIeUeIa<a=
zZSnRQ#!)NpCPx2dy0u8^ShqQ!^L^f9j`s5wc$L0x%VKo0{&{=T=UMfxZ)&)cIb1iq
zTJT>uHEF}0Uk|@Mxs)V7?dcnS&@ly^f7%x<iDzYCI5+))38Ni%Oz5e!#fR(;B=8@c
zu4&3>Tz}}&ni>g-`O7v+O05uE;^TSF%gVrPi`l*Szke>LUS0qB%e0&uK?)BvUfW4Z
za4W8=TOY2@9W~)sQ|OkK_s@F7T@LL3vv7LRCyqO=_crUEelMz`-TSTb-qT96`RSZ{
z(@t($ur$NN;%q0w@7JzjS7)t#bttSbin+I{>b}axl?S5D>VGHiGMmu!QS{D%W1<!F
zd_IXxUD6<(9LAO4&_6R`f#J#}vRuL8!G0@Urmv2#G+p^_XVsUy(({4SyjD#+^kQrL
z7K5+(oCZ5y$lCl{Fw>*n_W9APsxO^gE>tBrJTm(vET>evOH3m(PtCu4^3mhUH&P0V
zS?*reXW-tZ-#RC}*Zq9`-HltVFZ(<ZdAK&5cglgq+jV}%ES}Uj|I*)Md!OVjJ-Ouk
zq<v8f)c!aHZQb$ATa>?deW=gYg||I+#4&7LdMJ^-@2TvOBOBLTIM~;il49`ft=Pub
zg@<Fl9<4fZski3^&p)R}9y4_$L|(1wERO5$yzyj0+NJa1mTb)eC*>DRF4ADCzvTb&
zPx+3}|E2~9R5oNTlfC~)@p!@B!_0zewH?eg2NqjS?Dg>ee3?aRqrl@iLJRV1g~A`(
zc-tu-6!0}}w3`qW&=+!NLGD4LlX_RIMO1Y!S0Cy$$(kOytm(_cvjXvNjbqGi{;NBu
z*zr5IVE*J5y@+{Dg5O?iDR?ieE1g*4zi)cDIb(PILQd`ADVIghT3=Xw&#Jj@*NKYq
zva15=8;<9kO#D@9dT(lLC10(X{VBfWcfME8T+K3@y7JysBT)f~-&G-dGiIFRWD??A
zoZ$FrC!;k3#~iOEQdvPoSB|=b?h%QveC>XjcXwa=Y`c1?pVg1gepSx-xn9g7M4)bU
zSkD@t#M=|6U#j17^Aq1Rr>SRUeGgY#sirSF;-v0XnZ5E$&$}brmoI0Ry7|fV#?*Y*
zxj(*b`RL#tZTE)d#(OV`zYf`^@fqzwudF3^94}vRTz7tMd%`{MAABa!pIO&QML)k?
zzTma)e3jR8CfL^VZ;Ai>Gw#Etnm_i>m`k?ZQ@hfnc>T`%_o4H`7S(4fy_hGY`L<@Q
z(9%aU`5vZ4PuOqP$0hjX$7FW*?}|&AvdZTk?pOZF{5=2pvF~|vP8cfN99t&MqgyNy
zxlPhq@LM8x_n*QaM>ER*io}RUI_56bi4D6yBVF_69%tbw&Zsj_PQBdYysh=`a!#&o
z9v>@jJ3f5<<w(!T((3Y%ilQBR>&+aC56<TKyHiEx-UUAHnj~2}b<ce1i4N{5lhQR^
z%e|-e-QDpcUr^klkm1$hg_edM=Q+=At8<oMDiqnhtTZ`x_PYyRXHWDiU6yn`oPE6i
z__YsJ(fhZ4*~9WWWpAnG{rvd<KcC*dUVnc<*wjTYF0<W;&CC9AG<>CVgX;MOg6@m!
zPi#N_@PtgFx!K*<8V2nf-_P9me8;;A5x(Q+&WaoCIh1GrFhsWf&$MmFjS4>B4D_0)
zI_GMRo}N(Hms!R$<BrN{u8&yOm%8EVytivOavt=(XDJhS6tJ9gO~~uMZDKJK+O<}d
z7X51skq^(xZU|Oc@qgp4(1SY#p9DJ1SGZJO%U8<uRUTYcc`Th^*ucWTPy#Bel&3!n
zV3gqU*z-YEOYDT2<J{>Sfs8Wsb!WVlg4++zG#2lB_UG}YB^i!8G$Kk9cc%BXdQ9E8
zXN8>J8vXK>vXLGhF;8b~>WYcbR$9~lcYeLqdSS=U+Iy0UJ009qg=!MdE?G0#&ppLB
zD5>yRR?xxSnvYedeVA-tQq(8!SmtRx?{UjqA@QkK-#u@ClYTjK;zYyK&s0~YDA%_L
zcd5S6Pjl7n+44&u(^Q@5$cww@Lnp14S~Io(&9i^y+?g`*2fDJq9{iHyR2=e9NbH@Q
zq|`>QCW*gZSIXxIu&xr@|EVhIe$n2?RfVSmCu(!P^;>;;Uq<4ubXJ3k7dg5029pXl
z&H1#czE3!TNmpN|;D*=VR$mK6@6JtWhSgE^XVc8BH{5(v#J($;kAe4Ed(-;Y#}-Y0
zR&i|3Zl|E8J6l6}MGjxno>nWmA}L|H(SAey-Ek6$r_xmS&09FFOm)>!Q+-o;HvNWR
z-)S*?k^6$$?jNq-+aav=#AThv#g>L!7K{%+u)kOy;cB|_jlOWltDruOg92Z5D>vCM
za{VUi*;eln=kZ07+tXswExm;<^O&uL=3MSl39ak4{Fm#!X%oMCfssb8Nz3uJL)SaM
z@J`G%Ss2}AY?N%muDWOYMXi4=IR{Fz99f(yB;@xTTDvG)`&3gN|EJLQS<+U0RoDK^
zYT%Z!Zz|<pxq*9EoH<|ZTL)!N;R`!%7Hqnl{VHeIf^~lN(sQ1qta=gpt2(e)qhL2<
zgL^)^*^MJo3<-Z_BhrPl85(%wlJ2HkNiZbr{=I>X;YNY{H3o*;x7$q_4!D5@D&)5@
zYOK3m64ZC`CX2P8N5t~8(wn_qC-~`o)Y(0Y=ayX%`#V8STSdv$MJ^|sE-)W?tz+%<
z=kA&Z?cUcp3+r3HOgX!Aj_jJ63n@<yzVqmQ>G!grd(M`1tp7u=o2VDepLP1diPuT1
z*Jb{Hx!NgI>hFfi^f#-r69x8)o9z(1#~uAC?#8v=3)P9%3ld+?I%IZilFjRDC7S>K
zhpx?RD(19(6?T7_?3b!W>t&kr4vF{tlKH94ap_}%4aeJi2R^<@5UJ;TqtQ|IZK?e6
zLWy686U)Dx&9eS1<1^LO)5cr$vUAm|DdLuKwGP5T-a+?P$6fp1U~`;zzFx`&*G}uV
zdxfRGFX>rnSGRfYyM1ft=E;~$-ShE+eDRrwESF>6zg*W}cqvozrKFqMmJ^)2=4F@X
zd=i@1BtC<?;l<o5Z+0%|UzjGlzkcHV;>#AiInOUi-adH1^Q}cs@@@HJ%^T&HDW@C6
z9bX?XEquY<g%5u}{(XP{pCA9ub0&p`ix^8cto!bDV0p?~`<u`AG`Ps{J-#6A>RkPT
zZKZ6_<9W6ohu6(5`>P<qyZGRV{eRfHuIEiine$@d(dBz&=N)*|-RK^fGKbS_YPzJh
zwa3{fOM*AMAIc7U@v!st7U3DJZEg3s7u|Tf%P&PqV#}4>DHp|j0w(h>Epz*s9&=x3
z!TCd+XQ~wbxmT@hd&&1B&~d)PsWM~TSN|smJ`m-4^sL~;XBGyAR6%fGpx#)oA~)wu
z#Ou7<W+MOW6W%*y)US>xk93-I$UK+%lF5wA><KDXVqTq6uDidrG1ad9R`^TBx?L!D
z`B?*f-ljjEDRF%Ji_evx=(nlgyVl~S!Odxl<RahAOco4#zDVQs?ulRDscmi-%M@M9
zeaiK$+qJ%}*IsweueZv-G);VZiTbsqu7=)SzAsNiX<l8@>^OUUgzIhNiyNeVO>+th
zIp|+$uA%amVVkzy2N`v#kS%N0*6p)N-4~&Edd^vwed{9DS}9K|T*XkoTWj{Uh-|-&
z*F3H@N!tFlQ`wq*;P$kq`wgQaT==I<7l>mNt-rE2w^&*7aN*Zy;Wu?=Wv^6^&0VLe
z$!&7Ue;Zq^yS>l<HHi{6Jo{$WrR!WQ**)dzQA=M%sTAu?3Ype_xF=_v+Sc_XHn}e2
zY<RxB#O(FY_<Q7LureI13p`PNx$?_i>v@IGmxas`EPo$rKIPCA?}_{KJ#`QGm+UXr
z-+xOY`Gs-)to*Pg+<TpZ|L#~9eEe`veyI=dg<6%Q^Pgkm+m$)yXcX?_^pZIq$I#2-
z{P@?z=SLRC9f@diwYu!PYMXH28-pd=Kgb)ozphbjSjv@tVaoQbg=I3Ic<xKTV^VVZ
zDLX}wUF^b^gwys5R{qUSIXG#<v$cLTeu_*}KG)r>Q(N+TpKBC{nXjVC2lk$VuCFJu
ze&1z!wJ|98oQBSo>g9UN_MEvdtjeM7<$CWzn4xD0$HFQ`<*4u~-rPx7kD5*uc_<rw
zY|RCcur>{e_oWU7#{cKlb(Dv5nV;C3?N_`_XnJitqoj*PAkUKvCyhgk<_j!*yyNhW
z^FHAz%LN{7+x$~NQA<m|v~gM~qcv|`l3)Jy@C|dbRNPG(bvM4wW7Y3o^F-$OtGiQt
zcdAUk70+l;e>lCRTjFA_!#nv0YI;+Ct}Iv#5~$vBka6AX<9drMboacNsdm741Eb@&
zio?o#obx+8>nbY*Q~J%V9(>)S*z#TVk?RE8dp|hxWqvH5e!KV+NMSqs9*%Ecs;d3=
zaBMn0TjpW!p&zN&q?_K9JyI53c)rGkfA*b!1=sUz<CyCoI4)OpsP<>Jc{YdtjHUhJ
zuDjOHzb^c>_<7Ajhg%I1QGxqRp4XPIStxMr;i3N4z8Lk(TXq?E9erU^yK2_vi2oM~
zW1EuP-~RocV)5<SWSvdR<L2BvXw&!BQ^2k4h0mdzcfKF@d{DQgN;0Zp^{O>9(iM06
zc{;0|Zh99tku_UnbzXfS>(BKa&v#r@WNctPYrB?*+qcR{G2ovp_r?dBEjNNr>N(f1
zTiGJ&GwGl6)W7ppY;#?dgeS6|&~#gO%}Vxo;l)S)-8;F(6Ak_*WNcwz<NP`0k8D%N
ziAg#e=I%7!+`Mt}P0uMR+w47$8QY&)cCKRE^Zf34*Bjo2{Hpu=<>&PE^XvE7Fotg}
zG80d{(WV!@qtWD7-L7e>Vvkfh_q;4f^1s8tRXFX)H;Zm3Ywo`aGn{7n{r&0AaBqj>
zEbnFcFZYZ8&1N*ID?hycR7_Wx&ecf0RgT|73^I<et4T9vNyc%<EUz!R5Oj+-R=?;_
z#f`g+re?K24Koh1?s@sznrC``#^*Ar#oLoB?lAmoR%u_xHqW@>k;NASmRj@k%8*0o
zID>xe<KMx|z_4h#LlUD_{rkMzW&;2165cyx#IJtQpL$#@NqkxgFDta@(z@i;DdV{s
zTy(t!6<t9|x3)+=IP*^_`pVt@^8METD#F))*LAfO+?06t5~p4b`^0q#sh4ea=6)~V
zX<a@cWQVq4s%)ecyVBh2tLNA6dbDxLQ&YPQbDbJ4o|Mp^8&$6<S3OTB>rztXL5r6U
zqK~?Ci|*-SUoY}QIbr)1?%MiiTX(#ib1`1#@%dG&G(C=W#d=$rHgGs?Z2FOUw;=Q4
z55tTY0ZxNszcW2v9Z-xe`@g%nXX1;8rUhXW$~P`meO18CUEaHhh0$6gbuN=ivck`~
z3NEwD{;qGz|GCzn&iwD%dI#T?g>Lo7rR{sto^53|{_(i>`M-pT1$)-J?A~?Aa6;oZ
zZ}zOR3;qR%3~y?O@N^%&esxjZ_nzFq{COL{y<rnL_;^`Bo?Xh9WUGa~=?j!A&SV)J
zeNc6_i(jae=hKy!{4Yh#_p)BL%&v%A+*rAErtI6c{x<$>{l;MDX}8qZ*u1De^8Vp<
zokuggwuZ8M@hA$I^)brGIoKcFwbAqWzWYwe+qIUmI6v-xvNF_b_9NyXo{5_RU+7Nj
z;z(&~OlFu6exR@EQO|@W+W8v~?5}NK^ZBsh8y?5o91q_+JggVC-00GGw<S+g&*N+c
zr(?_Vi?^m+5SjMV*no@GVaxLVD|1h5$g7Wb-cWPs!+}K$h2+Y-Cm-YP+NH|cZ0zOf
z|3dIX+e`5S_pkO^$ki@-{e$VtoVP8j`uXgtG;4xwyZO9|uHEa)$xn}%sNS2)!5FzU
z>%;ypi$V(K{AW3Pd`po-O6lg=&bcYh-KRZ&1vWm(e)>=Q{HB`8acS>tc+>NyJP9tJ
zm{(+8-+J|{ji-_QoSGsxL2bp*t6Nk``lim0F;TVK;}m^JH1qw}jq~?7EtEgA@0;$C
zMGwzK&s(YMe{ROKJ^53QZ@IFPb=4FJtuM#<xNjU3d)YIoB+e~u+C<%4uco}RWit0a
z8QJ<yZ13h<rqNJ0O=_`o`n&r-pBSAGuYB@L+P--4*7>{ZyKg2v^qX|lYWA5=SK`zA
z|7w>$lXWT2`Ca$(&v*TJyZ^;)ai-gs$}WCTv}0Pq>muX3Z(Nw!4L!v+8_ZSD6LQ%p
zo!aePKKJ~xJiECrfwRtBf0^=`lj*smh<MWs!S}wFeX}<FI9zeVtTka$=&MBuYt7Hh
zluMWIe6YrFaoU6a&sk>u5ASt171;IaEuW|>?2;LB%#B;~MPOiiY`{mc&*io!1o{$<
z+Wz^U6>5)+;OF-DDS216E$%P4DN<{DVbXFI1_nV$Q)IfsDMQxjRUVAW^?FM)j^_y~
z?7v#)w{J=Nl$2^=aZ|3vAG&=54?mn~Y5b&T-Tgc-ziU2QTx0J_e4Cmo5SCgR7ou-|
ztbO^F9-d2HQBS8_7u{{RZH?)@d;fkME}gu^X8-crRjQmNA-PWZJxizf8cA)vIce&a
zy{n|d9^PFfraHAkM1OJ21^)}NpC%^PM;=_U#5MKH>!X^lUmsm`;>MbDVXCWBmb)1E
zseaggdQm2O?pe)SQU{|}TwERRJn1&uwNp+-X#%=x*Jf<!jgFXiw$e{4D(R7@=LAdr
zqGj=0&rVM8;S7B}-_<x@t~KuChB}cYC#JU5Ej4@<|0U_y#wH22#rf0r^UTWF6xs3V
z+bp&E0+yS1Bpzh1uG`q5mZR)>%{T4$&77bAI&!w{u~xE`GGl1EyKKR(mpZ@h$)p=B
zFK*epd6n?eh^qK>`RJgl8-i!vpE=!j4SVXTw59tZC!KpeQzR-{|JL5?dXm$&+*-?g
zZLV?CiT*X`l>6RB&3nB6o3}(;-*T2I<vIFW*7!ZT@XD{gbn=O_OU`XSwfg*z>uWBw
zY%kK=J|{E(u(}Cj(VvEBztCeFPW>@(KQ^W4l%%WM*E1(>YwB<6ce&Q`v{mJOhW1Q_
zAb0=OA#uztET8v!g+1*Lxe&kq;+i?`!f$xWc{mK;{P>wZ?M~y;pRab_zHG@J`1aLK
zWv+?68>DyG&NaBr`*uNn`kCHE4C#lmk1<_Xs(H1ib>HG8*6Jml3wqx_O8;;?@R*2i
z&DmTQKFyUouFnh(vD_5TuUXF+-C>hrD6&Sb;8y0e;%y9^S)0~Qe42T1XI+51%<Lk^
zYf~OCxUpg~BahhBH)&4yZ#iClzEJ4e8`&3()0^vfs%yOX+s?_YdftA@_(}bz4_Xs!
z<I4NZx7p53o8BJY_~v6(^`6}Zdu$GHrSjjfXOOX+=+}Lkc}>8#hGyG@<DC<Bic22i
zO69k(VUVeM*ZORZ(@o~SZw;cixP7f!H?hmeGw}ThnE!XW_+hT4cB|Td$1Su!T-yKp
z)Bjx`_dYx}Kk(!U<>ivm*KFL+KAiXXS^as{t~vJulY;jh*t;bE|GT8HsjI)ulRC3i
zIka{W_lnxHMPK^vg@<xqxxOmm-{Ia%o>k9}Ka)6^Ta|p=RK4uM%(5A`lJA!XWk0Ji
z`?brkedQ*NnaLXa{4`Gm1wJYH-F7BYIr1mZdy99{k0Q!8=pS!zU1^=~_>BL{lG3$Y
z2c4Vt)E5hEaZp_>`776zwM@d}*K{dfkvTq>Ds6>$<Sy<Nsf@_9;`_U(yV4}y`T2+W
zRoo_P18T3B?ozpyd+g^UbEn4H$5y6Cm0#oen7uSj=E%mEevdw$;k~rdbl%%X+e2eh
zSWA|-y}zzs|L@D!)A8vYp|NiKbG2`s_${{AW3lw9sTvdNJ0^R|SX|C%`tmvG^6aAv
zE&Z79`_x|lylirYP3e0(=8EKMPqi8ER@9&TeNJxj{nE#&6FYaU75}8Q`gGv+YyGo+
z2@Cu7DoM@VoBMS>dr9kCmud3tff6siFvKmml6#>+EO?cE_y%LWdl#Smm1?)}{h-M7
zvHy{DFt45MigypEc5Gs+{V}ERw>fBl1~l8tGyR<kqxy6n6~=4Z_b4&SGIF|^{hlhx
z%D`X?9<`~r1offTMBL81Z6Qz_pYXr&!oIMLDR)~fTJ<k3a+t+d`irs0<+xL6bXVD%
zSdka`Z|nT_FEO5y5#77FG-mG&BU_s}uV)JC-_QHhvqp0L<xLWq&srA>h8;<rB-XF|
z_Hyl#-%=}Cb%kb4WtGm14$ID8U-$p*Ca%{yI~U$AQsqdf7b*2{zZKM>CByTo;$%@&
z{1j2`2m4)57Hd6Fua{AoW5-xFkGHMuAz#rfv8dhi=Wp5{qjPD-*;5r$H#?aq%t;Mt
z`1jRlZB}d8+@`R?Fy@{+cSAjMv^Q+?di=ZBZHYwu;ii?bjZZ(?czZY&N9^!U-uS4;
zW@(b=vMo-wOMGJQ7S|sO*cI{r<m$@O<4>>M{wk}U*%YALVwUkg<LHy~Oh+ChemMNi
zz18LL*{0{=(@j|VC!F<YK9KuS*zDqjT$aw+M=SPA>D$Xp?45qyeF^(3h6@Sh8b|hI
z=~U&N3z%6vzpF>EI6YL^EAh3jWc@nNz^1twb;)rxyTcMPj1Pr-U)m90uMnbr{g39~
zg-^0y1}}YaPI#F(PrKa{-H5#36H<@y#}($>-<mjaLB7oOuR8H^izYmnz_yF)Xj+h3
zbjeHR8s{e&g8JSkuCU*6JiJD%c;i`xb07Ac^SRJ*;f<h|X0y(M#6x28i7WqAFLB&=
zcq0F)PjhWpc6KxCEmO2$vP;Nz+bC2Yxv+kgv+A>?S%zF6)_Ok5nzi&}x{}wSNg)%y
zZxQPeerd5H`U20zRvTxhO-ef#&sh}IenNs<>d?uA-J2qJF+ToSbU|0NB$TaOviIhu
zGeQAL9ePbkfsA(AtP7Y-HN;P(PBnP0+LX;_dp@&i*{a2p*|%jTZJINSL*LDQ`5(8i
z<oYNT2i+eX3u_|oGS#1oWw%Up4BDc;?Pl|)4;DvUvKHhVch)T8x>u0z$bIQiWc8i{
zTT(yGZ)u<8o5vv6w58&k-1#jw!rpI8ST}N%HFR8JvSM$r3wd7&V(zMTNMH{5pu;P;
zl=TZAgKf0iJD$lP_V<R4vZ??pJC`Y92K5#UC9?0&EKoRA==W;6b<R=Q?-Bj&M-mg;
z{%92{#4{%{ebmd`mSO1<H0h1vCAXY)#hL4pYOXT%nF$|n3cL8FtG4^?gpPcN>`cBu
zkN=l_RHS8IE3AJcusL|~jmBFg7L%RN@Tn_$beF5O&zM{Cw$Zt1p5~I~>&(q1AF324
z@Ws{h|G9YZb)%hCh5lxC6`@A8P13O`QFHAdDrBBuT>j3-;<=AuU(zB;(KUx%%H(~f
zbfnv)nE49)e6Atr`7gM5#w=Uw62<xxo`sC>m44WL?0;Q7@vVRDUDIR1cjXRUK2pMD
zJ40%s=#O`2ihA^;tfSNuR(TYgUD>e9pVRrs<(9nr^%E>tvz(SMII#KNgoTN_els-a
zaa_+|To78ZXw#90-!_Dv=zJF*ebniLnp6E+jdtNH2YycO{A}v@>bmm0PbX}=h28SP
zjbz&E3V(aVR2*b~v3T82PvzR)?6RM)4=YHrPFyQ}{g}`8<8DjX^8{X8Q;|5YV?Imj
z@lCz@>@9m3-un60gGRgmKE8eZf7OZ5n-{O1w!Lt{m-l`6)SBmUA4RwdjW}ag?Bkp=
zU-soUoey6MpIB8riP&a4_s8RvrGHsP*85oZSWe!~|9;XpF&44;cVnJpo;kfMrlWhu
z8TPZHCl+YUmso!)<X+PZx9X{zmL1rzO>#$HuJtr7;SA0Aw^OzyFx^v1JfW%m_<iQr
zMBSGXdbtY!mlv&U%9iR-?t15Xp{(?6@mI(Z0O`@%Q?4>IFx=#x{?VCHdHP>_M)vxH
zph9!6{)Yb!8S6t+A~z{<Zsb0_O^o%D$%?ysH;c#$FLlv#-Th6E>&x~s`{nVM6jhgb
zzGm`!+?^9>+;5!U)?fU!D86{h;#H}OB&#1DJ>a}WaZ%FQyEm%0YyG|Ay!M!H>&}c9
zH>@vQtG4|4cf0n??R$0|W8Zj{!(f)#@#Or)^;^$0FHn_^di>4F<JN)gTLVn5eOUFb
z$?IW%L+s}S3kem+-pI#a|Gg5a-xz1?^t>r2`_>CSm%u*LBlq)W<jBslVfEFz#nkh)
zPG*vw#|g2Hi>vpxubF%6pw|muh0;w=M6(KbxwV&Bx;hB_;_i_=D6{rOT=eF!bs|fT
zExh@6<&&WLds?q+H}4MZ2xVLA{;}zwbADR9v_Z4|!SZ+Ie4NjJZ(XGxZowXQq3(_2
zN4{sAeirQt0x!i*ZV%m5S$t$#j+pxz=Ix9w1^YFx#Fk0^opJ8M(#sQt?xkOynN+Y>
z?1^)?6l3MAFT1~-ID4*f<{aKVcNVN;x%J`p?NWJN`E&bN{dDUitKvIeB?#5??=KU4
zzUQiU?Sm^qOo@+W4m@Q1Qk-Ko$L!y3)sl*}>2s1S7;P)7j2`#YI7BH#8TQ6K4hwG0
zF({B@_{4SNV!#}^NoH4d!+yLiKcQwn=kPg!E!_hD%0&LnIdMYp=ZfVQbdR^>v8-2^
z^3d{xX-K7q23z}r*Jb>_>V;+<3w@^9BQ41&(&c+WZCCOi=bZxgKUOcAAIX3D$u^m{
zi>pfJL_d1?aN8D7+l8#trf^tXpYu+`p7CDT6V4B-d4rcPc9&hO{yDU3?WNh1oBQW;
zoxkRO(Xsqol~7W-(6flk?(7GIn1bGHc|85f(n|$D{x_~>`n)x}R+}*_rANfJ-aGeN
zfv?2e|K)~zWzJ2ie8qoQ>Eq)}i_e>tdjA;soK7*Ed)zao=2O+l)e50!v#h@OiLMUX
z$R!`QKy~V@Ywvq)T=Xv#2&movC6;7Z@Lc!&iK)v)4skqjZr!B&^$ye8t*^Acd>7Nc
zaZvPSILj+_Q2$Qo_=!oIyB5t}t9#rz&aM7=K%T@thF=<{VeRMc?9VKboE9nhyZLAW
z-(PEuzd9$4?6o$%wDCH1Gr?;A`}@~Y?m3h!-}Zj``Tu`EKK=YZ{Y7Z?_FW6P_1a&H
zz01f<U${1@K%iU6yKVE958VcOe=Fw2{<>@=`SYnp*W<{Ee(4t<3A5-Owovc7b@D^#
zRsR(meuNwji8Nm1qJ8aGQ-{@yW0xJe`a?VqzG;!-`(;?({_tM6TjrEyku%hm@hZf1
zT>5(}Bk^R<bhVsASF?5Qzj0_Q;A1xZ^8bvUr^G_*_v~tF<>r(8_c4JE{Mf!gnvsK%
zGrMQ*X9X4phMm(tI5S$-PuER+>#!-@wc%`9pmlA!N|kPlP-Iux8!^UD(QltW@wQsx
z^8T#r-q`O)#k-0viqD-XDEV1-Jz$IKqScYs8~1QucUqzw8M?h(`1RvW8;*;;QpwZy
ziS$;xHm~H`?U()bF`u?9zG`}JbFWLo#WKx#5!srRuPkDBs`0+llTg>SiLN)in7~<o
zbZ#)`AJz@huYRnPw&q<IoxMSP`Hjt2SLvOcGj(>`mQCz}ElHgJ%3seaXX~Bcbd2>S
zgIlzHnddu87w#h`Qgt;?-pbm!dBQ#YZ6A(oUgqGqbAf19Av5>>L)Ug45qbHSL&Dj6
z)8wk?<I|f2QZMAyi`5*=Z{4=<<~^>E@OrLXhmCU{9^ByjKQ~eOPr<wy_a#;4ybD`2
zGwzYd4aeP`tV-{$s!Kc+nd6YUKjPl{X|MU+zfF6+T6wo@F+)Xxg~*rZwJzrmfAqER
z_xQ;7@T-}G!MezwJDqi#8$|hQ=R7@oZNaJsS1oILt9+MSI_%_gWkHPo#e}Q*S4|{e
z`vvFzskavpIbJ8U%hvawMo;s{<aIUXQZJu(ZOo9VoGAa&nMX+GlJn<~cST`uMK8~P
zAk7l$X}pmm?BMqeTPAbwT<-Fkam_;!rzZXzJ{z@6F5QwB56I}96WFv+fc@>061Uf%
zj3@C-Ts7^5?K>4gk6?yW&I!{M`daQtD0oKSO=_&KY+6$vaa3~-Pn~pqDM#1M`fG+2
z>lU9{7Tx8&DQyc=c#Wu{NR!|jd(TxJ)r&Nyus&IHvi<T@-o=6@Vsrl=Z|RNImt6h)
z|MU$L@;mZgIvxz?TKnRfRe68QyQ5dS4z*hbZT{MHCu+hZ$JvWgykBsBh<YV{K>zwy
z3t8J2-cM8ZacvVUs;%Gj`Jwm2*H;5eUMx@7-FRWj4H@rGD>j)Zu3x*x%PIV)>^di(
z@M{6VySBg3TWPiW-^UHHud2*^51E+W-8pajM$wr1SO0z~f7ooWpR0H`$K6AG>Fcte
z->gYF|My7g@koJRiQleDSyiwuJhe-4Uul-Oj!W#rztUS2VkSMC{L1>E^ppDCaW(U|
zKj?0<UT-sT;_?Ka(tGV|{g+?KW{vW^sQu+O8@I*5jxYLi->WLkoj&n~!KMYJt{2X_
zo&GpMyf%2>G;s+%#$OtyyZGl?)*nB3LVJ?Zmb=>JdF_%ag+l6`vQIqC_#Y)bOZ)8n
zuT1Nc*dA-s+WqyvKQDiO|DTofx>w$}dFm$@SjLnW{4BP8oa@5dI^((LoAbwZ&aGAy
zd1NDbGg8pKOprCv;`H&GIy-)G^%d*;csqW1@_U_>T0umOnW=fHX2kKZPm5A|FZbW)
zOONk(u;!ZZj^}*If5Z;&eeS%r|IUG8;j4uQ<3C)g$<9yo>^)nRwcwHMGx=>7+6uVz
zc_#c9G~RpUq3FWxdhfTdxN%nd_?LW8A8Y#rNk%Ki>HbFzxu(C7Wjq7wa~W+vCB?|W
zI9*kp@fw&vz4x#o*K~C?#xvV{MHzoHP0u`PD6sv69ODnB?eA0=^%<u>Q-mpvI}TMk
zz4MHr!1U`mjISr(R_0=TdMbx0a=K|6V+NPd#~(#G_5aR2e>{Cz8lx5Cn&}VI7=`N>
z<OY43<MHFk<*HLBqc_akyz733%hx$6t=Y#uJ0F`q*>l>3ZllO2TPED%Sl;7tqj5&+
z)D72GIj;$w!)378?Y+)RnX(x@5nc7iga7`X<u^wsmeH@b?fJa<6Z>wd%No4X;e5U8
z@yh4d&Yyo}!D2OAh)?XQ?s5_Dqn{+#yItiy-v6Zj>8G}4UxSxctS1>0O%_P`n179Q
zFwd<>|8XTsY3|jQ=R1@djyH-Pvb^_DpGQe{*CfA1+LL{AjjF#o+)pX{>F|EnT!wAi
z=82RqEib9J-goz0u~(4730`H+xl?&gb183iwdG4#v+i_?-ke1(zRF@%>l^yE_Aoq%
zxq4<|x#$5C?|Msv&#~A4COcXLT;RF*H(~10suckdw|W2AI@RrddX$%ezmRLT?t&FY
zdn98E73W_xD&KIS)Y5lJ5>sRxcjsv}+1swN`{(U_bs}`X&-)K1$3BSj$<E<BcHZmX
zxzZb<io5b|b34z7TE%a=^Yw?f(?0rjr!)&$q@SC?X*sE!N5jpkKIf#(jV;bMMCQy|
z`E_Z@C#h8ehWVSdF9+*Z-)5SlePNkLK8LzRkKh&Ns4Mq+c;qfH2W;EjwCLHP>5_sG
zZZQI$<v$)QKKcHsvsUcm+3v=Q9ght@CDcma-yrw7{t5H{Fgu@!RZCv|bzNV6vE%QK
zvYW5jw{8$^+ghgImG#z5pXYFW+IrFNi}@W=p03c8*?y+T>dZ23zj)m(yFb_lSt?Cu
zcH{hTRUm5K_Sba`zuvjN2ni|_nfBqw86I6@cOCDQ#ZxE0)N^cJFD$a;bt&h+9-}zE
zv<G@y)U^cK4`1=w@I`CB6q|N^fKc14<y>KG`xm6n6KCU{qMJ}4Vjg&~tR-H1X8pvi
z3SVyDi0q!a*L+Qe?2>F2z5j{FX3T04Jr^x9RqV!*!-A>@I@bPZOf$c(9K%#>{60+I
zA~tMA?>~l(B_0zSUX<N+S!K=q%<R-kv(Nk-@s}^XR%P?CJ|$i^H=@ET`c{Yd?R&l*
z-%q{^UC|n_@tcN}<ST{lLk$1kUS1)2Ofc+K{cS;y^p0(Pd}ihM9Zi~!{%sJxuCllM
zM1|v_uiLLl7nokMbeYDc<Nd5pM|M`)B}2vyN2Hw}u<Dp)wcg{NpkW_iU*;wH;6P5h
zpXDOY$R&J>y-)EOtY>+`@p=2^9{If3kFPjhA1*rh^v#2#+Vd@r)tFUY_?3KIe`4w5
zM9#WB(iiK^<PZ0&D|lE7t}RP$Jsz01=6$2Yo}29}+%EpNmp#8mwR(+tGOP67=kb!S
zw&{eHID9Oc*#DhF*p@9(A%o#Ef1%sQj~eH4jvugBF5YLa@s4-ay`xW4BR<!x59Ds|
zEn8dv^6>c$cl-WMGw*m*AuGb&W5R8*$2q^@yuAJ2Z$BT;ub2M#|CvWb>@G7&#$5%v
z3R~8N^d%hJyzckD`}yww6y9C`6=$)gRs3z(TJxS+TN8~r4m;Yv<83<4zv06vZfnlv
zTBSu(XNmBI-1FZ3B=V4Vpx=|pOU}Hust;a&YWtM%)MY^yafhEYhKL>IPdd;2;O*Ky
zEZ4YKhXhWD)eX6M#plqEdhQ_02^Ed)>snq!uUjzX+(MIizarRYa_nphvT7Id6gu(E
zfj@YI>4kOK*J_!fncq9zWsx>!jlR6aRN&FeWhbs3$TdukG-NmU(Er-U>sw6tjY-oO
zrn>I_UUZ&w|FIJ(e_P5Q{H^mord+XawF#q1;mRiQ_DQc7oljJ|VZ7`h*JsZ9*blNy
zJGaetT_~?~V%uMr2IJ*2!Sypl4t!gC;7?o~_kp9K&H<Y*d!Jo3uUh!Tr;@w(KQB7A
zL@e9uo0P^y-p(7@9xWT!hObx_`CNU<rQZ^pGc$bhp0)5h2b}Sh$oa5QWuxYT`P1z=
zx(=$}dBFVZk?W5smW(YcBpPN#GdR|{r#gB0Gbn1YEy!S=@cy{N0^w$dMS`Nt0omLO
z!XzFnEh;i>TOrZ#h}WT`&ujUd7@j~whOOHfx@N7N?6LX+dtjj9hq65#`g_jSADZ`{
zb^61L`XXGed#?!WoXWtkbL#fM679kX^|y|#U;aYMZS}fW*X2_#ZHcw|9d_m2o|Vsk
zo6TQ#+q<&5@JY10>6v@JTZ}xPMjzJslzUU8$RpIR*VV@0&SBH7XAEPa@3^W6AGFEV
zF+Qv%@w6>t3C|=~C1aI|yEa)FhOr1~rJi}L$}VyC=%-VG#XYI{rKhw4in_}3v<ix%
zG~MdIhl-18>|E)^<vq)AQqP?H_ZlaUWf^6?^gQHg8<V>E(^~7t=MVP!`RZ}!ci!Xf
zdmYsz`Q^5(bL^%|rP7TBvy$DJGjFZg7Jlvf(XZ9q;g{E~eYn3nU{bDGbjlT-_quDp
zf9>y*=lf&3!g1N_e<mNEwHKEzz41D1Q?}IFbu$x-m({;2Hy5ia`Sxq=n+ci4d;ff!
z?wy`3`uOgh<M}op4t#L=#9_L>Wj}X~`^x_exv%&0)d;T2KDCLX#<~1qt(3pOtu2#1
z3ob{z{?Cvsb+q-;U2oMp;br9;Vh&audndVg=aGfK_8(f`wogH9|LuP)AGYl_?VE2l
zdHMZpE8V`8t1@S$oUJc9?tkfP_KWl@Uv69YK0UBy`^MedyN;@SdNb{=sA$|SlSzNS
z#%0_+^`l&B-$BhNv$cM82d_?UZq4`|%5fo!cdco7{`Zi#+C{f^P1Vo3ldqQ*+`c{J
z(wuZJuPIAjt6QwAtG~tnz;^GZ*pnZZKMZy>)+sy7euSSZX77{pJl_SQBkG-VSDm)~
z`{cu|JA1dzol|@_rbAWi!-*3I%IYLPes8SFe*T}~ko04J&L7*~Ts&%e{*SVq^2M+3
zHy^fI?Wpsg;b!>sxR7FPZI@5Ek)l%;Ds-K?yie$l)+OD1os#)&@%&qM%etAg2W-B)
zNAlrm?dTUlcXcjlpRUd|)5u%w?Q!X<P<=^hbcqLpphn=%hyAQStPh&yFRw5@R44VJ
zZ@#wn$;5}f?A{l2o|N7Ty?5Pf>z2lwK9h3OoZP-2{Mna(_xZ|?)z<3nd39-%3Rhmb
zSaT`3YtPjM54kOO*4){!b?45dZ}scq{4y<e=>D8zsjRA=ae7wf$tX6{^+*0Qu-v=(
zqwClG`p}&jHtI6Q6}|CJA6d+!e2io6M^$b&6Mh+ZzcL^ubJmpdOYXT!naBP2Wq;e|
z?cLTlZ|2A9hyT{E&4`oTcuk*g^P})9;m(_OeYoFc^6W~u=a#*Duc&wBy1Q-N?(JP&
zYxU;uw#-Farls^<lYFvk=eD+Nv;Pd7bz(PfzuFd7&sS5=pP9Hm+A)27=CpZY7j?I+
zt-5#V>sD!vuV?kRHNN~!ek1<LzkIpf(%fRT`Gw`Rx|0uFzus1!ai7ah>_^dW|Eo5(
zAFdye;#<CC%loCTtjwGDSTDVwxxQ5PPq^;#yEk55h>6^KBx>DCnYXzrX%Szwzf9P4
zFNRaK^6%+uv9*?}+y01Nd~3L0?{(dsb^rS3owTjJed_uazkkyMpGj%dFW9-G@6xSD
zuM&-2b6K_vbyrt+?{1bc+|sA8WlLA}>Xlt91*2~}n;tp8%_3=%TZr)$bF**Xr+vN^
zdyx0)(kn){W25dInSA@s?Q^{%7yNlvT|CQkakINlkhV(4nZBi-qQ=jk%-{Sp)H3zN
zv)S#o^YyK|g9@K*H}bWPJ8QJ~^jW$3x;($sv#0a&qJQ7netFjQtzY&%DKp>pt9R<W
zg=x>Cy?;knpN@>uOw80>x5)EBSzAe0MfZ_c$1E53g{bFr^l^2E1|2$d+<W8Z%O<C_
zeXV^juho5H^4IRrEop0MZfT34dza3gyL4B1`_?U6xA$4-zJ1WE*d*ey$kjDe?6v2o
z;?rI?S8CN<dJ>#@*6IE9nMXBt7Tun?WODf?k8?J6Ha>s){AtXc?N6U=-+Q{YGQT=L
zI<Nl!%>Zv^7A^(|P-HmEJKy*5R0f8}Q>S12WFX39VmkfddPDL0oeT^NCpefG7#OTK
zUe9M>U|=i`a(7}_cTVOd1H;t0o-U3d6>)F(vNy;aFI9_?RePV~cO&)*kATXI%^rpx
zTbfh@EhBDzdYN<D?mwT^@0xEvOZMyDzgfOXwf+9I=BBkNk&Qx{T{A_5J(^fL=9G)i
z{`};^-T&Y3t$y{A)ltZ0LcNA;`(ej?fB*JX>-UMjo+`@HSoQR)7xx?|?i<Ss&S<yq
zxx{pZX??;|QJFbe+<Tg)2IsB}@2h6jUZ3zFB>I8qnmJkCdyDR9M^v&hFTVv+7!v(z
z>f<&4Pyf}fsPWePb;N#CqJv_cdiVYY;V!c$3;svP|2I!;-P6Z-(2-GKTK%SjE0<sW
z-gw`lGu5!m@3oD6?u_4($Gsl>7W?4Xr}BJfEc1<uqpYE4e?M(qU?X1<`ZTmDiql@v
z<!0a0Wm9Hvn6qPUPH5+vxhJe%zVX~O<H2)d?wj_9?|k0eF?GXpvB!(|89Y5N`*qnj
z*2};D?mS$Vr*Wcx^{X|jo`&q5RKUzGn_I7ayF+TuvE#SH=dE8gZ|R&RUFNG@W>0;&
zb@uegwX5g!eJwj4wL7=<_LXfM4*T3cY<V-^aNkeKLtPFnTe#M4_&qON{`TYEoX>6Y
zACGTm|J<H@FUP7gPTiDcZ>QeZ8txVbpA8;L{}QVn_`XqzZR0%ry;1Scxoynu_0lVL
zotn<9f3H4s>$=h^y&|@CCBO7LzplxC;I`!Id9I8)wGD@2g}i3|x>ND@1@pa!@)d{q
zSN>!^E7|Jj)*s5en$MMW605AAL&LIzGZc@89yqMg@k&l---`sh7`~(r6H=4|pH>=b
zcRa57v3p&SX!zE=Eo|!w!}pqPdnBd)MEZVr(~sr8ffv93t`F`JmD>2iTsh+v_vEjC
z%PW5Gmz1eDNIn~7_^8L|*VWFA-#lwq|Cp>R^)hd9?1lMk$}Mtva|@g;+L%8zY5#K1
zKDkKGxa7m$aDS`DT*uFxUS<8J1$#F?T>Ea;?7KeP&3!Z9r_8$S&stSywQ<vqi>H6T
z`&3qEXi-!>*>r78=(n}?yNVqDys#B=SDE6V-om!2p@H+>wLgMJT#Ju)$mKei3mmo(
zth=~Fuyk6&p$meyJH81td~BD#BJ3v+5_<6E=CJ)2ZU6u6oEo0t(~wrjCHOhGZK}rf
zE1!$E%Km@!{!jajH^CpLgszL8C(F#&;$&hcVc5cRuzkhsLrUjeJJZCNmFs)CosE^+
zB!qZ(BuJm?bK{hL{6#%M<;BJY!bd}F-?1F65%?1KIOp$--9Ojn86CB{;4hg}w`xO@
z)OIuTxavpwf9KZU7vcFmE%cM@QwMIr4u}6OVyEt&yX~XfBE+k}EYd3~Xge#7!}HB-
zZb`St&AY><Oc&5r3eK=!sNT|XjQ4&0M+p<9C9mR+eOz!^L@4|1+W(4W58Lmk3Hda>
zkF-~n`5fFNYE*E-X{EkTxcu+a3CHiJyzzXo$}~f@rJv!}YStP91s<0f-W=MSjE`_J
zdwu5G%;(Kl_gL%7)<=^B&$bjQ$65bt=@7i@Dw6e}<)XksVdZ|Cy^|f8b!Ujm-S=8C
ztA2G;)7~??J_vVu*PrxU`jb26?Nhn@%A3hYw=51{9V+)X`|FYaKC35o<zIaxA?%s3
z+iWApu1PvkZfx1=-R4J%4?W^^o_+7i<QkqMVKFy3clhh5FI=-@Q_L+-m!RM)ho>IU
z*532Ct7-GO^~Qk@s@4Tr@Mv|Ob@-SV-u)txVWTTw{i%hv6`OOEj$8<56cE0W;2@fm
zy;i$UzxJg5pOB6v)6K(rE@-~pb+`V*ccY`}2UJ5HJ7sTtm@7Elz-7Zm4s9l>PirF0
zey!!Ixghsx`PS&pxT$Z#Pclw@v-y#&<DSD^TeZ})EmtyhD1KouF=Jlpr}44N(Kh{R
zTJx)r0Ljp&k5|>(h)ih<sr0#;cH*jcm`Q;!cg>%!KjkbF*}^!?Z!r7wZD6|aqm+SL
zYr|BQ;}wqk{ziTOW$(9c*QC@rX&0t1O#M=Hv}@tyS7$uFzVkoEUwhK`hU$vWCZUHy
z3yvgC;Rw4Cc}$@3U6cO=_o)F-%~po&_gcT%NP6uTsRzzSZ%w`IGNXRO2WAQHHNPgs
z=CWG|3b_5g_<GH81O5f8moCj<&Wn`4*f3|6pI`>p@6fvGT5tFp7DhE@xT%IbFwkk>
z{!tsbT<}E&o1q1}GMmWMjaf@4J<b0)^~cwGiDseCMOQ21r$rbhum165dh_o(<Hvp?
zw&HQ!0;(?pzHk(Cer|W;VMvLtH>+w>ob)1K=GU-qPE&6#ndCk7_L+vJ4h4RlmljL5
zI^5aO`1F?8x%W{&wj|_Ces?$`ak|fg$QM@^_z7@kG3Fm=RC*^?Aoch0^)<KV#9K){
zDPPgLJS0)xiT#Kni<I?>>cBM}DwkvqcQF3Rx$kcscQ5YkoewjwJe!|fcktfy>1?0t
zKON@kUv=wH$<x00(>(vY&u&{CcBW0n@%uu5*$rG~PBjJ$8|I%_kajavG@Gq{#WU~F
z%VMJMRbyMGvi|XJk1{;Oa#L21x%Ht_e*4Xib&bK!dpdur^e7$b*x1zfH7B%v_p~Fz
zZ`Uu}E@{;y{X$PPR4#1i+k=M|YwZue%H7C+WJkS=0Souqtr<ril*<)#Y-W=6Q(Ey$
zbpNiG!Y8l)>74De?+(Ya)HczyDVP5J{%dVFiL+1Suf-X@(+em1JGHaf<Yu@DP6;@&
z-pPgO;ia0LQ}^~nv`h(Z`5p1?w&9<7wedexb1$eHvOjFLkBvW<ZGGdw&8<(*K1^F7
z`ohzVxggm6fBnI9r@bCtdZk+x<z#|C|J~(VpzzXTfu?NOXM3(^^1)L#9w={C@GJCi
z^qIR<sF-Kv-XD{{-JT}D<ZYB)<-*^)>OJ&q|EID}pUxZB@!{m^iTmH5pW|*P>CGmp
z?Z?zwC8pHW%BOhPz^g+jL1FK$tew}+=d^Zt$#%*yoEK>2keX4iC87FbuYW`$xAgoM
zfs-7SN@jR-%&_ojXO_?viB?%4u)ZNgLW4&zN1)22WX1E=9GxbSA8a12Yg1OgO4;yX
z$E^MFqWz49S{;qv9EMWb4@AX0dBm?Z&Fu-*4K@C^+J5@ZC$&*G_VNU!#K}b@T75kA
z^ijFpG}(Veo(tU-!<abg<()bOIInOralK7EFRjwI{?h7@*I%{vx>|l{xwfNw;eW6D
z-Om(*+BlfcD8@K(t$D^@<H{!5+$ox@C~7y6lYQg&d6lh-Osdl#F7jOZ?)N<3CYDv~
zxf@n8A8}w^cCNkU(94<#&#!Y%<pvjjUvVkn!Euocwx*sNt&WFHk_ErDB-G0sUwv%v
zf*mi-XT|-uk5_wj`ZR;~ngt=t+qM6H`<C<a<D&TvvjhJhlev_*bym`bM@i}ti=Bj)
zKfS88dFq)2C(bW|K_R?eH>M@Zx<5EHOXsvf8s8xnZ&gOI<-8Uu))~&pt)b!Hw!LhT
z5NMNdnHA2{z#%E%`GBRy^`e5BoLkSd`miO}CO9!mP6^-X&S5xp<pKXmvmR9*V86(@
z_{gLAY^MC_O+S32uhtxw7Rvvbq;vU?u=(=(OA(0+ru5~0|Nr+|k7>w<$6_)Mmoyu3
zJNPDA3DzDhy0}$Tds@)h@YQcZKXgoZ+#=zzCO)jnQ@u4%c$KW1Y2r&~_13a8TK*a(
zEZX&tzCYb^+aTkJ-d}^hGj%4H8acR9{xM0edG%|7*xDT&Jw0-Vl{)WeGA(0EdUcs)
zdaFD0`el1|s7XAN5a>DP+xz1f*PSh)Cy#GGcK_Siiszf=ule;!_$U|i(jDLPzTVxg
zp2VHXV=dj&v~GEe(yQ`jQC2I(tQ9N2R9!7v+{GW!B2-_Z7j5Xn-y<Zby6_v<(XiJ_
zTjH4*-`FWGZJCg$u+%r>;}5T2O?4CZ&+lwK!lkYE#8i<>aYsi;Qu49QtcJV`I{K$6
z9CddSZ2o*a<mZA}yJJQB4+Jc_e|2Vp3!7szqiSR92KHCovAQhYbEEf9j@k88on!iZ
znJ@{B*7SY3_y6hDs|Px#v`^s*3SbZkOI|qLAZCW&sxX<7qPbr2J}ymdDg7KQT*?kh
zdKBFLT{&^#Tc4oAlC3Xt)r9&~HeQ%$9&pHSCr6lt(UFyGJmRNTru+?F(R%0inw1<$
z9yWys46f9BJ`}y|c}63-u{luZ)90|zcZyp-I0UpeTd?`_tlYlld3{DD%bkXVnia`c
zgVvs{J6#^Mdi@{IgHP3)ryf`x-4|W)N&6gsJ)__Zs~R~5FPSF?XRT@Dn0=&$JwyF;
z$m#5mHPc)9B=wh+ZI~*prIf-M>@V#<E2qQmG=tJ+kCfgtg+95Bvlf+#%zZ1Awn-u{
zagE2G33Inc6(;`HP~kt;&TzC|!=x>FM&ps@<6)c9q^9|%c!VcJ)yGdg-kFe<qtxlE
z@~PubeL(!2ih#9Ojjqkk_g=gAn>y3<`3zxF4m&^Z4ZFmcrDI{S;H1$+3BAO(Eq_+b
zI~B8L);dPJ4!;wTi{7Sfni?_J@Kjf0tAg7E!Gm1sSK7YuwN8v+n>k0L)7|}2X}z?d
zB&S8jf(@JJSH=GR$6NB?-qp4s7oOG~f@Vqc<!0YkT3f*^==J1-=$ck}wxe?$Wq;{^
zoA~8of#58~+;YK~x<4m*?90|<T>Py2yE?!0k{(aIm@S{ngs{xc5EhMjqTQ?Clxppq
zS+mK7=R#s+mVlQ>z|3=Ei`7~>Zswg(4veWcv52@JabCxJep?uK!v(p6of~Hz72z_z
zx8=C2vYUvwQGHKfZbj>dg{^|d6Ew_g3|gBO-0$c=s`grH`S!Jk9y`8sEW3GN<M9H;
zS%z<%sxPo?t<qhbw^w=ZuT%2IF?DMqCZ=n@+j;ueH|aMlcLX<hv1sIceITr%IF;35
zW#mV(sr7q3kN(o-E^<$BG;-yZ?UK*B-Vqicwaa@-=8Py6nG<S-S8URz%=n}6alh%M
zXBtH($|lrI*r#MBxLW_sZ}l$)-;1xz&`mkWUf*^hbH{s?3p(+h9SjAHr_Ka*x(GeF
z$hfs&`KqbSR+9{D4{{0f)IDSm<zLI@82a_robr3KWi0yZ*L{7=CH+@oaj*zabLF2Y
zzura9Wzp2(T`<A?XqX`z7w6(tQ(uJLyso`HdZkb?XZpN?{eiPg|K<nvDb38Dv*U=L
zVCCzC(i;a4@jmIgD%Q*QJ)?ALt-6Stn6Aqt-wb|d$1jo7WEBI>u(<r4`Xv4Ha?dR$
z+Z8)!_a4dfTQup7-^u#bNmHXlLu;01RZjNW5+R{$)OA58g@4mN`Er5whI#W#(qG@N
zs4dN!(6DInjORAp50AHs+VC%G2yXtG|EI<#Y=u)_M<3J0!)q0E5B=M|%1f7bR-Cj&
zCQDU@6W@k|o>`OBPa8^Q%H_P+qkPwPSG(9@)kQP8R3)a*n&8O7l5^3Z-ZNwUERBVq
z(iRka63Rc}$>K9fLEWnN-n9#6E2i3;>d#zLP$x7m=>Wge0mk!Fr`}$;DL>?79<TUi
z3#%$G-zQU>Dkj(N`LlKY_b$skPDz#L-@ZOR!1Yz9Vq1(({oAvV<!ja?sR=fePSFU6
zVMtA#P-hyw-*m3Tg$#Djf+ZVI=<(N|>q|{_a%s&oeQ9~OQvLR|jK}lLv{tb-8s_q>
z?_fN0GMCNph>2p71#|Q!Wod_ti@J)nrOS_QcxHX|yG}%U&x9|+=6t!y8cRbj>uT*x
z5scZggzdLg-)r%visHXF|6ISfbaKu)UB4G^?D^JwP~p)2-^*`uef~k=Ad~4SyxHoH
z>T`wN7y~A)Zn|Q+#_T||(wnR${XDXZa`R&6{#<pHGp}}Sgv4*NU+U#c<i1;pNtEr(
zk?7-G+JAvlbHk#<mUhp$B|kgE;-y~j+-wa<nvk+#b>pE4%a31(v$vJ{5g56ATUNl6
z<}bbK&D<~lJ!#rhyJKgx*t;43zvWMO<|p=hXYJhj>NOi4ZvJri|3#y(XPc%wbOgxc
zO-W|p-nnq`m5?OY343HTHVR}Xzk3j4x~|Bv_k`v*CJs-hM`5Bn{gp#@b^m|P|EX2t
z(!^R`^Uh}s%Kbeiio3&;te)u};wVheE#&cX>fm_#VXI2XlFW4<*9WfP>CTwy^^Civ
zYATDi>%)oc>+2`G&EFNLS|$BPDUVg6$uOfjBYeMz$}IjGwf{fFIrY9YJpWMIx6vue
zif6w3vH3s#8a<UzNcH6J?vQ6qGj6yfuA;9xWrNb{R9@2^^QJ7k>ZV*(5s-CL`Hk*o
zQ<i`)YLTkv!uGmrFIUp(*>2|~F{xbto|)Z&4$+0vH2!wHJ9ML7p`6<=mP7w!_mjCi
z89Tkj42$g9F8})0;<4pU%7%b@a<6wu>0Q_InOXMQfWPz(bL3qHuQLbLSyFVL-TGd)
zr>bUp;-g~L>BXI*a`H1`-_-tZ&f~H?k@MkI1iy94&3>nQ+bY5*?C7ycpEFT|lQAi<
zAYJ<OF@eq-BA=#~u$pg6s~7os{jvC0)kLqLm#ookv0p;?x8;BJ+gMeiFhS8(&Ujm<
z@(aTZ;ZpZvA!A9k+tsBvc9@jAh^YRRdG<|$^;1uc{x97{?*3+(D~|Gr7kEtAHS5#g
z6AxXkF?8ox3!FaDsDIv5?ex<6`t9+W*<WAWS@2XQsde_5Q?;)bFFC&`p|!i-<fVYp
z5xou$E%BAIHx(*5+rN0MWn_yuF(E~;dQ+o_^4ZFcu766ux~>&G^(Ya05~m~AeN<+B
z*xKt8j+|#dxyC`a$Ei$k?V&weKPzu?_nG}+hH!(@7iPy$?dqvcXTByEo?hO4t=A$k
zEZOC=Ew_uu50iO%C4XC8mv#76P7ttVs@Kb$y2t6L(3=y}48@Lx<xX??C{`c-?)QGr
zf33yKcFZwev%y^T`-lJ6%|6#Iae7oa;YJ%n(TvOkI~dO%X*%LMZSDbvq>YMePkjED
z@@amazNF?M!&#Y9U5eXxnd}YU{`lmS$2Y9YWNXX5Z>%`uIOXK(DJ~nI@?AD&k^Zqj
zIBT-SruxekZ=5AeYqFCZ480T8*z01>9e-10^X|>9;+*5>4u8-({&-z@>+dxS51)9;
z8Pv0E(Z;-a9&%1=tOFl>U66R1<7ktfS)#xxnW;~7`%X@N6vQX=lDR(iPAPk8#YE!|
zZ}y+-y+7@EO>WhOUq88%I)#q0E}fDPq@Q8z_b2mS-Gn_J^*jHb`k14#H;5(jQlG_3
zmrY^L_O%l7eQ%y`m|sz(`R{q<$BJc{{}(>||Ka5R+uzPOn*1`Ip7Ue2|Nl#u{+)|D
zS}d&j@zRSu*&Fx06gEFS^TwJOJAdhRwhh<ZT>m{}DP>Sy)^<G2?%&D%)eknt-l)7d
z?P~q+m;GzwcW;T(*mYu)XubKmiVrU9Ubd|K;Q#o^Rj)};?iQLb#6|lxI>;RO9=m#5
z{M2$bQ*pkSF8j~YW|QNWcCvY<1Xb4h{!eV5o0C-f{O7!<CW$3|6|HQp|91a3oP6fs
zkI7H6CTA*$be-STwLXk5=<Vu9ZBswG*s48olufr;7<kd|uz&fCWm0nc<dQn;PkuRZ
z<I7t4Uys}6@6Y#*y4g~C-g)=^j~DG{&O4j9q4MjhYl=s$7x6|JX79YM@k4yyQz3PZ
z#TR7VITYMhh9>Md`_$|Gj~C193;v&5)-u)Cs^7ly!&>=&j~_ntRG-)~d!9(yVU46;
z9aC}*mevJTN-=wdojhu-;1_qqim7~Rmu_>tW`c^Ke@=qDsM5Qo2QmxWKiU5{uX5ph
zqi+e{1}DptWe;EGZ}GVw_eE2?HBjkg?kCSeN72{I)R!+%n9cpBZ;@Nfm4ZWeY+lbe
zI_bmqybNaT$G7@-8$SPT_x0z(hcln<?Oc+rntbh)YG>_l_x~^a|K0Re`y;jJ_nVr>
zkqSEZl)~yu4u9yBatwTtk<NL4$q9w?>!&8Yd?H`_i~IaLyM12qArD_IR^Gh-_x=C#
zgg#~nY4cqb=gKwbEw3uLxZ6o}hWzCv7hL+p=kAv~Vy3lZ!Qt1wFPAKQ<TP#KW0q9=
zc{jdqpQ_v+xb4`@X)ezhv?bi1I{kfjpXb1S8&iQqyITpz8S3ks(u5j!_gy%6ly^t&
zk(&yyIs$)7RaYGFJk7N^%XDI|!YdQ?d1vnxpWkNv{^q_d>U^DZyCN%+lQZ-GY?HV7
z^`d`XXSz^8sq_4m&v<g>r0--Lk#M`%*0pi|&*;Jx4A(89ZRXzi_G0t>J#QDLcI#VR
zn7rftLfP`WUo&iOhqNE|5UCff+%`eP`EAVS6&@!x2>vj1_3O%Wxh-%dPvEvo8l!K~
zrFUXMkug5mO$XCdgI1LsSMONvAAH5;{rPidVK=^M-ub^jYL4QRT@Q9fF>rCq&fM$R
z`NN>&8q0;ZCoNAaB%VHCp}RHwkb+y3K}aUA>*p8G*p~2S9IxB^@BII&YO8gV>eu-?
zbP9(B8CuJ#`@ZCk-#PbILt5qr+oU<^f{ZFZ1T+Qi8aR1nA77-fS?tloFMpQT@0G2)
z5|VV$^<b7jQ~aM(vR}Qfwq4AAH#snGp6h|d><tb__RP#MZT9M!s2n$EPH1r1>Z0(8
zoW4?eE22~cXJ6RHua~cD8+hj%E1&i}U)B2WYm!>4*V<Lb<o^Gx^+rZdQ9#gkQv6%R
zDw!L1E7H2AY>d3{AYQJft>y4D?zP9+78fLUP3GM-U--0%?e66JeX_rIMG3Fa&|EU9
zEBJq7%7)_K-(r84%lD~1wo|&3lJ2Q{IYU5w(GHiV6AO29HrxnUeE(OR?zA4+JJlt(
zA6xH^s(-BUFh$R6y5Ejfn^iYfpKnax_P+3PW`y^fQ_1xW4;*f|7N>LwDL18ZNbE~A
z?TeUkvsIaaFYWHO$tsUL4bp_VJu07C`u#m<|KU{Y^YE+w?ZxM`!Xjpfy!$JEGi9Hb
zmTsz4hr}fFZx>vAsx4zQ7cI#?WZIi%(tkoAJ3~vU&80qvTh}{z5r6Wu*Z)4uJ8n>~
zG`WO#r3qVA@TJ!CkMI4K-~LE%!=aXQ`?GnTbo^Q*dZwV~blbO08Ojn2u7`4L%D(^Y
z57(ZWqg53ct)V-&z`*e9yx(%07q~mTlRA~OZ9??*NhKRAp6W|Y5PEp#on)JqbWzHG
zRz4l(jJky>>Qh@U*E=>BJ!rb#-Ty~aw(8p*-E@9!mdf2$g*R^g_D}VYR}-Dvuxx8o
z4?|CL;{mt3ToWHYY7>9$_a&^+pV?jga;(Xbh>DArNgG2l%l@rYFW;6L+hF`IXcqfX
zrKe{vE`PS=_Y>jsA>v#T?Q?#u+N;dlsl0TL)62^XWDeUd%opFzp|!a_L^r-F>9+A&
z$thl8h2oR?jN3FryK9(c+`e*2q`vC+=ASPk#XoDjjAUIbc(=R5A|&5c<>TedwXXjU
zX4&(*Tzh%LWEFea=Az#d<|n93OcQ@pWWC~HcW!-{{+YQ)7X_yCYu`EfwEbUr@Ull2
z{}j#IE^5S;_EcfBX2Gn;Uk8?JUaFt|RlxShk|UD>eNEi;w#|GQZTn`)NlWtsg_Bk?
zv-kV;_@+$a)LVa0^SaWhO6G7+RpG<Vi`)76cXnDl``q#2(wjxr`cvE&@|&;Pabn||
zH4FiDcYBZb$y(dll<eVL)pg~|0?8l0c5TUxJn2%CRFif8pE6&J^^qk}wfQTaKbj+Y
zvR>MX<AuH?>#VY`^P`pvv(CKpzmfNP$SjM~2IiJFp4pC0+iy$F*RlUsUb1Pki*7on
zwvX1=n}XT*r)$~i$bY(Ys$|a5_ja1S2bU-{sVH^3T)&(v5*U`UCiB>|v|cVH^Md5_
zcDwh7t=_r7c;+!F#x9S~GhT;iU%k7VpKaaY;QdGHHz-`(>|xas<Y}R%w1h>~>OQMg
z(V3$+CroZO4*sSeJ5k-I``5a;%moW8&%e9V-u;P1_1&|8W35RiI+FhOFwF|+zC4R}
zdE$mD_xlS!UN|v>`Qew>nl~<8(U~;k;>0DH*XRFQ6R$T<H_OsGBJt*Wum1nJW}yx?
zCSF=|O8tLTKG;&v7RJ3?CWC$3k4-ZjXT-mV5B%mdd*=U3SzaryNceQhzB;nDs`mfB
z!-cOlx1}~r)a~FrZgptm?{Bi30=|ZE+vMhRGi}k8J*&r&sKVs^Z%VG$R-SKft$Dot
zXZRFta}u8vBO>8-<PP)i{uNvzKPxJP*7iwwT|B?y=Ftbi`%-5nOVvASYv(j>ezVO{
zckZdPL1wEG3m1wdEM>~t*ml}_U)i=5Pv0c8t_lq4`YJnLU4QM_DGTqub6dJ}_xoq*
zqWQBjzOo7THl~_*DLoIE$!p8%_FkCrh{zMGkC&X@{rC`}#HZT${ABQdPhT<HQyYcZ
z)gNzs?7VoYli>Z$yXTr*+whw=w_f08$5y2@?)ytm=)6>%Ca^75e`-5h|KmBcLLy!W
z*d6M=w8nI*&k;BGW1l~B_el${6L|8PQ7Pj>vm;wu53lY_soo1e7zMe5yD#udZEL@L
zDe}v#uF9tS2ez*EubGxN``uHY`1FS&N_?kx@4KAUdniOr<VBHY(!UQ|^fi*gf~SPk
zdo1ODTDbVFOUUQ+756=FzjV98d+M2><GDW7Wy{i^KYJz|pr4v&eYO0NWXHqV)<$yu
zXV0BEd*+Pw1P-^eCN>Atmy4SS-4aTf^FfHm@h)TQ*|WMn{%0?_x&|lqv`J0Mx!{_d
zmuF{gY5I6a;j+MFvuw|lDWZ(+Hpy2eT$>}ksJ-5Omfwz)*$i7n*O;Z6H%9er%=FTZ
zsykUc>GN&vc6qfa^EOI<*GX_Sh`#&p`;?5cC5QGXvEFg1d9=_<YRRE({wG$u{VVVe
zyzG%Ix!L1iiqfUSezW@f7cf3Prly{*^^|K;z|!+uRJwZdFDfc5(OUZH%M~8Ujce{1
z?RRhKmb)lrUZ2)u?$Y1L$8n!Az^heBTYI7X8pq_Q!bIDZVQc;R{2f;c$<M3Y6>ww*
zd(H`kz*|aoF%PBB?o-;;`^xzR^VSl>tsk^h-OfMdRqu?_yKSEz@v>*d)1Hk^{;8qI
z`FAAqD=qM0^6=L*SLWVXP^QM==_;Z8#Ua};rNT1AM0(SmjQZWPc01ox;qAX;kX}_J
zwbGYI^rE4-VV7CA#lE%_l>}D%i%%T?U%1<0p>pejptbJ*8&@vvRC^>Ve0GYSm2LMH
zH3!wIivi`CH<I4i9CfX9V&dj|$X|J~O^%bzjaSc*{RQLVUgeY8qI(233vAt@VXa#H
zG-b-C6Gu92)}%d_|J7F?KI3uZjPx&7m+yCr@BH=V`fQ`p`C*<9UU^m-?JSX!V~f%?
zovg7nt!9Io^wpnBd$+82opoV_YT|4&sfZV|G_uRe;{F^C6ckvs#puXR_m%gbr9D47
zSGng<x}llmWuAu-9~|d}?drY2#?311*Z%o|^hE2xxmG5vi&o5?J2zQN<!1fyoQxDN
z=E)EDx;Sj<@O6Idk*&Sx)5Xk%X~9Avt9{N+`?N1+W0#b?;!CmeZF`<qe^E(Kvzc!g
zw!^NX_P)91dzRRPUJI5v?#q0#)?j789FGR2szn!HI;onjnld9q$oKT8bdAlf|30)@
zT({po;qoQ-FKpKgS1wfArOU|5lN-IWwSLdb+Pm65-)1F5NKV)&cPMy=%k8vT5+ZZk
zb%K-APafkGPwnSUG&wK+^rih5u7!&tT}3vnsP^=h$($_g5iS@1MJ}i~^GM^K&Zq#V
z13ePU!~)qCNMHFr!L+1JQa8O#w65pWiFY^d^cmeg6jXUFgI8se&T7pCIkhLNuUhR{
z=oD5jA$3;qt>`vCmo42{i92TJatiXcOikLjWM=b+gOb7BwS_iEQne<<YE9d5`%LSX
z6MUIxa!mLPb~QazNSv>9GuTFWmg0dICe!&$C1#esy^$ItQfK2?BD})w<D#jN$6TBj
zUUWY6!o11o;`1YOE=^PT{q(@Q75C>XJo&JDjpCn&mlxG%9hd)5bU9t4?VNzNN<-G~
z{PRop9B|~+%VT;ZbSeF3Z){|)>*>i^pRO~X(I`x^nLW3qiz8#p$(&h}+`0LS!(P|y
zk6PC?-&uQ`&5^}yn;qO$SPz-sxv=O~TZ{e@QAeL0%1?|f<9<m^y)Nh=_ENa-iSU-p
zTqoi6A*(~LE!(+Oy8gQ1b%8x?cUHdFUUaR+{_=MR_Tp_#)0QkM&|E#!MD+7BRgR9*
z2Om!z6I<2(esTBwMhPq9H5+z4k^jk<`C!uj#nnDVQjN1Mx`e!!1n{%G%{69no$P9H
z>hQKFX1u*wjea-6dDMQ*JKz1La+BMZF!jI3C!R83S^ZY|l^K8J<uy{X>NlGT2u<`o
zlzVZXN%Aa>#)7EzSAQ&0+-kB#RrY(YM5@QtwxEN49@my`y)e=HbFrtj3Cn!Bh~C-R
zCLtBi+2R*HoFpxtDHqZ(PkO$m%NZq}B{M>;f7I^k%d0o`i95AFy+d^My!juG&tI|N
zU3069+hv=oBM)B|et%(F_G<HAWfq}&ugPrn8D+dD7c=s(^$N1=s+`%n<aFTlrp=u_
z77C({-HOfzM!#GmJiZ&4wyI5C*6nt@WsTUYdA|~_X;(<wD5|II*z>?u^J`PQTkykw
zQ9Q>3J{isUar@{KEqk$}^Y`TztmaV8i?|`CId{{VsWFBf0ehW)9_A1Hy25xv+c^g9
zH}$ty^5<r6dVZit$;(t%h<8%?<wI+`0~ap!UvfHgeubdYDi4qSOq!CGQCr++xJm_`
zR=XQ5v_9`dt83TVNa?n{;a}um^GM04r<lF`!t7kCxWwrWhu{hCQ$-p3gIvCKK2uqv
z{6$@9TOy-tJJ0=|8qtfVOmr4KcDcVTg6$4lO=(&E`Hz1aqk4FR$|gEhiDpb{b>7-p
z%d1wc*`suP9%I;!joHooiHynD__i!bF%F9mw0!f!k7a_~szp0zPs_fr=i#h?B54)V
zj1xQ-(+(wZT;S3XF!9isaxPh4R8Dh=WasmZYbG$K#BlDGj9VDp-NN~GzS`o{K$eRy
z?tVF9AsE~DuwE!>O6vT;ehxPtkxz#@^5j1)a&yyo$y0V%`my_^qyQUk^$yo-Z)ZM|
z(0Wto7|{4yebSf2ZHh~$`@P-ayK;fu7me+oGu2MdWenSKwRz(49U**|lQfh&zZBlz
zFm0oE^g^Z93XeAbJhyF*U1@@u`hNu-`+Kx<kA5gndgS<zt1Ga+czfop3kM$9CG+}6
zG_3E_OygC%9;>*(uyQglPwULv6PaJAr~Fq=N;u*Aqv50-lSpl#oW@3rXU~nMq<-Lb
z`l7w+u+*UoO=%kst?qrLp<EQ*wn{-KeTwkmn1n_@j>Ls_*T1#No9X_(6#2BLg7x2_
zqKmU{wO$G_VGc2|J$!meZ@u;euEo*Z5lSr03~at0d+uDD6>eHr!fvq5>7?%6vlAYM
zEnm5K+guNoCEP9RT-J2kJg?t+VWQ&<52x$L6phT&4Hug%TkodnZe`|V{70aZ<&kw%
z=z?~!*rs?Tu^SH8?p4V6WWJbFb8^zH3!QTuFG%wByJ^q-`|ts$v~T?BgejW!e*DU7
zl2tdaDarLUR`_^k^7#vI=f0a%x%{;DnPvCBJd7yabL{GS<yl>lNh`v&v!?gyy0f)B
zaBs=;&~x+o7=Eegj@h9*Ogi_TEt_WOb@T2^pRO&TfghIq{xa$9E-kjn`*-v<hgi8D
z-hc4<`PS|;KO=Z1x|N@r8~t+G7PG8~Z5{sgv(~TfcKZ0mZD+9kRKFnJG~1_v_5n{$
z9)2g%bL#S^VD7v_X;}_l`<^O)Y5eoTBxJ*uS<^hXINHVBigvto?#{tqf0pcg=l$<{
z$;LzF?|t8%RIr?|=|RM$j9uc#+69^paqqfzKKEbjpAU*RU#XjG&71bdM=8nlMOe3u
z;z3TuJnh@{b3~1mYfiV6#9f<f^u03GGPf&bcBWt4;{fIBO3l`LoNpTJFqC3`Y;YoN
z^A%yGpons=)p;jeIn7G~B~CjAo1MPHTx?tPzekz3`@_qK6*CT>i4YQ-xa@+C_F|7<
z&bzJGiZ^l_c^El=S@87Q;SvGsl|}c?IR1K?d327yxb`7!;riV>R_HuYspfZKDttCO
zvMykIui@0id*wE*JE448ugd&;&EkhXv$Gz&yzFH;_u4kGhdhiuFO6eA_OALqv+qcv
zuEmVcd|Of$vKtl)wA%cTu{s)m-q+;!Qtynmqzkw1HMLKb(zlTg4EK3ploX;9+x725
z^hMW~f+x477YYhm&2l+Y|Jlqy(5z$Ut{%xp*C%9t5lHgxXlFRuRw8ijgu=DQ9x9ds
z`|pX&bej0Cg7Zz$u84{4^K2J1tFF1`d0i-uL%Sobv&ku6`IPwmnO}B<-CUyB@^Gi6
zlc_7eg7KX%8<sm825p?<=AOR0xzupSeWm8v*)~Q25_(%an2f@2S>MV?G^~#`Xw(-^
zUGif7!@n;44;+&!<D#oqOLsRqwQS_+HPzF4eLXO5eePqv%$?dvyV&0FL`t2S@|=5S
zoBaBN%L1(~u06r)C~xI=Zo8U&vvq)u@->N*YmaOZ-uySyY_|VBdHtr@mydB-XFcz~
zq@dVtRdD)@Q=aHP-B~>f=ZxyAc$q5eZC)<ipzCyQg015569@0KJe<IlI<0Tl_2#Oz
zi&ryCX|G!A@ZjaCybz0NryD*kif2*CsfbgWn)5oN-TTxTexZz0v&HZ5{^$94(V{`4
zRbKe{s_o@locvcM?=$jx-s~zdy(TbD%Hy<Mj7X^2BiXyMVY04Q137-CEOvGAv+z5V
zd$!*2Su}5}2eVYd$q13F6QsF6id_`mT9|P`^ha@fO2a-DJHz&QdSMJxvO-1O659>Z
zwx0E35b$*2nwl~54^PqF51EH|Ki#Mh-*SHOZ=F+Cy8_Q_5Ug$X>&dj5`t4iTgqp2=
zS{wFsG<}(QFCkS}wv)qe?X_FixEh~c4P14Lp-eEn-euXemxj6<uFd=#)XzNsYt`DN
zOP8+Qyf<p`O*c2&Nv}8Y7>OTcyg4n$-QD`#<nG&DcJdF6CCzrRih0Ln&MBDD`Gjk>
zQi^P@h?j@Q6pabH)I_fpTP~fNDDtFDQfv9;_sc&^zYN)LvHH~Ih;6-_!+7r+el*Mx
zoOU5ficytG>~2u~u9He<mss9+@G9<P3_jt!r}-xP;kLB-%QyLY|Ekss^~qIdZ3?|5
zpcgbp>TYJ}>aX`2@42YGP3{P;P&0YHILYIk`X%j!d58b1XqgDSS~i*4dwR%fjW8YY
z)VR)lKNsy-{Z94n%xOAZKQFkthI6zxPFt;5mGYpaW8&W$@22G|mepUf;H-CNnxEgV
zcTn<J&hhT;0elDEu6$$>wkxma%=AsAQ4xX%Bj#;=#rjOt$=JU02j9_#CmJ0kSr(H@
z%un#T9h>~ceT(jjsXpE(KU`wl_Riy3bXZ2<>#L>L*ThCL-+gVjIMYUP{R_puqNk<#
zUvEwI@aNj_X642>C8HA@iv=_k>z_(+rh3ShdrxgG2n?Jf&2*w;;fF;JriQMbzW9{L
zyI}Ta({7ig8yZ^zTGb*i=LBw!RPnhXvg>XJ|JH2@o%^0Pr}Ri&c(CP4<kg=GwtNT@
zxMcCIWP{R!uUx@1K6)DZ%zCINC%9=&ukDq9oWsk_r;93?My=h_yTwCe(ju_{=M(1j
zv-*V-D|iwUk3{7jUbZ!Wd%?sFmk!)&7G&8J>nuAzCFyRPsl|-zE+TyqYi_t5RNNrO
zd+ZH=z0=aGt3&7L&h)#g@SA6*slh36*Gk#jrRF(t>4`$7(@v#)>0a{SvilA1_>S_n
z+eV8HrEyBTYm^C|{h;Y;zwmEWs`OgxuFYLySL>Yv)Wk!cJ^dK3mE^~+9py3Q`J@#u
zU4v(x=sXnF>EXFAduQb{G2SxWq%$Wjlq9!Jm&?5ramaev)so4Qi=G7@J*c2$puOVS
z>DH;Mr+wFXsTaO#LPz%(Q8BIs_kworTC%_VW>;g?&YnxcHebX}FZfV*=y%MPgL}{H
zOT5E=E@1r>_WEgGd3D|%p1D#kF~rkoRnX3uw{PA>Y)xa8xf3Ddos;@@b2bm#=MB7a
zqFts5xjpiV$(Q*qraioNfn$k$*3yZl?hmV_uKZw~q}6Qn@l>Y9_T|l@wKKE&Hh*K4
zb<)u>{@TnnH>-U@;DwY0Etk}f^loX|*du1@?qPOkSyV#sX@l4Gi+<X!pX9x5OU~Ym
z;*Bu}CATJN?^#spvpQs5&fW^{RSO;R1z5fBdp6q_6eV-bRWSK#_(j<4T|w!YAl=<F
zzqn4%VRSetBD7LGZc4lEyXSw_&Nh0R`_-$DCrxbDGFGwA(`;th%v~07SxqrdY5PIn
z#1xbF&*x|9@4O(+AG1&GaBF@0mdQQ0>ng(@{CxaClyO)5tfyg<*9d%L&b%9aVew42
z6=fH5Te+g9R6Kon*zn4OxSzQ$5fZl^t~Oe{_+G`{vbUzwk3H@T$TrMUTYoKXy?XG<
z)$8`DtXLGre=lj4E1O2{p&OkiT7{2Hmb>sP^M&WeRe4K`u3i;iZj`B^8aPpXdRzT3
z7RHjVTc<Og+2I`KdSj--Vf&gD8hTGZKE1@tWw?0hMGM8AMa(M|4Sy<~dB140K+KFJ
zi|fHxwZBwL>gzu(wc4|2{#L%D^NuQu{!RMR<=&cj$XsiU#@?h~(X$*bFI`|g#dO)y
z5^t%*CG|;d6D4P{IHrkNYh2~}oNc!D_MX(*ef0q<S)DhOcTA7jSMslQcG#NeNNuHs
zQXjSV?cCs9l0S2HXOc&r^`~dm%lYRl57W|#-u&p1_qp?PD+0eXPt~7dmKU}A;hwKw
z4>9>lTs?P7xTRyuG!y@h{-du>a2ma6iRS7wtKm9%_F{$LN_DmNA4V5UT0|#*|0;B#
z$SUIE^o2WQ>-lr1^*3=(>npi_Okd@O;n}rYLmIuOI6am4$0I+l`btCR|JXZvPCPYg
zQ<CRwm;J7rU+H@|;hLdMRFP0(yZQc~rdOC#dI|#k1$2D2WeB*t&vt22`hH$T-#9vx
zS#5^=gGGI>n_Nw{ZkX2{f6eB<Z+=~`aR2YEm0}KyF6uhXtE=A?5S+;~TflbVn$9L2
zr6bY~*AHJbSz6L8cUWgaOH2Sai)hT^mXcKkma=OkehEngOo^N~k#m}7e|3W3$_&Sp
zB|a;z>PQ_qWZoTZyd*nGka6-uX-S(iZ~Ed_JWJEx_h`}Ub-Qb-$_}PYx9`n6er&$^
z-I}wN;`u9|iOa~{f5_=muRQlcec~L+`|eJzZA`AS1h%q>&M7|3DxJUcsg+)7=PE@J
zPN%A?XWsm|8XjMB^Xl}F;^H0Vd9wvHCZ3+>Af&jvrDU~x2uEZdBb(!qqATC!GmH1J
zm@a!(@@wxA(+u_5jmx_x94lPjJoVW6RvZ7K*o~J=VoahrR<^vVO+InzvwOYDmb{rA
z6<n1TIbv+RV$LixcC9+E#QN*;{y+OdS5NcvI~&Y!g8!KM^XvIBUoZCW-5s~?M%+A)
z)(=O2WiFQH;S%?jUYo%=|77?YwNv??<vbhsVi$(3s`;__{f$kjZ*Ls2IVv1tU}?+$
z`^Dq^pSWi{Tai^P!<NL>b86NHwnfbgFV;_5X8NVM-6Y|bicEElcTs)s!J7(NS%qs=
zI#*cp_RRQaC%dLa^Bhy*N5;%<U8h?`*;0PICNm~pOb}^S{CuYS;}!|Si+pOFXJ*;E
z?_^}%Z*lk5wQtAkKShVfmMXHQHa+<DTL15r<^SgU1W%5i*UqRgtz*yDFM^XE-r=;3
zSSr4_KHoR(mtCu3N0djX*5TNRUd#XgUS9Wj+3a-;4vIZ``~NWAaduB%9zJ8^Uz^wv
zpD!A-=Pl56Z9lHG?y5yZ%Nq~n*AI_RxKy%^b?G$6S<E}<Tb%abcwQ2BW|?}eA(Pnr
z>pYAa-y#gZH`<@h`9F8k<ReUXJZ5eX?sIBfEOF^d&J&*cs5)W&%LitfZ4z3jvqWd<
zhE!SaSjOnGS^lf`Yo44@<dD45N%Kl#*{jE@*=^bnAH?4--<>p*Z;No3-on&ry6@eW
zY>%6>+15hzN2QCY?Z=CLw^$CTt5;@rUHm0HZReR?E5kbELT)x#7aaXm7ga9faPZf=
zISt26msE5rHB4HpG_ih8d%^70>91RCxpH3~KD1Q$Wq6U#56#m%PfgsD#<G4JhxD0k
zVjHxST=a_OeCSL)xG~C5%-84Is;9H}&%5<WEUG<D{e<g6Wu|ve5~}RtF5Y6_KG|mW
zgEmtZM)g%JMo}w&SDd*p!~9oQkN30uh2E9iD`)UZo-)dMs{ME6Pp^8>tMv(AQlCUv
zO}!E4ro&!VyK0*B%4wfZPuGpywq<$LnaWnq+q0(|Up~0-n~Z2p)f8?Wry7^{Ui&UC
za<pkwV*bb`u=f$mx~(M((vN=Hm$fwFbpK7c2Bk#@W!9WOyFAy%<A#OcMvXOMr&4P_
zBy}w<>o%E{n0j`Wl8$SfmvrkzCG&&k^}T15UtTyGtMlsc$vE|=qVFEv;z<)(b!*3r
z#}VZ%)A&2SCng5_oIKw5NcjJpx);i>)_z~JCU&(t{pLLGHq$mqJp8BciD?U*I&IQL
zHy^1Kt2v?3<{`C3P*Hm2!Sk-4c%Di$MIO=Soi*|64#{mjbtz95{;)qNmCV<Fxbxql
zqB%F}xzgN!d@bhZ`hKE~r}2Y)trL%W36J~nl&|IQm?KTx^pAS}6;I@QC}E_2n5)!>
zXI4~&ZP=;9&y&A&U1-Z$RR8Mq$5m@Q>KCu!2w8LD=M2+!tG}Z6oqwgYPUAT4^1~wR
zP3>d;$*<SB_qbhk4=r`6ERKkukS8Y5^>xJ!E75HG%=%#4>ESyRxps$stUhJA=E|H+
z-KR9Qs{M94pQ`uKt+Cd~TP)_uyWzJlzpEji%je0Aiodwtr({26T~g{{b8(`|t$-h)
zSN7RHtO$$wVzKD;q@~Hx4-#J)oa21VeCR+?^OGNc4&^>v`gQ)p7e@En*gq7z9yq?M
z<HyB~Czw7c+Ih-dukTj<!^ySvV%H*F;d>`J&DF%Ox(Mw|ocw6z?V0-$gXf3j|D9xE
z+%LoJ%@etC%c?g)JKqQ7FY>>*`O1FRSJ_`Ie#!1#?|yAjV<}UZgvQgur*86vPoAZ_
zl4}EJ$hFXw%fwE7Stq*YhhylD%bUc!G`4BiEKOEjWc12C>FE5}03|h#dOw%e?hgj@
zAF^l)A8oJEK3p;JsnEiA0TP~%Gmc)BVA~X&t-Vme^wIjp6GvMvGfb#Fw&C+3yUPM5
z(^gLNxWpFKDz<i-{Dm_LolOcN$Im<NpUA9km$rDP(%OZ`6<<34s;En8)6QnB$=(*P
z#VUI`X=AL{+kmf&-UWQgxpDeM;TP-rDtU<tz8Jp)T<4-gce;n{^!vCqAm!D>BeiaB
ziH<*$KRz?upFTC7rM9!_{H^9h;lJAtv`Tj$+iU4DKXQKjuE3Nfl3BYR_q0qi%k6n{
z)F(kI>N(E^*VKbfeAXLYEw%2+H+mz!xS>;1WxAP*T7y8hiA}eHA9Hx$6|;%kN}g0#
z)@ME5!F_&*$A61PvqQ`H*v}VNn#cqydPSUH+{W7(+}!_4y=XS~?al05A5YISojL!%
z@9vYFY1}HWrF2r=bo@H%+}|@Z+f8}sDrDUxI<qg#uImsRiwW}^*TcRo+$Eh(NBx#v
z+Wx2O>aEA&8}+#6yDKP9Sa5GqwxI{lZj+2-JmU3M8b%MEBz+MU`&q@+ukbR3<=%_3
zVkbxEEk{ci>!(c#sJ!ySSXS$e>aJ~Ds(%#!^m1!`Ba-7;?X~{mwv)f7TXVKY{@_UT
zKfUyDwrgbY{CIC+$)sP$zGQyQxTqX3r@2TsuclYv?vEAa(Ho<uEy??1D(cU^bW_TM
zS+}FF9Nr?ox87gE;?#5D&24e#FNUu=zO!-OVkSL1Ma@YOR_d4M?Ra+BWN-5((;YXD
ze01<#u=@IEjpQ93#<LBNFX#_w6_YXeGvQv_w`0FL3`0&oZa?Z*8T@T#-kpFztH!;h
z?ru?$JCtq-|59hOW$O4KJI}zX#+iZB?uGg#r9gq%$0N5G&)M>=UPdpb#5?dB&-t8R
zaq^OlE8F@rb0z0&ntUs?$kz2)aR{@h_PQSvyte+jDip~RbLA&XkIBC&_rz6P;sV!v
z5RBt{x8%8Pw@JU8K!MBCIsbIu{gQ4nIxe_%ikRn;rQ6c7bmxEBd_l0pqTJ@Ip1Qb_
z=6%248%zBzUyHcy`tjS^jnnFN^U|8T)_-{$cR%Z6;JoGq?vXA`vUfv`mK~PkN>?y%
z+sY6s=e@$A#rMbI7so!^?%nC~IQ-C@TM5_GALkh_Hv7}blf*3kvig;`Mb*i?hk}Rr
zU5yx|PZTe>+P7q<>B<%rmBaoe={FO!oqx5KH(lA9<;_*T^})Km7hm3$3HdbRXZ^vh
z#UE>I?r&ydc4*4etG!U1^Xz55mbv?^H{3?t-3~fYJu6r02?X!_y#HXww#kLFyt`XX
z4J@x7Tyj`Nw8Sa(--%VlTdF2}-1G5{fKh+uMXN2dE-#!UzT@VbLr?B}xFOS2xYA|K
zX4~7hZnZ?7D6v1Wa$VS~tww7cTDv}bbYEW_Q~xG+rRRdVMYmoZJAcR~rKx=*=b6Xz
z*Q}Lbl=8gTE8Hg<XY#81kIJ0yyE2>?ES4=~DU`@yDp8BMQgKuzCF%uJYETAG<-YK3
zHZC&hA7-@VMLm{c+h#U{QNLnkrD;_hU%z<W(+br|@)^0-sZ%E`X?(<CC$>}D@vVn?
z+~40?_gd=Zi*n<)-HLnA+U|8U#CEk+Ua#EOm^FWPcNvDAF{rs0cx>@Bz4<xoY(Ia!
zH820>*|T9hrTb-dN>|>ISjB&O)7^q~6XHYnY!A_yxkpV(b<YOn=9AwhPd~ajcK+|>
zyZ>Lew+YY^+3?5U+VhP3BKE3TX6s~c?5TUX>*`<c-&VJ8Z_=vw+#J7fBYT72+*vIW
zGj@0_S#FX1B3LWR#N}<L?-!*--+taU=9=<B<6xH~o9TjiscA8*Uxcu+-&GVlbjVA=
z^UCwkk1RU_1Z`F+UA^q?=-YboQtA4z8QWG@Pc=V(%Tlx8jET{CkLn!DLq|_APjXQ2
zXgui3%`B0a_ah`Lp}n&FZT;-z=X=kt*V(}Q_o#&Hj+PCV*4(=P$0kBCGGXOS>yV_V
zr+%eN<Cjf~2$-?v&S%Z2Vx^a>cJTJg#1tRsDvFJo(i5A-)7KV1Uwz{vi9=kvF-hge
ztk&0lTIoD}-|OO=GqO%vcw8v?Q+58*)3dp<o13fmCNXY(aqIRY@9BDx+shcV>;2co
z?Od{cyYgJ$%Sy2snoss#yKv3t?wYMHzQ`Ty;#^Rey!XNatHuiFR~6^-U8eFZ{ihW4
zFfh+VRPbyGzhQ_=S<-^r7Do+V#Tmv+&7Wag^yJ4v=i_eb#l@eW7A<Xi`u$h+?fjiD
zCw<<wX0_<^HJ60L8kWe!bT2!QdE|uIQmc;B_46~>DwOhNxIW!b-SL2_=t$zfDZ=}o
zm9O;?pB6aT<Wz7)q}J?^seD(<xVJCKTd%R+VE!|?&`#wnv3WC}U#~rLwWqF&wdT@Q
zcf05PxtnKgGRyK+;m}iQmYMGLj&tz_^JyGy*LNy*Y{+?JyW-JSrJLnfm;e70J^#-c
z{^{ipj@LESi|K5M|G&{bVpCSJu6^u0>DjWD2BkUopIkWjb7f~$XrfTHzyIr1p?_ar
z(~I7`Du2QH&5LbkpIV^)V56)5!FEoD#08h099W^XJXu7&*+(U+<dPb%t5E%E*$f%Z
zg|iL`3%;yBq|tR@N8TBx$_e_`D@0FEp8WZEn>wG2Rb9gW2NUZTAHICq(xZLb(%EVK
z@+(Br=0-4G%uM;-82j&a{{Gij&Ew+c-pvlr^et~{;$+)+M^I9wiF5Ux50_R8I2_rO
zI)Up*_=NK}W2Ya{``f=N?8?-1zr+OsJhvXKk6yVce8$2<IhQkBgjQ_Rk`MZ)ti`^6
z--;0ZMcW=Q_{`h%Nb>!S{#Et2|6M!S^Fg8{uTOcC!=d^WkC{I$l>9BS=8<YqX^cQ<
z>W1D)b}O{@C|<1onE&_R^nZ`K`}s<a3CI<Mu3cXLGTZ)_yGF@m54FiFdF(dcUoYmp
zd2#XL_T&BUW?F2k&nnTd_m}LN+4JgM-uw6OBdspjUbuht_U(H&FW$K|>Ex2hdeiDT
zowqcmEi8Ec=}zD*J1>DpC(r(otnB=xzFX{Z^2fj^k&pIo);-PS-NGUgFStAF>z$g!
zl#*W;9!}iL-qtT8DJds6f4+0vhOBoP@1u98zI>)_6`td{O<(fv|0{>%e<{Z$PJiX6
zuy)<{<$vG*dnC+x{qtx3TNlb+zT=(S@p%3smY#Yc5BZtT;}08(PMP<muyxg^&pU5i
zi!YfL_cWY4=I(b_&(JUWAGnS@nyR&P)>WOeZs#A0+OJ=>{~#lWq*ciDXHV9+u074i
zp5t&>_iWhv-}0xL?jLnkIpL=y!P0B$Sg6#Vm0tYUPq%r7w}e%Ryk45}m1Jol+v$J4
z$=AFrj<4CWzg}8f$sp|4w0l1u{%`wwd!q|`*VM&z!8T(435ztjl9vQUT+00M!=U7M
zNq~g?w){6Q_I*6)+~Aj&$JizNB*-dx`?j>(x1&G2dzJJ0MMhqBZdUGDll05Jl1~H$
zz6BJqPoDEK!)Do($;sO;tjLo1CYU<?OX}qpbF$YwY-!GxdlmewzG&&onXMN$&OCVV
zqq4g@d;76tZp&9klqoM0n(1@?($(5*{fJFv*|!huide?G^T1K3eIYtgd7mcg|9$x5
z;PSgJQW|VAT}w~RuYIK)tsfOXch~iA=@R>9lxGJVTC(W+ipE*|UnXp7`lsd0<H+{2
zVDgX78=>>J1ihW1mC3}fZ}9J9{SzVI!?y!v^A{WakE*tB3@@>c%z9?6Ww*X7)Gz#5
zV5w5f4$YOlJGdAG&0`eHzPi^7o_V*`NRm5@+f{&(V};HhJ&6}B4QE$R72GZH(pg$S
z^1&U`PSx<gALrLT_W$?lUgJBKDRXu_Hcy|O_v6EIqqVXT8xC#V?AbAWhIsMH3BvVZ
zUm5Pp$j{F?wJj%VJ6kQ^ivv%C&z(Kv&*v{|Z)8@%aABr|ot3d=nC7$7t|EO)v=^@l
zHhL&@<C3SF&#IN0GfzI4d|~oQm4nVJLztdBH_EQr!_d$q@pAIYW}zRR%O+;Ec(%{@
z5U3OO>F1?8F?nTX>>X!(&MRu_naAr)c8*?ZRG*g}e*VCz(zs2!Cra)XoSuDY?cP(p
z;aWRZ)~pO!8z!@)tomTn+hcNnr~CK5sWzJC)2MJE>hsP+>h*tfx9|CQ>(!6H>&%@(
zZ%ONUMGDNhDy}5Gf%_fLDK3%dC07_s8sjx?td&lh{?Di~`b52!qxQE$9}ep*Vvzg!
zCS{YTn8ey`^((&3?`KNg$iuZUsKRS!^%a>T0_%&l_Q=kQ5#Btb!%26?+f}_XztZ=I
z-v3`a#aVGpzzxY}J};SRQ<8(jq}A3u=_)+^F`chZ*<hE>#wWY<>t4RQ|KrN`U%MBq
zW|?5ld3*P>+W$+Ff2xJ%zRh@>lkXe6RX=oXG9!1W?~ykPFMf2X*V&eL)o9fz$!=9)
z&M(Fb8G0Bs1u7Q2WB&cE?)kR&YhUK}u^;`oaIx{@<LT<h#hxwevOKc+Q$z&gE`^I4
zmFq3U*`~M|v21rYVy$8}<jZb-BfuEu!TN~bNBB{I;nd2er|nB$UAj4K+qQT2*6n+G
zmwENBY3uUhHyK^NcKOo9zfbz=?^g56)V*E3{@l|~N0Y9ucCJ;_ZkVIkXdQ23XKeiA
zg!upHx~vmL8-*MF)AhoCZ0+Cs@LKuaWoG{t1ly~1&1G41ROgcLTG#A@E0%7t*&(FR
z5D|G&*J5>EXKux0{`H!d7;gk?O$sVrzCiU&z^kA?4_91UvMN7dX15=s_6fHc|CiOr
zWrSqwzM07p%lGINU;GCJ#WI2JpNDU2`~O+2yys9vU__o+bipnK?#|Wcf-D2$VyAAN
zyya2T<%4`(<@f(QU_QU^{dN0(QICZmmLybP?-JktGI_OLeekunD?_#1+55Mer7z@L
zGU?>IcY61=&OLKGs4jhNP0PO-UX#`^-8_=ycc;Ge@eBr`e#eAf|MT@<x9yIv{ww-=
z`uCH%&g;a*o^?+M-5mV$=gZcaD-ZoC$*Wry6m!CPs>W09%90GmhSr=T+_|S`@p=_K
z5bal={L$r9uli<P-IqDh%XV&EyZQOdX6KX3zD3{va%|bPZz0PhCo$xiN|*}hJq;36
zuPi&?sN8(`d42vp8;h9sGm`SsuU}@JH(OdbIr%vI_qX>fjdusgR`0O;T#}&PVSGTF
zyEXprQuBRp=bDEfm*22A*<{y>Tm2RxF7s8hy(?Ou<zD|FIz`0CP0@c|f2zl}x&!a_
zGSq1%u(Ixvj#1jPsMKVc@Y+)wY+TQq?0>p*Cg=H&>pN;@{o3VK|0HB$@A(g^lQJd>
zok)|mWq4!4P`T#Qg?Qz;terY7qI*1fjxOBSAz{>KWYlWW;?mT4MoDY>jJ~aRYjP_7
zot6LDBU`burFrSp-2JyUKRwGFz3%pgw9_A6JX!abefn2@#!3g1m>o~|IPElvx8eGC
zV@H{2f{|(O!7TICNpH>tE%mC`om!&5yWr=SH*faW{bmo3-}H3RXS2jRmV8`m_jkP9
zQT+d5`}`Xp=b7&{o9!3WC>mS(=}Fe?H-Dea<!2IoU;X*4@#m%L^X=FeCE2h2^y6Au
zl<r<+W?r09uwi-e%@-a9mX;P~b~~$%ZrXP*&*8&H_V>qn{$v$a{Ew~IZ4)hXim5+$
zetO+&;rz<Kv)8Tfx&QcwbIh`q4Tr8UZI`yu)@fdFXTsJqaTdF!LTo?%3VVGbtTXnT
zcUUlgx#pglEkC|5;^K_j+R;<<#?yM$r6pGP>zGzPko2FmpUM5c)l-H&8}=!*d7Q}T
zJRFx&$E<2<bpC;T>Y9kSqg~6_M6i9!k1%wvsdwM>OMH7n+ym_%_7@KX=kPn8T&?rv
z>z4H|@|pK1I|doeky&mqU)rwV%e?ospKmOz)t<)3qw_Lych=8OOaCSaB(P;^zSEyq
z@LVj*y<apv?bPlvepwrfZTa_49CQ}`Zd;Rb|KUm>u0HFS_A|n9Q=7Te-rTd_mHhqV
z-0HsfH*ELR*FJx+?X7!yT5&|5xKd}><yNskt;!9jI|W{vn#Wt2nOIv*la@Z;+jCA{
zc8;B$Q}!VT&Q(_xjxM-7ZPikntOGUw*Twq3mAJXNzU2D6$JH;3Gtzcd{qR_45wCMD
ztpA;*P34!DD=#LV@QQrT5mEpCciqEf=KJjO&Q?CPxw~))Yh!(d?CQ0xbJiwsmj!rF
z@LvB}=cPr?tm5C3@=nUhX6CMN*w`cL|H&rnO6|gVi&U6iUUqBelJ(frQ!S(0buXV|
z`7w@4y|4=ZB3@PVh?=aT6`$Q6^DgRs_wWJhw+0&_-yPmX%?G_*mdWHX9Z1ht-M#$C
zSB1Q=x}cnZO71huS6)x6Px5`qZKm6*#lSjE>=|SBS(|N7KYhLa_s-hAf4wi7X55^X
zBR0R^{?mblw$??$N4?hVG6-KY<(2oYsBYFTk2coSC8p(Nm6UAQsTsDi;()N#>~4)0
z6K=-xzx)5}dzsy*BNw*4RqnSd{Il>lTmJ6q`_uRBlwGB$Cdnupu|(jPj@7(+2YHs_
z&qu4}EDAn6`0}D4uWFBlVU$%(#<zLw5AA0=W~z7C?@9hRgMGXBQ^s4mH*c)FdtOf3
z#>~#Lt|TKP<;8_F9~ZZO>#0zkHT(X(-FtTKtxhV+DysT+;)21w3O$G7svioW9alce
zembruv~k_KFz(f-*;UV7z4S1mQ>9Ro->?2zYR82C)1EDq(pRWbyvK5u`)|`dPIj|W
z)vvKPYITH5^p!Upj`Vs_TQ#?%ck(8~wR}sHn6;Q08=tT|<6k7O&#fdnUg8Q<e&*CY
zZ#X}6=~Wzh)0F-wRo(N!=OFnbr;e@Hdd)FQM*Q?_mXvk7Dtu-3ajrX&X#LShtY)Ug
zoVPDx>vxr?-s+pv`jg4;+Re-T3_)vS^v_Q#&#^Yy@&3l4Ck9t~=Dl0@^fcSAs;Uzm
z3%8!g5zk9CX$xokapH$s^p<^PuIs~3zrVNn@sE#(4<Byd^Gc@cU5M6;oKvOky+@Dk
zJ;BH}=VH$<2U%IEnzH`~)4$17{OEieaP0Oh<I9^}r<ChIsn<5Xyt8HQnPa!+Rs3;q
zzm(U>9<Yx6SC#qN*v&Ny*00^0`*YP*>22$Bq9(nH-)wX3%FX-s7j9l;+sYo^tjl(H
z+l1NY{bg8#IGNwHwzKgDy?mL+zv_eB)C_a?DHab_xzEbkklUD+5<ROlMo;Kr^hcA$
z?j814SC%?EA2F!%*mX6uUaIsE+lud{ZC{l(RtK%w5I5=OB7yziPM?Wt+sC4(m~lpy
zK|5ySLcUAN%6`i8CUHcZa+vi>VoS@p(l*WWrq@#^YOvQwO%>DInc!RRudQ2l;On}N
zZ@*kjfA-1w<douvKcm@yvCWE}m3TMp*0e2O*PhYyj6VDC=k#^2qHj(=lTvuSzBNfu
zTkz1O15>`7Q%iqx;zjNEH*wdt$sA3Zce5_#{JMpQ*^ggZclDac{24P2w1lbcSrBt(
zyQyk}sKmyK!$wU``wZfn*mz`~h<8o!6rQ|UB1?nA#Kfxd#fJnTZ=QbN{~y@T-zh(T
z&b@BSdHuwf-_<<KEv^NcH!`mddAu@gwfXk?EnBv2SHJ8j5V|sC-t6;BFU^!*xA#|9
zxBi|tht?jr98y<Rl98TScBs+u{4%beAF}RsrQSWe_UzYJGC`uL+qiD;6}tXRP~+rc
z7cHfRFITFsl|S_Hcbd9non@ec#1salPt*RjZaFmN$eBu>36m|Z&awY<*uJLk+_B@9
zx>?^iMb}TNUmnvUV=Tuw!9e5K?3@6Dxh+bEjEt549Z~4=nk;-@N8W)=V5;PElUySo
zPl;}O?>SLxrao41(Z4lo*EBh6qb=$83$#4DuRJ;(rMbW6_14DNwaK@_bWc2ey?N)U
zBVU}>@@=-9uRqOvP3*!qE_aX1d^xqR*_~_Yr5i`CIO*NLbM0>Z_51hsFR9E(;n7-~
zy!&(U(UqEBQEk6$rt5Fnwq;G+zAdV^S>C2chM)ep@a5t5V|{Y-X3W*vntE&5vEt_A
zYVB;x)0P(nBzkSF$}boH@~X9FVe6aeAy%{R?ATcU^VGVp((G<&?tHy6m8YfG*H*oM
z@}}nJjSCy2wocO)d61o%o!MA_-9OURKzQ1U`7_$$o`ildS#dh>{MjdM+K#CoURL+L
zue;K@I6&XD)8f&+AH~!2ZtXgF`fcH#!oKEB&wEqM{WmXNc7=;eSB2*=_k5Ftk8b;~
z&sitxS3UoeMry-Nb)Q3*Zf#^?_fh|)QM^vevx{-!%|f9yHvO&+F3(pi`yA5rn7e+~
zkpqTPcoej9oj(blmh5U~p8jY-%%;hlZP{}tT<=J=&sLwLwtVt+%lm<o?iODBCBV1)
zX<K)~_b&bey{eyrkN4Y_hVR;GJF)j@aH~tv!A;yV>Nn>wX#a_P!2d#NgP*&4+Agcz
z>vq5TboTZ2HSwFXPCq+qymOZK*UD*p=Xt{B{;9uuJ+J1g@AJLSrmel%w{6?Gbv{<T
z-X^B0mo!V3%v~KBtshtV^s4l_Jym~S_1<kZJ|33;V$Zv)v-9`-{Bu@(-7L4p4>M;T
zKF-$9$LD;NVTJeu)dfZgvU6k4t`yPQe!Sp$gkFuJ|4A3|x%K~cnXbOJE~fD0wX-*$
zJzIIxW?o@d7F)gP#BiOnH}dxG+&a%o|3}t2-$SqZd*9TF?6X+NYh%Wtd3(yPFNeOa
z3flCCvn*mmn0oIqjf+e7&)oX8EaFnLj>@H8*DpGcrndPAls)8|YUdii`1nbq{3nN8
zE1y(uP`VaUwR(|yd$3+epVQeFEV<!)D=tl9)Y1PLDWUO4-LWNUQT?NjNw=mb9{MMp
z$$F$yrhZG@42%CwrQ$hpjg77+#o}x)Ua_kDF|&RD4|n#ulIYC5RXg`)e%*DhdwbcJ
z61A+*{b6el$T6Dgh<G1<%pGB}``zJ#mqONAPH>+4_QUk*fGDlh6%|Xo9&UV~=6Yn`
z`t8Dh0}qOCjk21n=9iuS>cyFD_2ntIZwEb%(wyg@BGPATvQX>7rfj|zX%E&oF&CEf
z=bwK%&3u*{*ju@V>Ak~|14S?2X4%;pzK`})pSH59Y~!M~;}b$29Besu=s@eCKdiH(
z&fmXr<>pL}?ORlhbX#X`RNwcrUhToH_OpkW1eY*b?nwRo>FH{=S4RtP&tLlMjmSsA
z`lZvN`~Qh>o;xJV)^aZR!dbre_RH;C?;eqkdKqJKZfhT-HCt`3oO+*qWytfNHoR{t
zyGu29$1g3Yj8RLO5)j|{LT}-trnu=FDxdg1>YlvxWo1W-?_9=1T}R$kE)WPkWM6xt
zPyPPCWvfpfXZXD|C~Di+w$=Ck-=7{|a{17cjq<hiPyOpZT%UiZ?)UU%?tPXYOBStU
zZM}WryMgVxT}yuN>0SH!+P0iK7s?*~yt{r^(M|Vz#W!b(&V3WTO-odZ@4&p13`<Na
zYIbei`M1ee+UoZ0+fmk!3a@N++i-qbfs$o@?(QDR>OW1J)#F#0ZvC>Y{7ZQW-<pVx
zcHu$p{r=|Z4^Jo7zh!#0q5D_Z3c1kw!@kn?AHI37+nIFp+UMPc>e<(~<lMbf`0tt7
zonwCv9je(Ubbib6ptCz)cBa4ocWUnZzy9C<{(b-R>#JSiccmtD`Ym!z`E>qnh2b<|
zzAX2h3L>gbS+WP#u&pST^H6@W-r}KV&F3w#Hftph-%3ck?2<ia(Y>Pc^-1YmfwLH2
z6&7xo`=&Igwv}I`-XQPbZO6{LR#UxWPCqhld8A}mSfga(x-<IUpB{4?4sjW6ZJi2B
zwdH?*FF9IpIqPfZ-?M+z-#@eqsyzQba#zvMd$sQUe0~SQB7U#hZeIR1HEQ?tyq$$t
zudNQAdFIE%<>j^?-m}Z?P0q@w-xyLKvpdiE`lO|~9ZV%D(X$`t>UQ>RGdWi7J?+_^
zhhlQIpCoP0t443{D7tc&byr8~?8i5AHtn>$cx&3LHy-g-4>vti(`aT1II&f>nr~gi
zt?QSsGJa{O`&GR#NPW6)?(6tVm#*Kwb9?gMg3||%MzbB+aNPgc@@4$8)^-1um2Swk
zx*c5qcJ0cXW4T_|zLMs*=Xfodowe_8^X~V(*TwgIwB@gTTwE>p<GYvU_N3RV^?vN+
z*WLZX)b_Q$to?_Qx?dGK(-;=!MVNm$$iI)zc<I|ylUq2~JXW2jmFsGByyJ0~iKu6E
z;(`gUPLyR_EuOC9`c3kXz@2TAT13;Xw$v|5m(1#PSX!SK)VXxoeSfBD&yRPNthl{u
z*}F9N?k86|jHIu2Zdv86WiFRdx6RJNrB5s{>g=xAO*3YNrE)sYdXd4e?0P6NW<E3D
zs{@{EWA0rqdw#cHJu3XiNnb<rj^$DF>xwqKJIZz~X2+{Xv#-aO)fT(^=RLY{rt$c9
zn=f<!`rk3Owc@ClTz`4*QsqtoW1rM>WrsFYzv+ByqWbsI=b5?_C%h~xOR>5YI7j>L
zy?O6mozQui>9>4~R&V@*3op*?WuN}7^m|#k*X+_QsbM;~@wcv9UAW$LUX=N5t*x$_
zhs*StGiKRVJh?HAcXiN8l^d;2D>sVFSpP11b8s^IcKa=Fzv=tF`?1irzFtH$I6U^t
zs<rEXUs$DmFUo)2th0{kGj4vqa_^?){n_>o;p;={e<rVw-&d7t`+dt}UZum6HuK&1
zljtsU;-=VY_9a^LI6bdk&A(J2m{RuZmu#=-V=vK`i8_-n<~=i2Qr`S(#kul>E)|VB
zQ=T8^DwUPd^$fkW{*kcBVxMT|V@ygn>knR0l5n~rop^BP%Ucf$6I!S5NV_$mbzaG{
zB^#SrJlCA)6jf2weI{;^^ZZqu`}eM^SDik7%-t=xZ@!ei=rb{c$96Aw6&rspHhwy7
z+nZ0kvv*yKy|?Alq_xxI`2`D7o-e*#_hG90{_jWU^4Hcsxv;LNknttA@7dfB{kB`b
z7pxSEsjq$+Hc@;5m)0iVKEtx#AG&urY}R~p_0~CC_J=NUmz?b?`q(cj7ODK75og2l
za^A-+2CKjG_r(?7bPXu}c=gJOi+gXstNpP}|IYuf`>Q^kTi+*l^YX2&OY&d)&d#ej
zAG*Fi{$#9~<xBsbGk!gOzP<i(wPodd#kOqw!F_z*3GwXk`uL3>ZQt)*I&FSYR{!M>
z4>i}VnQLI@60GR1D=A>YIbHG60j|y5zfQ+qV&ATCCL*kaXK_aJi5X5Y-L41cKUx!h
zc74@C5s|VwcO^S@0se!MiJiYgU&@EZJxP7>UOY<pK-OI6rE5MF?k@T++nHvdx5sMA
za^IV`o`@_K;u0xn%brx<bV$bQi72Z|@$8~)lEHSWFO*(xQTMpdGwE;d|L6K@r(d4F
z|8e(X_vOOAbH(%aE{M`S|6FTt?aF7%7$!#Wyx`uJ^X}EFW2~!x-u$?@n!P+<`quW^
zq8|ct-f=wssuyiKkAF_i^>+I|fhV@*M2o+9KKaz+g7lqHKbNn+yRGzdo3>v4oj-@%
zPi=2)y_r7mR@w3I`O()WYx?y2^zk14KHsgN^5?IAU!$wTbI)!0*1#lJn`FI*tM;z!
zZ@!RYZtfE_Iv?Gxo_DuV^Wf=o(f0K<-)rkXTYnJx`*XSdt<6i$&)$E2<$L$+0*{-^
zzvOJJRk<wY;20%b6E(s7&85VAjWVTNR@eG?0gE-N`gZqYw=!wJQ_4GV(8B0grOBxs
zA{)<lp7cH8{KFu*wfawGoPLjJSY+1aS1;CY5<T}kA%0CKm*fJ0SGiZ;uz!peulo>i
z`i(gESBa!E1(||LN)ZRm6q%j6o`_T)ao+KwCF^8e)1Kbg7u#aW-n`ft|My7xuIssb
z|1sBF)tkRuI@wIf`P9=}tG3RaJNM+xovj-`uKb!Ewq<+DMAwEjEK>s7mv_%u+j{5D
z4}qfRZTvR7Kc8&hm|K0~|3`sJwwNgE>RY>iNA3E3%WAsGR;RO>{!3;*J}Gj~qqR}=
z-}?Li9{#$jy>8bNCan{F9D;}Lc!X$*o@%Y^@;mQ$&bRlhZ++j>G_?X*nPx%0)zyD1
zqs?>o?kT>xt8d@bm($8Rt^{pt5PfvgI(W6+-#3gbdeilzccowd^5MgauBYA~KTIgU
z$rrkA>inP2(!bdhJ%9h_+3vg@PiMV46SurdzI-j8TJb!t+w6;YE;up2XtR3M$|LfN
z#YLm$#Ey@jL%%njJ;{5zv0m;Zo1y3Nh3{L8bS3nD+z-|M7j)Dr&LMIkb9_g*iF)*_
z8}Bt<H#Dg_{_5iRJ0XE*H$y1L(dGBT*Ty~n|9KXJMx#MvaGha5N7RJneIb^yb6e**
z9-rg;Y_Df{!@|niJ-J_<zvum4U;m@kH~fCZVRk#-BXX8jMz%&*CiSk5*sfE5^NGy-
z8Ta<&nFi^|*B0^Q?5$a_bp7&`t8JTSDn*2IY|OGbGM7JJ-q!BVwd*lk4U7#fYf7rV
z+_-XL<IR(gf8JdA=unL4>eW{t7P!7LO51Q?w*!~nRKsO4kvs10jI-P+F!8NGdusQ>
z`EEsN?)lmN_DTF5?@PYv&OaBvzxaJ}{;v9`ZBOs&UI=^kOgt@3Y*~8O<jY4NZe(53
z6JL39l5+F$qT<TcS-pI|J!huxuCDrBy~}f}*VOrc|HbG1zPEqx-?!_3E&cyvT2|gY
z&HIfpk-OBEhGgkoyvK3orF#8_b4SdU9EwmhWnI$r=c+>Z8{hr^_I_NJyDEXFlP$(6
z=wZkUk$Lrby;1*OinE>4OlXxjA2>NaU~7Hw=S8z5f-+AiU!0UPwbkmc<JHdxcdp;J
zzx2)N$|c(xqa0M6bOSwIEO+oddNSv=s1T3u+l5c_S4^|twouo!^5g7Bx^wUUcojSU
z@0;@T`~Mx&zW39*!(XiUXjWok;;IQgs%xgy9=v91%zZ7{zpq~Z<r$@KbIz(HUR-k7
zu%+nw+Lsw8m%ZQf|KZ1zFZuWUeXjYSXp?x%k5V7`mD2)GvN@*hdB5ZR#e3_vdF$PH
zBV@;+w6Vfyo{xRJ-Qf!-eq7K0{m?f&eoNNRQ`L1P45y^o9JanXxI`=bb@Js_(OSdM
zd9x+vmOl==nN{}q<-T`n5sCG#>vuh_o`19K_WroauhZ`TJ^y~|goS~7Zhz{#xJ&Pm
zwt8)t(Z-c?GY_$Q%Eu);c+30hs!Y}J$xFYJm3KKlO+R+svwtCHl~<@=NlKX@=8zM*
zpg4Mh&X2IGU+bpjo!4%7abfb$AIfJ}PCdVC*8aJlK6}jM^?iCFM{GCu)wwnrl412l
zb1#>Be%x5^vE#^@7qxna&b?Z#b4jDP{DroXh+h%!#`8a4{SkkV^i$QxY323b+haO3
zcGf@N{%(~%kFM?ePiZ%-a%ZkneH$@p>8#IPpG7U6J~(;1KB3&sJX%lO{kWRZN}rV-
z3C(wJU#_YsC{dh$e^a9A(wNE#_l-74^|7!wCe`a`H<!NLbmGL@hGie$T>SWLo~rnq
zddFoudA<CVX0m1UY+Qf4eHl;D1@_<EM-Q$0>way`i_@ZSY^#@dwYKKoo`3RrF*kSd
z)1ZahZ?4oiqpW_(|H`(wZH6=b4rI=8OEg-)<MFor6|cUnpIiQK*8e}&@B5A$JH9Mj
zzOTRN*3HHKt1r}N?O*z0TaxtVk35Df1r9<V)qk2O<Qcp^_UY5te{Zb!XG~S#dKaD=
zeBV{tQD}wW>M*mcRc~!WB9BW*onO9wkH@uszh2KZ0irUT?0P8yGbSk59qdTo5Vb97
zu7ksx+L^ol>_6g}5XdXC?e|SV_Odj82Jv;z=Gc3QK2T@~{Hi)-MLoN~C;h#KPd;Aj
zn#y1IVcPfo|CgoLm)!sR|3h`_&diANyfb+(bG0mXRs{1HcLpis-p|f#>s~7PqC{3c
zO_yD4!ZZffj_KVkCm&fjD;LNAes{V2-uC}5=N|8uYmPW|R)5M7l}l=T%NDGt+Ua7w
zk$rpnf(JjI9J+Ag&Aw(~e>>xn`scO39ppqgm<km#-G%lvrD%UG+4f}N(KGrAYkCWu
z#7^^E{nKcAdehx+Ki;q`GfcfKC!&&~Wb^gw|DRXh-oLRY_3Zn<@2ZV_*VZMr2j6#e
zxES21lHwCIPuqTj@SGg^%RM1QH-FsEsM0PjJX^f(ze%3XhD}^g!&Wp~oU3t4h)k+K
z{UZ2_&adz<cf@P<N`yT*p4VQqJ4B{!V@$*&jt}2Ap7vkN9=>+t<Niy2v)29ny7R^~
zk(#~&WyR@DZ?fwQDw8!Pq{oL<Jr3A?#BXI_ird^aZq<@X_qCt;vzGp9xBIlKzxK`7
z_W6~s&Yl1F>&nIShksq<#k^bB{d@MU@!hPcdAao`5ApA=IvTX(eCp*7=akzgh22=n
z!_N1|i|xi;ep!oxjG`Kw`aczU1qJ_JO#HcgzFck9agKwXzvpdUv?4`URr#jbn;Yxv
zp1*wmzu<nqob9(KmzAx{df(a_6#llYmaF`van4PO^~cS|!w1}3W^Iw)f9&$TDC^s|
z3e^94S54BrJE6W~$HbqJBB$3_oV>Pk<3jfT@5;;Wl^;JkJ@=RX{_ppuP3w!2bExc@
zJW<f!;9%84v5N&40}8G)=vPc|vt*De3VAelQtsO=v9sUrP%VCFz4EoNcSvh>SIxUQ
zEiQM}85P*L{<+Lwlzwsl@()&`YZlyoaNt!q-=ec32d{*?#;HqY71Yn&xOx7cQjh5(
zYZP`~_TBd`|3QR$yYhl2#S@ctwi-Lw^jx`Q<?S65EumzR*HSHMB2Z9x+B#*b{0gyC
z?`zJV-T(FW`+4(a_P(wE|LWfF{m;~bJUq0fpAvad_~>Ym<@EFZXBFPem$$OBv$C?X
zw6iwd$?&GCZtfwAH}Q?%moI0|u1`6(*Q!fWnSEVH=Z(}SPeV7Zo6r)$p~PX_X`WxT
zEkN@yOSAI*^UKye>)Bl5`Pw00T4?15-4o37Pb|;&-R{>vrC(OYchMqUo@GgbD+M=y
z?obeYHO0wYs3tG*VAs+<yTaqK^*=kEt+(I*a_jU#jk7nmMg5c9{*7Zd|B1k5GebYs
zhdA+0^qODfpkd@WZwY^E`N`w*!EyVhoZIuT_|2^YIydyr?3~zQnzHdjO_itpB)JsL
zMmyK@m%6Kevc~H#TmNEnLf=ih(0ZBAH&6IEb2{HWIp>F`7tfZcekQKF@=N0<uwQRh
z(b5x{l_t+rrMY&R$<%_(+<lgZ7!Rm_j;XloF|&TZ-nE_IUSz$9Jh<hl|Mk7^w$8qu
ze{)OD^Udz__Wb_#>CJ-sS9YfzuJn+eIeT@w@eJ!J3Wr@+iZa(uF#j1-SW&Pn>d2p%
z6-%caVY4lLzRysF;r-qH?>8<l>+wHpxA*sf4<~;7oPDjNWJ%(Wj`W203l~dl*sx(k
z?|};!7Yp;-{*n-?=XoYp<le`ZXvC$n{@ODaZ?i_3Hrw6p?GOHKGz?{#`SasR)+zt}
z4|%w$Svs)Ss)esGH{ZRY?e~-9ezx}ax4*63-+J!%z3+R!Da%*NF0-m=T`t3)dX+`P
zXN8gZY>k#rpBxz&)$)~hH;6=wJu>?4aF0hs<gm}8Pfw=)x8C|Nt*`$1;+2!Lp3Ocr
zQ^_Wfd-e<Itu|4!lZ!d0EZgH~8hcFkm(r0!t_a2VDmL$(S5=5#$?+^tINN=%MYQnL
zQN@OBtG=0UyrwHxt-tS6=;zz}C$HsSd`4F7y+(hb?=K6rpG(%d?4J5++oV{nYiT=u
zmpm1EGEx6To>ic&YKqHw$<2Q%t?MOLhDJ}*iLE^wDxLnk%ir$D;!_{z>aNZ8zCJ(x
z`{T7YbNs{8%fr*_^Tm&xui1ESugdPiV16r$>Do%N-##q-nCz~;@cuHPcSoL-6c?Ah
zJ@xeLiaKeQ)9ll}@NWs)rCNOc-{E$H@6VfjUvK1HBV%D=W^KMZ>t@iBUys@zB)!RX
zt~V>qtSI1mIQ!bRWqs?e%;mp-`=03gcd@^ITs}Pa?b*NHzl<c$SQT8{{IMj<Ge7CW
zO6z6ve_x%L_jWIH?fze#(fPZcYN<R~@#%0`ExWYBnk|CU6NFc;X07@r;bpQ-dwZ~D
z#-g;OJSO&{AEz{SHV3IOK6>tP_}iME;Q876cK&>BU*CK`NN-uo=V$K%4>D@3Us&z-
zy4A#Jrbp7eQ+qs@nt%ML-!xVH^ZJ14n~!e&&|vkCk#%>=RL+m>#tIR-?TypFH7$$Z
z7WOaw5$CK=i{qz0oO^J4-o~g|Yo6&<rSA@Sc-$+AFK}{^f#9T7c^i&PZQdT(ljkP-
zo&9sa_Ii)goW^S^>aSVct`4bcF539|+|i9++*(B5?W?}M|KI7@$BTn!>+gSdYJ1(D
z^0!ZC{OapWp7Er8TFbYBd&~N!p0?U<yZQOb^m+e2Sm&>;es?G)@%ZNB50Bm{e!&ss
zX0|q(SJBYOYFp*kARm?H^*tq`x0`x-Rk!TkESqP>v0>xMo6F1OW432i*5~_+duUAV
zNfoGkbt0zjq}Pmx4_2>yx$^(_`u}gA@xG2LKFs^S?zi5S$nfe-YgKPvYJBq`A?Lob
z|GjTNoBeHbc6Vm4yZ!53`F)1;gwn(#EA1EU5llGma&tvl_=D+FCU1+<TPpK1Li!>z
zuUuB<u>jQ-q9Lhr*&J*?J?rb7bbW5t|2*ksIs4DiyLxZ5>n^%Di!8ACbUf@`u_NcM
z5ZR~Y7kduf5SqC_%~i<pzrFPPe>0O^b50-f+xmQ~TCsmjq1x@XQoiGBSziA?`f6|M
zdl6IFv?=C`19)!eSF{GQPd>0hi933g(di)eo0h2!s(pHwn|6M_dNSdQ_bQ{dAN}(j
z&nebtu=PH1P~_O4))6a`{ceVo<lkG@-|zl?&RwB!TipM))AxQHZ2T&Is5<zBsDR2T
zlSDJuwCnf&`sdU?JN$m9X>Z83CBJvpS1pNgn)2B~M$7y6Z!XsqvuWG&qWXEP?r`cJ
zUnSzi{?v<g;WL**uKV7evpvjj|1qUJoZTa%tgi0ts`{z(ymX~c-23#3m)p`uJDi)F
zd;YJ@=hwz;eB=DSPJ7QuQ-1El=?gezZ+`sn&3fOK?;oqXTQA+}&A$I_Tekkb8tyCH
z>vtUgIFG6G69dC*uXk3*d?Hn=)~XsL?XD2pea6Z3n{DA5om)qWKXW+hoYLO8YkGmT
znbzu=BB22jT^Dd3tADrQ+rHbY)ip!hA6gnO^cOZ;zhv)6_9^<(9~D|2|7q!cKG9Jq
zXi~uD8F%9@+JC8ZS+YR!psvHuTOkv6z7s#?I8n`YlKQ%*O1Dq0Je0iZ!<J2b6PIie
z-_WM^j{Ve9r#iM}EDk)L8-7_9Y8W;>sM>NzOnax#(+gA5%(foUV+s6nq`rXDc?!>B
zuBhP82U5f5mfx$?PEX_ZxBGG6T=jli+b#Atr@W2awP@witE+#Pytwk@!N<qqIrmQ3
zB|Ui(*2i=1fS=Pl^Qp%--VM>}4q{usvoP4cNRQp>gI&p=7avzXoL_&}^sa4gp3=7?
z=L~hO%{r?vlX1P;b>Fkeb7%VQJ+Z;ft6r``?BGNBd%qbz+3D|o!_~tTVsqo~h41hF
z9-43S<LY@{*&CNHU;n+W{N9g+{QL86u9|xFPYdhLW*`1A!3xE=bN_`z1rBY0|Chn*
zf#`}qE3e&E+Us^p*FvI*{cWdtU0+wGr*v@iBg<6ZRj(4aeps_=f!W6?+YM5DZ5qE6
zvi_F;UhgT{_u;t1|Bn+k@_)A%W7smScFv90N9Sl?`KSNrvAMaVNc-#ZcrVqrN8k6H
zoO!|VL9<W!?X}u(woTQ#oW6C7g1kiV41>9?X&s&t({2U}E9cL7aFJ{F!b0^7Zu8Y@
z``@0wmu(#>7b;|?<f&3=_~ypaO1*u1@06eKH~*>_{$izi{r8&xzx&@+WSN_sy81kR
z*Vne~Yj%G*))*@NUCyTHeC_v|CwI3id5V3`pVaxoX&u*lkFAfMcVDep$o2o!uF$!!
z!^&U&Y~5D-y<hHb{fis!_x`FKnPG5a{vAUb<LGx8XA@4@Zb@FT_hifEo6{DpJh5d(
zBG0_V@xSNVALu#xeeb(lvi1Bm?+*xn?~%1+Fy2=G^HO+h`N7ib`MEFO9m{dwzv=eJ
zGU4}!vL3En_UB5)<gEACi_3n0UG=(m)ja;>3jJF#MGVIeXI?UTUG6c@HP0*|khf@t
zu*I|UvYcuCKYkj9wl^FWiD9wVXcXrvd~+;U%l1P}jL_YBu84=H*`Id4+OA(xZ<C@K
z%(r1~?)Kebma*Aua{7xV?l_gYZs#1fFNTk<KIad&`@U^a#ZwlB9aYJ7sUf`orv~WN
z>}L|^V>+>^QfR?3=~G3AHeXwDqb(xX+~mbvYyNxX?}Kk|f7_IGY2%Xg)1u}ky4Ljt
z`@UU_{}ZuoDR+}h<xGy>0U6RSZ++N1!OFXSd6RVS6+^%Bss|H~&%amuA^H7Y(aq)!
zqFh%ewNEQ<i{w3W_2G4g{|Q;=|6F;o(bm7_ue`nZ89vaWu%9tT%`WFt3vS0(-CUNF
z-X5=Y#hYEW-rUD>-s}F~>W>Z2Xr%T%{C?p0+Y0?hwkFfV`3)CV6z1;#aQcD(=dyxH
z>@k`j>MtZ#Ob<=GG~4Qlzs#p+>IF_dPruH|`Qv+gZOZp<w&pmY^*vMeZ#lY7k41Lx
zMp5ZG>z=MKI4t1!{9qwt$AKyR!LqzHNvEv8F7lW#+2%>{iJs%rF2?N8Pxy57>Vx<n
zPm{OJO>0Wo@nVHlg=;ZSc=5sYiFN5V)k~kQD>a@m^`*Rgy;N<|?RUBT@2sjaCI}VX
zwhqtRm2vjk>S_7ABvvw=mEC)?MA%m*`OC)}%S^bgNz|N)s{61}eVgsx=i>LPwa+96
zC0JB)>u+Lyy=un%=Kl1eg8v_x&-1*k%=&WS-OG)MpR_FVs>6RT(_O8<ujKEpQtgGA
zzm~RE{oL^QeY?t&WehI$oWjS<eHXPC2PX(kd2_{R>zD8fIkvZ*+fH(xttfh7a-h{c
zY0ZZ(X+}F0Z)VCFHZKeNvb;Up{rif}#Phjce-CXAi#q?MPEcjv4xXeyA)PbR{--AA
z9L_3FFy-1l*_*YW*SW3x(M9Q4@5`xY&3qXyY8~@@m=rZ{R{tBdQyU*7I@T*ri)vVP
z?rM_3N8Z(KO80IlWOXRAol2T`<bsN}=F>>#Q?at%-&R&^3e%9Wtg3l_nZ4Y;y5Pf!
zkB6KN_U@js>fYX*r;|iq@1DN??VIS%Gc7sU>6=!nPV`dNY2ou%OX9cx`lf$d?*9+g
zb^A0$&!0apW@w&VRZ~`z@$1LLlM9`L>kqf59cvTx(wlzrkiU6)^{-uF>)ze3xwmTT
z>uIK2w=drOdTHl^vLoO6qYkdQxY6TUL9=&l;M+avcM{?~kA|-}xBcLuZFfwxR?lpZ
zcjdASZB2XFU44OLuJAF%Jw+mU3c1TB`srWZU6QnojaN$g^6O)Lq2=-(`;wPmt-1C^
zbXT20{l8Gt|Ek*4mez2bkYZ$SVA|ZO!nb5SWADGNvuSUY4f~grip!n&p{S!A#QnVK
zkxRe~j#HPn^gfNu{>k9&H(h+rv>kU{f_qiOgQtiJ+OD}QePn~jrE8|KLb^|Xg)Pt5
zElu*CtHLB=c;=Cm{A`!VrOxbaZ2diceZEh`K22DDVN(6%&JeBU113!EGRiJiu}Ymq
z(>uOyO_?P3YRQ@N(>{HEnzWMZyYAHnmlKkb<sVjV(SP|qYTKgnpIxeZYwvcd3FwOa
zw_I=5<X||f=Zny~%4Iu`G&G-$ck{7WJ|+58^ookjqD2}<7XCDiJR#w~C2A#~M(Y>9
zEkac`6Igyu-}*XJuzq^W9)_IO&fjWj?s@*4CuZ1+sA{i#vwQ8k@;P1l?~Z;EEnL_0
zzxmU@SkVA&LEDyd$x|}+w!BI=D3Nerk=pEdF6!flmR-7a{W|Ki`k8Bf1n>UyGQIhZ
zz=VUFm)%^hu9sVuuq)S7+x4qdWznoTUWYCOt)H;B<d?tWq@P`Hv&5R}Px!z8uvWEf
z&Gp{$6%|~|zn^;g^JeSHl{Y&-&OF(9^X5y-C)dS`SL|kJnP4rK#F53LBFM_JVv0!6
zf`+9&+f*;#V#~aC>)y>v7cX{|<VFOP+>E-p`rNMw;iK|fn?1ds{yexcXkLb*(ErON
zhnV!c<dlL_Lau7pZ48^=mh36LVAizyi(xDFu`e*;wTO*g^Uc?cJCeoRv(EI3Q_z>5
zCqfYtZWDj3n|D>U&}H6n=i(9rS1!JO^VReCXJ2W3F6yG+BPw>~bNR|Y^H<GTVkK>L
zF-B<v$IVp3428%a?_4`Baxi=CS!KWbzH}{*Mxe>>NzbP%yH3!`e(<D|;Y5M4)?MM(
zarM4?g5|<mnHjtGsu`J>PAuVaJlR>Gc+@$jOv-u7!4<;4<--_@Hr|?gH*xpdzV61^
zVGk-ViA)G&n-Fl2Ipx-+DdivK7Jks0^j2oc?ZCUDWrB`jU0+r>zN-Gpy5FwbGD)Mg
z^^Fn>^NyK^4O;m+HoZUcV=;$#nwmtu@aC|Gi*f_&Uz$c(v0hcnN@j09B;hiNHJ)2s
z&Oyygzry*Xt=7G)?fGTD)@`^QaGGhUub}6$rNS>R77F(G+xlO5u`O|GlYs3LEB@ss
z$<_fkXJ!4$y;}5`d-Lh;k6i0YKGdF?85nA!&2Zj}Gw?)GL`#X%8>MRkS2dTeODLS&
zQ1DTG-lsPCp!%PS514*UJp1wOH3i!QbN$V;r`?!YHszFSB45gZU_*`_vX-Teq3KO0
zfB$*;+wjuIX)9IUn5dQ8bgN8rjOrK54gJi!J#j_+<leI)>~~ZGdkr=O@bhkL?MYo8
z5Y^Eo&v@S?$Tg$LeUZA#hqmfAFF}zHY{d)uH1_<rx#_yQ=0$k@n(mGo#ZMQ$ZD4S1
z=?e>f!mvYbfmuZE^{BbmH#7G>D+rGA+4|=CsTEP2S8wS1RPPLA{ie&K`159=WkH+J
zp_^07{$DNo?kW(<qPfd6EY)J#jujJJo0EN*Je!kmcsbP^%MQ=pcf#xW%MV=Uj+yJN
zz6q)rXK5<m%62{_5vN%5p+3CC@LIwXVP^3dCPBMT1+_mML!}gJ<+n!dS#y8OxwpG5
zu5CVdcH7~agzO_0#V0pv2S-LKG@hBe#r|`I!IxAcWdZ3W_pbESPqbF*+`{qvpe{?E
zgK(O1`?BTl{PH9$&xCBeyj*Eb#}bbFf0kz?Ui^I8$7|v|rTCQQiwgfw_SD<f^Un;v
zvvUe#rTnk^$y;Oj!qpG^`Gl9PKjl>SXi;jq+B3WB$G%;6pTFhP?^yNrn+Ht%f@<F#
z*y?vbRO_bKKH-e5GJa2b7~Fa^woUR}q?q(XkhQC4OVO&VpZ8Z^VOyL$kHt{`fVNIU
zfOXy%;Z<B~9`rdIKi|2k^FrqfZ6_O!$y@3j*s71qe`0&jdn#E%|Ld&a_E#5*BWr%D
zZtSZoTR!o5;O!)J;|-Rc4NIoTW`9+G$Jw_3&?e?}7MzjUyy3}51G*myC5rHh%=7m+
zVX!4}pK6?tYRng{wXrXKc_SL9?BUT_k*un!cEp|8FsWm9xwD+$x)U=wtG8u*-GBMr
zu7k&;>Q@^rZJfC2#$sJITV@Vrt}kzXZe2O?)PrpaHM6CAoU+v)PI*&0ZSSp@``g^o
za_^n7=MSFa<J&8so%oP@lDo`Ww~5WF^B+nTo|i7DV_Z}4Ih5_{!S5zZ`j0gp^a@$Z
zYR91F$ayF>@0N7^vbrC9p)!X|v#!pV9`TfCkJiRNPTMu>y(`vVW=T$pO=f&07Ri&5
zCO*@iHP-y;`~RyI_RkKxrgUD{-|>>#q!~_%Mn@K1+i)Rr<`v$i*%Q1YY6=&r*SB3a
zGtxNH#vyh0`<gn=B}xSo^HbN?nQtk5Cb2H^h;aWxKJn19$$Ni2c4522@o9-V&+`k5
z1<jabA5W?bJpWwl__q3LXMT&Thc{YGI<7M{^3}RsM_=At^(x{)=PAoV7f(Coui;Kd
zIR0k%_pHBG6RA3FuH5<)0;^Wl=7)b<v#NXFrWt`wx0fdh?|c#X<3-l*{jd9N*{*I4
z>#RI+Ahs|$>nN+n3>Q(m9e3WZv{agT&~*EOsq;RimskD%-`3T;@%*%$Ot*TT&Prdc
zD51F?y4@cfvo^e(xuM$c&2o?Jt}~7m@RzPV*d5TwIHByVVO~$_aVPaPvX1s^r@p-^
zzd3sQ0e<D|Hy4jM`R1!X{Qp94pUD&cN%w*~K27Pfc`Lj3_DY$ABR9TH(oTMT&tW+e
zmw4#Q&X6~qLOgkwS}U@`U++Km>&54Ne)WlZH&6Tz+4_Ek%@Kig))v0)0_H9%Ib4oU
zl#P0#BC7WZ`n><RCqj4Iq1cbJo}B8QD7#wA)z9Mc%tz|7Zr!`uSBCq{WcykD^w+un
zi&tG<v3JSyy_1$5oSgV{^3tG|5T~+<hT2CCJ2@viUy*wGvaNFeiu^MdA5FTRVR*@X
zN6W(^p?bz6M_p8^UBufH{#$bumF$>p@5tgKZn`P(!E)B8Cx7eQ$_w%0>u<eva%$Dj
z7n8p#mmkY=mtCG#np0xFZ*IkOvAr$pRZCXSd9Yac%YrFvMg8|y{HlA+^K265$7%el
z7Rv|7-QJRP)6B(x#rZ?uwSMI<+V}eP*NwGbBleqqSas#q>H3W|lDZ4s4NK-#DNkxk
zwfTOx*uD6M<edUGwV2&2x=s}2eiv_Ash;Rm+}0%K+#`B&75DR-=3gS$?#=4>Aet)1
z_}$0lUdJYZy{cJ_0nG+~6uGqJPk43i47_Q!N9j@9oRd5vHJ+E+Wmp`SCX~lLSywNw
zw(=v3mhok$0HxmIq9gSl%_o?A=h(ZHA1^LUD%44ju==vX{*S|&vOBSx?%n;uH(5{e
zVq)p85{;?|K{wljqW_PiK61G-@6XpmFLihD&-a_S!zJ~ISxRo7l)|KDC%M#F`kYT!
z*FE?>bz<|qNwX(~*Qjj%7<7Bpfxo9h=PxPa@6Vq2QOPL7r0r7dA6_T*wE6|7a)Z_6
zuG%WU4_?%KZTU0HG9$;fq}N*(=q&%A6m2JX^x+$ynT2Oxo_#jie97w*2N#<storcN
z_tgA(rGhs#?+2|kwp(kb_+044=iqG&p}G&MFMn5_-1{^v(^38ui^KJ8pKYAxc%9;G
zsp`v=39R$Wkx}&1+@$_Xuvt)C_w3@W^~Tcr-m(7z*MDDj>chcbjB8p>-%Q-$oY|GJ
zo|F60pBZO*{<-Q4Gwy3pNMov5IQ`GI-?bu!+__OFw_G@;5<dF~vvr^OuFXcKvb%pQ
zp80uw`Noz2RrZ>KOY{6rKUK3^7|6m^wf&;|)=%sACr|Ew9&FgUE7Q*<-^4ad>p|r#
z27#sZi=}q7WY^A2o#4CNYmv>@$xoW4UU*FB-nJ-z-sPpn?xkNRcyMX@Z+SR%K8I48
ztKmUy--m|69+hgEz6wt*mxz3v`25nXrArLj*CsA`(b+4^r~b@sSLMm}MSmh+wVrC4
zy~Rj8Mt=8`#V@$?OW1$4emiY-{?|^WyY1HQmnyzj&wN}T&%&+WCMx)FruWpXkxOs3
z>dd?$wb06S23L4Ux7@PWm_O4h+@+2Fs7#y@C8;JU`Ag6?M)}x@@{QF`WxZ;4<(~U-
zX&+-&^}BGPbRLmepLKox_cSSL-&L4g{ZiJC>-qYOUJK0$p6_@$KR?pcxY}`R)~_=L
zr%sxsJaSF3<FfQNskfWqbm+B^9mggY#Z4Xj_qG0NmY@Ea^ycGYrRrUiw%pLUw5|8y
z5v6A>$1Wy&KR9ha@!8bdi%(>Wc663+S*};dU3Fyrfpm?1t2wrI$Q<BStjQMsx<2fB
z9EYBMm#E-Ludj7IbC3J*sK-duC&?<G?*Fd4Ip>K(;yq*k)hcVf{@C}{>-A?md$^YS
z)0rBJUZ={sEMHxh9xwmXTUup>A2t70p2NCN!o+CPQ-=P+!(R>?->g`-{FuP+!X?ut
z`#gGNzw=dF-RURhhsD~?zi5ftA>oiA<L<CV@@PX_D^suhJl4dt;;i#CDqn4gl#*ss
zy7-`Pj^ivVmXfs{iy}Vmdpg5CL8iV$F;Xf{aZcrx%`QQ1hBb9t<}ih+{FuJ8Wrga=
z)GfV23oOr;sI%*zDdw8n@gU+$-;)O|tt+KEE#Gho)Gty?w|KoHPwS@jlnbo;xx8Lp
zI^t88?bcZ$RIbSXlx@-$1rF7wwm!M<ii(A$p9<7-8_r3jXl!&)ce$0(tR;1!CnmQ3
zut`;B@NtJ_%RjG4-nKKNSFtd{`(Wn0ZHo()&q~a_CaL=DMOg;tXMYL3D4k0Z&*TIp
zwKfIaQxM&fF0|mLkFEErFWt%yk3MpgO106hdKDk~aec_SH9Hs7YQ3pnEF<#m(92Tm
zgvlNWM|Fxd$^>@1-0(74`BO>V^0de5T}PsyFw|eyWBH}H^f}8?&H6-(72<bRPCWE3
zHsVHWi_?pkha6k@^rV74{LLo)VU=wW+s=L4E6K)uPVuoWKHtU{Y`4{T{nzB2E@AVM
z6|<LqKQWW<Pg=N4__>S1*N^folC<5pb@rQea;Hz;ILjQiYjP3yMKu?*M>UgD1C`!6
z?wl6pQF>)o{nkLmYD3eM=qafmzigHfXE0sik-?+rEMot!f7R!^JnO}0ebv*jFkR!3
z=JYYLkJr<K!(U0SzNRg|jpJ>-URa4?i)+NhXBX}swey|ler~0IhQ%5dtLJC=SwFjf
z=v*LlD3ep?&7{|#+uLW|Uc+>wm1+O3SN#dCH90w!<~`}nLiI*_Qf8Yp7+g7Fa8<0t
zWq&u5Yr&-#YXnTB<fY7|v=?z_t});?U*KH4<4=`TTxx|-l;KvviN95xEd5Rgtxj#d
zyvaxLJHz6>X}*guus>z*3e;~isg+37javNAgz4^zhrCvnjn`e*2){lovvT#*`Qb0m
z>d)%^5VS$*_%-n>`^>fLx&I~mP2^E@deCv;>COm6pBG=7U$k$!Hl=KH*ZHPW+mkHL
zQErKc7RNj~Tvr#8sMjOGA;Q#jf92(Usqv*L^S_^XzdCt)`m8lUcR$HKd9?X*<Me<O
z`E`E085cT_2w4a%Fqc?rROY(+ncu|=6YDPKF&RGDx^Y=(5ubI3+NpbD-|p8-2Pv)*
z@M=l(U|qz$BaT<^WYWcTYkviNdc+@LeJ?fi*v=`tV|eOr@H~1Oc3W$C>C&k$mp$OS
za3IVn*`;&g>dqrMEqjExq->1?MHm!kpO9|9X^|VX_W!g)B3py2=Sr<_d4B7^U#e_i
z>I8Qd?IWsADxb_2rBCEB3Xa+$A!N^etiJb*^dYTJtqS(9&dYpz-p6)Sb5^+87Wb>`
z-zZ$mNv}>i`*v0B;@zKYwf3@d%1>Q<d(ZNJx9oqMT~@)jC;X9W<jSbdAO9k?GL>T*
zgcL=0aqBjloX?&vBUvSw=%R2fkAqiM_`}2*g)i1#Epq>mq9S-&L1oI7%Ml+g@_&kJ
z-}>)v{YLM4<9oN)X;r`e{on8GyS2J!e(fw=J#F(wE?wUVsdsL8a;VKxxVY~WQ&rN3
zMu+Q--&{&#ccfZGtW``>3DlV6<hg}IW07ySTFVlioHYTj_f=(COgv}7$~t3q=g|uj
z<HH!2{l6f@+`ZJFLtM~#Q`V}6HqX{7!Mf-mnJsq~dbZc+H7vQ+`uN@%#rk&=OL!^|
z-}v9Yb-9iG!{fK!<m|tFQ9k?qA*SFthx>nS-=}pg^jWCm@9GPATURD;P2Vr{=5Lqv
zcORwPg(}Xi`s#1j8NW2~y1{sY$%9+gSGO(biT^8|m;C20c6G=xi-!d)iLP``FE_4A
zu*?jXTvl-N#CmS7pY;kacHO!8XWxxy<rXt4cYb&uaz;%!T=hg`mhk$Jb!UC9F6(FK
zRxZmuR;aaQhQ<Y-=f#Q(-&}j@_d9F#PWjV@AI>Pm?VOSq;KRGEgvC6^EIT!<ddZgJ
z6$iB!tw~YnTo<5iU){y@LN&2<^*P>u`#$Yk{b`P$+pT~VvpD9Sn17Miqh3Z$ac<0^
zH%wC&^cD->d%~D6rek_sRYk*+W!d)jKZ`^9@9xvNw(m%8-a^&LkAF&ioRXjGr}8dh
ze!c2&=+e?v@697B7g<f*>db$oy#B6zmHVQamT6}XN=>}bKk@0oM6X{9&)vTIi_7_-
zhfEv0rHg6KmxRl8HG&Q<|Cki7rSb&SABr$~zI$O)$MmEb)4Cd`-_2NCw|Do)+)mLM
zG3Oq?{xN^W7e-Upb+yxce)PBMI~_kEcq}WD`}5Y9g7spXj~|zvTAp-5B$=Uk{(@^;
z)|TwLcF9Kijq+!MMY}tS!&dKFcrv+X!3Bk<JJm|`I~XnVLr(weVEq25>#g^}t`(;i
z*RMNOzrs`U`4f-8WaR?RmrE4eV%A>me&Oh5cWU-|o?nxHGo8skbR|ab<jYErZ&}-B
z{hD(w^<!V0xaT>KmCbY9oa|eVFPXbEwxY4PDvJB(gj2gERgXWYJrpDUGH!j$Dt@~l
z`yaLcZ`fw#m76iz>nk!m)mK=wlWSQg!^ON~Zq2b0dNK7^+h<N$yq~v&<2Xma4+cBN
z6qRK<3tXgQ<-EPG1g&~pQ~lHT-K^-O(|XP)Eu9(qr2e}<{S$EZgy$KJNhUUW#{P|=
zAy3=$x-T|r=3P#{cO_wh{Kmhm*OyM(pyT;CEO`Cht@kqH{Z`o)@>KVxzUwe+6}#;+
zE8$4tDI*Skjx{Rw^(&_RIi@M)sL!h1v~Onq%9sADn6wwRi2gJQJI{Hk{aL)EY3o#>
z`d1mXCE{Y8?)C{{ec~$2As!j;if{i;&YjCA_MA;N;I4brO`q9XO8+x+^_oRr*`x)U
ztbe@vpMChrP#)!Xw!+7k^-0@5;I)sEuhE!Mp*6#LLdZ@FiC%FR)_R^5$3)J#9A$Sk
zGRkr}nJRfiFg8tCxjmz@>Plu?ddnFdHuhEfrv$q1IGYult-te(+zu<Vf}OW_#(Wlv
z?c6(E;rgjW(?9bySiFO#<=Q?>oB4go@;wi}{7Dhvdb;M&fo}%&32B?`OyB6sxa+bU
zU%AMHC$e&8-uCjzcXv**nw|Eq{?rul!V_%~6MF;piat6xe}ZG^)sO0{{+@l_5Z=+Z
zP}XO~UGt!eBD0#jyyK-FTdrErVIwr<0~^P-pf$2}hi1#Ut!sI261~!I_0sFP?@KqY
zHJdg~>7(<_&lPNOccVGxPu?coBQ&dHp?yH0sq<^MtKa8~*&1xUrF7vz$ydvsi?#Ra
zkLcxRZMQF0IKdyilrv+B;p`mYDL*bu+&Ce5$@Z;5P6rx!jx-%Nz0ojZ!o+tQCn(?9
zcJ1ArCuR9%R@W^xY^3(NyfzWI^4;vy{?G#P>g69U-8An$<2<j$d!D?S72Ezd52mg&
zyri}D)*YYPsx$EtTeXb0&ELLu7jtUf)l?5}1w-9>hsY%lrPj1;>J)mYaDBu5Q0ez!
z8-r&RYWSC(+NCSob9?*M5ArKtiC?ub68NB^AQ6@zuDRK5wQG^-2mXn>4dQQZ=UvMC
z=33qIrN=Wfmv0R-v@v|PBu?hy`gf|${F4}Wtv}LTu*kZxIk?c~v(VOG^8WA2RE|#m
zspe#s*naKvX2<$WwwdSa5}6o9_8ak^?L4}u^I_oU33s*x<%TV~+0-}l-6mt%2&vm=
zx0p;=7^oUFseX~~)Dwyp&lmD*W&4Cyek=|AnX1tG&r{6cmYLe4iH6FuE>Di7IOlfH
z%KBQf&(6HHNy;&gMcYrsEG8>G+EZ+DQref8x2sdj=k%p?PQD&gzt$t7a=z4$^}GE2
zYi3OT|2JrZ(yV#x`lqF*NQH_9Y56ai=B9li$0?~$J#6lbBZ+y@)8{6vZIbbA;IIyM
zWyw%IP!e?5UQ1R$OPkFwWs2e13rzETv+nNK@|jrwaC&B;n10lYIZ?v4=L4Bi*YdRA
zyZ_ws#_5%R-v@=wvz^)0*-?MkQ~jsp8VPIP`KKd3zxk;8<uczV6~Q+(I`d7q#hrEU
z-R-Q<eHq@Jv#7&h(KMETfYY3LckH(Q+kGn2?0dbJ?#G}FPU<O{eC+QoZl9bO^gNOA
zqIVT%l;bRglIODvoqsMYFfM45cslJ7L!#ivrp{8qeT(MlE4FbY9Z?gRb+j&_-gWDW
zulEDCtqUyn;y=s2QBvvuDYq3z=2h^m-6vss<Hh0Sb(#$OR(#v*tLZayGN)?y-W$AY
zS_%ZKecqkk)AP;cyN{ktm2uvI3u~TVoOdCO&o_fp@{@~z%_8rmMOV7kul`cG%iRB`
zWt>)6L0wo;dVcug{XX5!8@i`(9W;^A5}aS}<*}ic_Yk}Bl!R9IpGqq_`V@B9Flr0^
zc(6Uf&~QWc{;2Q0!JM^oi)PPhW-dJZyK(B{Rcc}Vo!v9HJZ$?SXy~$ja-ryEWvSLg
zWnR(D2`lEV;8iM<E{+mYWb0*Hx%Wx&s<+SmVwdvHetdLs_j$?GJ-;mUrd9NM8HeoL
zqwqYjrT(M;y=fYiI~bI66HW<-p6Xt+s?6y}$;YDfhjT1HaTPH5wC_;OWESLAnNeyS
z;HR*>_`?0=^<I6C9@!Oc-;sWDYsbEoFXyGt-JZd6PsVxe_7$N!dB4uf5D(B-2srmM
zKqkVie&KZvjUS(<)M#C7uX`DxcqI5fOGF-9=-VaMx>4)vgS#^4b<A+BezNjO<&I04
z$!#$urtv3L`&eH5RA)T9E_utv$;GW4YxJi_oj)%e=;6OV`20ovpZ5ypubA(=jqmrZ
zo!OfDp8h*0$nY@wE;&(>-1d^wyQ?)f<G{reYLh>E9BX@We8b$H?9kU&vU8@)Kel*Z
ziKIx}5p7og_}rVx8}`*lJWViE5uL6gciF>9fHQZ`Z{EAQD$&ZtE?+u?7TZ3bQsDB+
zR(jHxV>QWBw4HeUMLNn(A3UZXy>`7-sr%Q=Ef;70YdNfZ@Xp_B^S&!qb!hEe(V2ZT
zVD+&dQ5Jp&vi5Ckc46u^Fgi6QQ#tKI0K>-4D+WTPUnXr4D?EGfhWaD*>-B;QF0a=6
zG4bhzqTJ;lt#a2)_$wpx!*unhe39!54qdO%GMe{QN`K9BFTcGP|0r)v)$QR8dveUR
zTzE$SH-plhsy)ZoFW8pSdCEJe)w9QgpLJ_?Ui~BAYR{e7Ca*G04(<HMX+Pz8_`bc0
zVfJy(oxE$J1^c5lBOX^Q&)LCo^oHQ#`snm^Gmd4x_?P&&V_DL@TXUVex?OfjY6JyD
zIy7G^5#ef8yO*{0=Na!!lNb9I?}|v|HJ|Zgn(3d93!E;-UVC>_%=EMVjAV;jtJfYm
z8qxVG&#80G$09E7$871&z9)iMT~{<GP0ZSv^sZyZZH>?UOGO0SUsw9RnPk6w>8bdC
z>u(j*zwNxg;rM%(#I%qL4pQAZoSrh1T|z8#(>GZ7G@Wo;raox_NB1NNCB-dsL^Lk)
zJQ6TT`gfwo>`e04rhogl?Ydth6}49G^m3_myM@L_dZXp|<o0uUs}}pdG3Z(&cvwSm
z&4!E4Z&tbc9F96RUC}Egj)$2~c~QrvdLBWMzpiH5mi2!HtB)3xyxsD8$p^QSGT$C7
zJW_diYu3%>p?juZ+;(Htuaij~@6}iItvu+z>JRgZJC2u)KLk1*)IaaOWslcq;R!<C
zi9aOf=_N86`bt`#^*Ov#_f4JAdDm*OgRY-G7qm=S!e4xjRrOZflT^nV`?UCP8@%}D
zlxfe^Tc2@KprZf&gZeAwze|s7)tI1t)cw%U`bn(EFNVZ!(*Ck$Lye%i+P~)!T24A1
z_3;`>ndS0LZKs|kI2KF4uDm_7VvXfHvz;P~#Pns<Lq0Fq7;xEiMc#&O_u5X`=v%M(
zapBdy1l4bBpZDlA`+Z4y%e!%&SAcuz%GOo=D)u344t&gy9vNP5%Q<CMfAef+)G^;p
zE52M%^IxW+<CePcg<1QWBY`L5*v=ZMne+3$P5Su4_uSL(^G@EdWL~pD;#2wmWqUuk
zuIISgBF25mA#=%&F6q`K{xiy5?rQd_iJhC}Eg(2cyK3{!1tG1mk?l3TN8jWqT@&gy
zUHFE}oN-H(--hM)JFbT;pTDy#SocN!Kly8y`sbJ(oad=L@6UFnW$kwPzJKP;cYh|g
z^w|cJXB?{4Ya?TX^O|<Wp1z)49I79_abrZsTfxgq9{ELI%RK5*zo;j`M>xnMD0^+#
z6zjmULtpk7+@9WFG-t|l^Z!kIU)Im{{5{7otZjdm{J*JHk~>`uI3g`Yvjkh6FDx!h
zQm8*<lU(C_CBkuGm~`xl=Mz8Vv45O#S)_mKu>(pWZzG>Q_~3M3XXVY+tFK>OI5+0u
z-Gx!YA6L)y{@)w<DpjfNh2Ngs{L)qSpH8LhUwF!Lsa(OtE3TeZcQRsBS#Iiw$u5|=
zp3x+1Yu`*0y(nhZy~Z9P6C!r;O*Xu4;H4rSA=SR`Nqy(#J6<u4ZCsOfc%F~{8d?2d
zuD#}(4F-CAzrM#G%%1!>@aMn7l1JAp>RP09V}X6D^Pi_Y%WhRHwTk1}@Tc6E#rMov
z2BkAw7M*B+CdezbYV!%_j@unOr(M@=OJp?MacS?ni<dvk%&85!Xmo4+{rc9|vInCw
zY)s8{E@ig~OEpxq)_YEq>p6VJ#FEjc`IN-hTTXZ59U=|%?@jJ2b?#iK!?89gOY_JE
zgT)#yom+&gw^u$@(b-ybcX3$N%}j0WD}u{c-hOp$>G9S7U!2YRc(7{frO7WWUF}mh
z@oI)YNNP}G<>h!Z^&^+T!)?yug&GoTI1e{;MmH`m<+LkV>~gHPL-BUKtJfau2lsv)
z;SS$u6+WY4-{+){D|hP^?tN&rMNjk5!mrx{PEQX!a>hIN(Ah)Ee$rDeJPf#C_rCJ;
ziRYUh$F2xk*1BHI(?^?kN6RYiw<?#Gy3Ak+%iVo!@2}`|k6p_j@6X=S^Wns)conG!
zoh&wiGG+_oHu_Cl^ZexfEz71w`g)typAhTVx?^QyicPN%&;9nyfP;xS4Z#!5e4Z^f
zU;pa3_Kb^?6>B4B`kvzsJ1JE;h0pc1*4`6`PTS|LiCA&0FEr+a{ITyVqZMw6?2!<7
zd;E-RUBr`25AQ?nzPU~L7wt}}a+<$hbhP4F%3@8Q&u!XMXI@)od|{W<n{8j`gf6$*
z`GK{5){8S64k>J(zGvOEJ$loQJQC&ey}Cs8Du>CPxrzZ#5>w`?%sRu)ZsPmSv18Yx
zN)735%SxlwqCXD!1o;R*SCu!lv#3iDvoQBo|FnIRia4*!ns*+@S`8)Z?(C>I_w|Nz
zlIpLQ++9qWQ=}KPEXe<2yPe0huV3pwk5rz3{9EBE%=Jr{5B^*f?ax1h?FWZsnu(C!
z&QvC!cF$|CPQG4qZ@zMnrSA2*9|`GgqSw}a=!*TxKd+im?4VncmH+Q!#jjNDlpi}V
ziR|jFU^39J@wnrVZ<}ZvbFx2jNh81Uyd4`$exKS^VYBi4_FMYTmskB{X?x-KV%?EF
z%hOYi<@U^Ub;+Jr-(CLcM#8L*x_R<dK6!d_(l#F|8jTJcZfc+1q%kww=m%dF%il+F
zKlybwoGbY<XW_m>)33`dulzspyLIvR(1|M!=+(ciOSPY)w?kBG=asHs`zK52DQ$du
z)9Lnd#TmU}r`;x`?0a<NoNj-_TIusH<<^(C**yGyN9W%ix&M9Ik(CGP7ay4I!TluT
z=+PPNQN7B({<AyQ{M)Sc`Ofq$y<vBEH16o^@$dVW@_w$c|CPPdUcc4e?-07fIscxd
z&6Ar4y50q8nY^_9z*qijoz^B3kCzWreq8uw=#V(wYl-3$|6(C!mk3kg#v-8|CQRK6
zZmL|{@^+7D*<JhnZ<IP@OxN7|fAB~Bll@aquQ=oz%vlnuE$d;rS#fLSiTF0&Ma(J7
z3Z0S!ws6F-SR}DzoM-yyAhbFB{f?8BSFdMmyBGOMd5-Ry4R`tH2W1}G{Z@&4ncU56
zo9XURjp>0I%LH>w6oeYRI(`YLUebDKFv+1aPil_*(}}O^)?BWAd^jwN^Y5>x&mJHD
zJH7tctNVLTt@FKBQzAWWnzC}_Y}Xu?myL&gkMwW&p?Roq$^K{8E;yes=~HmC(ZBHF
z;huuobIom9pQ@aH^usc_R`pG6oVBR=^X>b&_GKONbhfb%-*IZz(<OZuqp#_wcQ=S`
z=}@?Sx-Cm}dM-<_(aGag%0E&s)m@#Q89G^b)(@T&-|E-=4bd>!dt~Rk(>wg9%saa4
zQP4itm*!D#FO)5+)L7g!<5=VsBi_9cUi_K0=ca6$l&K?P_W2_B3+^b_PiMZ|%m|)i
zyGEj{VA?+!xz4Ql8MAd4&ENFTmH*C$!k#j<qs1vt6A!W5?>CvVaV^gegOCTSJ_T>g
zvfX-V*U#VQCau0X`)9pT;dMPXsRvEB-|juN>u1@WT&`5tlQxa@VpZz`E0oXconu`U
zvNZU(&&*W<&bL&0WCZw(lm9*7Id|!L>!QCoj{o1BT=1dql=0L0n{R$`zbHJn#&pT4
zqT?QNi`T#S$LngeGPNx`Gtf-8!Q+VIw}3r%eV&GeQ?~g;ytaQ5^Cy07O8xD~B{w%;
zU86p)opnq6ysz{BEKay@e=JGVD`@ehi%%wsc<M6Eaz4D!VA8dUzI{n0B5&n6zFLYU
z82WH+pFR1#W9O`In}1uROKUGWYy0E&N9Ov#H5a%RhCFo2*6NX3yHe*;_@QH*bCsi3
z3!9t$XS?IOneE|pPrc3I`))@4cib(TT_2le`|^$1DN9S~?L6n+oPWdl?eFCJAJH36
z873@cvS;2Yu=4O>29Fg-+q~{7Z4Y#Qnto-&H@6Lo9zIz%`Rl7&{zumTyu8`2<(ySm
zgu8xU`2Lc8Z=W7m=CY&8F5P+Q)dv|IyvG7me!9pUViA^K9T0Rsv`H-e=Gkwvw%=wp
zU+CBAR^KVt|9naD`G20J>o?t5FZ$=<?mx}(-`VPCY<RYDaZgcfRc!XTZ;z(4bf#=B
zv|n_$>(u%C0X$Qc&PT*W1#bAb*Lsb~v*YtqegEeqALaRSYjb>u?T?8;rhLa`%2)IW
z>kB!5G5F-dd*y?a{u4{j#D`++mz{$B?wfv_wLR)|-bSOG`j;0}T~ezfwKVkk3^(N+
zHu<%{KuTu!UF$FT|31pACaDUfb6%F&vd}xb)XhQoU{9fAAuk7?POwz~k5$auTj!6T
ztNtIUF8Xdt@k5dHeQWQ0eckzYzV4LdnAZ)m0Y-&AwdqpwUsgQfntmsH1IIK;w}~x9
zrfJ{f-mR(Jy!TOQn0EauOK;=CDL+$${o?mD$F;dnn0RQOSLIpxPklA#t$*n19GQCP
zio<y=#rgB)r#)P7vSn7|wyoa%$*bRFIKSPQvUbzEa3S-*^NSg$6t{^U)|)E-FDmJJ
zy5gkl5Y^V$=}J*QT~~W<d{d~Se{%B+@2xGD%V+L=#ry5l^_y=aPP-+yoUNZT`K)lA
zq|$?>_a<4yD4V=I|K@9d&3*ft+2)@rwAw87R`EPh_}M){)tIlhds4gX%gw9WQVq3c
z*Q*wOPCq9Ya85N$;(x`iTYdT~+UxAYq@2o=_f}*WY^q`2R1vVCfs27<2FHc0@3HUJ
z)iv*Zl(sr|EgQ%6eLpj&nd(cLu9^F)-nD4O-!%Ro?)4G&C9~~6MVy*_IALNGZ^*v(
zCo|aJs+^o`lf823t6Bf$tmPLymr0YEFD)suZPJadqc;<-Pybtce@*|}58js>INIFq
zW^S^+X2l$CrJcX&*E*NKlFmx%eVeD>dSd_g_+}^Jhk;j2x!mMF_T72PYyZe!zF@D-
z6ETPS<mFa(?tOmyb$it8``OFS?|lD2Cb_kQXUdt&mlc~IZ8;^oJhb#-luPXOXUAfA
zW4#_Pk4Ux^7kDbs@26+t%;{Puz9Dai`)Qf9-)pz5`z@6Fytq*Nc?6s34Of%@lQm^R
zzIB*PpB^srT*mZU=KN_Uk>|Entc%l+{~ICoVb14Mi@w!o9&zJTSpVR0$$`(4vk%Mb
zhxskfjr)1_^itMyX>UF}{p7R$&hed@jo}-L@@{=i|F~v-!qfDP;pfj9?`@h|e0iOH
zcX}<Wwte^Bs=RqGMc2%kUG_K9=CyXj&&W4di$D9UPk4G~%j@%xBLCNShef~qmty#l
zfq{X+)78&qol`<nfcN&e;}WOXrhm91!PRc@OlZ5sGvQ@#rq8}<C@}r{Cj<WN2e=Jp
zxwQuz<8Kc*CeR*mOmKU^F`*ao+xHgnPY!O^2~cg<2~ca-2~cm>3DDTC6QKF(+w{(B
zh62-P^y&&sznP{hzI}hM?ySJ=PIq+5yQc5B4KY|?`=KO5PStItI!@`^SAFFZu5CAs
zVQ)8$;b=FF;cPdJ;c7RH;chpL;b}LG;oWW;!&f?U`_4sdH9NQOI4-sG`u2(3QtEr!
ze_fH-{_Bclui5m3;}V+N1J6mUWNR;+FWp`^U#7iqzHEEpe7W|*`SR_B^A*|)=PR}s
z&R1$LoUgpSaK6g!4ec|z#kbGomN>q9`hu@~T<yBGtlM>K*?Lr`XPz|_nEtIsmVdiL
z7t7mE?e{K;wBNfVy8YfIvE3H!JNTHl@8Dy}tlob7lYzhSc4ZH}i@EJ*av8Uu$z^)8
zVEZZ`?YZjP&pK+~<=P&3U-wkTcALvutiId7Y}Na<c6)M`&RnkTjtbg6iqoyGLV|;T
z`$sOFqWJCalJ!H9z>e82=B_2v1M(KvbnzR80@KA#=$~a-R^+pHdcZM#o%&WrZBbU=
zS!It5GIPFb7^()(b}9Vv=WB6v#OWK2vmf8+zkmH?PN4?(Hs=0YvwHY{8Kx&J3BC11
z@_)?UuR`YxI2OAk@}~UZI3fP|c>7H6a;b0c=LsH2&@$S`d2nf9OA+(Z1N%x7UgYK0
zYBI^z%4zC<W6|r*kT^bhg~+WB#ryZyFTcO;deouSQ*R6TWGKjS33}M%Z8^++_O5fW
z+ysNt?^Bmp&NQC-=F#eH5p!3XMet{FzCQ55Wwn%ln_>U1a_!fzR=>>nWAel&r@1!p
zel(BddhNy0I$}|d)~<CTtBSLnrz~pt>9eFF;fr5zm71&6qgmcJALmY6Hg|VS*4}el
z6WjHAzOQKCBC9E-I<-b?^4mEz-c{2iw4zJTte85@<@c6<M`muG@$q3oQQ5sICMQ*P
zPG50c-$?xH!<HrXr&M%b&zv`dVG@V$jW^lX|8&VuzQ`v!J>rI;!1m84^a~g{b%k0J
zw=pv?IBe%WtFOpdf41+onZQ2r7uG(d8rvLlZ}tf<iH<sW$ZuDBY0iyv?-V(hqNF0<
z1TAq0irejfZTSh~QjMSP@3b7H<9&+k_|o_N6t3QUS~cfl#KNl@FUqSK7j%^>T}czE
ziP-yk58nZ+bwYYu4+U;;m)_G^_owk}uigcVMlp}pO^X$Z*X`hQmab2qQG8o<qmt(;
z-*d9LXVtD`Y9-BivExkO&VmcC_i`0J4^W*^(lz<ef@>9fOYg5Xxwvur`FrcXu}aEp
zoLUyM&ZRG~-k{>_q0jSdGbZ17@igJUp{kR4T~1vytQV=w>bjA!I+%U)sfrn|)lG_Z
zrz9r|d$cT2UB4>(z1H%@Ghf}fp-`_Ck@kyoUE6j2y2M2831@dcls?>j#_jL)l=$TH
z(}Gkol=HtOp1ha++&>~h|HfJmp%C`W{#Nm7v$=gsHF8{<9#7Iu)+_Xpan+nI=K1wy
z!(FBCALkb*<{a7fuBv<EWwtdxx{VSf4$O-Fa;C3I*StyFou@it@5*bNHk@<O_F}zM
z@4KlgUU&9}XHh(h>sS{YHE-Oy?o@OHr~1Wz{pvQoDd#tv|4DqSZd-TK;qNh>r3-e5
zIkD|Gm0a1g`sa$bHc!qPYxymiW6U*c<;5>ATlQ+s4YRtww6*$S_O{2#6B({vQEufa
z;gVTarK@ttY5mq_^@m0trI`uSv?p>nZ(LFxbI7^AO+$CfKI3a$rzQpc`Lc<>;O&Lp
z6S{xSe123uW9|PhueMDWv{1~K=iBj=`OXXr;l2w?cb@1FuISRc+&QgkbAIi&KAEL5
zJv)Ok`0|41R&S5~So?a{hcb8Hu2cWC*YSj0I#P1%(2=E2*g7mvtq$9(f9C1jt@pM*
zYSYVpm3K7e$cO0qb3K)PZHH%gZ!`<-&b)ek!u7`GaXD|JiYIS*BtB!&!n%Hgr_UxX
zbI?Ae-h5F=E#s)$RwuE|s#BBtHf)WJP)H5m`a8q$-<7I|a!dPKZ#U1^mcCKDEa&Zq
zxf$CNQg`^9<lYK?tn{$8DcnJAc~bDTkgc!R>}*%n^4^=fPWMpsYnFOmZ7u#EGwQ9L
zyu0{Y^{3z3Nh%M+_gdZdR83D%y3`fVUSF{A*4c=KrTfh${6F~V{f<oz3r{SXacg5y
zLHiwz`+Dod%1tKtsaCA}*rpu*`@E(3T>bjr`^&z#+}N>YpX^-A?$nq3x3;Fo*dB_T
zZf|;2T=qx2?RUQw?!OmCyyPsekTHpz-kvkFu$i;;(BeNe2l6tbBwtSLdHI%C&HYSq
zqx}ExU)ck%$d^@rS*`Z>;~D-BkC*#@;Roeu7DKTO)!Wlg>1#69A6Ae!`d;lHKkxTx
zm(otF<W664^Q5Zpnu`_6A99tqU0_&uyIwzcd(>j~{tt5Y_r5Dc&!1&w(X=sWwai2f
zH%5(hts%c<_J+(ZXk~gmLuk!4uA&mQ?rTTi`W}luwYBlm3$dQb3C#XM(>|HGvp<jO
z+W3?`V@B^D=gPw6zK7?;&$6x0ll-4heZW&jzmU0)^O?lE#zbqui>#VIT5{}tZ5ddO
z2RJjIiu6%x+P|02C;7jPfrfFq^4*<Zjbk63yV=zL=!spVrR45)-MdOU9)1@7v#qvD
z&W(5JtKE+px_k;=Em^%#qm+Hwm7tvqOcH97p4HrxoF}t)x^#ly?4-jzBF$xY6JE|<
zH?uVQzlJsEqklD~f5ocSH!gk?zd2&5<h=ENO`Vw^$0{({3(HFH&|3fUaPn41SE0$N
z68BqGR-R~@)S`FkyWN%k&wqO!yA^kS<4>9trn0oqNBm<?1*?ejqxt_={a~8@@S?uR
z_S5Z#U(~lp1sNQc-X6QyAj_Z2@jHujgbf2jgw6DepA5vNujthk-|nYo7-F+sHqT&(
z!SwK(h63Boe(ProY~R1$P=jfDzP|>~^t4-s0@KZY>kDlEI?o`3W&78Q`l_1SpKml=
z&BnD%cxuxV1_lOqrs;Eb7{)UND@>lKC^@-Kfor<LPD3rGdd0~T6_uywgV<}8KyuT!
z>@+lCdZ;{o;}%27$vi4t(|LCpYB4dXLIiYGxu(bLG8B-xo!A)gn1O-8jfsIl5!6hA
zV^cMV(gZcG>8p1c3b34Z+RZmzV6&mv^sBoJ{TZ95tL`@RVO%x6Xt$xdjC9DU(~9g2
z43Cr<7)0S_fEX9`rhnXTC_KG(zoCfC+Y_;!*=!69(jp8DVjx*KRyCW>c+gOI`U7@G
z*6C{x84Adhnk{%y$i~1RhN1R|4M?qqjMwT$k5ils3?|Cxre!*VR0vOhzSmGx#`-9a
z<ZE^Yh8_)cW$C^UWs5<|R{zU9`Im!%;fDgcvbIo&vUrd(=A93Z{bgrh5W?{3_PFVt
z2MyI_5Bo8%<YQ-G=#oGWi|1(!({CLzRFjDbd(V20je#Lu7+r}*-t?eDhUzk_mu2ku
z$I8Gk1;Y@_QiyA;KmqD;uCjFt8v{e2EV@Bi)sx@piBCVX+fYEJaOI5bTdWKWQ~A+V
z1vX7q{475G=zc>1nGH*myZ5s)Fr)~ftBUKGZ17Wjx*8~2+ON-I*W_Yg_-}|FOaXlm
zhe?Bi>0^vl$}T<zh8uq9%GS<+D7(JLP*lcsyR+~_HU@@LF?40KmqV0I1}QsgS8fx_
z#lVnniLNYR9VB`69557>dD9zTXv4|Cz^jL@?BfoIG7pfl=9_cb7H}{yTy#WNmUsxH
zOhZQDio=`NtPBi=!sseYPlHqlPd~8VP*moE@@(n<EDQ`CJm?`7a&hwhx#H7*?=uvT
z$(;7;bvhdZL#`mYVQtqShFt);%Kz4jdl%Rk7*30$D^t7+RyKJ;KkM{mM-2sJ*ejk2
z_;E2X$YI2R>Jvz)MI1B~l@Z<gPMVjUfuUIf-NfbZz$Q-Lyw6Zn#$es+1V=Uoh7TC-
zd+`-wnm;HGY)Ylf_H!^Wl&hkf7W)Tcn)W_JQQ6Fc*B3wMWMHV!MpqWV$~gV!ZbS9y
zPNxl}n6mk&$DKB`o341mP>SiYz;xRahBh)EyEK2Pb1*P)7@`+P9|WhrJ8oz^o&Ttz
z6jPYg^ovIf?PNZt%5*<uWngfYL029pJ-zUhq1<%c(}tqbpZy;=dN4CE9OXb)RyY0P
zQA3gGb3z%pr}v*S6qV7NwOU1-nSr609bGA_D#XOiCk#bp{<JSz63@!Oa83waS+oX3
z8PiEaQ5lb=6AT+z7#K=0l>O9&D7y!;^wG0|7oS-e7*Yk%P1|7vQFiULp{PvIuYLSG
zm>C!raic4HWe!oMdd5&xrq=etq~$CO41yS@J+y`>b2w!v3JOS`>F19b@-ZEE0EMRN
zbRHE(uIW+R3<ahO95a++y5I<k6Q${X#|))p+{}JYm1JdLu*LAnTPKL2fhP?`rPHIe
zr(9)bV7ST6z@P*#+d&N1>58We6{asd39(v=Dar?AtIG7*M+~K;vwP-#R$yUZ*vW&g
zFKK$gDMR_`A5I#Ift)PGbSMy_@A+Xv6Q)x^5RU&*Ln(;#rC^B2DJe#->E1^SwU};&
zKty&NhpBlK3K8i&Y$!GDu%Q&wtFY-ZhYby<XMz&f(?}3UX8OXThKi5?dKd#zuR5LO
zxS<Ktt5^_6W%@U`m7n4uB5@!KI?otNG5w04zVwWt$@GM6hFq*qPvtO0PPac}D9Zdl
zfpNNh8l%#5mYaqGvaWlt2<)87zyQMHpfG~t>FJEqg{~TESf1sb@B4Tv0|N-7R;#Ul
z85s%+O7wG6Q!*3vGjkKuQ%y|u3i8qeycwBv89=>gDLJ@-46`RQft8nJq~@mTgGs|_
zHw{Im+nzU+VosjLG(GCPp&DoqM2eZSon`t4ZUeFD=RiXuzs?y-F&{e1GClqnzu0u$
z^M(S`w}XUMy=9+%<(#3~bdgJjQp~oF9McUi89FfcIB-ud0Wp^D;hw(zlA#)CXhe!x
z-GX;|@-;)X>CD#*rI>$o@=g!Dqa!xm3^Z)A<F=s`bG``Q^o>b|V$)xPhD#1yHI!nW
zVaYe0zf?zT`qL|h0@GK0<rCmRc<9!G=@ZTws!unKVHe;<2)~u(pY8{8)w{EXQp`!)
z#inzEczzcRrI_y(h)>VHXs9}!2gIB1Au)Xcx0L8~yNiYb(@$M6l#<)WA_)#8q%bu^
z3sNMjLan8yJD!seoxbaWp}_PBATwp1q^38_mllQi>sgH~vePEX%S?X{vVJDFII{SS
zPs-C3FBnQspL5xeYx-)CyH~DLoqpo1p&DpVMvB?=irRF8E*8=0vq3{N4WI~fJgz={
z?s-Fd=J@v-)9;@*RGq$qj~Us}KmRqSJA+I({>cDYJhfVTy5DU>wdwrV4W*d3tka&Z
zbKOvF`r|W(Qp~L~I@3T}R{3ZnYbo5TJDu%{p#$@=^Saad;<d%5$6qnjVwSm~JG}=a
zJpZ2V^z&B?)uu1IY$(Od_f&WK;md|<)6ZNplwx}Qe)@}RhU(K5KvG*H^rqW_q`qv`
zLypQ_OQ+{uH&mZq3ySnD!TQr@T{Tpjo($3w7^gqI0i?wWBzL!7fBHi%9kJ=TpfRMW
z*A1nZ^6pRHc->HT`s*u(T+{D@QsNm$gXzC68OluOy<w=r{OPR0bdwu~Dzczqq;5tA
z1{-Du20=u6VPIf5f6id~*XxE#pz#nXp3Vyf;51NBlv+If-*rPtE%?|7Cj)~3icZc;
z1`H|r$pJ<A1;zS_1qIU&?l%<C26e$Q7#SFrFrnM@^%|1;<ou#ka1Q(pO8!%B8cdhC
zW2ip;-c3U(<_<=~>A!Cps!xA=%TS8hTh?$o*KI>}SwznQy}7Y9$8h>GQ1(&+X>eF+
zINko1p*pCiA;tXTrs4DwkYV<B45gThUl~q6x86{Ede|*PE#~EK45v5WGIV5q_s($o
r@mq#!)4yKSM~-~`kA~9?ZyHL7u(E-?K8;}-L$4MCLxPkM0|Ns9gA0<O

diff --git a/Files_4_thesis/Practice_low_pass_Filter.m b/Files_4_thesis/Practice_low_pass_Filter.m
new file mode 100644
index 00000000..9af653e2
--- /dev/null
+++ b/Files_4_thesis/Practice_low_pass_Filter.m
@@ -0,0 +1,112 @@
+clc;
+close all;
+clear all;
+
+%% Generating noisy signal...
+% t = 0:.001:10;
+% data= sind(t*360);
+% noisy_data = data + .1*randn(size(data));
+
+t = 2*pi*12*(0:0.001:1.23);
+noisy_data = cos(t);
+
+% noisy_data(end) = [];
+[b,a] = butter(2,[0.6 0.7],'bandpass');
+
+filtered_noise = filter(b,a,randn(1, length(noisy_data)*2));
+noisy_data = (noisy_data + 0.5*filtered_noise(500:500+length(noisy_data)-1))/length(noisy_data)*2;
+
+figure;
+plot(t,noisy_data,'r');
+% hold on;
+% plot(t,data);
+
+%% Default variables
+
+sample_freq = 1e3;
+cut_off_freq = 10;
+passband_peak_to_peak_db = .5; % 20log10(?) = -.5 => ? = 10^(-.5/20) => ripple 
+stopband_attenuation = 40;
+
+%% Filter Design 
+X_mags = abs(fft(noisy_data));
+figure;
+plot(X_mags)
+xlabel('DFT Bins')
+ylabel('Magnitude');
+
+
+order2 = 2;
+order5 = 5;
+order9 = 9;
+
+[B2,A2] = ellip(order2,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+[B5,A5] = ellip(order5,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+[B9,A9] = ellip(order9,passband_peak_to_peak_db,stopband_attenuation,cut_off_freq/(.5*sample_freq),'low');
+
+%plot first half of DFT (normalised frequency)
+num_bins = length(X_mags);
+norm_freq_axis = 0:1/(num_bins -1):1;
+
+figure;
+plot(norm_freq_axis, X_mags(1:num_bins));
+
+%plot the frequency response (normalised frequency)
+H = freqz(B2,A2, floor(num_bins));
+hold on;
+plot(norm_freq_axis, abs(H),'r');
+
+%Plot the magnitude spectrum and compare with higher order filter
+H2 = freqz(B5,A5, floor(num_bins));
+hold on;
+plot(norm_freq_axis, abs(H2),'g');
+% 
+% %plot the magnitude spectrum
+% H_stopband = freqz(b_stop,a_stop, floor(num_bins));
+% hold on;
+% plot(0:1/(num_bins -1):1, abs(H_stopband),'c');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('DFT','5th order','9th order','stopband');
+
+%plot in dB for verification that spec is met
+figure;
+plot(norm_freq_axis, 20*log10(abs(H2))); %dB
+% 
+% 
+% 
+% hold on
+% plot(norm_freq_axis, 20*log10(abs(H_cheby)),'r')
+% plot(norm_freq_axis, 20*log10(abs(H_ellip)),'g')
+% legend('Butterworth', 'Chebyshev', 'Elliptical')
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)')
+
+% 
+% figure;
+% freqz(B2,A2,5000,sample_freq);
+% hold on
+% freqz(B5,A5,5000,sample_freq);
+% hold on
+% freqz(B9,A9,5000,sample_freq);
+
+
+
+y2 = filter(B2,A2,noisy_data);
+y4 = filter(B5,A5,noisy_data);
+y8 = filter(B9,A9,noisy_data);
+
+figure;
+plot(t,noisy_data,'b');
+hold on;
+plot(t,y2,'g');
+hold on;
+plot(t,y4,'k');
+hold on;
+plot(t,y8,'r');
+hold off;
+legend('Noisy data','2nd order','5th order','9th order');
+
+
diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt
new file mode 100644
index 00000000..d9eac79a
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,318 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475075957012162631,0.0533572137356,-0.47267267108,-1.37232661247,1.57025825977,-0.0194033794105,-0.305379390717,0.0
+1475075957119977673,0.0533572137356,-0.47267267108,-1.37232661247,1.57025825977,-0.0194033794105,-0.305379390717,0.0
+1475075957202892265,0.0533536411822,-0.471253693104,-1.37356376648,1.57013559341,-0.0238100588322,-0.304131269455,0.0
+1475075957285488999,0.0533536411822,-0.471253693104,-1.37356376648,1.57013559341,-0.0238100588322,-0.304131269455,0.0
+1475075957366912980,0.0533572137356,-0.47267267108,-1.37232661247,1.57025825977,-0.0194033794105,-0.305379390717,0.0
+1475075957450972174,0.0533513091505,-0.469637572765,-1.3749127388,1.57002854347,-0.0277052018791,-0.302725315094,0.0
+1475075957535646637,0.0533536411822,-0.471253693104,-1.37356376648,1.57013559341,-0.0238100588322,-0.304131269455,0.0
+1475075957617018162,0.0533536411822,-0.471253693104,-1.37356376648,1.57013559341,-0.0238100588322,-0.304131269455,0.0
+1475075957698400621,0.0533844381571,0.527394175529,-1.27931582928,1.55220389366,-0.00741549907252,0.413607597351,0.0
+1475075957775832247,0.053330078721,-0.486614048481,-1.35811471939,1.56938171387,0.0237731337547,-0.318237781525,0.0
+1475075957858475384,0.05332076177,-0.363457500935,-1.38721776009,1.56777322292,0.0236370936036,-0.229552745819,0.0
+1475075957943008441,0.0530550070107,-0.416668593884,-1.35610830784,1.56994640827,-0.0347924791276,-0.272711038589,0.0
+1475075958024824110,0.0530227087438,-0.430233806372,-1.34880161285,1.56747281551,-0.0292347967625,-0.283756732941,0.0
+1475075958107916215,0.052984662354,-0.321546465158,-1.35574281216,1.57185339928,0.0330007150769,-0.206377983093,0.0
+1475075958185674067,0.0529016777873,-0.347441405058,-1.34475910664,1.57093775272,0.00348976557143,-0.226855039597,0.0
+1475075958266422409,0.0526337996125,-0.408932983875,-1.3100874424,1.57001686096,-0.0359957404435,-0.279486179352,0.0
+1475075958348162254,0.0526080578566,-0.433760434389,-1.29338002205,1.56820440292,-0.00555889029056,-0.301179885864,0.0
+1475075958432508481,0.0511388592422,0.365532815456,-1.25040388107,1.57421684265,0.157841309905,0.304826021194,0.0
+1475075958514460267,0.0504619143903,0.408445000648,-1.21790456772,1.57719886303,0.10340102762,0.341567993164,0.0
+1475075958592388495,0.0499808266759,-0.422929883003,-1.24161815643,1.56744384766,0.0209492892027,-0.310985565186,0.0
+1475075958673922542,0.0498524419963,-0.34482395649,-1.25093758106,1.57297205925,-0.0289625506848,-0.253917694092,0.0
+1475075958756018815,0.0497708171606,-0.371761739254,-1.23544061184,1.57047951221,-0.032214589417,-0.279120206833,0.0
+1475075958837189810,0.0497120954096,-0.376350194216,-1.22542107105,1.57256913185,-0.0366948656738,-0.286232233047,0.0
+1475075958915947744,0.0473426878452,-0.364703387022,-1.19021141529,1.57268619537,-0.0315474867821,-0.287724256516,0.0
+1475075958999829390,0.0472903884947,-0.270254462957,-1.20977950096,1.57066702843,-0.0418241508305,-0.210253477097,0.0
+1475075959087244090,0.0472379252315,-0.273837685585,-1.20442473888,1.570499897,-0.0257148910314,-0.217166185379,0.0
+1475075959170085900,0.0472193807364,-0.156675711274,-1.21800005436,1.56218886375,0.0168555099517,-0.122123241425,0.0
+1475075959249202742,0.0451193451881,-0.281173616648,-1.16337060928,1.57083046436,0.00642039999366,-0.234628677368,0.0
+1475075959326305304,0.0449923686683,-0.328626900911,-1.13697493076,1.57091140747,-0.028413856402,-0.280386924744,0.0
+1475075959403754655,0.0449575074017,-0.252513110638,-1.14820706844,1.56551265717,-0.0254733320326,-0.217692375183,0.0
+1475075959477789028,0.0450003892183,-0.229700699449,-1.14520215988,1.56553924084,0.048000883311,-0.201016664505,0.0
+1475075959561753658,0.0434083752334,0.235778495669,-1.12391889095,1.56958794594,0.134450599551,0.199492692947,0.0
+1475075959646089758,0.0436004437506,0.246885403991,-1.11671853065,1.56635069847,0.176760211587,0.208806753159,0.0
+1475075959731111670,0.0428454317153,-0.296077609062,-1.08285236359,1.5691536665,-0.0166753325611,-0.274667263031,0.0
+1475075959821326793,0.0428233593702,-0.277156770229,-1.07710778713,1.54949021339,0.0574533976614,-0.261166095734,0.0
+1475075959905400384,0.0428526960313,-0.249397709966,-1.07568538189,1.56878304482,0.0153196780011,-0.238243341446,0.0
+1475075959980827060,0.0427095778286,-0.184675917029,-1.07901608944,1.56996309757,-0.041307516396,-0.1813621521,0.0
+1475075960065731661,0.0421382933855,-0.241377770901,-1.04860889912,1.56767416,-0.07101649791,-0.23893237114,0.0
+1475075960147324366,0.0412640757859,-0.205521777272,-1.0397439003,1.56985414028,-0.08892057091,-0.209036111832,0.0
+1475075960225475040,0.0408879444003,-0.24776044488,-1.01771903038,1.56840765476,-0.00214105122723,-0.253613710403,0.0
+1475075960305841930,0.0406646616757,-0.193057656288,-1.01940500736,1.57228863239,-0.06626393646,-0.205087184906,0.0
+1475075960382476041,0.0399022065103,-0.163831546903,-1.00568401814,1.57064652443,-0.126235261559,-0.180603265762,0.0
+1475075960462333308,0.0392814427614,0.197696402669,-1.00834822655,1.56630587578,0.159637212753,0.172585725784,0.0
+1475075960543667915,0.0390907116234,-0.110841356218,-0.998549103737,1.5715174675,-0.0246901605278,-0.134429216385,0.0
+1475075960617936151,0.0389630794525,-0.157478615642,-0.98274564743,1.57058525085,-0.0502341017127,-0.18359708786,0.0
+1475075960693441516,0.037193570286,-0.193971738219,-0.952552318573,1.54109859467,0.0973898842931,-0.226350069046,0.0
+1475075960769769447,0.0374348908663,-0.183480292559,-0.949605047703,1.57114398479,-0.0439601242542,-0.217240333557,0.0
+1475075960851109084,0.0364721491933,-0.164155200124,-0.934630215168,1.5719012022,-0.119577996433,-0.20140504837,0.0
+1475075960930665708,0.0357661321759,-0.141458317637,-0.925310313702,1.57287657261,-0.0747151896358,-0.180518627167,0.0
+1475075961011334683,0.0358738861978,-0.129731193185,-0.925039470196,1.56558465958,-0.0434254258871,-0.168541193008,0.0
+1475075961086683354,0.0347544997931,0.130522280931,-0.92637193203,1.55561435223,0.169145748019,0.108906745911,0.0
+1475075961166449861,0.0342788025737,-0.138815551996,-0.895075023174,1.54874658585,0.0909801349044,-0.184598922729,0.0
+1475075961242957882,0.0344128198922,-0.143491536379,-0.887670338154,1.55314445496,0.0502885319293,-0.191765546799,0.0
+1475075961324257418,0.0342784896493,-0.0896582752466,-0.889157891273,1.5609716177,-0.0788555592299,-0.133949995041,0.0
+1475075961409740430,0.033121984452,0.0594613328576,-0.886668205261,1.54982125759,0.151570498943,0.0306451320648,0.0
+1475075961493876508,0.0331468470395,-0.122551262379,-0.855096101761,1.56936478615,-0.032638836652,-0.177750110626,0.0
+1475075961573855387,0.0321386009455,0.108213976026,-0.860881388187,1.55613732338,0.170647189021,0.0870673656464,0.0
+1475075961659081318,0.0317853912711,-0.113622561097,-0.834497451782,1.55111038685,0.0557490624487,-0.173027276993,0.0
+1475075961749249558,0.0309612862766,0.0963739454746,-0.838234305382,1.55056154728,0.178463429213,0.0741913318634,0.0
+1475075961830857974,0.0306949317455,-0.114684388041,-0.807962834835,1.56290090084,0.0102290781215,-0.180323123932,0.0
+1475075961910969529,0.0302784498781,-0.0993584692478,-0.799371480942,1.56495118141,-0.092549175024,-0.164139032364,0.0
+1475075961985799565,0.0292664580047,-0.0775373280048,-0.793107032776,1.54431903362,0.0594276338816,-0.140338659286,0.0
+1475075962067502047,0.0289713442326,-0.107732146978,-0.773320436478,1.5620957613,-0.0770401284099,-0.181287050247,0.0
+1475075962149003842,0.0279052406549,0.0621536038816,-0.779899477959,1.55273246765,0.140262126923,0.0324618816376,0.0
+1475075962235745710,0.0279554836452,-0.104420311749,-0.749349296093,1.55890142918,-0.0530989579856,-0.184161424637,0.0
+1475075962317659116,0.0276608988643,-0.0979358777404,-0.735431909561,1.56194543839,-0.0346904210746,-0.181196451187,0.0
+1475075962395092180,0.0274150390178,-0.0850019231439,-0.727343559265,1.56055903435,-0.0828395411372,-0.166243553162,0.0
+1475075962475676514,0.0264928359538,-0.059910826385,-0.720194041729,1.54817378521,0.046777267009,-0.134142398834,0.0
+1475075962554665776,0.0258176121861,0.0619218125939,-0.720206260681,1.54780650139,0.158032417297,0.0326180458069,0.0
+1475075962635871631,0.0256828181446,-0.0653275102377,-0.692638278008,1.55841374397,-0.0493417419493,-0.147318840027,0.0
+1475075962716157603,0.0251402463764,-0.0993427857757,-0.670885026455,1.57457852364,-0.0933427289128,-0.199570894241,0.0
+1475075962798131277,0.0248777661473,-0.0350851938128,-0.681060731411,1.54962444305,0.00180061534047,-0.108592510223,0.0
+1475075962877909720,0.0240460354835,-0.0503220744431,-0.662025153637,1.55151581764,0.00390797713771,-0.133408784866,0.0
+1475075962965961655,0.023442691192,-0.0468823313713,-0.653425335884,1.5484944582,0.0596190318465,-0.13009428978,0.0
+1475075963041424564,0.022944111377,-0.0432621538639,-0.639812707901,1.55034399033,0.00316587393172,-0.127412080765,0.0
+1475075963123730426,0.022474322468,-0.0127196349204,-0.635493278503,1.55032432079,-0.00888686534017,-0.0817580223083,0.0
+1475075963198437691,0.0219635311514,-0.0520040206611,-0.617832362652,1.55204284191,0.0100636752322,-0.145067930222,0.0
+1475075963285569015,0.0213702823967,-0.0498063862324,-0.603558063507,1.55814659595,-0.00105288333725,-0.144637823105,0.0
+1475075963364069550,0.0210998058319,-0.0524351410568,-0.591649770737,1.56224584579,-0.0720098167658,-0.151357412338,0.0
+1475075963441166065,0.0206349119544,-0.0613269619644,-0.57448643446,1.56867468357,-0.0820594280958,-0.169825553894,0.0
+1475075963518541718,0.0201275218278,-0.036477599293,-0.57152223587,1.55858111382,-0.0471756383777,-0.129547119141,0.0
+1475075963598201457,0.0196575094014,-0.0445622764528,-0.561063170433,1.55415701866,-0.0016020834446,-0.145293951035,0.0
+1475075963677777986,0.019134176895,-0.0294188559055,-0.549519598484,1.55424261093,-0.020886067301,-0.121961355209,0.0
+1475075963757019939,0.0186782423407,-0.0307144410908,-0.539788365364,1.55496501923,-0.00253697158769,-0.126077651978,0.0
+1475075963831199430,0.0183027237654,-0.0306693390012,-0.524113714695,1.56118524075,-0.062164478004,-0.128742218018,0.0
+1475075963909592816,0.017713624984,-0.0391220077872,-0.513739705086,1.55538272858,-0.0105038490146,-0.146461963654,0.0
+1475075963987000414,0.017319964245,-0.040539380163,-0.502876579762,1.56006217003,-0.0337298810482,-0.151579856873,0.0
+1475075964065356401,0.0167605169117,-0.028124563396,-0.492032438517,1.5548658371,-0.011969761923,-0.130126714706,0.0
+1475075964143170956,0.0163631532341,-0.0220885165036,-0.484012424946,1.55225408077,-0.00691911671311,-0.119547843933,0.0
+1475075964220186428,0.0159502401948,-0.0201856791973,-0.474610567093,1.55476212502,-0.0162508301437,-0.117107152939,0.0
+1475075964300415153,0.0153520191088,-0.0277808457613,-0.458817839622,1.55633211136,-0.0169792361557,-0.135290145874,0.0
+1475075964377078577,0.0149495229125,-0.0218467116356,-0.45058003068,1.55428981781,-0.00998879317194,-0.124587774277,0.0
+1475075964456849624,0.0145509326831,-0.0148007944226,-0.442898273468,1.55259001255,-0.00153167173266,-0.11035323143,0.0
+1475075964535879559,0.0141259366646,-0.0198549292982,-0.427332252264,1.55207049847,0.00057341682259,-0.123793363571,0.0
+1475075964614775811,0.0138368634507,-0.019519213587,-0.417803257704,1.55457890034,-0.0128039866686,-0.124770879745,0.0
+1475075964694674437,0.0135292690247,-0.0162747502327,-0.409145593643,1.55498683453,-0.00952233187854,-0.118875980377,0.0
+1475075964781145579,0.013027947396,-0.00887394696474,-0.396587848663,1.55153226852,0.00199703057297,-0.102761983871,0.0
+1475075964865755800,0.0126716084778,-0.0138354375958,-0.386064708233,1.55176222324,0.00145039882045,-0.116528511047,0.0
+1475075964944115683,0.0122257964686,-0.0164995975792,-0.370904266834,1.5553702116,-0.0211172662675,-0.125947713852,0.0
+1475075965022830493,0.0118124224246,-0.015236184001,-0.361578136683,1.55505657196,-0.0123882768676,-0.124495267868,0.0
+1475075965105739779,0.0114971827716,-0.0114848110825,-0.353378862143,1.5500344038,0.0127636045218,-0.115635871887,0.0
+1475075965186024288,0.0107808057219,-0.0117182005197,-0.339117109776,1.551025033,0.0154285207391,-0.118741035461,0.0
+1475075965259258351,0.0104053495452,-0.00913635082543,-0.330307751894,1.55175077915,0.0121533265337,-0.112465143204,0.0
+1475075965338977843,0.00979924108833,-0.00945774652064,-0.315902322531,1.55217564106,0.0154833924025,-0.116020441055,0.0
+1475075965415493564,0.00930592697114,-0.00565268285573,-0.307331562042,1.54974150658,0.0305124074221,-0.105946302414,0.0
+1475075965490989512,0.00875519402325,-0.00658193044364,-0.291674286127,1.55093085766,0.0182221774012,-0.11162352562,0.0
+1475075965567220856,0.00826338026673,-0.00587490573525,-0.280020743608,1.55163168907,0.0146176246926,-0.111309528351,0.0
+1475075965650578890,0.00793260615319,-0.00652581267059,-0.274437785149,1.55153346062,0.0117566110566,-0.114584922791,0.0
+1475075965728637823,0.00779954949394,-0.00573689304292,-0.268093824387,1.55256581306,0.00414048368111,-0.112296581268,0.0
+1475075965805486039,0.00746128801256,-0.0032821316272,-0.261911392212,1.55114114285,0.00964826159179,-0.103567361832,0.0
+1475075965882058239,0.00760030606762,-0.00354310683906,-0.260458230972,1.55228066444,-0.00552595965564,-0.104664087296,0.0
+1475075965955593532,0.00767559790984,-0.00316356122494,-0.261419445276,1.55126285553,0.00438901269808,-0.100812673569,0.0
+1475075966030626709,0.00754054635763,-0.00538454018533,-0.262622594833,1.55165052414,-0.0114454589784,-0.104527711868,0.0
+1475075966109440576,0.00753181288019,-0.00775839388371,-0.264288425446,1.55265307426,-0.0128996409476,-0.106682538986,0.0
+1475075966191773403,0.00748857157305,-0.00780129432678,-0.264888823032,1.55171823502,-0.00465214625001,-0.104343414307,0.0
+1475075966268892191,0.00751108024269,-0.00816036760807,-0.26523566246,1.55208063126,-0.00835001375526,-0.101644515991,0.0
+1475075966341824062,0.0074325487949,-0.00801433436573,-0.265751093626,1.55119872093,-0.000155598347192,-0.09641456604,0.0
+1475075966422656658,0.00746964011341,-0.009631248191,-0.265781879425,1.55235934258,-0.0106744254008,-0.0979194641113,0.0
+1475075966503026716,0.00740337138996,-0.00995292328298,-0.266151309013,1.55150401592,-0.00568456575274,-0.0948157310486,0.0
+1475075966581403637,0.00737790111452,-0.0106754302979,-0.26632681489,1.55196011066,-0.00350405578502,-0.0930547714233,0.0
+1475075966659320423,0.0073581840843,-0.0118124140427,-0.266537040472,1.55153417587,-0.00521847140044,-0.0931568145752,0.0
+1475075966737749321,0.00736886030063,-0.012597640045,-0.266561359167,1.55212473869,-0.0100959697738,-0.0940463542938,0.0
+1475075966816486021,0.00734571833163,-0.0135932927951,-0.266660779715,1.55233895779,-0.0106821823865,-0.0935709476471,0.0
+1475075966891523185,0.00730158947408,-0.0136937210336,-0.267052233219,1.55119669437,-0.00718743773177,-0.08997797966,0.0
+1475075966979122852,0.00728275021538,-0.0142266266048,-0.267231285572,1.55175721645,-0.0093082850799,-0.0879321098328,0.0
+1475075967059656736,0.00728771649301,-0.0147435152903,-0.267374426126,1.55226814747,-0.0129012735561,-0.0859904289246,0.0
+1475075967144037934,0.00728508923203,-0.0152734816074,-0.267482161522,1.5525790453,-0.0155071355402,-0.0847823619843,0.0
+1475075967227946454,0.00722858123481,-0.0152867659926,-0.267735511065,1.55189085007,-0.00919444020838,-0.081693649292,0.0
+1475075967319274837,0.00716226454824,-0.0151364477351,-0.268055588007,1.5510443449,-0.000321942818118,-0.0779783725739,0.0
+1475075967397548828,0.00717576174065,-0.0153712406754,-0.268090069294,1.55120098591,-0.00833095051348,-0.0758666992188,0.0
+1475075967477713375,0.0071912612766,-0.0157389286906,-0.268267542124,1.5516961813,-0.0153948236257,-0.0743446350098,0.0
+1475075967553562872,0.00713014230132,-0.0155053241178,-0.268408834934,1.55069637299,-0.0064477971755,-0.0708479881287,0.0
+1475075967636143291,0.00713596027344,-0.0150547102094,-0.26861974597,1.55107855797,-0.00985695701092,-0.0664846897125,0.0
+1475075967727223585,0.00712267076597,-0.0159375350922,-0.268631845713,1.5509608984,-0.0105520393699,-0.0672967433929,0.0
+1475075967808226925,0.00715623609722,-0.0167730636895,-0.268582761288,1.55140995979,-0.0181252993643,-0.0681869983673,0.0
+1475075967889554789,0.00711802579463,-0.0169571172446,-0.268754839897,1.55120587349,-0.0127263022587,-0.0667014122009,0.0
+1475075967967645526,0.00710020400584,-0.0167098361999,-0.268839657307,1.55069243908,-0.0116764521226,-0.0647397041321,0.0
+1475075968045367322,0.00711369514465,-0.0172327328473,-0.268878936768,1.55156564713,-0.0150561612099,-0.0647938251495,0.0
+1475075968124712023,0.00707140192389,-0.0166003331542,-0.268992364407,1.5508441925,-0.0117103736848,-0.060263633728,0.0
+1475075968201453378,0.00706823263317,-0.0168125592172,-0.269034951925,1.55068397522,-0.012411961332,-0.0601570606232,0.0
+1475075968281488186,0.00710265617818,-0.0169548206031,-0.268978208303,1.55146050453,-0.0195552110672,-0.0587248802185,0.0
+1475075968360600351,0.00705923838541,-0.0172444023192,-0.269064992666,1.55112576485,-0.012388615869,-0.0592522621155,0.0
+1475075968438170035,0.00708533870056,-0.0172927509993,-0.269074469805,1.55149376392,-0.018814008683,-0.0582389831543,0.0
+1475075968513975305,0.00705531844869,-0.0175694804639,-0.269090682268,1.55123138428,-0.0136622050777,-0.0583064556122,0.0
+1475075968593242455,0.00702573824674,-0.0172543469816,-0.269239962101,1.5509172678,-0.00990379601717,-0.0559759140015,0.0
+1475075968669016773,0.00707262894139,-0.0181825533509,-0.269132852554,1.55109250546,-0.0199615154415,-0.0582232475281,0.0
+1475075968751226363,0.00701306434348,-0.0182463973761,-0.269252538681,1.55085647106,-0.0102844852954,-0.0576484203339,0.0
+1475075968829947025,0.00705667259172,-0.0176183767617,-0.269243299961,1.55114078522,-0.0189239941537,-0.0545954704285,0.0
+1475075968911965586,0.00706335250288,-0.0177509058267,-0.269231826067,1.55138242245,-0.0195561628789,-0.0547168254852,0.0
+1475075968995111151,0.00701327854767,-0.0185317825526,-0.269267916679,1.55084645748,-0.0103240096942,-0.0569202899933,0.0
+1475075969075539288,0.00705045694485,-0.0184497721493,-0.269250154495,1.55080127716,-0.0110700493678,-0.0553109645844,0.0
+1475075969150944866,0.00710272556171,-0.0193464960903,-0.269228041172,1.55130922794,-0.0126564800739,-0.0576636791229,0.0
+1475075969231665021,0.00707398168743,-0.0191682055593,-0.269099265337,1.55119037628,-0.00955659430474,-0.0575449466705,0.0
+1475075969309703002,0.00700239092112,-0.0190326236188,-0.268464565277,1.55063903332,-0.0106167886406,-0.0572347640991,0.0
+1475075969388492158,0.00698086898774,-0.018415056169,-0.268010824919,1.55116999149,-0.014776987955,-0.0546834468842,0.0
+1475075969468607587,0.0069083776325,-0.0187958534807,-0.267578959465,1.55102348328,-0.00629573827609,-0.0557587146759,0.0
+1475075969545186161,0.00692462315783,-0.019580218941,-0.267049789429,1.55156588554,-0.0140868090093,-0.0584578514099,0.0
+1475075969624233746,0.00691718701273,-0.0185252577066,-0.266670465469,1.55152094364,-0.0157574340701,-0.0544848442078,0.0
+1475075969699584891,0.00687925703824,-0.018374716863,-0.266259908676,1.55096924305,-0.00964306667447,-0.053925037384,0.0
+1475075969777893559,0.00686950189993,-0.0180035047233,-0.266012489796,1.55102360249,-0.00807387381792,-0.0525441169739,0.0
+1475075969856756686,0.00687635177746,-0.0181728340685,-0.265557855368,1.55114543438,-0.0120527744293,-0.0531322956085,0.0
+1475075969938862588,0.00688132923096,-0.0183376073837,-0.264952003956,1.55153632164,-0.0173295568675,-0.053817987442,0.0
+1475075970028861539,0.00686128623784,-0.0202250853181,-0.264385342598,1.55193793774,-0.0193185564131,-0.0609078407288,0.0
+1475075970107202498,0.00682342983782,-0.0191638041288,-0.264059007168,1.55141508579,-0.0150407394394,-0.0570428371429,0.0
+1475075970184784150,0.00679077254608,-0.0185288153589,-0.263692468405,1.55109345913,-0.00990498252213,-0.0547757148743,0.0
+1475075970265166881,0.00678641488776,-0.0181038342416,-0.263230204582,1.55092954636,-0.00808183383197,-0.0533211231232,0.0
+1475075970340356536,0.00680170953274,-0.0182166453451,-0.262650132179,1.55154013634,-0.0130271492526,-0.0539124011993,0.0
+1475075970418240746,0.00676912022755,-0.018084378913,-0.26220703125,1.55163753033,-0.0125434864312,-0.0535335540771,0.0
+1475075970494804567,0.00679447408766,-0.0186968520284,-0.261625349522,1.55183386803,-0.019229374826,-0.0559461116791,0.0
+1475075970574482412,0.00677215168253,-0.0191971119493,-0.26121455431,1.55195188522,-0.0178160630167,-0.0579926967621,0.0
+1475075970652609940,0.0067396890372,-0.01846171543,-0.261043429375,1.55158483982,-0.0132337585092,-0.0553407669067,0.0
+1475075970731175075,0.006718758028,-0.0174919534475,-0.260664641857,1.55129933357,-0.0105174491182,-0.0518407821655,0.0
+1475075970807393073,0.00670581357554,-0.0180684886873,-0.260145545006,1.55117428303,-0.00936866924167,-0.054229259491,0.0
+1475075970886692495,0.00668605277315,-0.0173147711903,-0.259603023529,1.55087780952,-0.0102210072801,-0.0515096187592,0.0
+1475075970963914005,0.00665808422491,-0.0178358275443,-0.259133815765,1.55092859268,-0.0114183900878,-0.0536646842957,0.0
+1475075971045005241,0.00667267199606,-0.0185678582639,-0.25857591629,1.55157446861,-0.0140136573464,-0.0566780567169,0.0
+1475075971120869953,0.00668982509524,-0.018021363765,-0.258111387491,1.55194938183,-0.0188228767365,-0.0547931194305,0.0
+1475075971197931197,0.00667378259823,-0.0176609996706,-0.257912874222,1.55163884163,-0.0160394236445,-0.0534830093384,0.0
+1475075971279020023,0.00667590927333,-0.0175237171352,-0.257460296154,1.55131602287,-0.0151532087475,-0.0531969070435,0.0
+1475075971359700419,0.00662410678342,-0.0176973305643,-0.25700417161,1.55115628242,-0.011918053031,-0.0540399551392,0.0
+1475075971436596353,0.00659570796415,-0.0169961731881,-0.25651076436,1.55111420155,-0.00867543742061,-0.0514988899231,0.0
+1475075971511076227,0.00656320061535,-0.0186130870134,-0.255871772766,1.55139875412,-0.00969800818712,-0.0579102039337,0.0
+1475075971584576129,0.00655246945098,-0.0178656727076,-0.255479007959,1.5512752533,-0.00799420755357,-0.0552589893341,0.0
+1475075971664678847,0.00659110723063,-0.0173671655357,-0.255038529634,1.55177140236,-0.0157865751535,-0.0534806251526,0.0
+1475075971739877302,0.006609398406,-0.0177869740874,-0.254485875368,1.55170464516,-0.0202409531921,-0.055252790451,0.0
+1475075971816510327,0.00654400838539,-0.0162252578884,-0.254155158997,1.55132877827,-0.0126195596531,-0.04936003685,0.0
+1475075971897084684,0.00656283739954,-0.0169688351452,-0.253858238459,1.55174255371,-0.0170199405402,-0.0523386001587,0.0
+1475075971978392564,0.00649955542758,-0.0177594199777,-0.253334224224,1.55162239075,-0.0105217872187,-0.0555880069733,0.0
+1475075972059233721,0.00647971453145,-0.017368439585,-0.252861171961,1.55144548416,-0.0102147758007,-0.0542078018188,0.0
+1475075972138930871,0.00647965632379,-0.0170997940004,-0.252491861582,1.5510134697,-0.0128301428631,-0.0532851219177,0.0
+1475075972215722933,0.00649460079148,-0.0172768719494,-0.251930177212,1.55136013031,-0.0169421043247,-0.0541105270386,0.0
+1475075972293986666,0.00649251975119,-0.0172461867332,-0.251408934593,1.55139422417,-0.018221154809,-0.0541605949402,0.0
+1475075972375542388,0.00645027216524,-0.0171268694103,-0.250944584608,1.5514793396,-0.0154867777601,-0.0538201332092,0.0
+1475075972451167296,0.00640407484025,-0.0173470936716,-0.250438064337,1.55170929432,-0.0128939691931,-0.0548975467682,0.0
+1475075972531599682,0.0063921045512,-0.017148014158,-0.250215768814,1.5514537096,-0.00974534358829,-0.0542180538177,0.0
+1475075972614786078,0.00640264386311,-0.0169116556644,-0.249832540751,1.55126798153,-0.0126554435119,-0.0533382892609,0.0
+1475075972695585696,0.00640041427687,-0.0168425980955,-0.249353185296,1.55140912533,-0.0149492919445,-0.0532050132751,0.0
+1475075972775748882,0.00637853471562,-0.0167908836156,-0.248820543289,1.5515409708,-0.0172295309603,-0.0531916618347,0.0
+1475075972853917521,0.00634234026074,-0.0176405310631,-0.248266652226,1.55222523212,-0.0142796169966,-0.0566506385803,0.0
+1475075972934338500,0.00630978494883,-0.0165103767067,-0.247846931219,1.55190122128,-0.0104090059176,-0.0524554252625,0.0
+1475075973012225706,0.0062887086533,-0.0165865644813,-0.247421875596,1.5511868,-0.00923909619451,-0.0528872013092,0.0
+1475075973092458064,0.00627302099019,-0.0163309555501,-0.246976017952,1.55119156837,-0.0117262080312,-0.0519564151764,0.0
+1475075973170842114,0.0062675322406,-0.0166225135326,-0.24638697505,1.55092191696,-0.0135512491688,-0.0533545017242,0.0
+1475075973253201936,0.00622333306819,-0.0174629800022,-0.245856463909,1.55139064789,-0.0105383992195,-0.0568487644196,0.0
+1475075973333660485,0.00621292879805,-0.0170002039522,-0.245371833444,1.55141305923,-0.0121277850121,-0.0551855564117,0.0
+1475075973414556225,0.00621967529878,-0.0163185987622,-0.245233431458,1.55159831047,-0.0132389757782,-0.052485704422,0.0
+1475075973495001879,0.00618229014799,-0.0152675062418,-0.244812086225,1.5509827137,-0.00877575576305,-0.0484337806702,0.0
+1475075973575402699,0.00614573480561,-0.015619572252,-0.244355499744,1.55088484287,-0.00982448179275,-0.0500221252441,0.0
+1475075973655216107,0.00616584159434,-0.0162358805537,-0.243762075901,1.55103933811,-0.0145129282027,-0.0526659488678,0.0
+1475075973734344049,0.00611900957301,-0.0168893523514,-0.243259459734,1.55129098892,-0.0126586603001,-0.055454492569,0.0
+1475075973813735164,0.00613045087084,-0.0162932239473,-0.242774277925,1.55181860924,-0.0155528998002,-0.0531537532806,0.0
+1475075973892239903,0.00609501032159,-0.0156718231738,-0.242366462946,1.55165219307,-0.0115693453699,-0.0507462024689,0.0
+1475075973968685134,0.00609072763473,-0.0152874784544,-0.241972714663,1.55139398575,-0.0162842646241,-0.049430847168,0.0
+1475075974047830705,0.0060370368883,-0.0159422755241,-0.241681605577,1.55149579048,-0.00968436151743,-0.0521523952484,0.0
+1475075974126705308,0.006014267914,-0.0169241763651,-0.241296619177,1.55150103569,-0.00997118279338,-0.0562770366669,0.0
+1475075974201992123,0.00600414955989,-0.0166937131435,-0.24115075171,1.55139529705,-0.0107977958396,-0.0554735660553,0.0
+1475075974277332940,0.00601031305268,-0.0164198540151,-0.241125330329,1.55180811882,-0.0107806138694,-0.0543918609619,0.0
+1475075974353401310,0.00598690519109,-0.0160815045238,-0.241079598665,1.55150353909,-0.010583310388,-0.0533072948456,0.0
+1475075974434283363,0.00597155047581,-0.0160074029118,-0.241134434938,1.55167484283,-0.00950516574085,-0.0530080795288,0.0
+1475075974510053313,0.00599408801645,-0.0160737782717,-0.241130158305,1.55082654953,-0.0141223212704,-0.0525918006897,0.0
+1475075974587356896,0.00597401615232,-0.0165926069021,-0.241166785359,1.55089020729,-0.0130358813331,-0.0517537593842,0.0
+1475075974666567936,0.00598279898986,-0.0160186253488,-0.241292119026,1.55191171169,-0.0148733565584,-0.0487277507782,0.0
+1475075974740922479,0.00597841339186,-0.0163267292082,-0.241216823459,1.55166685581,-0.01553780213,-0.0499179363251,0.0
+1475075974819161960,0.00595592707396,-0.0165936816484,-0.241199687123,1.55152320862,-0.0103862546384,-0.0503997802734,0.0
+1475075974896316636,0.00598209630698,-0.0170195121318,-0.241153582931,1.55186462402,-0.0115459142253,-0.052139043808,0.0
+1475075974973603760,0.0059841228649,-0.0168561413884,-0.241039916873,1.55179035664,-0.0125222895294,-0.052384853363,0.0
+1475075975052398920,0.00597648508847,-0.016763523221,-0.240953788161,1.55128872395,-0.0103592146188,-0.0524289608002,0.0
+1475075975131947923,0.00597176793963,-0.0163091886789,-0.240980118513,1.55116140842,-0.00988619215786,-0.050400018692,0.0
+1475075975213221412,0.00598504627123,-0.0163748040795,-0.240876421332,1.55172550678,-0.0133611904457,-0.05064868927,0.0
+1475075975292777937,0.00592308165506,-0.0162871461362,-0.240888208151,1.55115640163,-0.0074631460011,-0.0506269931793,0.0
+1475075975374424731,0.00594263151288,-0.0164913609624,-0.24085830152,1.5509929657,-0.0124419108033,-0.0508725643158,0.0
+1475075975451405625,0.00593146309257,-0.0166225247085,-0.240852504969,1.55075895786,-0.0104755852371,-0.0503125190735,0.0
+1475075975528136509,0.00592063227668,-0.0168549213558,-0.240666553378,1.55046236515,-0.0117070851848,-0.0499579906464,0.0
+1475075975609316197,0.00592653313652,-0.0169857200235,-0.240460455418,1.55080926418,-0.0137918293476,-0.0490486621857,0.0
+1475075975688394885,0.00590885942802,-0.0172837860882,-0.240307703614,1.55042719841,-0.0131362257525,-0.0487675666809,0.0
+1475075975767055445,0.00591220753267,-0.0178290400654,-0.240108862519,1.55130636692,-0.016272995621,-0.0501396656036,0.0
+1475075975844684486,0.00586334383115,-0.0183887071908,-0.239839404821,1.55112862587,-0.0108028482646,-0.0520160198212,0.0
+1475075975924158340,0.0058417096734,-0.0187281928957,-0.239694908261,1.55147659779,-0.00957215949893,-0.0532810688019,0.0
+1475075975998313616,0.00586271425709,-0.0192767716944,-0.239603102207,1.55141329765,-0.0117550157011,-0.05539727211,0.0
+1475075976074468611,0.00588203361258,-0.0186325423419,-0.239490047097,1.5518475771,-0.0166565980762,-0.0527243614197,0.0
+1475075976153681368,0.0058723744005,-0.0184780322015,-0.239236176014,1.55107009411,-0.0140262693167,-0.0516819953918,0.0
+1475075976230257652,0.00585086690262,-0.018333658576,-0.239129588008,1.55103290081,-0.0113420942798,-0.0510046482086,0.0
+1475075976313591011,0.00586479483172,-0.0175931937993,-0.238803014159,1.5513433218,-0.0142361521721,-0.0476961135864,0.0
+1475075976393703462,0.00583510473371,-0.0177968721837,-0.238244280219,1.55110514164,-0.0157895945013,-0.0483703613281,0.0
+1475075976472237480,0.00577958766371,-0.0184884164482,-0.23779720068,1.55095672607,-0.0120628857985,-0.0511136054993,0.0
+1475075976553930470,0.00575538724661,-0.0190077908337,-0.237258777022,1.55148541927,-0.00953705515712,-0.0533194541931,0.0
+1475075976631531361,0.00579393329099,-0.0185367316008,-0.236808210611,1.55144011974,-0.0170563627034,-0.0513863563538,0.0
+1475075976706097318,0.00574634550139,-0.0185904689133,-0.236361518502,1.55139255524,-0.0126278158277,-0.0517282485962,0.0
+1475075976782871193,0.00572475651279,-0.0178546980023,-0.235910281539,1.55137193203,-0.0110316649079,-0.0487768650055,0.0
+1475075976862612390,0.0057167019695,-0.0178479738533,-0.235734567046,1.55120575428,-0.0114619312808,-0.0487215518951,0.0
+1475075976937208491,0.00571964075789,-0.0181887485087,-0.234095394611,1.55166459084,-0.00379789131694,-0.0506348609924,0.0
+1475075977028010578,0.00568198366091,-0.0184192527086,-0.23184633255,1.5516654253,-0.0041953381151,-0.0522968769073,0.0
+1475075977106386070,0.00568876462057,-0.0177125670016,-0.230999231339,1.55093491077,-0.00443165935576,-0.0495715141296,0.0
+1475075977184478009,0.005712821614,-0.0167960841209,-0.230394214392,1.55033254623,-0.00299182278104,-0.0458590984344,0.0
+1475075977262865591,0.00561391329393,-0.0179779417813,-0.230962574482,1.55107569695,-0.00834356993437,-0.0507102012634,0.0
+1475075977343083199,0.00556159205735,-0.018962033093,-0.230438232422,1.55111503601,-0.00585714681074,-0.055050611496,0.0
+1475075977420911170,0.00555478781462,-0.0185271594673,-0.229978099465,1.55122625828,-0.00651158997789,-0.0533630847931,0.0
+1475075977501313245,0.00555473659188,-0.0180274117738,-0.229490473866,1.55131101608,-0.00784395169467,-0.0514421463013,0.0
+1475075977579939678,0.00553696556017,-0.0173360183835,-0.229124471545,1.55102813244,-0.00672751385719,-0.0486376285553,0.0
+1475075977654989710,0.00552713731304,-0.0173225868493,-0.22889855504,1.55101788044,-0.00613852078095,-0.0486443042755,0.0
+1475075977742329852,0.00549583137035,-0.0185456648469,-0.228317737579,1.55126392841,-0.00511147733778,-0.0540862083435,0.0
+1475075977824798468,0.00548034301028,-0.0183211509138,-0.22789503634,1.55111074448,-0.00529602030292,-0.0532231330872,0.0
+1475075977904088904,0.00549896853045,-0.0175203066319,-0.227421149611,1.55112457275,-0.00844954606146,-0.0500531196594,0.0
+1475075977979519197,0.005473903846,-0.017745051533,-0.22694298625,1.55075919628,-0.00913519319147,-0.0511274337769,0.0
+1475075978057558592,0.00545230694115,-0.0171963945031,-0.226499289274,1.55079543591,-0.00836930889636,-0.0489799976349,0.0
+1475075978134024034,0.0054305032827,-0.0179229155183,-0.225975945592,1.55137646198,-0.00691977003589,-0.0523569583893,0.0
+1475075978207913324,0.00539504783228,-0.0178099647164,-0.2255204916,1.55140423775,-0.00445601530373,-0.0520017147064,0.0
+1475075978285507298,0.00540805375203,-0.017544221133,-0.225009635091,1.55119514465,-0.0099491039291,-0.0509967803955,0.0
+1475075978360679820,0.005380500108,-0.0184556227177,-0.224533244967,1.55109667778,-0.00956642162055,-0.0550765991211,0.0
+1475075978435317748,0.00537239992991,-0.0180790238082,-0.224271073937,1.55120849609,-0.00930683594197,-0.0535907745361,0.0
+1475075978516344810,0.00532886246219,-0.0180811658502,-0.224565759301,1.55136549473,-0.00794046465307,-0.0534482002258,0.0
+1475075978592701962,0.00535517884418,-0.0174514167011,-0.225054576993,1.55140066147,-0.0134125836194,-0.0506303310394,0.0
+1475075978671808546,0.00533314142376,-0.0172548536211,-0.225063279271,1.55121552944,-0.0103018833324,-0.0497825145721,0.0
+1475075978749406012,0.00529978098348,-0.0182214062661,-0.224596962333,1.550989151,-0.00884931441396,-0.0540914535522,0.0
+1475075978829002762,0.00528784189373,-0.0177667047828,-0.224158257246,1.55078279972,-0.0088412174955,-0.0523502826691,0.0
+1475075978907099860,0.00526813464239,-0.0168309640139,-0.221148788929,1.55061721802,0.000429484905908,-0.0492115020752,0.0
+1475075978986738250,0.00530637893826,-0.0170526094735,-0.220360308886,1.550989151,-0.00968514382839,-0.0504603385925,0.0
+1475075979066131955,0.00527702784166,-0.0176676623523,-0.220222845674,1.55125880241,-0.0133353760466,-0.0532267093658,0.0
+1475075979141559228,0.00522360624745,-0.0178695507348,-0.220307692885,1.55142617226,-0.0107941450551,-0.0540661811829,0.0
+1475075979215182363,0.00520142540336,-0.0178876444697,-0.219844385982,1.55113887787,-0.00926452875137,-0.0543763637543,0.0
+1475075979286961633,0.00516427401453,-0.0169031359255,-0.219498664141,1.55132627487,-0.00487567065284,-0.0501646995544,0.0
+1475075979370113991,0.00513853970915,-0.0165885165334,-0.218954741955,1.55118536949,-0.00508184637874,-0.0489144325256,0.0
+1475075979451696774,0.00513617275283,-0.0181158147752,-0.218424677849,1.55165529251,-0.0085169384256,-0.0558650493622,0.0
+1475075979537243526,0.00514603219926,-0.0177871976048,-0.218219533563,1.55161225796,-0.0114532671869,-0.0544860363007,0.0
+1475075979612779313,0.00514269759879,-0.0177032388747,-0.218379586935,1.55181193352,-0.0147361373529,-0.0540533065796,0.0
+1475075979690825058,0.00506933359429,-0.0175218749791,-0.218861192465,1.55180931091,-0.00748157594353,-0.053092956543,0.0
+1475075979767166176,0.0050857453607,-0.0177183896303,-0.218793064356,1.55168056488,-0.010724610649,-0.0538787841797,0.0
+1475075979842690762,0.00505569530651,-0.0169310141355,-0.218542844057,1.55139815807,-0.0105170216411,-0.0497019290924,0.0
+1475075979921658054,0.00501447403803,-0.0166310109198,-0.218201652169,1.55107498169,-0.00976843480021,-0.0476756095886,0.0
+1475075979995576985,0.00498237553984,-0.017152087763,-0.215119540691,1.55119454861,-0.00512500945479,-0.050234079361,0.0
+1475075980068876805,0.0049292864278,-0.0170366130769,-0.214275330305,1.55191397667,-0.00634065177292,-0.0490226745605,0.0
+1475075980147161758,0.00484275072813,-0.0176449399441,-0.214934840798,1.55126738548,-0.00855912268162,-0.0507171154022,0.0
+1475075980225557705,0.0047529921867,-0.0175431631505,-0.214695885777,1.55139565468,-0.00592576852068,-0.0498371124268,0.0
+1475075980304370566,0.00466123688966,-0.0181566085666,-0.214307293296,1.55190861225,-0.00609027780592,-0.0521564483643,0.0
+1475075980379349684,0.00456532137468,-0.0172968953848,-0.213946893811,1.55171203613,-0.00737264472991,-0.0477709770203,0.0
+1475075980452838020,0.00438260333613,-0.0175233855844,-0.21345615387,1.5514870882,-0.00395648973063,-0.0482885837555,0.0
+1475075980531324351,0.00426487624645,-0.0172900091857,-0.212925091386,1.55132830143,-0.00686513073742,-0.0468327999115,0.0
+1475075980605784966,0.00414807582274,-0.0171203818172,-0.212236508727,1.55116891861,-0.009960597381,-0.0455715656281,0.0
+1475075980680212864,0.0041060349904,-0.0177391655743,-0.212105289102,1.55112969875,-0.00969500653446,-0.048015832901,0.0
+1475075980755909015,0.00414852844551,-0.0173561088741,-0.212131202221,1.55085432529,-0.00894707348198,-0.0460760593414,0.0
+1475075980832795490,0.00416617142037,-0.0178297106177,-0.211933001876,1.55105912685,-0.00795744359493,-0.0477304458618,0.0
+1475075980914033393,0.00420457916334,-0.0179433394223,-0.211879685521,1.55105876923,-0.00847773905843,-0.0478188991547,0.0
+1475075980989470391,0.00418327981606,-0.0176462009549,-0.211735099554,1.55033743382,-0.00556471431628,-0.0457756519318,0.0
+1475075981075942308,0.00417990423739,-0.0180632062256,-0.211583673954,1.55087196827,-0.0059187123552,-0.0470221042633,0.0
+1475075981156664482,0.00410893233493,-0.0192206129432,-0.211170479655,1.55132567883,-0.00624270923436,-0.0509021282196,0.0
+1475075981231525188,0.00409694900736,-0.0189267657697,-0.211080476642,1.5514922142,-0.00493948627263,-0.0489151477814,0.0
+1475075981307572925,0.00372578855604,-0.0176553819329,-0.207875654101,1.55201113224,-0.000646794447675,-0.0435245037079,0.0
+1475075981386378665,0.00346530415118,-0.0178750678897,-0.205633431673,1.55143165588,-0.00816090125591,-0.045095205307,0.0
+1475075981462690807,0.00354420114309,-0.0185617767274,-0.206326648593,1.55204069614,-0.00491023529321,-0.0481450557709,0.0
+1475075981543143015,0.00354994554073,-0.0185219291598,-0.205999657512,1.5520876646,-0.00488798692822,-0.0480508804321,0.0
+1475075981618517235,0.00353905605152,-0.0179046522826,-0.205649465322,1.55091929436,-0.00361785222776,-0.0451459884644,0.0
+1475075981697166885,0.00354976742528,-0.0175641179085,-0.205709680915,1.55130338669,-0.0108939055353,-0.0437552928925,0.0
+1475075981769041659,0.00356108089909,-0.0177186783403,-0.20530679822,1.5513805151,-0.0128455776721,-0.0444228649139,0.0
+1475075981844366327,0.00352373160422,-0.0191592052579,-0.204825729132,1.55205857754,-0.0122158322483,-0.0512402057648,0.0
+1475075981923343969,0.00350150675513,-0.0184123255312,-0.204402938485,1.55184173584,-0.011999768205,-0.0476660728455,0.0
+1475075982003032565,0.00351062533446,-0.0177769064903,-0.203926920891,1.55194878578,-0.0153747610748,-0.0444898605347,0.0
+1475075982078214982,0.00341660855338,-0.0190160870552,-0.203392192721,1.55230653286,-0.00934700295329,-0.0503244400024,0.0
diff --git a/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
new file mode 100644
index 00000000..9bfb01be
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/CAM_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475142133414947297,0.0511232353747,0.47640579007,1.47242099649,1.56704497337,-0.0220631007105,-0.154816150665,0.0
+1475142133531832427,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133620358767,0.0510631017387,0.488154730147,1.46816077977,1.56532931328,-0.0320350565016,-0.16432261467,0.0
+1475142133706857944,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133788596140,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133872813674,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142133957279363,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142134043528331,0.0511212721467,0.476665484289,1.47234588662,1.56694757938,-0.0226252283901,-0.155021190643,0.0
+1475142134129459991,0.0511681847274,0.510916922556,1.46288916955,1.55734980106,-0.0431853160262,-0.182064771652,0.0
+1475142134211658027,0.0509944930673,0.52811396175,1.4586690395,1.55763864517,-0.0185868982226,-0.19562458992,0.0
+1475142134293295232,0.0521126128733,-0.585770521251,1.05672685034,1.57142841816,0.0725521221757,0.586775541306,0.0
+1475142134376475266,0.0509392060339,0.539672816244,1.4370897919,1.57425248623,0.0197381302714,-0.214893817902,0.0
+1475142134459728915,0.0508205220103,0.443278705936,1.4283468164,1.56839966774,-0.0150439944118,-0.150054693222,0.0
+1475142134541683036,0.0505682341754,0.500476448446,1.40331219158,1.5643311739,-0.0404866412282,-0.200574636459,0.0
+1475142134619203570,0.0504606962204,0.497409738743,1.38977252107,1.55878770351,0.091602191329,-0.207668781281,0.0
+1475142134707760213,0.0505630560219,0.404066259933,1.38842120564,1.57087135315,-1.21268121802e-05,-0.140647649765,0.0
+1475142134788703340,0.0504976175725,0.511154215366,1.37722055462,1.56629395485,-0.00150886760093,-0.228480100632,0.0
+1475142134869879770,0.0498134046793,0.460591319259,1.36015965488,1.56084549427,-0.0669332891703,-0.198661088943,0.0
+1475142134949649065,0.0486468821764,-0.427612607336,1.08897708601,1.59204030037,0.149055719376,0.469096899033,0.0
+1475142135033246713,0.0478045791388,0.51543218085,1.30197955434,1.57089447975,0.0335395783186,-0.265612840652,0.0
+1475142135116535578,0.0477773025632,0.460378554265,1.30247385741,1.57073247433,0.0170845128596,-0.227453231812,0.0
+1475142135214435971,0.0476098693907,0.407358039073,1.29019092735,1.56377148628,-0.0261247716844,-0.192621946335,0.0
+1475142135291231247,0.0475728064775,0.391490443705,1.27828363825,1.56121814251,-0.00336105888709,-0.188037872314,0.0
+1475142135372629014,0.0475497506559,0.416611051673,1.27141771162,1.56818234921,-0.0210207998753,-0.214378595352,0.0
+1475142135455431021,0.0471945889294,-0.334746292517,1.11554432285,1.58072841167,0.0883680135012,0.381691217422,0.0
+1475142135536696761,0.0452899374068,0.303827464831,1.2382481687,1.57306420803,0.0199695415795,-0.138540506363,0.0
+1475142135614228482,0.0452831983566,0.303184082956,1.23732202909,1.57189655304,0.0299424808472,-0.143199682236,0.0
+1475142135693888305,0.0444189198315,-0.347052277098,1.08183174349,1.58098745346,0.101805403829,0.38757610321,0.0
+1475142135769267665,0.0430753901601,0.386330319144,1.19249044015,1.5671517849,0.0323619544506,-0.231040716171,0.0
+1475142135850247132,0.0429747626185,0.337536629585,1.1843787501,1.56808280945,-0.0313839353621,-0.195849180222,0.0
+1475142135931948720,0.0429479219019,0.330159790294,1.16682854089,1.56471502781,0.0719368010759,-0.198209524155,0.0
+1475142136011800396,0.0430013798177,0.269095668225,1.16954301383,1.56846666336,0.0220539662987,-0.147905349731,0.0
+1475142136090872474,0.0428043305874,0.218780724348,1.1561755794,1.56641459465,-0.0618368275464,-0.110726118088,0.0
+1475142136167338506,0.0429233796895,0.254540458525,1.14271023574,1.57045912743,-0.00517437327653,-0.149494409561,0.0
+1475142136250128320,0.0427810288966,0.299488963377,1.13551034607,1.55895853043,0.0408942475915,-0.194723367691,0.0
+1475142136332272171,0.0428583435714,0.282767845322,1.12577319134,1.56365764141,-0.0100004291162,-0.186103820801,0.0
+1475142136407537774,0.0421200916171,0.272028419995,1.10060942365,1.56445646286,-0.0948261022568,-0.186007738113,0.0
+1475142136487874914,0.0419834330678,-0.199404541856,1.05415249628,1.56866550446,0.100899986923,0.238997459412,0.0
+1475142136565790215,0.04092894122,0.240108286947,1.07992732177,1.56795787811,0.013757196255,-0.167069911957,0.0
+1475142136654407806,0.0408281311393,0.207419004491,1.06987431457,1.5625218153,-0.0278908908367,-0.144337892532,0.0
+1475142136730129440,0.0404051020741,0.195885728679,1.06043843523,1.5553176403,-0.06715618819,-0.137173891068,0.0
+1475142136815485006,0.0390219651163,0.216962971701,1.0346240124,1.5693154335,-0.0394090302289,-0.165818691254,0.0
+1475142136897218776,0.0388373583555,0.177746439033,1.03719722094,1.550106287,0.0931660458446,-0.130111455917,0.0
+1475142136979337560,0.0390151701868,0.102213166032,1.03539931088,1.56787395477,-0.0192598029971,-0.0594384670258,0.0
+1475142137055107878,0.0383498743176,0.165115027039,1.01292038601,1.55538904667,-0.0854607373476,-0.127175092697,0.0
+1475142137135745897,0.0375737696886,0.187644609861,0.992135438766,1.56696081161,-0.100923649967,-0.155246496201,0.0
+1475142137214804636,0.0373608507216,0.188564892429,0.987264634308,1.56420600414,-0.00912054348737,-0.160405635834,0.0
+1475142137294571464,0.0364105738699,-0.178304543795,0.950498596202,1.572701931,0.155881747603,0.210412025452,0.0
+1475142137378045536,0.0361539721489,0.170067559207,0.961396190121,1.55026626587,0.0201201308519,-0.151859760284,0.0
+1475142137462794653,0.035667385906,0.128051756607,0.955706228447,1.55460941792,0.0612671859562,-0.111942768097,0.0
+1475142137543749089,0.0352200493217,0.134737165003,0.945921181812,1.54881191254,-0.0378246568143,-0.122499465942,0.0
+1475142137625119017,0.0343807302415,0.162475055022,0.921982773411,1.55967032909,0.00187109026592,-0.158362150192,0.0
+1475142137701806337,0.0343193486333,0.155816521928,0.91302136753,1.56737029552,-0.0571304038167,-0.154930591583,0.0
+1475142137783070841,0.0336420871317,0.136245265314,0.899718761253,1.55987668037,-0.0942343845963,-0.138395309448,0.0
+1475142137864873554,0.0330857671797,0.133254755995,0.895026250583,1.55647408962,0.0271474402398,-0.137555599213,0.0
+1475142137943633743,0.0322361215949,-0.121336657537,0.873833304661,1.55945682526,0.137613713741,0.145240068436,0.0
+1475142138024972597,0.0320692025125,0.081697937484,0.875567427977,1.5442122221,0.0402557700872,-0.0870559215546,0.0
+1475142138101073357,0.0315158255398,0.118640774172,0.851330872206,1.56276404858,-0.0819595977664,-0.135570526123,0.0
+1475142138178704842,0.0308891348541,-0.0989605844358,0.845231489493,1.55565679073,0.126318231225,0.117390155792,0.0
+1475142138255195411,0.0304153058678,0.10604261052,0.833971167549,1.5455878973,0.100440353155,-0.127143859863,0.0
+1475142138334347747,0.0302136335522,0.0756390322649,0.826302406851,1.54530751705,-0.00590875837952,-0.094619512558,0.0
+1475142138412038623,0.0294571947306,0.128190412253,0.79935457292,1.56929409504,-0.106532201171,-0.163542985916,0.0
+1475142138493618164,0.028732765466,-0.075346211341,0.804005935066,1.55281925201,0.118771970272,0.0868146419525,0.0
+1475142138573720738,0.0286883469671,0.0720099755656,0.800611771528,1.55222725868,-0.0241121537983,-0.0981256961823,0.0
+1475142138652352135,0.0275825969875,0.0687917370696,0.778651945671,1.55097258091,0.00303227407858,-0.0978190898895,0.0
+1475142138734851873,0.0269932113588,0.0593475793781,0.771205732855,1.54729998112,0.00551464222372,-0.0883512496948,0.0
+1475142138815488712,0.0266895387322,0.032878008336,0.759442832999,1.55257034302,-0.0559261739254,-0.0572984218597,0.0
+1475142138897106534,0.0262454152107,0.107097056668,0.733746900281,1.56577825546,-0.100875221193,-0.160135507584,0.0
+1475142138979277885,0.0259763263166,0.0842644192134,0.725579634853,1.55509066582,-0.0674221366644,-0.133925676346,0.0
+1475142139058862669,0.0256482008845,0.0829945661215,0.716619044819,1.55653452873,-0.031561229378,-0.13534283638,0.0
+1475142139134579956,0.0254231039435,0.0579711590056,0.710513639584,1.55225205421,-0.0371276959777,-0.103457450867,0.0
+1475142139217076231,0.0250009857118,0.0522764847334,0.696060561069,1.56167495251,-0.0615202896297,-0.0994467735291,0.0
+1475142139299228377,0.0246071219444,0.0535456707361,0.687753676792,1.5503487587,-0.0119072785601,-0.103802919388,0.0
+1475142139380646654,0.024198109284,0.076326010397,0.665736368589,1.56166541576,-0.0803302228451,-0.141690731049,0.0
+1475142139466301042,0.023663925007,0.0572453559662,0.661902403661,1.55066370964,-0.00416037579998,-0.115834474564,0.0
+1475142139550523016,0.0234087798744,0.0427098939349,0.652943581097,1.55742454529,-0.0492485277355,-0.0966734886169,0.0
+1475142139633186354,0.0225635860115,0.0497483640445,0.63848253208,1.55210518837,0.0290817916393,-0.111213684082,0.0
+1475142139717716710,0.0221615023911,0.0100258922189,0.63397896419,1.54918730259,0.0658395513892,-0.0512645244598,0.0
+1475142139797611440,0.0213978514075,0.0467887122625,0.614370725351,1.55211889744,0.00757027743384,-0.111911296844,0.0
+1475142139883173276,0.0211124867201,0.040873520362,0.604710017001,1.55513978004,-0.0448090881109,-0.104132652283,0.0
+1475142139959056343,0.0205791927874,0.041652058918,0.589162712501,1.5597114563,-0.0663337036967,-0.108099460602,0.0
+1475142140040008027,0.0199560020119,0.0358664202178,0.580576669411,1.55477976799,-0.0454573631287,-0.10023188591,0.0
+1475142140121491681,0.0193217042834,0.0260734043786,0.568638540547,1.55227839947,-0.00034809592762,-0.085969209671,0.0
+1475142140199578936,0.0189315751195,0.0335156217399,0.557500549885,1.55275428295,-0.0199319906533,-0.101025819778,0.0
+1475142140290908289,0.0184092503041,0.0357119230389,0.542627541556,1.55307781696,-0.0256137829274,-0.108142375946,0.0
+1475142140370031316,0.01799358055,0.040915154034,0.531769829174,1.55650854111,-0.0164379402995,-0.120141744614,0.0
+1475142140451270888,0.0176658816636,0.0391031020318,0.517318465438,1.55593276024,-0.0392306521535,-0.120633125305,0.0
+1475142140532201423,0.0172374099493,0.0381261160058,0.507986003346,1.55555975437,-0.0279622972012,-0.121070384979,0.0
+1475142140614190471,0.0168426651508,0.0324372859337,0.49403704226,1.5570141077,-0.038126014173,-0.113654851913,0.0
+1475142140691163309,0.0164473298937,0.0324233727106,0.484838230713,1.55480527878,-0.0336339771748,-0.115945100784,0.0
+1475142140770880343,0.0156413763762,0.0288611595372,0.471132721033,1.55112826824,0.0241523291916,-0.112071752548,0.0
+1475142140849506912,0.0153906028718,0.029725121027,0.460648674296,1.55613923073,-0.0337779708207,-0.116187572479,0.0
+1475142140926765917,0.015022110194,0.0312348117193,0.451008402728,1.55510783195,-0.0283839497715,-0.121921300888,0.0
+1475142141001529313,0.0143345752731,0.0241665708087,0.437692108909,1.55528080463,-0.0246448405087,-0.10965681076,0.0
+1475142141081132273,0.013958661817,0.0197878756432,0.429455447012,1.55155038834,0.00636394880712,-0.101695775986,0.0
+1475142141156549083,0.0132688404992,0.0168306605279,0.415753010661,1.55004346371,0.0233664866537,-0.0978817939758,0.0
+1475142141233702838,0.0130502926186,0.022227023601,0.405137595189,1.55332458019,-0.00300845084712,-0.112582206726,0.0
+1475142141311727993,0.012745693326,0.0182832308104,0.395938397962,1.55458021164,-0.0116099929437,-0.105076551437,0.0
+1475142141385391422,0.0121666910127,0.017100028601,0.381919863001,1.55196678638,0.0132504850626,-0.105222225189,0.0
+1475142141458795853,0.0119318477809,0.0140689173472,0.372864486811,1.55323076248,-0.0147929331288,-0.0993993282318,0.0
+1475142141539326437,0.0115482378751,0.0136170636019,0.363478975112,1.55231702328,-0.00332437665202,-0.0999748706818,0.0
+1475142141621675986,0.0111722201109,0.0137332406291,0.353909187049,1.55056285858,0.0169013012201,-0.10209274292,0.0
+1475142141694611700,0.0105578759685,0.0136995997261,0.33932697198,1.55225002766,0.00394560582936,-0.105004072189,0.0
+1475142141769243769,0.0101428376511,0.0106244591586,0.33082800283,1.5513010025,0.00557174626738,-0.0977697372437,0.0
+1475142141844510419,0.00982210040092,0.0103031797223,0.321755928305,1.55192482471,0.00318821473047,-0.0986676216125,0.0
+1475142141924438046,0.00905644427985,0.00736110010407,0.307751753883,1.55043387413,0.0227424018085,-0.092987537384,0.0
+1475142142003427564,0.00877656601369,0.00557770145715,0.298420932117,1.55110752583,0.00548388203606,-0.0891871452332,0.0
+1475142142079964022,0.00842160638422,0.00755350245344,0.288641007836,1.55206537247,0.00328930770047,-0.0974345207214,0.0
+1475142142158762320,0.00776322232559,0.00484724367261,0.274944223381,1.55012178421,0.0156376827508,-0.0914218425751,0.0
+1475142142239202338,0.0072659519501,0.00414901598321,0.266412732592,1.5499740839,0.015814807266,-0.0903356075287,0.0
+1475142142317694682,0.00712644681334,0.00294065326249,0.260935748216,1.5508531332,0.00898834411055,-0.0864305496216,0.0
+1475142142397352128,0.00697568710893,0.00319313471117,0.256884906407,1.55264663696,-0.00680582318455,-0.0870137214661,0.0
+1475142142475799059,0.00700415112078,0.0044601746621,0.256831610807,1.55223309994,-0.00318985758349,-0.0911943912506,0.0
+1475142142553956694,0.00706455903128,0.00458197845794,0.256929103214,1.55201470852,-0.00865042023361,-0.0912358760834,0.0
+1475142142634027517,0.0070009236224,0.00517509866862,0.257197372238,1.55106937885,-0.00636970810592,-0.0899548530579,0.0
+1475142142713185062,0.00689892424271,0.0049161445872,0.255113159279,1.55034101009,0.0116983149201,-0.0854070186615,0.0
+1475142142787612553,0.00689054047689,0.00483807182873,0.254756853418,1.55043745041,-0.00604891963303,-0.0797061920166,0.0
+1475142142863357015,0.00683777686208,0.00735764369548,0.256348353696,1.55066752434,-0.00650392007083,-0.0854532718658,0.0
+1475142142950773771,0.00685379188508,0.00600228840189,0.257629976283,1.5509198904,-0.0109559111297,-0.0767109394073,0.0
+1475142143032918171,0.00692444806919,0.00607936232751,0.258277000047,1.55144906044,-0.0143820354715,-0.0740692615509,0.0
+1475142143110311813,0.00686794146895,0.00684397681431,0.258460905222,1.55071914196,-0.00984905939549,-0.0726680755615,0.0
+1475142143190270638,0.006875959225,0.00736592423332,0.258543187144,1.55116176605,-0.0123249562457,-0.0716938972473,0.0
+1475142143266682635,0.00684731965885,0.00721056411465,0.258773025706,1.55118131638,-0.00997078791261,-0.0683305263519,0.0
+1475142143341068506,0.00682005379349,0.00832850861165,0.258855241974,1.55058026314,-0.00828691292554,-0.0683858394623,0.0
+1475142143421614749,0.00681998580694,0.00792827924236,0.259008500802,1.55103623867,-0.0132338283584,-0.0641710758209,0.0
+1475142143500974689,0.00679615326226,0.0086354139154,0.259217965011,1.55065226555,-0.0119056617841,-0.0627386569977,0.0
+1475142143579253612,0.0068023535423,0.00983686060274,0.25913547826,1.55073177814,-0.0144090773538,-0.0646631717682,0.0
+1475142143654687161,0.00676994537935,0.0103203880013,0.259287481537,1.55077624321,-0.0126470718533,-0.06396484375,0.0
+1475142143728731024,0.00675527378917,0.0108447465514,0.259373322479,1.55063545704,-0.0120906373486,-0.062607049942,0.0
+1475142143807628352,0.00671911984682,0.0117620388512,0.259337693931,1.55043172836,-0.00858704000711,-0.0639891624451,0.0
+1475142143882442243,0.00672035245225,0.0120632887683,0.259369511487,1.55091810226,-0.0119165629148,-0.0622317790985,0.0
+1475142143963009323,0.00669702794403,0.0120951771745,0.259432006576,1.55049455166,-0.00930616538972,-0.0603265762329,0.0
+1475142144051517648,0.00669067865238,0.0132580751861,0.259430661717,1.55062258244,-0.0123294042423,-0.063081741333,0.0
+1475142144131503383,0.00667416583747,0.0128309443431,0.259487063404,1.55056679249,-0.0117467511445,-0.0598115921021,0.0
+1475142144206900909,0.00669133942574,0.0129845639259,0.259527062475,1.55063343048,-0.0179146453738,-0.0579578876495,0.0
+1475142144284802446,0.00665244320408,0.013724018578,0.259542860425,1.5510584116,-0.010419790633,-0.0594234466553,0.0
+1475142144361674922,0.00665184948593,0.0135240361213,0.259630379267,1.55059683323,-0.0115990964696,-0.0575320720673,0.0
+1475142144440423527,0.00663901306689,0.0146514643135,0.259618267677,1.55060434341,-0.0128840785474,-0.0601441860199,0.0
+1475142144516202522,0.00665652379394,0.0142745093979,0.259652327798,1.55094218254,-0.0170222446322,-0.0577538013458,0.0
+1475142144590919555,0.00662009324878,0.0143912121405,0.259680532747,1.55052280426,-0.0126277524978,-0.0566613674164,0.0
+1475142144670134835,0.00659878598526,0.0144366673729,0.259717687383,1.55041337013,-0.0104914056137,-0.0558598041534,0.0
+1475142144749478463,0.0066253002733,0.0150149849808,0.25971528221,1.55064630508,-0.0170700531453,-0.0571293830872,0.0
+1475142144826913961,0.00661409040913,0.0153665256866,0.259681042871,1.55103170872,-0.0176265891641,-0.0570311546326,0.0
+1475142144902644835,0.00658893585205,0.0150073149331,0.259819286459,1.5509570837,-0.0147291375324,-0.0549073219299,0.0
+1475142144983248061,0.00658322032541,0.0159349703311,0.259705954121,1.55067718029,-0.0153270242736,-0.0576641559601,0.0
+1475142145065523260,0.00654688058421,0.0149367738908,0.259844440854,1.55073833466,-0.00913281645626,-0.0526301860809,0.0
+1475142145149371554,0.00656363880262,0.0160255154936,0.259821335857,1.55113887787,-0.0156057383865,-0.055668592453,0.0
+1475142145224994698,0.00652344850823,0.0163316059861,0.25973500772,1.55109000206,-0.00950823351741,-0.0561606884003,0.0
+1475142145303493215,0.00657619442791,0.0165873057354,0.259740862656,1.55163884163,-0.0203581508249,-0.0560276508331,0.0
+1475142145383323025,0.00652667833492,0.0160286880533,0.259800810349,1.55111515522,-0.0119718015194,-0.0533998012543,0.0
+1475142145469863405,0.00653970334679,0.0167063572597,0.259803170681,1.55114138126,-0.0146281048656,-0.0554740428925,0.0
+1475142145547105398,0.00656510842964,0.016618311498,0.259769412527,1.55182468891,-0.0184341650456,-0.0545618534088,0.0
+1475142145625423758,0.00654252478853,0.0170576766399,0.259807830271,1.55132627487,-0.0154737783596,-0.0559604167938,0.0
+1475142145705372893,0.00650427071378,0.0170063236687,0.259802485131,1.55126535892,-0.00997784920037,-0.055408000946,0.0
+1475142145784358460,0.006500183139,0.0170187899088,0.259861789506,1.5509557724,-0.0108240386471,-0.0552036762238,0.0
+1475142145860412556,0.00653528328985,0.0170974581406,0.259740518276,1.55124521255,-0.0166847016662,-0.055198431015,0.0
+1475142145935066044,0.00654509942979,0.0174380850152,0.259756673106,1.5514318943,-0.0189497154206,-0.0562751293182,0.0
+1475142146017427931,0.00650734873489,0.0168934354509,0.259872938987,1.55068814754,-0.0117605263367,-0.0532386302948,0.0
+1475142146095663033,0.00654192315415,0.0175547828035,0.260065622378,1.55062258244,-0.0129423160106,-0.053035736084,0.0
+1475142146174715084,0.00658571952954,0.0166583485291,0.26021767478,1.54986536503,-0.0120022306219,-0.0472090244293,0.0
+1475142146254873873,0.00665578898042,0.017070765409,0.26019515093,1.55080282688,-0.0174152813852,-0.0474889278412,0.0
+1475142146328988454,0.00665155285969,0.0178618969193,0.259975227062,1.5510327816,-0.0198698285967,-0.0491161346436,0.0
+1475142146407861946,0.00661646295339,0.0187440110565,0.259370023227,1.55173361301,-0.0180022902787,-0.0514402389526,0.0
+1475142146486396768,0.00658455770463,0.0181845864208,0.259086877008,1.55115294456,-0.0145021872595,-0.0489633083344,0.0
+1475142146567372496,0.00658119982108,0.0186355021254,0.25851468648,1.55098044872,-0.0159107167274,-0.0504472255707,0.0
+1475142146641240713,0.0065894224681,0.0191544953297,0.258055483036,1.55124568939,-0.0199122913182,-0.0523693561554,0.0
+1475142146728743033,0.00655430695042,0.0179037359583,0.257814658953,1.55044746399,-0.0159566253424,-0.0476071834564,0.0
+1475142146810039201,0.00650245323777,0.0184894582528,0.257193270778,1.55077528954,-0.010711632669,-0.0499863624573,0.0
+1475142146889916390,0.00645936885849,0.0182932580492,0.256807342038,1.55068790913,-0.00737773254514,-0.0492870807648,0.0
+1475142146970016455,0.00649480381981,0.0179065102367,0.256403229113,1.55100929737,-0.0121017741039,-0.0479147434235,0.0
+1475142147046255432,0.00650950707495,0.0181172952225,0.255813736302,1.55111455917,-0.0164942592382,-0.0488588809967,0.0
+1475142147124039418,0.00652368785813,0.0184799934486,0.255509863429,1.55125367641,-0.0202087201178,-0.0502226352692,0.0
+1475142147203653290,0.006470433902,0.0181995954344,0.254857482925,1.55063295364,-0.0158327724785,-0.0493938922882,0.0
+1475142147280606900,0.00643429998308,0.0183986779361,0.254425742049,1.55085492134,-0.0128008732572,-0.0503172874451,0.0
+1475142147359611567,0.00639849156141,0.0184554400292,0.253850910463,1.55099499226,-0.0093536535278,-0.0506739616394,0.0
+1475142147437765977,0.00643044477329,0.0183778469527,0.253501650367,1.55107975006,-0.0139292813838,-0.0504875183105,0.0
+1475142147513295931,0.00642956979573,0.0176234885204,0.253217984548,1.55115628242,-0.0145475240424,-0.0476944446564,0.0
+1475142147591549232,0.00642045354471,0.0170793477359,0.252559046151,1.55071270466,-0.0196624360979,-0.0457897186279,0.0
+1475142147671733197,0.00635212054476,0.0177377592925,0.252161074587,1.55071675777,-0.0109030054882,-0.0484716892242,0.0
+1475142147749200772,0.00634611863643,0.0182707307829,0.251742417258,1.55091392994,-0.0106169162318,-0.0506477355957,0.0
+1475142147828613147,0.00630905339494,0.0189337825852,0.251108416997,1.55092895031,-0.00933194998652,-0.0534572601318,0.0
+1475142147903687659,0.00630166567862,0.0179084960598,0.250884992722,1.55068528652,-0.00889869872481,-0.0495457649231,0.0
+1475142147982889352,0.00631290348247,0.0170947346622,0.250440194437,1.55089890957,-0.010881238617,-0.0465171337128,0.0
+1475142148061824327,0.00630439864472,0.0171589236162,0.249899564836,1.55080759525,-0.0130104087293,-0.0469615459442,0.0
+1475142148138820267,0.00630296999589,0.017205944144,0.249487843761,1.55115270615,-0.0149296149611,-0.0472569465637,0.0
+1475142148217648864,0.00625001359731,0.0180476988765,0.249024220254,1.55128407478,-0.0126009276137,-0.0507984161377,0.0
+1475142148296218529,0.00624421890825,0.018349013453,0.248459147688,1.55109727383,-0.0135218333453,-0.052042722702,0.0
+1475142148376364899,0.00625357357785,0.0176854565453,0.248068437419,1.55098426342,-0.0150621598586,-0.0496451854706,0.0
+1475142148454203948,0.00624872464687,0.0173676160073,0.247707035722,1.55100059509,-0.0140364207327,-0.0485072135925,0.0
+1475142148533851182,0.0062162312679,0.0171000174157,0.247128319513,1.55102229118,-0.0154139902443,-0.0476915836334,0.0
+1475142148619725064,0.0062051974237,0.017534591748,0.246661741744,1.55134570599,-0.0170469097793,-0.0495631694794,0.0
+1475142148695767288,0.00618728902191,0.0184869149252,0.246271899979,1.55183184147,-0.0170727092773,-0.0534284114838,0.0
+1475142148774856842,0.0061612566933,0.0181528918759,0.245750880091,1.55074036121,-0.0138001637533,-0.0523161888123,0.0
+1475142148853071491,0.00614504143596,0.0169249477668,0.245440945936,1.55033838749,-0.0126088615507,-0.0475504398346,0.0
+1475142148934600996,0.00611403817311,0.0163297003917,0.244805684654,1.55075335503,-0.0133197102696,-0.0454168319702,0.0
+1475142149019012325,0.00611403910443,0.0168061403485,0.244424443783,1.55144834518,-0.0134545974433,-0.0474421977997,0.0
+1475142149105234862,0.0060873683542,0.0173272647713,0.243988111878,1.55163240433,-0.0151062626392,-0.04962682724,0.0
+1475142149184269433,0.00607175566256,0.017242088877,0.243486248439,1.55123376846,-0.0147896390408,-0.0493938922882,0.0
+1475142149259168004,0.00606438145041,0.0175064876054,0.243104604275,1.55105233192,-0.0151567868888,-0.0506129264832,0.0
+1475142149337963715,0.0060479757376,0.0167641332724,0.242695856475,1.5504399538,-0.0148075036705,-0.0478332042694,0.0
+1475142149410976103,0.00599614810199,0.0170712325022,0.242130846007,1.55091798306,-0.0118980593979,-0.0492272377014,0.0
+1475142149485149017,0.00596467033029,0.0174487420597,0.241512842591,1.55148792267,-0.0102917114273,-0.0509214401245,0.0
+1475142149563426140,0.00599218625575,0.0169178535329,0.241190784765,1.55146682262,-0.0170399080962,-0.0488619804382,0.0
+1475142149642082744,0.00597433233634,0.0167955892653,0.24081842096,1.55090069771,-0.0155145274475,-0.0485053062439,0.0
+1475142149720669501,0.00595364999026,0.0166465281225,0.240169638771,1.55098307133,-0.0164791420102,-0.0481576919556,0.0
+1475142149801667506,0.00589966028929,0.0170008579207,0.239789570109,1.5509647131,-0.0112585704774,-0.0497286319733,0.0
+1475142149880833300,0.005877120886,0.0172114384363,0.23940980585,1.5517936945,-0.0120568601415,-0.0506885051727,0.0
+1475142149961904629,0.00591358123347,0.0167319598618,0.239022798986,1.55152869225,-0.0163783654571,-0.0488910675049,0.0
+1475142150038342197,0.0058952793479,0.0165128028097,0.23843019261,1.55113685131,-0.0172232277691,-0.0480811595917,0.0
+1475142150118446296,0.00580836599693,0.0170563124402,0.235552953334,1.55075597763,-0.00122060975991,-0.0513126850128,0.0
+1475142150190448110,0.00589260319248,0.0162386242408,0.234185031732,1.5503578186,-0.0064980708994,-0.0483860969543,0.0
+1475142150264730852,0.00583088863641,0.016709778589,0.233908520635,1.55070436001,-0.0068965414539,-0.050407409668,0.0
+1475142150344706275,0.00573203060776,0.0179084377018,0.23455305495,1.55127179623,-0.0053277015686,-0.055168390274,0.0
+1475142150420659283,0.00574008468539,0.0166307001151,0.234018395256,1.55085480213,-0.00565062090755,-0.0501034259796,0.0
+1475142150500164332,0.00573491398245,0.0161575549776,0.233672453792,1.55079305172,-0.00736437924206,-0.0482058525085,0.0
+1475142150577091216,0.00571825914085,0.0160336571456,0.233315240932,1.55084574223,-0.00734519120306,-0.0478060245514,0.0
+1475142150656840024,0.00571138784289,0.0160578039035,0.232908113328,1.55068874359,-0.00842598732561,-0.0479910373688,0.0
+1475142150731546501,0.00566634302959,0.0170515124281,0.232325965412,1.550968647,-0.00668460363522,-0.052353143692,0.0
+1475142150806204683,0.00567092467099,0.0173004166255,0.231895736461,1.55086839199,-0.0077344798483,-0.0535523891449,0.0
+1475142150883871403,0.00565050868317,0.0160688696052,0.231441812098,1.55099928379,-0.00584289105609,-0.0485565662384,0.0
+1475142150964463424,0.00563289830461,0.0158135764189,0.2310419542,1.55107331276,-0.00542353326455,-0.0476100444794,0.0
+1475142151041822925,0.00563816446811,0.016471077125,0.230619503802,1.55133616924,-0.00968481879681,-0.0504925251007,0.0
+1475142151117116749,0.00562247959897,0.0169516179597,0.230429102539,1.55135405064,-0.00856132246554,-0.0526871681213,0.0
+1475142151191593217,0.00562004186213,0.017487489996,0.230001945984,1.55150675774,-0.0118565168232,-0.0553357601166,0.0
+1475142151270726645,0.00560287060216,0.0171561452247,0.229805719613,1.55146539211,-0.00963206309825,-0.0540895462036,0.0
+1475142151351788240,0.00557738076895,0.0169505863941,0.230236906618,1.55122661591,-0.0105107631534,-0.0530781745911,0.0
+1475142151426551039,0.00562453316525,0.0150019597439,0.231607122734,1.55059170723,-0.0125687047839,-0.0452544689178,0.0
+1475142151503951425,0.00565110798925,0.0159677751192,0.2316164011,1.55037784576,-0.0162483565509,-0.0493285655975,0.0
+1475142151582491129,0.00563946226612,0.015697520226,0.23152206293,1.55074322224,-0.0157214533538,-0.0481033325195,0.0
+1475142151661507431,0.00558099104092,0.0158728585634,0.230812980729,1.55054533482,-0.00320442020893,-0.048460483551,0.0
+1475142151739228124,0.00551702175289,0.0157206805524,0.228945681255,1.55070924759,-0.00348336994648,-0.0480899810791,0.0
+1475142151829435422,0.00553420558572,0.0160884889308,0.228733560891,1.55069732666,-0.00588161172345,-0.0493381023407,0.0
+1475142151907062817,0.00551853422076,0.0170624180989,0.228291977349,1.55114018917,-0.0052457829006,-0.0530869960785,0.0
+1475142151983674526,0.00546663952991,0.0169738087177,0.227968687441,1.550827384,-0.00219287071377,-0.0525348186493,0.0
+1475142152061217033,0.00549402600154,0.0168051202474,0.227720445732,1.55115282536,-0.00540864327922,-0.0516984462738,0.0
+1475142152147813901,0.00551796425134,0.0167002163416,0.227355357914,1.55105948448,-0.00967352930456,-0.0512671470642,0.0
+1475142152222790335,0.00549600552768,0.0164036684,0.227253831776,1.55097568035,-0.00869601406157,-0.0503363609314,0.0
+1475142152302732079,0.00549050839618,0.0160164134694,0.227258961602,1.55065858364,-0.00756394024938,-0.049567937851,0.0
+1475142152379373857,0.00551108783111,0.016046183016,0.227164541165,1.55074596405,-0.0105057405308,-0.0508313179016,0.0
+1475142152457233113,0.00545221846551,0.015574159123,0.227166841202,1.55032360554,-0.00523556163535,-0.0482130050659,0.0
+1475142152534340904,0.00544888339937,0.0157936893629,0.227195418995,1.54990196228,-0.00707995845005,-0.047999382019,0.0
+1475142152612218625,0.00544707290828,0.0161223021096,0.227167103407,1.55022335052,-0.00771259889007,-0.0486571788788,0.0
+1475142152687526016,0.00543671613559,0.0164754826565,0.227192282701,1.54956483841,-0.00552171096206,-0.0475916862488,0.0
+1475142152763290682,0.0054598255083,0.0170622054928,0.227130520422,1.55026257038,-0.00798717234284,-0.0482621192932,0.0
+1475142152841637355,0.00545008899644,0.0173428474279,0.227009043654,1.55089056492,-0.00763577176258,-0.0490503311157,0.0
+1475142152914529511,0.00546694966033,0.0173684735393,0.226924148336,1.55080115795,-0.00983991473913,-0.0496504306793,0.0
+1475142152991632656,0.00543178105727,0.017569589887,0.226707342488,1.55081391335,-0.00755723984912,-0.0502882003784,0.0
+1475142153070020142,0.00542624061927,0.0172002141697,0.226755290213,1.55071163177,-0.00566237745807,-0.0487112998962,0.0
+1475142153145961558,0.00545708695427,0.0171024271086,0.226673825652,1.55061328411,-0.0108615355566,-0.0486643314362,0.0
+1475142153220907082,0.00542085245252,0.0173724550851,0.226542569996,1.55122435093,-0.00566507736221,-0.0505018234253,0.0
+1475142153301645729,0.00541646406054,0.0175107528889,0.226420810172,1.55087399483,-0.0090667642653,-0.050856590271,0.0
+1475142153379570051,0.00540415057912,0.0178770792354,0.226315821346,1.55073165894,-0.00694102561101,-0.0518565177917,0.0
+1475142153456479968,0.00539053557441,0.0184046888732,0.226217343438,1.55070602894,-0.00536441104487,-0.0524680614471,0.0
+1475142153535240987,0.00540171004832,0.01849967696,0.226276025511,1.55049753189,-0.00726709747687,-0.0513441562653,0.0
+1475142153611363144,0.00539211276919,0.0184244334049,0.226215646533,1.55063211918,-0.00589014915749,-0.0492129325867,0.0
+1475142153700398057,0.00539489462972,0.0191082598032,0.226104493581,1.55125164986,-0.00642806198448,-0.0500440597534,0.0
+1475142153778234633,0.00539038144052,0.0191213309025,0.225925825239,1.55154561996,-0.00708041526377,-0.0498778820038,0.0
+1475142153857828908,0.0053573618643,0.0186546614157,0.225826059747,1.55096256733,-0.00493686366826,-0.0476980209351,0.0
+1475142153935581863,0.0053653200157,0.0181647792656,0.225932145208,1.55048525333,-0.00793880224228,-0.0452802181244,0.0
+1475142154020591547,0.00537760742009,0.0193895165261,0.226577854695,1.55131971836,-0.0110200252384,-0.0498068332672,0.0
+1475142154101525102,0.00536156911403,0.019137543618,0.226106319767,1.55153656006,-0.0108614256606,-0.0484621524811,0.0
+1475142154183103353,0.00532311480492,0.0188290064657,0.225737487527,1.55091154575,-0.00872644316405,-0.0471332073212,0.0
+1475142154265336347,0.00531421136111,0.0197209256387,0.225337479716,1.55104160309,-0.0104985488579,-0.0509967803955,0.0
+1475142154342622858,0.00524912215769,0.0195273935264,0.222837011508,1.55080664158,-0.0060203471221,-0.0510339736938,0.0
+1475142154426151255,0.00524887628853,0.0200993655716,0.222469642196,1.55120825768,-0.00820809975266,-0.0536181926727,0.0
+1475142154509349509,0.00524612795562,0.0189539549088,0.221921123513,1.55090343952,-0.00878212507814,-0.0487172603607,0.0
+1475142154585531959,0.00520214252174,0.0183542049168,0.22159867863,1.55104482174,-0.00519620301202,-0.0461416244507,0.0
+1475142154672179468,0.00519267842174,0.0182860917543,0.221226155753,1.55083835125,-0.0039412425831,-0.045923948288,0.0
+1475142154748600925,0.0051630246453,0.0199218116906,0.220555308561,1.55133402348,-0.00690367119387,-0.0532281398773,0.0
+1475142154825214461,0.00517412787303,0.0195085557658,0.220206973766,1.55133676529,-0.00907803606242,-0.0514900684357,0.0
+1475142154905747502,0.00514569599181,0.0184920890577,0.219707631989,1.55091106892,-0.00810485053807,-0.0471556186676,0.0
+1475142154980951144,0.00509302411228,0.0188479563482,0.219318912845,1.55084681511,-0.00316827441566,-0.048814535141,0.0
+1475142155056372257,0.00510562025011,0.019447653394,0.218641860217,1.55189657211,-0.00863665156066,-0.0516362190247,0.0
+1475142155135505453,0.00509509304538,0.0191849596321,0.218336611445,1.55128598213,-0.00856338720769,-0.0505452156067,0.0
+1475142155208704314,0.00509039964527,0.0188531714763,0.217958763111,1.55073881149,-0.0098568899557,-0.0492074489594,0.0
+1475142155284953400,0.00504104886204,0.0188506986662,0.217406415274,1.55055546761,-0.00580308446661,-0.0494039058685,0.0
+1475142155366004979,0.00499867787585,0.0193451665328,0.21698141358,1.55150532722,-0.00330527103506,-0.0517449378967,0.0
+1475142155444755060,0.00500775827095,0.0189849924673,0.21656416261,1.551679492,-0.00600679125637,-0.050302028656,0.0
+1475142155521007358,0.00501266727224,0.0187722795559,0.216275425777,1.55115711689,-0.00739726191387,-0.0494344234467,0.0
+1475142155599152875,0.00498103303835,0.0184763880256,0.215833709283,1.55073058605,-0.00977148674428,-0.0482850074768,0.0
+1475142155677244133,0.00496563408524,0.0177986712107,0.216306939639,1.55070817471,-0.0115697309375,-0.0449998378754,0.0
+1475142155759261942,0.00495607079938,0.0190190904802,0.216682265052,1.55120289326,-0.00956627260894,-0.0502984523773,0.0
+1475142155833660669,0.00487892702222,0.0188718444509,0.216179383849,1.55140376091,-0.00952203478664,-0.0498492717743,0.0
+1475142155912922923,0.00484264688566,0.018589703645,0.215907402616,1.55168092251,-0.0126875732094,-0.0487196445465,0.0
+1475142155988677476,0.00467063998803,0.0186919041756,0.214049961174,1.55137443542,-0.00491411052644,-0.0499577522278,0.0
+1475142156064440824,0.00449276622385,0.0191674676411,0.213085033848,1.5517270565,-0.00427308026701,-0.0525145530701,0.0
+1475142156144123710,0.0044063879177,0.0180698387092,0.212787191202,1.5513869524,-0.00845427066088,-0.0474760532379,0.0
+1475142156219937077,0.00428025284782,0.0189561866334,0.212279282978,1.55172717571,-0.00848406087607,-0.0516242980957,0.0
+1475142156298906450,0.00411731004715,0.0189717598786,0.211546645898,1.55117356777,-0.00643895054236,-0.0517063140869,0.0
+1475142156377382878,0.00415731081739,0.0191748319974,0.211460099463,1.55158984661,-0.00926548521966,-0.0523672103882,0.0
+1475142156454429367,0.00416158232838,0.0188702755503,0.211482082379,1.55121290684,-0.00751917157322,-0.0504832267761,0.0
+1475142156528983852,0.00394258927554,0.0195456121511,0.210122062659,1.5514601469,-0.00229164166376,-0.0530898571014,0.0
+1475142156608450423,0.00387833663262,0.0181481859108,0.209098832404,1.55095934868,-0.00832475814968,-0.0466618537903,0.0
+1475142156682550466,0.0039089852944,0.0180922792592,0.209145586645,1.55063247681,-0.00755254644901,-0.0463418960571,0.0
+1475142156758194984,0.00389427179471,0.0193921461328,0.208551621306,1.55132436752,-0.00936200655997,-0.0526261329651,0.0
+1475142156836342347,0.0038741491735,0.0186939963287,0.208144785567,1.55140209198,-0.00848154164851,-0.0494785308838,0.0
+1475142156918547392,0.00384736293927,0.0181579557953,0.207879621459,1.55139219761,-0.00604941044003,-0.04714179039,0.0
+1475142156995187139,0.00380473886617,0.0184439829232,0.2072704207,1.55098819733,-0.00527386507019,-0.04865026474,0.0
+1475142157070693775,0.00378204416484,0.0190941152999,0.206895738359,1.55126392841,-0.00480637094006,-0.0518033504486,0.0
+1475142157148878883,0.00380032369867,0.0186521072278,0.206692932734,1.55145740509,-0.0107953520492,-0.0497245788574,0.0
+1475142157223512494,0.00377313769422,0.0183150356212,0.206946521776,1.55128669739,-0.0108188437298,-0.0479733943939,0.0
+1475142157304449793,0.00374168599956,0.0189836835462,0.207194538533,1.55134153366,-0.00890397280455,-0.0510194301605,0.0
+1475142157379985601,0.00375229422934,0.0183654974947,0.206986735153,1.55137467384,-0.00934967864305,-0.0481050014496,0.0
+1475142157459544876,0.00375291868113,0.0181930046627,0.206476413106,1.55091583729,-0.0120423380286,-0.0473172664642,0.0
+1475142157537730438,0.00369062251411,0.0176825334517,0.204428384987,1.55066883564,-0.00689696799964,-0.0454943180084,0.0
+1475142157614714454,0.00367419584654,0.0190077015586,0.203630724335,1.55136728287,-0.000677873671521,-0.0518696308136,0.0
+1475142157690103636,0.00365737918764,0.0186069554385,0.20341584383,1.55117952824,-0.00691113248467,-0.0496866703033,0.0
diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt
new file mode 100644
index 00000000..6513df9c
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,318 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475075957012165924,0.0533572137356,0.0466383546591,1.42419791222,1.57025825977,-0.0194033794105,2.8362133503,0.0
+1475075957120071708,0.0533572137356,0.0466383546591,1.42419791222,1.57025825977,-0.0194033794105,2.8362133503,0.0
+1475075957202955246,0.0533536411822,0.0466626025736,1.42498612404,1.57013559341,-0.0238100588322,2.83746147156,0.0
+1475075957285506952,0.0533536411822,0.0466626025736,1.42498612404,1.57013559341,-0.0238100588322,2.83746147156,0.0
+1475075957367467853,0.0533572137356,0.0466383546591,1.42419791222,1.57025825977,-0.0194033794105,2.8362133503,0.0
+1475075957451123612,0.0533513091505,0.0466885231435,1.42582976818,1.57002854347,-0.0277052018791,2.83886742592,0.0
+1475075957535723278,0.0533536411822,0.0466626025736,1.42498612404,1.57013559341,-0.0238100588322,2.83746147156,0.0
+1475075957617035662,0.0533536411822,0.0466626025736,1.42498612404,1.57013559341,-0.0238100588322,2.83746147156,0.0
+1475075957698606105,0.0533844381571,0.0461702123284,1.41739118099,1.55220389366,-0.00741549907252,-2.72798514366,0.0
+1475075957775892158,0.053330078721,0.0463014431298,1.41465973854,1.56938171387,0.0237731337547,2.82335495949,0.0
+1475075957858493310,0.05332076177,0.0426941849291,1.41461074352,1.56777322292,0.0236370936036,2.91203999519,0.0
+1475075957943024989,0.0530550070107,0.0421235188842,1.3963663578,1.56994640827,-0.0347924791276,2.86888170242,0.0
+1475075958025008101,0.0530227087438,0.0419963784516,1.39273905754,1.56747281551,-0.0292347967625,2.85783600807,0.0
+1475075958108077038,0.052984662354,0.0402936004102,1.37670016289,1.57185339928,0.0330007150769,2.93521475792,0.0
+1475075958185916579,0.0529016777873,0.0401457287371,1.37085294724,1.57093775272,0.00348976557143,2.91473770142,0.0
+1475075958266854889,0.0526337996125,0.0373464301229,1.35225617886,1.57001686096,-0.0359957404435,2.86210656166,0.0
+1475075958348353846,0.0526080578566,0.0370851904154,1.34282302856,1.56820440292,-0.00555889029056,2.84041285515,0.0
+1475075958432568166,0.0511388592422,0.0324434377253,1.32104206085,1.57421684265,0.157841309905,-2.83676671982,0.0
+1475075958514573717,0.0504619143903,0.0297909937799,1.30316650867,1.57719886303,0.10340102762,-2.80002474785,0.0
+1475075958592591829,0.0499808266759,0.027944739908,1.29519438744,1.56744384766,0.0209492892027,2.83060717583,0.0
+1475075958674312870,0.0498524419963,0.0223558880389,1.28657495975,1.57297205925,-0.0289625506848,2.88767504692,0.0
+1475075958756028444,0.0497708171606,0.0200400333852,1.27943587303,1.57047951221,-0.032214589417,2.86247253418,0.0
+1475075958837197933,0.0497120954096,0.0179083738476,1.27212166786,1.57256913185,-0.0366948656738,2.85536050797,0.0
+1475075958916125859,0.0473426878452,0.0142608424649,1.23701560497,1.57268619537,-0.0315474867821,2.8538684845,0.0
+1475075958999989312,0.0472903884947,0.0129399094731,1.23425960541,1.57066702843,-0.0418241508305,2.93133926392,0.0
+1475075959087259852,0.0472379252315,0.00870485976338,1.23147416115,1.570499897,-0.0257148910314,2.92442655563,0.0
+1475075959170157691,0.0472193807364,0.00735042849556,1.22623741627,1.56218886375,0.0168555099517,3.01946949959,0.0
+1475075959249254857,0.0451193451881,0.00337168341503,1.19533813,1.57083046436,0.00642039999366,2.90696406364,0.0
+1475075959326345574,0.0449923686683,0.00137144641485,1.18278491497,1.57091140747,-0.028413856402,2.86120581627,0.0
+1475075959403813992,0.0449575074017,-0.0015802931739,1.17631113529,1.56551265717,-0.0254733320326,2.92390036583,0.0
+1475075959477807234,0.0450003892183,-0.0038922666572,1.16952872276,1.56553924084,0.048000883311,2.94057607651,0.0
+1475075959561841633,0.0434083752334,-0.00908682588488,1.14482307434,1.56958794594,0.134450599551,-2.94210004807,0.0
+1475075959646301314,0.0436004437506,-0.0109788086265,1.13918697834,1.56635069847,0.176760211587,-2.93278598785,0.0
+1475075959731240835,0.0428454317153,-0.0102231912315,1.1279040575,1.5691536665,-0.0166753325611,2.86692547798,0.0
+1475075959821397745,0.0428233593702,-0.0119525035843,1.11810958385,1.54949021339,0.0574533976614,2.88042664528,0.0
+1475075959905634016,0.0428526960313,-0.0129461204633,1.11009633541,1.56878304482,0.0153196780011,2.90334939957,0.0
+1475075959980888325,0.0427095778286,-0.0138774672523,1.09955298901,1.56996309757,-0.041307516396,2.96023058891,0.0
+1475075960065750270,0.0421382933855,-0.0153707247227,1.08301365376,1.56767416,-0.07101649791,2.90266036987,0.0
+1475075960147549948,0.0412640757859,-0.0161036141217,1.06629741192,1.56985414028,-0.08892057091,2.93255662918,0.0
+1475075960225695743,0.0408879444003,-0.0177489314228,1.05594992638,1.56840765476,-0.00214105122723,2.88797903061,0.0
+1475075960306097228,0.0406646616757,-0.0202742479742,1.04544305801,1.57228863239,-0.06626393646,2.93650555611,0.0
+1475075960382485999,0.0399022065103,-0.0208205617964,1.02611303329,1.57064652443,-0.126235261559,2.96098947525,0.0
+1475075960462563079,0.0392814427614,-0.0229492411017,1.01955366135,1.56630587578,0.159637212753,-2.96900701523,0.0
+1475075960543860097,0.0390907116234,-0.0248827151954,1.0110052824,1.5715174675,-0.0246901605278,3.00716352463,0.0
+1475075960617952983,0.0389630794525,-0.0263412334025,1.00443589687,1.57058525085,-0.0502341017127,2.95799565315,0.0
+1475075960693459404,0.037193570286,-0.0275222305208,0.983824312687,1.54109859467,0.0973898842931,2.91524267197,0.0
+1475075960769882629,0.0374348908663,-0.0281183961779,0.978668212891,1.57114398479,-0.0439601242542,2.92435240746,0.0
+1475075960851125319,0.0364721491933,-0.0284055508673,0.95971173048,1.5719012022,-0.119577996433,2.94018769264,0.0
+1475075960930882839,0.0357661321759,-0.0288287792355,0.945855677128,1.57287657261,-0.0747151896358,2.96107411385,0.0
+1475075961011405879,0.0358738861978,-0.0289037358016,0.943253278732,1.56558465958,-0.0434254258871,2.973051548,0.0
+1475075961086864741,0.0347544997931,-0.0297634974122,0.928638577461,1.55561435223,0.169145748019,-3.0326859951,0.0
+1475075961166761014,0.0342788025737,-0.029847105965,0.916118383408,1.54874658585,0.0909801349044,2.95699381828,0.0
+1475075961243124040,0.0344128198922,-0.0305406935513,0.910175263882,1.55314445496,0.0502885319293,2.94982719421,0.0
+1475075961324522806,0.0342784896493,-0.030997345224,0.901371896267,1.5609716177,-0.0788555592299,3.00764274597,0.0
+1475075961409753613,0.033121984452,-0.0323263779283,0.886093735695,1.54982125759,0.151570498943,-3.11094760895,0.0
+1475075961494036026,0.0331468470395,-0.0326131172478,0.87464350462,1.56936478615,-0.032638836652,2.96384263039,0.0
+1475075961573873328,0.0321386009455,-0.0334500037134,0.86123496294,1.55613732338,0.170647189021,-3.05452537537,0.0
+1475075961659099002,0.0317853912711,-0.0337459035218,0.853044867516,1.55111038685,0.0557490624487,2.96856546402,0.0
+1475075961749269182,0.0309612862766,-0.0343537144363,0.837993144989,1.55056154728,0.178463429213,-3.06740140915,0.0
+1475075961830954315,0.0306949317455,-0.0342868380249,0.827529788017,1.56290090084,0.0102290781215,2.96126961708,0.0
+1475075961911237286,0.0302784498781,-0.0344354845583,0.815965414047,1.56495118141,-0.092549175024,2.97745370865,0.0
+1475075961985931379,0.0292664580047,-0.0355548113585,0.806004464626,1.54431903362,0.0594276338816,3.00125408173,0.0
+1475075962067571173,0.0289713442326,-0.0357861481607,0.792763948441,1.5620957613,-0.0770401284099,2.96030569077,0.0
+1475075962149100148,0.0279052406549,-0.0368860810995,0.779112815857,1.55273246765,0.140262126923,-3.10913085938,0.0
+1475075962235761757,0.0279554836452,-0.0370528846979,0.769140541553,1.55890142918,-0.0530989579856,2.95743131638,0.0
+1475075962317776067,0.0276608988643,-0.0387112908065,0.754764318466,1.56194543839,-0.0346904210746,2.96039628983,0.0
+1475075962395183780,0.0274150390178,-0.0386464297771,0.743995964527,1.56055903435,-0.0828395411372,2.97534918785,0.0
+1475075962475843240,0.0264928359538,-0.0383171401918,0.731893658638,1.54817378521,0.046777267009,3.00745034218,0.0
+1475075962554748540,0.0258176121861,-0.0384832434356,0.719333827496,1.54780650139,0.158032417297,-3.10897469521,0.0
+1475075962636064531,0.0256828181446,-0.038718495518,0.705968558788,1.55841374397,-0.0493417419493,2.99427390099,0.0
+1475075962716224045,0.0251402463764,-0.0386707745492,0.69229221344,1.57457852364,-0.0933427289128,2.94202184677,0.0
+1475075962798150222,0.0248777661473,-0.0398708917201,0.68944299221,1.54962444305,0.00180061534047,3.03300023079,0.0
+1475075962877976902,0.0240460354835,-0.0395839139819,0.673272848129,1.55151581764,0.00390797713771,3.00818395615,0.0
+1475075962966139505,0.023442691192,-0.0396144688129,0.664176940918,1.5484944582,0.0596190318465,3.01149845123,0.0
+1475075963041562129,0.022944111377,-0.0396689549088,0.650123238564,1.55034399033,0.00316587393172,3.01418066025,0.0
+1475075963123938995,0.022474322468,-0.0397518575191,0.640880465508,1.55032432079,-0.00888686534017,3.0598347187,0.0
+1475075963198621826,0.0219635311514,-0.0395069941878,0.630162656307,1.55204284191,0.0100636752322,2.99652481079,0.0
+1475075963285626424,0.0213702823967,-0.0393415056169,0.615657091141,1.55814659595,-0.00105288333725,2.99695491791,0.0
+1475075963364252255,0.0210998058319,-0.0391536168754,0.604463994503,1.56224584579,-0.0720098167658,2.99023532867,0.0
+1475075963441357372,0.0206349119544,-0.0388700179756,0.589536786079,1.56867468357,-0.0820594280958,2.97176718712,0.0
+1475075963518666006,0.0201275218278,-0.038960557431,0.581427395344,1.55858111382,-0.0471756383777,3.01204562187,0.0
+1475075963598218752,0.0196575094014,-0.038764975965,0.572710096836,1.55415701866,-0.0016020834446,2.99629878998,0.0
+1475075963677883057,0.019134176895,-0.038802370429,0.558387994766,1.55424261093,-0.020886067301,3.0196313858,0.0
+1475075963757035532,0.0186782423407,-0.0386258624494,0.549002885818,1.55496501923,-0.00253697158769,3.01551508904,0.0
+1475075963831256405,0.0183027237654,-0.038130775094,0.53342372179,1.56118524075,-0.062164478004,3.01285052299,0.0
+1475075963909658367,0.017713624984,-0.0378851778805,0.524888277054,1.55538272858,-0.0105038490146,2.99513077736,0.0
+1475075963987079396,0.017319964245,-0.0375732146204,0.514448881149,1.56006217003,-0.0337298810482,2.99001288414,0.0
+1475075964065461432,0.0167605169117,-0.0372123233974,0.501097619534,1.5548658371,-0.011969761923,3.01146602631,0.0
+1475075964143348811,0.0163631532341,-0.0368420667946,0.491917282343,1.55225408077,-0.00691911671311,3.02204489708,0.0
+1475075964220451519,0.0159502401948,-0.0363996885717,0.482165902853,1.55476212502,-0.0162508301437,3.02448558807,0.0
+1475075964300522726,0.0153520191088,-0.0356545709074,0.467902421951,1.55633211136,-0.0169792361557,3.00630259514,0.0
+1475075964377124372,0.0149495229125,-0.0354077592492,0.458534091711,1.55428981781,-0.00998879317194,3.01700496674,0.0
+1475075964457011119,0.0145509326831,-0.0349121727049,0.449477165937,1.55259001255,-0.00153167173266,3.03123950958,0.0
+1475075964535960132,0.0141259366646,-0.0341027639806,0.434871047735,1.55207049847,0.00057341682259,3.01779937744,0.0
+1475075964614821057,0.0138368634507,-0.0336699150503,0.425299555063,1.55457890034,-0.0128039866686,3.01682186127,0.0
+1475075964694752297,0.0135292690247,-0.033299908042,0.416030913591,1.55498683453,-0.00952233187854,3.02271676064,0.0
+1475075964781372384,0.013027947396,-0.032540127635,0.40204679966,1.55153226852,0.00199703057297,3.03883075714,0.0
+1475075964865818554,0.0126716084778,-0.0320095382631,0.392447799444,1.55176222324,0.00145039882045,3.02506422997,0.0
+1475075964944188246,0.0122257964686,-0.0312070399523,0.377817004919,1.5553702116,-0.0211172662675,3.01564502716,0.0
+1475075965022931604,0.0118124224246,-0.0307278763503,0.36824375391,1.55505657196,-0.0123882768676,3.01709747314,0.0
+1475075965105839497,0.0114971827716,-0.030167305842,0.359258770943,1.5500344038,0.0127636045218,3.02595686913,0.0
+1475075965186235150,0.0107808057219,-0.0293609090149,0.345024764538,1.551025033,0.0154285207391,3.02285170555,0.0
+1475075965259318318,0.0104053495452,-0.0287145189941,0.335650831461,1.55175077915,0.0121533265337,3.02912759781,0.0
+1475075965339054295,0.00979924108833,-0.0279231313616,0.321294724941,1.55217564106,0.0154833924025,3.02557229996,0.0
+1475075965415569616,0.00930592697114,-0.0274936519563,0.311988294125,1.54974150658,0.0305124074221,3.0356464386,0.0
+1475075965491003666,0.00875519402325,-0.0266094990075,0.296483516693,1.55093085766,0.0182221774012,3.02996921539,0.0
+1475075965567328931,0.00826338026673,-0.0259053576738,0.284659922123,1.55163168907,0.0146176246926,3.03028321266,0.0
+1475075965650645368,0.00793260615319,-0.0255629532039,0.279191344976,1.55153346062,0.0117566110566,3.02700781822,0.0
+1475075965728828209,0.00779954949394,-0.0249691046774,0.272608935833,1.55256581306,0.00414048368111,3.02929615974,0.0
+1475075965805717719,0.00746128801256,-0.0243325643241,0.265851438046,1.55114114285,0.00964826159179,3.03802537918,0.0
+1475075965882071201,0.00760030606762,-0.0242157503963,0.264435201883,1.55228066444,-0.00552595965564,3.03692865372,0.0
+1475075965955667245,0.00767559790984,-0.0236411690712,0.265144973993,1.55126285553,0.00438901269808,3.04078006744,0.0
+1475075966030723099,0.00754054635763,-0.0225368887186,0.266428202391,1.55165052414,-0.0114454589784,3.03706502914,0.0
+1475075966109668831,0.00753181288019,-0.0209011510015,0.268037796021,1.55265307426,-0.0128996409476,3.03491020203,0.0
+1475075966191917526,0.00748857157305,-0.0202701743692,0.268460154533,1.55171823502,-0.00465214625001,3.03724932671,0.0
+1475075966269139520,0.00751108024269,-0.0191902462393,0.268569052219,1.55208063126,-0.00835001375526,3.03994822502,0.0
+1475075966341844921,0.0074325487949,-0.0179379228503,0.268725931644,1.55119872093,-0.000155598347192,3.04517817497,0.0
+1475075966422729151,0.00746964011341,-0.0167180858552,0.268703460693,1.55235934258,-0.0106744254008,3.0436732769,0.0
+1475075966503135633,0.00740337138996,-0.0155683755875,0.268832713366,1.55150401592,-0.00568456575274,3.04677700996,0.0
+1475075966581550989,0.00737790111452,-0.0143660437316,0.268824785948,1.55196011066,-0.00350405578502,3.04853796959,0.0
+1475075966659382754,0.0073581840843,-0.0132621424273,0.268936812878,1.55153417587,-0.00521847140044,3.04843592644,0.0
+1475075966737810752,0.00736886030063,-0.0127144390717,0.268943816423,1.55212473869,-0.0100959697738,3.04754638672,0.0
+1475075966816783587,0.00734571833163,-0.011583709158,0.268919527531,1.55233895779,-0.0106821823865,3.04802179337,0.0
+1475075966891541437,0.00730158947408,-0.0105280717835,0.269086778164,1.55119669437,-0.00718743773177,3.05161476135,0.0
+1475075966979139658,0.00728275021538,-0.00944189261645,0.269100159407,1.55175721645,-0.0093082850799,3.05366063118,0.0
+1475075967059786887,0.00728771649301,-0.00839814636856,0.269089967012,1.55226814747,-0.0129012735561,3.05560231209,0.0
+1475075967144082919,0.00728508923203,-0.00754010491073,0.269087195396,1.5525790453,-0.0155071355402,3.05681037903,0.0
+1475075967228044193,0.00722858123481,-0.00670141074806,0.269180089235,1.55189085007,-0.00919444020838,3.05989909172,0.0
+1475075967319473813,0.00716226454824,-0.00586203299463,0.26933068037,1.5510443449,-0.000321942818118,3.06361436844,0.0
+1475075967397629908,0.00717576174065,-0.00505058420822,0.269247382879,1.55120098591,-0.00833095051348,3.06572604179,0.0
+1475075967477769166,0.0071912612766,-0.00427760649472,0.269329220057,1.5516961813,-0.0153948236257,3.067248106,0.0
+1475075967553675236,0.00713014230132,-0.00356964603998,0.269337207079,1.55069637299,-0.0064477971755,3.07074475288,0.0
+1475075967636295355,0.00713596027344,-0.00284962705337,0.269404232502,1.55107855797,-0.00985695701092,3.0751080513,0.0
+1475075967727243334,0.00712267076597,-0.00218266295269,0.269388407469,1.5509608984,-0.0105520393699,3.07429599762,0.0
+1475075967808337760,0.00715623609722,-0.00158022693358,0.269316285849,1.55140995979,-0.0181252993643,3.07340574265,0.0
+1475075967889688623,0.00711802579463,-0.00100250996184,0.269420772791,1.55120587349,-0.0127263022587,3.07489132881,0.0
+1475075967967649989,0.00710020400584,-0.000723646197002,0.269450932741,1.55069243908,-0.0116764521226,3.07685303688,0.0
+1475075968045498139,0.00711369514465,-0.000214712359593,0.269458264112,1.55156564713,-0.0150561612099,3.07679891586,0.0
+1475075968124782913,0.00707140192389,0.000372275564587,0.269459098577,1.5508441925,-0.0117103736848,3.08132910728,0.0
+1475075968201607723,0.00706823263317,0.000612003263086,0.269485622644,1.55068397522,-0.012411961332,3.08143568039,0.0
+1475075968281589018,0.00710265617818,0.00114688312169,0.269375234842,1.55146050453,-0.0195552110672,3.08286786079,0.0
+1475075968360618043,0.00705923838541,0.00128982716706,0.269461482763,1.55112576485,-0.012388615869,3.0823404789,0.0
+1475075968438358809,0.00708533870056,0.00161261716858,0.269437402487,1.55149376392,-0.018814008683,3.08335375786,0.0
+1475075968514015018,0.00705531844869,0.00187152274884,0.269439488649,1.55123138428,-0.0136622050777,3.0832862854,0.0
+1475075968593377232,0.00702573824674,0.00217789574526,0.269540280104,1.5509172678,-0.00990379601717,3.08561682701,0.0
+1475075968669088123,0.00707262894139,0.00250781420618,0.269443482161,1.55109250546,-0.0199615154415,3.08336949348,0.0
+1475075968751542909,0.00701306434348,0.00272078625858,0.269543528557,1.55085647106,-0.0102844852954,3.08394432068,0.0
+1475075968830131527,0.00705667259172,0.00291736028157,0.269485622644,1.55114078522,-0.0189239941537,3.08699727058,0.0
+1475075968911983753,0.00706335250288,0.00301825697534,0.26947003603,1.55138242245,-0.0195561628789,3.08687591553,0.0
+1475075968995111053,0.00701327854767,0.00320399971679,0.269522130489,1.55084645748,-0.0103240096942,3.08467245102,0.0
+1475075969075713442,0.00705045694485,0.00355843966827,0.269465506077,1.55080127716,-0.0110700493678,3.08628177643,0.0
+1475075969150949959,0.00710272556171,0.00382368569262,0.269455552101,1.55130922794,-0.0126564800739,3.08392906189,0.0
+1475075969231765998,0.00707398168743,0.00368411559612,0.269333183765,1.55119037628,-0.00955659430474,3.08404779434,0.0
+1475075969309906310,0.00700239092112,0.00366836972535,0.268694698811,1.55063903332,-0.0106167886406,3.08435797691,0.0
+1475075969388811201,0.00698086898774,0.00376157672144,0.268206119537,1.55116999149,-0.014776987955,3.08690929413,0.0
+1475075969468832160,0.0069083776325,0.00387862860225,0.267778962851,1.55102348328,-0.00629573827609,3.08583402634,0.0
+1475075969545363585,0.00692462315783,0.00397164234892,0.267274290323,1.55156588554,-0.0140868090093,3.0831348896,0.0
+1475075969624247500,0.00691718701273,0.00399920064956,0.266848653555,1.55152094364,-0.0157574340701,3.0871078968,0.0
+1475075969699658691,0.00687925703824,0.00402027182281,0.266430497169,1.55096924305,-0.00964306667447,3.08766770363,0.0
+1475075969778018261,0.00686950189993,0.0040299538523,0.266168177128,1.55102360249,-0.00807387381792,3.08904862404,0.0
+1475075969856971416,0.00687635177746,0.00406709080562,0.265716850758,1.55114543438,-0.0120527744293,3.0884604454,0.0
+1475075969938878658,0.00688132923096,0.00408240547404,0.265116244555,1.55153632164,-0.0173295568675,3.08777475357,0.0
+1475075970028935034,0.00686128623784,0.00412498647347,0.26462495327,1.55193793774,-0.0193185564131,3.08068490028,0.0
+1475075970107433976,0.00682342983782,0.00410483544692,0.264254778624,1.55141508579,-0.0150407394394,3.08454990387,0.0
+1475075970184969401,0.00679077254608,0.00408883811906,0.2638643682,1.55109345913,-0.00990498252213,3.08681702614,0.0
+1475075970265340088,0.00678641488776,0.00407218048349,0.26338750124,1.55092954636,-0.00808183383197,3.08827161789,0.0
+1475075970340532684,0.00680170953274,0.00406054127961,0.262813180685,1.55154013634,-0.0130271492526,3.08768033981,0.0
+1475075970418416957,0.00676912022755,0.0040515223518,0.262366116047,1.55163753033,-0.0125434864312,3.08805918694,0.0
+1475075970494826227,0.00679447408766,0.00406374968588,0.261807709932,1.55183386803,-0.019229374826,3.08564662933,0.0
+1475075970574501142,0.00677215168253,0.00405204016715,0.261419177055,1.55195188522,-0.0178160630167,3.08360004425,0.0
+1475075970652704564,0.0067396890372,0.00401909742504,0.261221021414,1.55158483982,-0.0132337585092,3.08625197411,0.0
+1475075970731397699,0.006718758028,0.00398285780102,0.260808646679,1.55129933357,-0.0105174491182,3.08975195885,0.0
+1475075970807503717,0.00670581357554,0.00396465882659,0.260313302279,1.55117428303,-0.00936866924167,3.08736348152,0.0
+1475075970886821165,0.00668605277315,0.0039466121234,0.259744346142,1.55087780952,-0.0102210072801,3.09008312225,0.0
+1475075970963914041,0.00665808422491,0.00393314566463,0.259296119213,1.55092859268,-0.0114183900878,3.08792805672,0.0
+1475075971045186785,0.00667267199606,0.0039154579863,0.258769661188,1.55157446861,-0.0140136573464,3.0849146843,0.0
+1475075971121048718,0.00668982509524,0.00388197391294,0.258286416531,1.55194938183,-0.0188228767365,3.08679962158,0.0
+1475075971198069875,0.00667378259823,0.00387050933205,0.258074969053,1.55163884163,-0.0160394236445,3.08810973167,0.0
+1475075971279065746,0.00667590927333,0.00383098074235,0.257621020079,1.55131602287,-0.0151532087475,3.08839583397,0.0
+1475075971359718330,0.00662410678342,0.0038120271638,0.25717368722,1.55115628242,-0.011918053031,3.08755278587,0.0
+1475075971436614010,0.00659570796415,0.0037895636633,0.256655961275,1.55111420155,-0.00867543742061,3.09009385109,0.0
+1475075971511219180,0.00656320061535,0.00379804871045,0.256081223488,1.55139875412,-0.00969800818712,3.08368253708,0.0
+1475075971584598198,0.00655246945098,0.00375098013319,0.255662083626,1.5512752533,-0.00799420755357,3.08633375168,0.0
+1475075971664789534,0.00659110723063,0.00373055692762,0.255203992128,1.55177140236,-0.0157865751535,3.08811211586,0.0
+1475075971740004082,0.006609398406,0.00372869265266,0.254668623209,1.55170464516,-0.0202409531921,3.08633995056,0.0
+1475075971816662050,0.00654400838539,0.00368343689479,0.254283130169,1.55132877827,-0.0126195596531,3.09223270416,0.0
+1475075971897686905,0.00656283739954,0.00368527462706,0.25401327014,1.55174255371,-0.0170199405402,3.08925414085,0.0
+1475075971978494522,0.00649955542758,0.00367963290773,0.253521382809,1.55162239075,-0.0105217872187,3.08600473404,0.0
+1475075972059415681,0.00647971453145,0.00366412568837,0.253034353256,1.55144548416,-0.0102147758007,3.08738493919,0.0
+1475075972139003068,0.00647965632379,0.00364855164662,0.252656131983,1.5510134697,-0.0128301428631,3.08830761909,0.0
+1475075972215855269,0.00649460079148,0.00364752206951,0.252101898193,1.55136013031,-0.0169421043247,3.08748221397,0.0
+1475075972294218597,0.00649251975119,0.00363240856677,0.251581192017,1.55139422417,-0.018221154809,3.08743214607,0.0
+1475075972375599618,0.00645027216524,0.00362371280789,0.251113265753,1.5514793396,-0.0154867777601,3.0877726078,0.0
+1475075972451283574,0.00640407484025,0.00360113498755,0.250618040562,1.55170929432,-0.0128939691931,3.08669519424,0.0
+1475075972531755596,0.0063921045512,0.00358432298526,0.250389456749,1.5514537096,-0.00974534358829,3.08737468719,0.0
+1475075972614802813,0.00640264386311,0.00358870369382,0.249996751547,1.55126798153,-0.0126554435119,3.08825445175,0.0
+1475075972695604101,0.00640041427687,0.00357844657265,0.249515965581,1.55140912533,-0.0149492919445,3.08838772774,0.0
+1475075972775813474,0.00637853471562,0.00355833605863,0.248983517289,1.5515409708,-0.0172295309603,3.08840107918,0.0
+1475075972854064026,0.00634234026074,0.00357825285755,0.248462632298,1.55222523212,-0.0142796169966,3.08494210243,0.0
+1475075972934402325,0.00630978494883,0.00351204280742,0.248003914952,1.55190122128,-0.0104090059176,3.08913731575,0.0
+1475075973012366992,0.0062887086533,0.00350362574682,0.247582837939,1.5511868,-0.00923909619451,3.0887055397,0.0
+1475075973092660376,0.00627302099019,0.00350161176175,0.247127652168,1.55119156837,-0.0117262080312,3.08963632584,0.0
+1475075973170941576,0.0062675322406,0.00347905233502,0.246552288532,1.55092191696,-0.0135512491688,3.08823823929,0.0
+1475075973253273621,0.00622333306819,0.00348820211366,0.24605576694,1.55139064789,-0.0105383992195,3.08474397659,0.0
+1475075973333675590,0.00621292879805,0.00346129736863,0.245554730296,1.55141305923,-0.0121277850121,3.0864071846,0.0
+1475075973414696535,0.00621967529878,0.00344979693182,0.245390370488,1.55159831047,-0.0132389757782,3.08910703659,0.0
+1475075973495383447,0.00618229014799,0.0034130839631,0.24493406713,1.5509827137,-0.00877575576305,3.09315896034,0.0
+1475075973575475022,0.00614573480561,0.00339896720834,0.244491383433,1.55088484287,-0.00982448179275,3.09157061577,0.0
+1475075973655283222,0.00616584159434,0.00340020819567,0.243921279907,1.55103933811,-0.0145129282027,3.08892679214,0.0
+1475075973734348177,0.00611900957301,0.00340139283799,0.243445158005,1.55129098892,-0.0126586603001,3.08613824844,0.0
+1475075973813842527,0.00613045087084,0.00339108752087,0.242937222123,1.55181860924,-0.0155528998002,3.08843898773,0.0
+1475075973892382733,0.00609501032159,0.00337513815612,0.242507442832,1.55165219307,-0.0115693453699,3.09084653854,0.0
+1475075973968840297,0.00609072763473,0.00332903512754,0.242103949189,1.55139398575,-0.0162842646241,3.09216189384,0.0
+1475075974047892867,0.0060370368883,0.00334021216258,0.241836294532,1.55149579048,-0.00968436151743,3.08944034576,0.0
+1475075974126912724,0.006014267914,0.0033462846186,0.241490721703,1.55150103569,-0.00997118279338,3.08531570435,0.0
+1475075974202246133,0.00600414955989,0.0033178224694,0.241338044405,1.55139529705,-0.0107977958396,3.08611917496,0.0
+1475075974277539093,0.00601031305268,0.0033063464798,0.24130243063,1.55180811882,-0.0107806138694,3.08720088005,0.0
+1475075974353641808,0.00598690519109,0.00323181669228,0.241250097752,1.55150353909,-0.010583310388,3.08828544617,0.0
+1475075974434457266,0.00597155047581,0.00322696985677,0.241302385926,1.55167484283,-0.00950516574085,3.08858466148,0.0
+1475075974510157196,0.00599408801645,0.00339471152984,0.241285309196,1.55082654953,-0.0141223212704,3.08900094032,0.0
+1475075974587447264,0.00597401615232,0.0041167284362,0.241276860237,1.55089020729,-0.0130358813331,3.08983898163,0.0
+1475075974667221640,0.00598279898986,0.00426690885797,0.241370782256,1.55191171169,-0.0148733565584,3.09286499023,0.0
+1475075974741054039,0.00597841339186,0.00429173698649,0.241303250194,1.55166685581,-0.01553780213,3.09167480469,0.0
+1475075974819249726,0.00595592707396,0.00444392347708,0.241282194853,1.55152320862,-0.0103862546384,3.09119296074,0.0
+1475075974896334103,0.00598209630698,0.00445277197286,0.241249367595,1.55186462402,-0.0115459142253,3.0894536972,0.0
+1475075974973699656,0.0059841228649,0.00423519639298,0.241148948669,1.55179035664,-0.0125222895294,3.08920788765,0.0
+1475075975052468745,0.00597648508847,0.00413605757058,0.241068273783,1.55128872395,-0.0103592146188,3.08916378021,0.0
+1475075975132143150,0.00597176793963,0.00416940124705,0.2410762012,1.55116140842,-0.00988619215786,3.09119272232,0.0
+1475075975213238574,0.00598504627123,0.00418039737269,0.240973800421,1.55172550678,-0.0133611904457,3.09094405174,0.0
+1475075975292852650,0.00592308165506,0.00409704679623,0.240989640355,1.55115640163,-0.0074631460011,3.09096574783,0.0
+1475075975374644716,0.00594263151288,0.00424419995397,0.240954220295,1.5509929657,-0.0124419108033,3.0907201767,0.0
+1475075975451589516,0.00593146309257,0.00451154774055,0.240930497646,1.55075895786,-0.0104755852371,3.09128022194,0.0
+1475075975528153659,0.00592063227668,0.00483983522281,0.240725204349,1.55046236515,-0.0117070851848,3.09163475037,0.0
+1475075975609413647,0.00592653313652,0.00520078232512,0.240494698286,1.55080926418,-0.0137918293476,3.09254407883,0.0
+1475075975688443885,0.00590885942802,0.00557517958805,0.2403216362,1.55042719841,-0.0131362257525,3.09282517433,0.0
+1475075975767066146,0.00591220753267,0.005801867228,0.240119844675,1.55130636692,-0.016272995621,3.09145307541,0.0
+1475075975844751866,0.00586334383115,0.00592603022233,0.239855706692,1.55112862587,-0.0108028482646,3.08957672119,0.0
+1475075975924369624,0.0058417096734,0.00597034394741,0.239717125893,1.55147659779,-0.00957215949893,3.08831167221,0.0
+1475075975998648135,0.00586271425709,0.00601754710078,0.23963752389,1.55141329765,-0.0117550157011,3.0861954689,0.0
+1475075976074685665,0.00588203361258,0.0060189939104,0.239505663514,1.5518475771,-0.0166565980762,3.08886837959,0.0
+1475075976153699261,0.0058723744005,0.0061273840256,0.23923908174,1.55107009411,-0.0140262693167,3.08991074562,0.0
+1475075976230405927,0.00585086690262,0.00615037605166,0.239126995206,1.55103290081,-0.0113420942798,3.0905880928,0.0
+1475075976313841217,0.00586479483172,0.00621580844745,0.238778218627,1.5513433218,-0.0142361521721,3.09389662743,0.0
+1475075976393857961,0.00583510473371,0.00628600083292,0.238218963146,1.55110514164,-0.0157895945013,3.09322237968,0.0
+1475075976472425291,0.00577958766371,0.00634805159643,0.237783417106,1.55095672607,-0.0120628857985,3.09047913551,0.0
+1475075976553941526,0.00575538724661,0.00637248158455,0.237256348133,1.55148541927,-0.00953705515712,3.08827328682,0.0
+1475075976631534426,0.00579393329099,0.00638260645792,0.236792936921,1.55144011974,-0.0170563627034,3.09020638466,0.0
+1475075976706272218,0.00574634550139,0.00637861341238,0.236347854137,1.55139255524,-0.0126278158277,3.08986449242,0.0
+1475075976782888382,0.00572475651279,0.00636132620275,0.235880658031,1.55137193203,-0.0110316649079,3.09281587601,0.0
+1475075976862683560,0.0057167019695,0.00637625111267,0.235703736544,1.55120575428,-0.0114619312808,3.09287118912,0.0
+1475075976937217067,0.00571964075789,0.00634966557845,0.234074026346,1.55166459084,-0.00379789131694,3.09095788002,0.0
+1475075977028021608,0.00568198366091,0.00630925875157,0.231833472848,1.5516654253,-0.0041953381151,3.08929586411,0.0
+1475075977106705935,0.00568876462057,0.00627535255626,0.230971992016,1.55093491077,-0.00443165935576,3.09202122688,0.0
+1475075977184496479,0.005712821614,0.00624271668494,0.230350211263,1.55033254623,-0.00299182278104,3.09573364258,0.0
+1475075977263073996,0.00561391329393,0.00627998122945,0.230941131711,1.55107569695,-0.00834356993437,3.09088253975,0.0
+1475075977343100428,0.00556159205735,0.00629206700251,0.230441123247,1.55111503601,-0.00585714681074,3.08654212952,0.0
+1475075977420966449,0.00555478781462,0.00626996485516,0.229971036315,1.55122625828,-0.00651158997789,3.08822965622,0.0
+1475075977501399600,0.00555473659188,0.00623628497124,0.229473367333,1.55131101608,-0.00784395169467,3.09015059471,0.0
+1475075977580042701,0.00553696556017,0.00620519416407,0.229093700647,1.55102813244,-0.00672751385719,3.09295511246,0.0
+1475075977655155917,0.00552713731304,0.00620122160763,0.228867739439,1.55101788044,-0.00613852078095,3.09294843674,0.0
+1475075977742348283,0.00549583137035,0.00621205335483,0.228315770626,1.55126392841,-0.00511147733778,3.08750653267,0.0
+1475075977824917968,0.00548034301028,0.00620679650456,0.227887541056,1.55111074448,-0.00529602030292,3.08836960793,0.0
+1475075977904177974,0.00549896853045,0.00615079281852,0.227398201823,1.55112457275,-0.00844954606146,3.09153962135,0.0
+1475075977979575513,0.005473903846,0.00615608179942,0.22692489624,1.55075919628,-0.00913519319147,3.09046530724,0.0
+1475075978057613265,0.00545230694115,0.00611561117694,0.226471468806,1.55079543591,-0.00836930889636,3.09261274338,0.0
+1475075978134129679,0.0054305032827,0.00610581133515,0.225966051221,1.55137646198,-0.00691977003589,3.08923578262,0.0
+1475075978207982944,0.00539504783228,0.00609668437392,0.225508436561,1.55140423775,-0.00445601530373,3.08959102631,0.0
+1475075978285691028,0.00540805375203,0.00608325237408,0.224992036819,1.55119514465,-0.0099491039291,3.09059596062,0.0
+1475075978360697829,0.005380500108,0.0061043780297,0.224537685513,1.55109667778,-0.00956642162055,3.08651614189,0.0
+1475075978435357882,0.00537239992991,0.00607484020293,0.22426764667,1.55120849609,-0.00930683594197,3.08800196648,0.0
+1475075978516496771,0.00532886246219,0.00609322544187,0.224560916424,1.55136549473,-0.00794046465307,3.08814454079,0.0
+1475075978592707833,0.00535517884418,0.00607044762,0.225035727024,1.55140066147,-0.0134125836194,3.09096240997,0.0
+1475075978671826658,0.00533314142376,0.00606393953785,0.225040331483,1.55121552944,-0.0103018833324,3.09181022644,0.0
+1475075978749635940,0.00529978098348,0.00608751131222,0.224596336484,1.550989151,-0.00884931441396,3.08750128746,0.0
+1475075978829019055,0.00528784189373,0.00604610471055,0.224148958921,1.55078279972,-0.0088412174955,3.08924245834,0.0
+1475075978907111233,0.00526813464239,0.00596078392118,0.22112326324,1.55061721802,0.000429484905908,3.09238123894,0.0
+1475075978987036464,0.00530637893826,0.00594644062221,0.220340847969,1.550989151,-0.00968514382839,3.09113240242,0.0
+1475075979066945871,0.00527702784166,0.00596019765362,0.220217615366,1.55125880241,-0.0133353760466,3.08836603165,0.0
+1475075979141824076,0.00522360624745,0.00597295165062,0.220306828618,1.55142617226,-0.0107941450551,3.08752655983,0.0
+1475075979215243349,0.00520142540336,0.00594791676849,0.219846054912,1.55113887787,-0.00926452875137,3.08721637726,0.0
+1475075979287224459,0.00516427401453,0.0059051210992,0.219478651881,1.55132627487,-0.00487567065284,3.09142804146,0.0
+1475075979370306867,0.00513853970915,0.00589108653367,0.218928560615,1.55118536949,-0.00508184637874,3.09267830849,0.0
+1475075979451870571,0.00513617275283,0.0059285806492,0.218434408307,1.55165529251,-0.0085169384256,3.08572769165,0.0
+1475075979537261276,0.00514603219926,0.00591185176745,0.218221411109,1.55161225796,-0.0114532671869,3.08710670471,0.0
+1475075979612797133,0.00514269759879,0.00591353373602,0.218379035592,1.55181193352,-0.0147361373529,3.08753943443,0.0
+1475075979690996077,0.00506933359429,0.00591599522159,0.218855634332,1.55180931091,-0.00748157594353,3.08849978447,0.0
+1475075979767227472,0.0050857453607,0.00594457611442,0.21879042685,1.55168056488,-0.010724610649,3.08771395683,0.0
+1475075979842752028,0.00505569530651,0.00608262419701,0.218510478735,1.55139815807,-0.0105170216411,3.09189081192,0.0
+1475075979921662291,0.00501447403803,0.00624152924865,0.218152076006,1.55107498169,-0.00976843480021,3.09391713142,0.0
+1475075979995674559,0.00498237553984,0.006360756699,0.215071454644,1.55119454861,-0.00512500945479,3.09135866165,0.0
+1475075980068877020,0.0049292864278,0.00654746778309,0.214211836457,1.55191397667,-0.00634065177292,3.09257006645,0.0
+1475075980147176919,0.00484275072813,0.00676081795245,0.214868381619,1.55126738548,-0.00855912268162,3.09087562561,0.0
+1475075980225739603,0.0047529921867,0.00686005456373,0.214620620012,1.55139565468,-0.00592576852068,3.09175562859,0.0
+1475075980304593844,0.00466123688966,0.00699753360823,0.21423381567,1.55190861225,-0.00609027780592,3.08943629265,0.0
+1475075980379450584,0.00456532137468,0.00709296250716,0.21385216713,1.55171203613,-0.00737264472991,3.09382176399,0.0
+1475075980453028670,0.00438260333613,0.00723319407552,0.213355705142,1.5514870882,-0.00395648973063,3.09330415726,0.0
+1475075980531341663,0.00426487624645,0.00733498996124,0.212815031409,1.55132830143,-0.00686513073742,3.0947599411,0.0
+1475075980605799692,0.00414807582274,0.0074650067836,0.212116658688,1.55116891861,-0.009960597381,3.09602117538,0.0
+1475075980680478982,0.0041060349904,0.00757313426584,0.211986124516,1.55112969875,-0.00969500653446,3.09357690811,0.0
+1475075980755955934,0.00414852844551,0.00759923784062,0.21200619638,1.55085432529,-0.00894707348198,3.09551668167,0.0
+1475075980832868874,0.00416617142037,0.00773281417787,0.211805269122,1.55105912685,-0.00795744359493,3.09386229515,0.0
+1475075980914051753,0.00420457916334,0.00783063843846,0.211747437716,1.55105876923,-0.00847773905843,3.09377384186,0.0
+1475075980989586676,0.00418327981606,0.00797219481319,0.211591929197,1.55033743382,-0.00556471431628,3.09581708908,0.0
+1475075981075961087,0.00417990423739,0.00813375692815,0.211435049772,1.55087196827,-0.0059187123552,3.09457063675,0.0
+1475075981156883434,0.00410893233493,0.00849533546716,0.21101154387,1.55132567883,-0.00624270923436,3.09069061279,0.0
+1475075981231651601,0.00409694900736,0.00862446799874,0.210911035538,1.5514922142,-0.00493948627263,3.09267759323,0.0
+1475075981307791635,0.00372578855604,0.00862651411444,0.20769700408,1.55201113224,-0.000646794447675,3.0980682373,0.0
+1475075981386403869,0.00346530415118,0.00862201955169,0.205453619361,1.55143165588,-0.00816090125591,3.09649753571,0.0
+1475075981462709709,0.00354420114309,0.00865058787167,0.206149205565,1.55204069614,-0.00491023529321,3.09344768524,0.0
+1475075981543161415,0.00354994554073,0.00864580553025,0.205821946263,1.5520876646,-0.00488798692822,3.09354186058,0.0
+1475075981618536155,0.00353905605152,0.00864052958786,0.205468863249,1.55091929436,-0.00361785222776,3.09644675255,0.0
+1475075981697144248,0.00354976742528,0.00858214870095,0.205531015992,1.55130338669,-0.0108939055353,3.09783744812,0.0
+1475075981769060195,0.00356108089909,0.0086178900674,0.205126449466,1.5513805151,-0.0128455776721,3.0971698761,0.0
+1475075981844514940,0.00352373160422,0.00868894252926,0.204649314284,1.55205857754,-0.0122158322483,3.09035253525,0.0
+1475075981923478047,0.00350150675513,0.00869149994105,0.20422077179,1.55184173584,-0.011999768205,3.09392666817,0.0
+1475075982003037480,0.00351062533446,0.00872416142374,0.203740507364,1.55194878578,-0.0153747610748,3.09710288048,0.0
+1475075982078232251,0.00341660855338,0.00880531594157,0.203206509352,1.55230653286,-0.00934700295329,3.09126830101,0.0
diff --git a/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
new file mode 100644
index 00000000..db0658ea
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/Trans_PID_.28_0_.006.txt
@@ -0,0 +1,308 @@
+%time,field.position.x,field.position.y,field.position.z,field.orientation.x,field.orientation.y,field.orientation.z,field.orientation.w
+1475142133414964586,0.0511232353747,0.255828648806,1.45031857491,1.56704497337,-0.0220631007105,2.98677659035,0.0
+1475142133531833355,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133620422427,0.0510631017387,0.255062013865,1.44591403008,1.56532931328,-0.0320350565016,2.97727012634,0.0
+1475142133707009837,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133788614075,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133872864819,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142133957295569,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142134043284661,0.0511212721467,0.255814790726,1.45023870468,1.56694757938,-0.0226252283901,2.98657155037,0.0
+1475142134129711641,0.0511681847274,0.254272460938,1.44066178799,1.55734980106,-0.0431853160262,2.95952796936,0.0
+1475142134211671283,0.0509944930673,0.253675341606,1.43676400185,1.55763864517,-0.0185868982226,2.94596815109,0.0
+1475142134293362453,0.0521126128733,0.251495271921,1.43620860577,1.57142841816,0.0725521221757,-2.55481719971,0.0
+1475142134376484644,0.0509392060339,0.242900237441,1.41790604591,1.57425248623,0.0197381302714,2.92669892311,0.0
+1475142134459794843,0.0508205220103,0.235287174582,1.40900635719,1.56839966774,-0.0150439944118,2.99153804779,0.0
+1475142134541861624,0.0505682341754,0.229040533304,1.38545513153,1.5643311739,-0.0404866412282,2.94101810455,0.0
+1475142134618763067,0.0504606962204,0.218780845404,1.37418997288,1.55878770351,0.091602191329,2.93392395973,0.0
+1475142134707910490,0.0505630560219,0.21384614706,1.37199115753,1.57087135315,-1.21268121802e-05,3.00094509125,0.0
+1475142134788796465,0.0504976175725,0.207191675901,1.36578655243,1.56629395485,-0.00150886760093,2.91311264038,0.0
+1475142134870053547,0.0498134046793,0.198563322425,1.34747433662,1.56084549427,-0.0669332891703,2.94293165207,0.0
+1475142134949548975,0.0486468821764,0.187545031309,1.31591141224,1.59204030037,0.149055719376,-2.67249584198,0.0
+1475142135033008032,0.0478045791388,0.180455565453,1.30020570755,1.57089447975,0.0335395783186,2.87597990036,0.0
+1475142135116850303,0.0477773025632,0.172343924642,1.29701697826,1.57073247433,0.0170845128596,2.9141395092,0.0
+1475142135214488526,0.0476098693907,0.164927139878,1.2823343277,1.56377148628,-0.0261247716844,2.94897079468,0.0
+1475142135291305872,0.0475728064775,0.156580805779,1.27142524719,1.56121814251,-0.00336105888709,2.9535548687,0.0
+1475142135372648491,0.0475497506559,0.150187000632,1.26850450039,1.56818234921,-0.0210207998753,2.92721414566,0.0
+1475142135455508321,0.0471945889294,0.145152702928,1.26030921936,1.58072841167,0.0883680135012,-2.75990152359,0.0
+1475142135536828965,0.0452899374068,0.135068878531,1.2313939333,1.57306420803,0.0199695415795,3.00305223465,0.0
+1475142135614170426,0.0452831983566,0.128745809197,1.23155426979,1.57189655304,0.0299424808472,2.99839305878,0.0
+1475142135693960633,0.0444189198315,0.122582800686,1.21854329109,1.58098745346,0.101805403829,-2.7540166378,0.0
+1475142135769338267,0.0430753901601,0.115062788129,1.1979739666,1.5671517849,0.0323619544506,2.91055202484,0.0
+1475142135850319395,0.0429747626185,0.108848236501,1.18586742878,1.56808280945,-0.0313839353621,2.94574356079,0.0
+1475142135932017141,0.0429479219019,0.101827092469,1.16967880726,1.56471502781,0.0719368010759,2.94338321686,0.0
+1475142136012003277,0.0430013798177,0.09806535393,1.16784203053,1.56846666336,0.0220539662987,2.99368739128,0.0
+1475142136090917847,0.0428043305874,0.0919284746051,1.15307879448,1.56641459465,-0.0618368275464,3.03086662292,0.0
+1475142136167426674,0.0429233796895,0.0852922424674,1.1427526474,1.57045912743,-0.00517437327653,2.99209833145,0.0
+1475142136250205144,0.0427810288966,0.0801121145487,1.1415835619,1.55895853043,0.0408942475915,2.94686937332,0.0
+1475142136332290591,0.0428583435714,0.074696496129,1.13148987293,1.56365764141,-0.0100004291162,2.95548892021,0.0
+1475142136407697562,0.0421200916171,0.0684766843915,1.10704159737,1.56445646286,-0.0948261022568,2.9555850029,0.0
+1475142136488050643,0.0419834330678,0.0628565475345,1.10030782223,1.56866550446,0.100899986923,-2.9025952816,0.0
+1475142136565704551,0.04092894122,0.0605274960399,1.08496880531,1.56795787811,0.013757196255,2.97452282906,0.0
+1475142136654471952,0.0408281311393,0.0535919032991,1.0733269453,1.5625218153,-0.0278908908367,2.99725484848,0.0
+1475142136730208565,0.0404051020741,0.0509420819581,1.06346213818,1.5553176403,-0.06715618819,3.00441884995,0.0
+1475142136815548787,0.0390219651163,0.0457024313509,1.04136419296,1.5693154335,-0.0394090302289,2.97577404976,0.0
+1475142136897237327,0.0388373583555,0.0431251376867,1.04039597511,1.550106287,0.0931660458446,3.0114812851,0.0
+1475142136979355269,0.0390151701868,0.0408143959939,1.03480219841,1.56787395477,-0.0192598029971,3.08215427399,0.0
+1475142137055126411,0.0383498743176,0.0364840999246,1.01650214195,1.55538904667,-0.0854607373476,3.01441764832,0.0
+1475142137135817385,0.0375737696886,0.0335862971842,0.998956203461,1.56696081161,-0.100923649967,2.98634624481,0.0
+1475142137214967200,0.0373608507216,0.0299897100776,0.995251178741,1.56420600414,-0.00912054348737,2.98118710518,0.0
+1475142137294441127,0.0364105738699,0.0264604277909,0.977585911751,1.572701931,0.155881747603,-2.93118071556,0.0
+1475142137378660204,0.0361539721489,0.023760959506,0.968952953815,1.55026626587,0.0201201308519,2.98973298073,0.0
+1475142137462667108,0.035667385906,0.0210136286914,0.959363520145,1.55460941792,0.0612671859562,3.02964997292,0.0
+1475142137543765524,0.0352200493217,0.0187006834894,0.950760781765,1.54881191254,-0.0378246568143,3.01909327507,0.0
+1475142137625137803,0.0343807302415,0.0158317852765,0.931137502193,1.55967032909,0.00187109026592,2.98323059082,0.0
+1475142137701823332,0.0343193486333,0.013713568449,0.921948075294,1.56737029552,-0.0571304038167,2.98666214943,0.0
+1475142137783139172,0.0336420871317,0.0112510677427,0.90683722496,1.55987668037,-0.0942343845963,3.00319743156,0.0
+1475142137864897587,0.0330857671797,0.00963021162897,0.902228057384,1.55647408962,0.0271474402398,3.0040371418,0.0
+1475142137943702428,0.0322361215949,0.006691057235,0.884110331535,1.55945682526,0.137613713741,-2.99635267258,0.0
+1475142138024747806,0.0320692025125,0.0053422334604,0.878429532051,1.5442122221,0.0402557700872,3.05453681946,0.0
+1475142138101073409,0.0315158255398,0.0025844364427,0.858862161636,1.56276404858,-0.0819595977664,3.00602221489,0.0
+1475142138178939004,0.0308891348541,0.000734778062906,0.851175606251,1.55565679073,0.126318231225,-3.02420258522,0.0
+1475142138255481582,0.0304153058678,-0.000580894644372,0.840831935406,1.5455878973,0.100440353155,3.01444888115,0.0
+1475142138334468809,0.0302136335522,-0.00281732459553,0.830282509327,1.54530751705,-0.00590875837952,3.04697322845,0.0
+1475142138412112481,0.0294571947306,-0.00387223646976,0.810803890228,1.56929409504,-0.106532201171,2.9780497551,0.0
+1475142138493846384,0.028732765466,-0.00543229095638,0.806572496891,1.55281925201,0.118771970272,-3.05477809906,0.0
+1475142138573644646,0.0286883469671,-0.00690351892263,0.805161297321,1.55222725868,-0.0241121537983,3.04346704483,0.0
+1475142138652371930,0.0275825969875,-0.00773019716144,0.783150732517,1.55097258091,0.00303227407858,3.04377365112,0.0
+1475142138734919101,0.0269932113588,-0.00907356850803,0.775029301643,1.54729998112,0.00551464222372,3.05324149132,0.0
+1475142138815544082,0.0266895387322,-0.0107374442741,0.761307120323,1.55257034302,-0.0559261739254,3.08429431915,0.0
+1475142138897214146,0.0262454152107,-0.0118743851781,0.74517428875,1.56577825546,-0.100875221193,2.98145723343,0.0
+1475142138979302046,0.0259763263166,-0.0138681707904,0.7340041399,1.55509066582,-0.0674221366644,3.00766706467,0.0
+1475142139059014486,0.0256482008845,-0.0150041654706,0.725276112556,1.55653452873,-0.031561229378,3.00624990463,0.0
+1475142139134683200,0.0254231039435,-0.0160582102835,0.716000437737,1.55225205421,-0.0371276959777,3.03813529015,0.0
+1475142139217278484,0.0250009857118,-0.017432404682,0.701256036758,1.56167495251,-0.0615202896297,3.04214596748,0.0
+1475142139299163320,0.0246071219444,-0.0184003580362,0.693392574787,1.5503487587,-0.0119072785601,3.03778982162,0.0
+1475142139380665972,0.024198109284,-0.0192187726498,0.675216972828,1.56166541576,-0.0803302228451,2.99990200996,0.0
+1475142139466381871,0.023663925007,-0.020177077502,0.668715655804,1.55066370964,-0.00416037579998,3.02575826645,0.0
+1475142139550432297,0.0234087798744,-0.0209030825645,0.6580337286,1.55742454529,-0.0492485277355,3.0449192524,0.0
+1475142139633272801,0.0225635860115,-0.0219617132097,0.644904077053,1.55210518837,0.0290817916393,3.03037905693,0.0
+1475142139717827204,0.0221615023911,-0.0225923191756,0.63597214222,1.54918730259,0.0658395513892,3.09032821655,0.0
+1475142139797630614,0.0213978514075,-0.0226813349873,0.620787084103,1.55211889744,0.00757027743384,3.02968144417,0.0
+1475142139883235728,0.0211124867201,-0.0226946100593,0.610375344753,1.55513978004,-0.0448090881109,3.03746008873,0.0
+1475142139959037026,0.0205791927874,-0.0226833429188,0.595083534718,1.5597114563,-0.0663337036967,3.03349328041,0.0
+1475142140039038942,0.0199560020119,-0.0228664148599,0.58580493927,1.55477976799,-0.0454573631287,3.0413608551,0.0
+1475142140121563788,0.0193217042834,-0.0231900364161,0.572744905949,1.55227839947,-0.00034809592762,3.05562353134,0.0
+1475142140199597632,0.0189315751195,-0.0233566053212,0.562725365162,1.55275428295,-0.0199319906533,3.04056692123,0.0
+1475142140291305739,0.0184092503041,-0.0236135777086,0.548379659653,1.55307781696,-0.0256137829274,3.03345036507,0.0
+1475142140370121934,0.01799358055,-0.0237976424396,0.53850376606,1.55650854111,-0.0164379402995,3.0214509964,0.0
+1475142140451288783,0.0176658816636,-0.0241345986724,0.524031162262,1.55593276024,-0.0392306521535,3.02095961571,0.0
+1475142140532271710,0.0172374099493,-0.0242112074047,0.514677584171,1.55555975437,-0.0279622972012,3.02052235603,0.0
+1475142140614265689,0.0168426651508,-0.0244293063879,0.500033676624,1.5570141077,-0.038126014173,3.0279378891,0.0
+1475142140691180692,0.0164473298937,-0.0245399139822,0.490973591805,1.55480527878,-0.0336339771748,3.02564764023,0.0
+1475142140771001931,0.0156413763762,-0.0246261358261,0.476878523827,1.55112826824,0.0241523291916,3.02952098846,0.0
+1475142140849347188,0.0153906028718,-0.0245360806584,0.466639220715,1.55613923073,-0.0337779708207,3.02540516853,0.0
+1475142140926747290,0.015022110194,-0.0245754588395,0.457392573357,1.55510783195,-0.0283839497715,3.01967144012,0.0
+1475142141001314835,0.0143345752731,-0.0244643650949,0.443030387163,1.55528080463,-0.0246448405087,3.03193593025,0.0
+1475142141081179482,0.013958661817,-0.0244162119925,0.434177398682,1.55155038834,0.00636394880712,3.03989696503,0.0
+1475142141156619144,0.0132688404992,-0.0243445970118,0.420143157244,1.55004346371,0.0233664866537,3.04371094704,0.0
+1475142141233724645,0.0130502926186,-0.024035397917,0.410436183214,1.55332458019,-0.00300845084712,3.02901053429,0.0
+1475142141311821254,0.012745693326,-0.0238701011986,0.400651752949,1.55458021164,-0.0116099929437,3.03651618958,0.0
+1475142141385491530,0.0121666910127,-0.0236281715333,0.386539340019,1.55196678638,0.0132504850626,3.03637051582,0.0
+1475142141458864066,0.0119318477809,-0.0234641432762,0.377054125071,1.55323076248,-0.0147929331288,3.04219341278,0.0
+1475142141539308588,0.0115482378751,-0.0231912396848,0.367629349232,1.55231702328,-0.00332437665202,3.04161787033,0.0
+1475142141621694454,0.0111722201109,-0.0228824429214,0.358105897903,1.55056285858,0.0169013012201,3.03949999809,0.0
+1475142141694611641,0.0105578759685,-0.0224340222776,0.343570649624,1.55225002766,0.00394560582936,3.03658866882,0.0
+1475142141769171993,0.0101428376511,-0.0221416950226,0.334587216377,1.5513010025,0.00557174626738,3.04382300377,0.0
+1475142141844528774,0.00982210040092,-0.0218667164445,0.325493067503,1.55192482471,0.00318821473047,3.0429251194,0.0
+1475142141924652753,0.00905644427985,-0.0216193515807,0.311103224754,1.55043387413,0.0227424018085,3.04860520363,0.0
+1475142142003260146,0.00877656601369,-0.021363472566,0.301522165537,1.55110752583,0.00548388203606,3.05240559578,0.0
+1475142142079981668,0.00842160638422,-0.0209581181407,0.292065083981,1.55206537247,0.00328930770047,3.04415822029,0.0
+1475142142158964907,0.00776322232559,-0.0206175893545,0.277987390757,1.55012178421,0.0156376827508,3.05017089844,0.0
+1475142142238890233,0.0072659519501,-0.0202310327441,0.269336044788,1.5499740839,0.015814807266,3.05125713348,0.0
+1475142142317965006,0.00712644681334,-0.0198915246874,0.263636946678,1.5508531332,0.00898834411055,3.05516219139,0.0
+1475142142397423018,0.00697568710893,-0.0194368474185,0.259556025267,1.55264663696,-0.00680582318455,3.05457901955,0.0
+1475142142475878762,0.00700415112078,-0.0192670896649,0.259665220976,1.55223309994,-0.00318985758349,3.05039834976,0.0
+1475142142554098666,0.00706455903128,-0.0191638786346,0.259755462408,1.55201470852,-0.00865042023361,3.05035686493,0.0
+1475142142634002656,0.0070009236224,-0.0182452686131,0.259887188673,1.55106937885,-0.00636970810592,3.05163788795,0.0
+1475142142713270973,0.00689892424271,-0.0171127971262,0.257511556149,1.55034101009,0.0116983149201,3.05618572235,0.0
+1475142142787803344,0.00689054047689,-0.0156600512564,0.256819099188,1.55043745041,-0.00604891963303,3.061886549,0.0
+1475142142863287507,0.00683777686208,-0.0147634474561,0.258551836014,1.55066752434,-0.00650392007083,3.05613946915,0.0
+1475142142950882875,0.00685379188508,-0.0139225590974,0.259459972382,1.5509198904,-0.0109559111297,3.06488180161,0.0
+1475142143033074178,0.00692444806919,-0.0131947202608,0.259966224432,1.55144906044,-0.0143820354715,3.06752347946,0.0
+1475142143110311802,0.00686794146895,-0.0120666315779,0.260023236275,1.55071914196,-0.00984905939549,3.06892466545,0.0
+1475142143190327241,0.006875959225,-0.0112889437005,0.260019809008,1.55116176605,-0.0123249562457,3.06989884377,0.0
+1475142143266700503,0.00684731965885,-0.0105731831864,0.260101914406,1.55118131638,-0.00997078791261,3.07326221466,0.0
+1475142143341184114,0.00682005379349,-0.00946761202067,0.260110169649,1.55058026314,-0.00828691292554,3.07320690155,0.0
+1475142143421723206,0.00681998580694,-0.008769614622,0.260106235743,1.55103623867,-0.0132338283584,3.07742166519,0.0
+1475142143501102616,0.00679615326226,-0.00769438873976,0.26021233201,1.55065226555,-0.0119056617841,3.07885408401,0.0
+1475142143578949924,0.0068023535423,-0.00698689231649,0.260130614042,1.55073177814,-0.0144090773538,3.07692956924,0.0
+1475142143654705573,0.00676994537935,-0.00632639182732,0.260224044323,1.55077624321,-0.0126470718533,3.07762789726,0.0
+1475142143728923692,0.00675527378917,-0.00544713856652,0.260223954916,1.55063545704,-0.0120906373486,3.07898569107,0.0
+1475142143807826625,0.00671911984682,-0.00488546630368,0.260182589293,1.55043172836,-0.00858704000711,3.07760357857,0.0
+1475142143882345225,0.00672035245225,-0.00412256317213,0.260129451752,1.55091810226,-0.0119165629148,3.07936096191,0.0
+1475142143963142055,0.00669702794403,-0.00359410699457,0.260121881962,1.55049455166,-0.00930616538972,3.08126616478,0.0
+1475142144051571413,0.00669067865238,-0.00314780022018,0.260146528482,1.55062258244,-0.0123294042423,3.07851099968,0.0
+1475142144131503005,0.00667416583747,-0.00272253807634,0.260114938021,1.55056679249,-0.0117467511445,3.08178114891,0.0
+1475142144206975022,0.00669133942574,-0.00208444707096,0.26008450985,1.55063343048,-0.0179146453738,3.08363485336,0.0
+1475142144284827299,0.00665244320408,-0.00172623805702,0.260104477406,1.5510584116,-0.010419790633,3.08216929436,0.0
+1475142144361781353,0.00665184948593,-0.00143667461816,0.260143399239,1.55059683323,-0.0115990964696,3.08406066895,0.0
+1475142144440442291,0.00663901306689,-0.000987278530374,0.260147988796,1.55060434341,-0.0128840785474,3.08144855499,0.0
+1475142144516157507,0.00665652379394,-0.000741807278246,0.260128855705,1.55094218254,-0.0170222446322,3.08383893967,0.0
+1475142144590928100,0.00662009324878,-0.000340046535712,0.2601172328,1.55052280426,-0.0126277524978,3.0849313736,0.0
+1475142144670260528,0.00659878598526,-8.66258196766e-05,0.260128259659,1.55041337013,-0.0104914056137,3.08573293686,0.0
+1475142144749490794,0.0066253002733,0.000162242620718,0.260130405426,1.55064630508,-0.0170700531453,3.08446335793,0.0
+1475142144826840166,0.00661409040913,0.000543189235032,0.260072916746,1.55103170872,-0.0176265891641,3.08456158638,0.0
+1475142144902657054,0.00658893585205,0.000730283325538,0.260171294212,1.5509570837,-0.0147291375324,3.08668541908,0.0
+1475142144983322689,0.00658322032541,0.000947351159994,0.260083645582,1.55067718029,-0.0153270242736,3.08392858505,0.0
+1475142145065539888,0.00654688058421,0.00125368183944,0.260138690472,1.55073833466,-0.00913281645626,3.08896255493,0.0
+1475142145149390129,0.00656363880262,0.00155389285646,0.260137856007,1.55113887787,-0.0156057383865,3.08592414856,0.0
+1475142145225212625,0.00652344850823,0.00173757667653,0.260047465563,1.55109000206,-0.00950823351741,3.08543205261,0.0
+1475142145303276544,0.00657619442791,0.00202894490212,0.260035276413,1.55163884163,-0.0203581508249,3.08556509018,0.0
+1475142145383170360,0.00652667833492,0.00215137889609,0.26005667448,1.55111515522,-0.0119718015194,3.08819293976,0.0
+1475142145469881607,0.00653970334679,0.00228979531676,0.260076284409,1.55114138126,-0.0146281048656,3.08611869812,0.0
+1475142145547173248,0.00656510842964,0.00244163512252,0.260023206472,1.55182468891,-0.0184341650456,3.0870308876,0.0
+1475142145625448947,0.00654252478853,0.00251534511335,0.260074257851,1.55132627487,-0.0154737783596,3.08563232422,0.0
+1475142145705387833,0.00650427071378,0.00260845315643,0.260057121515,1.55126535892,-0.00997784920037,3.08618474007,0.0
+1475142145784374850,0.006500183139,0.00267108692788,0.260110646486,1.5509557724,-0.0108240386471,3.08638906479,0.0
+1475142145860548366,0.00653528328985,0.00275821913965,0.259984314442,1.55124521255,-0.0166847016662,3.08639431,0.0
+1475142145935047194,0.00654509942979,0.00281818490475,0.260009765625,1.5514318943,-0.0189497154206,3.08531761169,0.0
+1475142146017598171,0.00650734873489,0.00305807450786,0.260078698397,1.55068814754,-0.0117605263367,3.08835411072,0.0
+1475142146095716348,0.00654192315415,0.00376495323144,0.260231941938,1.55062258244,-0.0129423160106,3.08855700493,0.0
+1475142146174525632,0.00658571952954,0.00437923427671,0.260301023722,1.54986536503,-0.0120022306219,3.09438371658,0.0
+1475142146254555627,0.00665578898042,0.00472105294466,0.260264456272,1.55080282688,-0.0174152813852,3.09410381317,0.0
+1475142146328834768,0.00665155285969,0.00510110333562,0.260038375854,1.5510327816,-0.0198698285967,3.09247660637,0.0
+1475142146407936942,0.00661646295339,0.00541165890172,0.259434938431,1.55173361301,-0.0180022902787,3.09015250206,0.0
+1475142146486407946,0.00658455770463,0.00550850154832,0.259127825499,1.55115294456,-0.0145021872595,3.09262943268,0.0
+1475142146567391179,0.00658119982108,0.00560447806492,0.258561015129,1.55098044872,-0.0159107167274,3.09114551544,0.0
+1475142146641171762,0.0065894224681,0.00565118109807,0.258113533258,1.55124568939,-0.0199122913182,3.08922338486,0.0
+1475142146728978970,0.00655430695042,0.00563980219886,0.257838398218,1.55044746399,-0.0159566253424,3.09398555756,0.0
+1475142146810120925,0.00650245323777,0.00564374076203,0.257232576609,1.55077528954,-0.010711632669,3.09160637856,0.0
+1475142146889778406,0.00645936885849,0.00564629305154,0.256841063499,1.55068790913,-0.00737773254514,3.09230566025,0.0
+1475142146970107565,0.00649480381981,0.0056310002692,0.256427824497,1.55100929737,-0.0121017741039,3.09367799759,0.0
+1475142147046328462,0.00650950707495,0.00562872644514,0.255844146013,1.55111455917,-0.0164942592382,3.09273386002,0.0
+1475142147124045828,0.00652368785813,0.00565822701901,0.255548030138,1.55125367641,-0.0202087201178,3.09137010574,0.0
+1475142147203581384,0.006470433902,0.0056215217337,0.254890799522,1.55063295364,-0.0158327724785,3.09219884872,0.0
+1475142147280626467,0.00643429998308,0.00560714863241,0.254465788603,1.55085492134,-0.0128008732572,3.09127545357,0.0
+1475142147359380311,0.00639849156141,0.00560237048194,0.253893047571,1.55099499226,-0.0093536535278,3.09091877937,0.0
+1475142147437918026,0.00643044477329,0.005589668639,0.253542631865,1.55107975006,-0.0139292813838,3.0911052227,0.0
+1475142147513315290,0.00642956979573,0.00555619364604,0.253241062164,1.55115628242,-0.0145475240424,3.09389829636,0.0
+1475142147591532851,0.00642045354471,0.0055240271613,0.252570927143,1.55071270466,-0.0196624360979,3.09580302238,0.0
+1475142147671777863,0.00635212054476,0.00552497990429,0.252189576626,1.55071675777,-0.0109030054882,3.09312105179,0.0
+1475142147749030786,0.00634611863643,0.00553092034534,0.25178527832,1.55091392994,-0.0106169162318,3.09094500542,0.0
+1475142147828820046,0.00630905339494,0.00552108511329,0.251172214746,1.55092895031,-0.00933194998652,3.08813548088,0.0
+1475142147903834127,0.00630166567862,0.00548823876306,0.250921100378,1.55068528652,-0.00889869872481,3.09204697609,0.0
+1475142147983186234,0.00631290348247,0.00545427110046,0.250457495451,1.55089890957,-0.010881238617,3.0950756073,0.0
+1475142148062013353,0.00630439864472,0.00543259363621,0.249920070171,1.55080759525,-0.0130104087293,3.09463119507,0.0
+1475142148138908896,0.00630296999589,0.0054253032431,0.249510109425,1.55115270615,-0.0149296149611,3.09433579445,0.0
+1475142148217794161,0.00625001359731,0.00540770683438,0.249070927501,1.55128407478,-0.0126009276137,3.09079432487,0.0
+1475142148295987614,0.00624421890825,0.00542889721692,0.24851320684,1.55109727383,-0.0135218333453,3.08955001831,0.0
+1475142148376381776,0.00625357357785,0.00537981837988,0.248107150197,1.55098426342,-0.0150621598586,3.09194755554,0.0
+1475142148454265312,0.00624872464687,0.00536153186113,0.247738465667,1.55100059509,-0.0140364207327,3.09308552742,0.0
+1475142148533768562,0.0062162312679,0.00532329780981,0.247155562043,1.55102229118,-0.0154139902443,3.09390115738,0.0
+1475142148619705997,0.0062051974237,0.00531883630902,0.246701180935,1.55134570599,-0.0170469097793,3.09202957153,0.0
+1475142148695842561,0.00618728902191,0.00533933192492,0.246338278055,1.55183184147,-0.0170727092773,3.08816432953,0.0
+1475142148774949661,0.0061612566933,0.00530618941411,0.245809718966,1.55074036121,-0.0138001637533,3.0892765522,0.0
+1475142148853127971,0.00614504143596,0.00526317255571,0.245468229055,1.55033838749,-0.0126088615507,3.09404230118,0.0
+1475142148934859456,0.00611403817311,0.00521990424022,0.244821146131,1.55075335503,-0.0133197102696,3.09617590904,0.0
+1475142149018934651,0.00611403910443,0.00521902320907,0.244451984763,1.55144834518,-0.0134545974433,3.09415054321,0.0
+1475142149105252645,0.0060873683542,0.00522827729583,0.244029194117,1.55163240433,-0.0151062626392,3.09196591377,0.0
+1475142149184337502,0.00607175566256,0.00522468937561,0.24352529645,1.55123376846,-0.0147896390408,3.09219884872,0.0
+1475142149259112799,0.00606438145041,0.00521176541224,0.243152305484,1.55105233192,-0.0151567868888,3.09097981453,0.0
+1475142149337981909,0.0060479757376,0.00516407750547,0.242726564407,1.5504399538,-0.0148075036705,3.09375953674,0.0
+1475142149411099714,0.00599614810199,0.00516092590988,0.242170259356,1.55091798306,-0.0118980593979,3.09236550331,0.0
+1475142149485167295,0.00596467033029,0.00515999365598,0.24156332016,1.55148792267,-0.0102917114273,3.09067130089,0.0
+1475142149563447084,0.00599218625575,0.00514182401821,0.241227552295,1.55146682262,-0.0170399080962,3.09273076057,0.0
+1475142149642101039,0.00597433233634,0.00512353377417,0.240853279829,1.55090069771,-0.0155145274475,3.09308743477,0.0
+1475142149720688357,0.00595364999026,0.00508927088231,0.240203127265,1.55098307133,-0.0164791420102,3.09343504906,0.0
+1475142149801778514,0.00589966028929,0.00508547946811,0.239833265543,1.5509647131,-0.0112585704774,3.09186410904,0.0
+1475142149880911621,0.005877120886,0.00508531229571,0.239459708333,1.5517936945,-0.0120568601415,3.09090423584,0.0
+1475142149962118279,0.00591358123347,0.00505468714982,0.239061430097,1.55152869225,-0.0163783654571,3.09270167351,0.0
+1475142150038238465,0.0058952793479,0.00505750160664,0.23846270144,1.55113685131,-0.0172232277691,3.09351158142,0.0
+1475142150118538813,0.00580836599693,0.00497850542888,0.235607713461,1.55075597763,-0.00122060975991,3.090280056,0.0
+1475142150190669226,0.00589260319248,0.00491573987529,0.23422139883,1.5503578186,-0.0064980708994,3.09320664406,0.0
+1475142150264911392,0.00583088863641,0.00492784520611,0.233957394958,1.55070436001,-0.0068965414539,3.09118533134,0.0
+1475142150344775307,0.00573203060776,0.00497811194509,0.234635531902,1.55127179623,-0.0053277015686,3.08642435074,0.0
+1475142150420783838,0.00574008468539,0.00491426419467,0.234066009521,1.55085480213,-0.00565062090755,3.09148931503,0.0
+1475142150500145187,0.00573491398245,0.0049015302211,0.233707755804,1.55079305172,-0.00736437924206,3.0933868885,0.0
+1475142150577187334,0.00571825914085,0.00488803815097,0.233348250389,1.55084574223,-0.00734519120306,3.09378671646,0.0
+1475142150656853957,0.00571138784289,0.00488860486075,0.232941791415,1.55068874359,-0.00842598732561,3.09360170364,0.0
+1475142150731802963,0.00566634302959,0.00489753298461,0.232388079166,1.550968647,-0.00668460363522,3.08923959732,0.0
+1475142150806351502,0.00567092467099,0.00489100581035,0.231966480613,1.55086839199,-0.0077344798483,3.08804035187,0.0
+1475142150883941768,0.00565050868317,0.00483912695199,0.231479763985,1.55099928379,-0.00584289105609,3.09303617477,0.0
+1475142150964577839,0.00563289830461,0.00482173729688,0.23107431829,1.55107331276,-0.00542353326455,3.09398269653,0.0
+1475142151041828159,0.00563816446811,0.00483510456979,0.23066945374,1.55133616924,-0.00968481879681,3.09110021591,0.0
+1475142151117187638,0.00562247959897,0.00481978850439,0.230495125055,1.55135405064,-0.00856132246554,3.08890557289,0.0
+1475142151191699239,0.00562004186213,0.0047690612264,0.230090364814,1.55150675774,-0.0118565168232,3.0862569809,0.0
+1475142151270741607,0.00560287060216,0.00473470520228,0.229885950685,1.55146539211,-0.00963206309825,3.08750319481,0.0
+1475142151351806391,0.00557738076895,0.00473857205361,0.230309858918,1.55122661591,-0.0105107631534,3.08851456642,0.0
+1475142151426507029,0.00562453316525,0.00452745193616,0.231639459729,1.55059170723,-0.0125687047839,3.09633827209,0.0
+1475142151504087132,0.00565110798925,0.00454980414361,0.23167386651,1.55037784576,-0.0162483565509,3.09226417542,0.0
+1475142151582539021,0.00563946226612,0.00456779683009,0.231570288539,1.55074322224,-0.0157214533538,3.09348940849,0.0
+1475142151661524495,0.00558099104092,0.00469532888383,0.23085655272,1.55054533482,-0.00320442020893,3.09313225746,0.0
+1475142151739207800,0.00551702175289,0.00471856351942,0.228983581066,1.55070924759,-0.00348336994648,3.09350275993,0.0
+1475142151829599415,0.00553420558572,0.00481161568314,0.228774651885,1.55069732666,-0.00588161172345,3.09225463867,0.0
+1475142151907251074,0.00551853422076,0.00495262630284,0.228350877762,1.55114018917,-0.0052457829006,3.08850574493,0.0
+1475142151983689976,0.00546663952991,0.00500721903518,0.228020340204,1.550827384,-0.00219287071377,3.08905792236,0.0
+1475142152061302308,0.00549402600154,0.00504204584286,0.227764204144,1.55115282536,-0.00540864327922,3.08989429474,0.0
+1475142152147728749,0.00551796425134,0.0050540631637,0.227395132184,1.55105948448,-0.00967352930456,3.09032559395,0.0
+1475142152222621664,0.00549600552768,0.00497377384454,0.227291464806,1.55097568035,-0.00869601406157,3.09125638008,0.0
+1475142152302854794,0.00549050839618,0.00475996686146,0.22730229795,1.55065858364,-0.00756394024938,3.09202480316,0.0
+1475142152379494297,0.00551108783111,0.00450662476942,0.227229058743,1.55074596405,-0.0105057405308,3.09076142311,0.0
+1475142152457213070,0.00545221846551,0.00462941359729,0.227207750082,1.55032360554,-0.00523556163535,3.09337973595,0.0
+1475142152534359734,0.00544888339937,0.00489699374884,0.227222159505,1.54990196228,-0.00707995845005,3.09359335899,0.0
+1475142152612292425,0.00544707290828,0.0050782985054,0.22718898952,1.55022335052,-0.00771259889007,3.09293556213,0.0
+1475142152687605888,0.00543671613559,0.00567412935197,0.227179571986,1.54956483841,-0.00552171096206,3.09400105476,0.0
+1475142152763218940,0.0054598255083,0.00611324934289,0.227100029588,1.55026257038,-0.00798717234284,3.09333062172,0.0
+1475142152841719462,0.00545008899644,0.0062214974314,0.2269769907,1.55089056492,-0.00763577176258,3.0925424099,0.0
+1475142152914539777,0.00546694966033,0.00611494062468,0.226900279522,1.55080115795,-0.00983991473913,3.09194231033,0.0
+1475142152991609373,0.00543178105727,0.00618272367865,0.2266831249,1.55081391335,-0.00755723984912,3.09130454063,0.0
+1475142153070219060,0.00542624061927,0.00616788165644,0.226723894477,1.55071163177,-0.00566237745807,3.09288144112,0.0
+1475142153145978054,0.00545708695427,0.00608439883217,0.22664617002,1.55061328411,-0.0108615355566,3.09292840958,0.0
+1475142153221103234,0.00542085245252,0.00594465294853,0.226531296968,1.55122435093,-0.00566507736221,3.09109091759,0.0
+1475142153301664104,0.00541646406054,0.00600914284587,0.226408064365,1.55087399483,-0.0090667642653,3.09073615074,0.0
+1475142153379765739,0.00540415057912,0.00615543220192,0.22630096972,1.55073165894,-0.00694102561101,3.08973622322,0.0
+1475142153456380563,0.00539053557441,0.00655166013166,0.226185008883,1.55070602894,-0.00536441104487,3.08912467957,0.0
+1475142153535304204,0.00540171004832,0.00689879152924,0.226220086217,1.55049753189,-0.00726709747687,3.09024858475,0.0
+1475142153611060073,0.00539211276919,0.00730926077813,0.226129859686,1.55063211918,-0.00589014915749,3.09237980843,0.0
+1475142153700403920,0.00539489462972,0.00781297404319,0.225996598601,1.55125164986,-0.00642806198448,3.09154868126,0.0
+1475142153778472515,0.00539038144052,0.00787265971303,0.225814148784,1.55154561996,-0.00708041526377,3.09171485901,0.0
+1475142153857970817,0.0053573618643,0.00790200103074,0.225705996156,1.55096256733,-0.00493686366826,3.09389472008,0.0
+1475142153935581416,0.0053653200157,0.00795198511332,0.225803643465,1.55048525333,-0.00793880224228,3.09631252289,0.0
+1475142154020567450,0.00537760742009,0.00812529120594,0.226454153657,1.55131971836,-0.0110200252384,3.09178590775,0.0
+1475142154101596516,0.00536156911403,0.00820025242865,0.22597438097,1.55153656006,-0.0108614256606,3.09313058853,0.0
+1475142154183119714,0.00532311480492,0.00820874795318,0.225601270795,1.55091154575,-0.00872644316405,3.09445953369,0.0
+1475142154265348789,0.00531421136111,0.00825166422874,0.225209638476,1.55104160309,-0.0104985488579,3.09059596062,0.0
+1475142154342294739,0.00524912215769,0.0081772049889,0.222709834576,1.55080664158,-0.0060203471221,3.09055876732,0.0
+1475142154426237652,0.00524887628853,0.00819484889507,0.222350001335,1.55120825768,-0.00820809975266,3.08797454834,0.0
+1475142154509471989,0.00524612795562,0.0081630712375,0.221786737442,1.55090343952,-0.00878212507814,3.09287548065,0.0
+1475142154585582059,0.00520214252174,0.00814804527909,0.221458554268,1.55104482174,-0.00519620301202,3.09545111656,0.0
+1475142154672438226,0.00519267842174,0.00814513675869,0.221085324883,1.55083835125,-0.0039412425831,3.09566879272,0.0
+1475142154748948113,0.0051630246453,0.00820584502071,0.220430925488,1.55133402348,-0.00690367119387,3.08836460114,0.0
+1475142154824927861,0.00517412787303,0.00819264072925,0.220076993108,1.55133676529,-0.00907803606242,3.09010267258,0.0
+1475142154905843727,0.00514569599181,0.00815114658326,0.219567477703,1.55091106892,-0.00810485053807,3.09443712234,0.0
+1475142154980969438,0.00509302411228,0.00816267542541,0.219181701541,1.55084681511,-0.00316827441566,3.09277820587,0.0
+1475142155056327812,0.00510562025011,0.00818049442023,0.218510881066,1.55189657211,-0.00863665156066,3.08995652199,0.0
+1475142155135536163,0.00509509304538,0.0081710005179,0.218202456832,1.55128598213,-0.00856338720769,3.09104752541,0.0
+1475142155209037362,0.00509039964527,0.00814891513437,0.217821598053,1.55073881149,-0.0098568899557,3.09238529205,0.0
+1475142155285135645,0.00504104886204,0.00813100021333,0.217269971967,1.55055546761,-0.00580308446661,3.09218883514,0.0
+1475142155366129200,0.00499867787585,0.00814014580101,0.21685063839,1.55150532722,-0.00330527103506,3.08984780312,0.0
+1475142155444773344,0.00500775827095,0.00811297725886,0.21642999351,1.551679492,-0.00600679125637,3.09129071236,0.0
+1475142155521206033,0.00501266727224,0.0081018153578,0.216139122844,1.55115711689,-0.00739726191387,3.09215831757,0.0
+1475142155599152668,0.00498103303835,0.00807499419898,0.215695351362,1.55073058605,-0.00977148674428,3.09330773354,0.0
+1475142155677339090,0.00496563408524,0.00808287411928,0.216162160039,1.55070817471,-0.0115697309375,3.09659290314,0.0
+1475142155759386139,0.00495607079938,0.00814201217145,0.216546773911,1.55120289326,-0.00956627260894,3.09129428864,0.0
+1475142155833680141,0.00487892702222,0.00811678543687,0.216043308377,1.55140376091,-0.00952203478664,3.09174346924,0.0
+1475142155912861808,0.00484264688566,0.00809125509113,0.215769380331,1.55168092251,-0.0126875732094,3.09287309647,0.0
+1475142155988749176,0.00467063998803,0.00801957305521,0.213916376233,1.55137443542,-0.00491411052644,3.09163498878,0.0
+1475142156064262767,0.00449276622385,0.00800020620227,0.212958678603,1.5517270565,-0.00427308026701,3.08907818794,0.0
+1475142156144140966,0.0044063879177,0.00798695441335,0.212647750974,1.5513869524,-0.00845427066088,3.09411668777,0.0
+1475142156219956948,0.00428025284782,0.00801973883063,0.212148085237,1.55172717571,-0.00848406087607,3.08996844292,0.0
+1475142156298925187,0.00411731004715,0.00805601850152,0.211412832141,1.55117356777,-0.00643895054236,3.08988642693,0.0
+1475142156377361700,0.00415731081739,0.0081245508045,0.21132452786,1.55158984661,-0.00926548521966,3.08922553062,0.0
+1475142156454448003,0.00416158232838,0.0082163149491,0.21133671701,1.55121290684,-0.00751917157322,3.09110951424,0.0
+1475142156528994508,0.00394258927554,0.00841535627842,0.209971338511,1.5514601469,-0.00229164166376,3.08850288391,0.0
+1475142156608450811,0.00387833663262,0.00841163657606,0.208933889866,1.55095934868,-0.00832475814968,3.09493088722,0.0
+1475142156682767859,0.0039089852944,0.00842026155442,0.208979874849,1.55063247681,-0.00755254644901,3.09525084496,0.0
+1475142156758043198,0.00389427179471,0.00844181515276,0.208396077156,1.55132436752,-0.00936200655997,3.08896660805,0.0
+1475142156836169900,0.0038741491735,0.00841780379415,0.207982987165,1.55140209198,-0.00848154164851,3.09211421013,0.0
+1475142156918771204,0.00384736293927,0.00837880838662,0.207715541124,1.55139219761,-0.00604941044003,3.09445095062,0.0
+1475142156995604644,0.00380473886617,0.00838202331215,0.207107841969,1.55098819733,-0.00527386507019,3.09294247627,0.0
+1475142157070856650,0.00378204416484,0.00840044766665,0.206738099456,1.55126392841,-0.00480637094006,3.08978939056,0.0
+1475142157148701559,0.00380032369867,0.0083970585838,0.206530839205,1.55145740509,-0.0107953520492,3.09186816216,0.0
+1475142157223582510,0.00377313769422,0.00840851850808,0.206781193614,1.55128669739,-0.0108188437298,3.09361934662,0.0
+1475142157304466616,0.00374168599956,0.00843650195748,0.20703369379,1.55134153366,-0.00890397280455,3.09057331085,0.0
+1475142157380070858,0.00375229422934,0.00842997990549,0.206820622087,1.55137467384,-0.00934967864305,3.09348773956,0.0
+1475142157459454246,0.00375291868113,0.00844417139888,0.206307917833,1.55091583729,-0.0120423380286,3.09427547455,0.0
+1475142157537434686,0.00369062251411,0.00840187072754,0.204257622361,1.55066883564,-0.00689696799964,3.096098423,0.0
+1475142157614736566,0.00367419584654,0.008470159024,0.203465223312,1.55136728287,-0.000677873671521,3.0897231102,0.0
+1475142157690122361,0.00365737918764,0.00852314289659,0.203243359923,1.55117952824,-0.00691113248467,3.09190607071,0.0
diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt
new file mode 100644
index 00000000..cc8189f3
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.266_.0003_.014_R.txt
@@ -0,0 +1,317 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475075957064902248,0.15,-0.184407729638,0.0,0.0,0.0,0.0638448476791
+1475075957159206090,0.15,-0.120837180867,0.0,0.0,0.0,0.0638448476791
+1475075957241980452,0.15,-0.12027465842,0.0,0.0,0.0,0.0635328173637
+1475075957324410130,0.15,-0.120486897947,0.0,0.0,0.0,0.0635328173637
+1475075957405264514,0.15,-0.121076628186,0.0,0.0,0.0,0.0638448476791
+1475075957490064357,0.15,-0.119659255481,0.0,0.0,0.0,0.0631813287735
+1475075957575332152,0.15,-0.120753896713,0.0,0.0,0.0,0.0635328173637
+1475075957655931971,0.15,-0.120541222476,0.0,0.0,0.0,0.0635328173637
+1475075957737351409,0.15,0.284926189014,0.0,0.0,0.0,-0.115901899338
+1475075957814965900,0.15,-0.266585894964,0.0,0.0,0.0,0.0670594453812
+1475075957897882955,0.15,-0.0746335340241,0.0,0.0,0.0,0.0448881864548
+1475075957982350095,0.15,-0.113491099476,0.0,0.0,0.0,0.0556777596474
+1475075958063687344,0.15,-0.111561374747,0.0,0.0,0.0,0.0584391832352
+1475075958147056709,0.15,-0.0655442758602,0.0,0.0,0.0,0.0390944957733
+1475075958224175106,0.15,-0.0912837174714,0.0,0.0,0.0,0.0442137598991
+1475075958305692687,0.15,-0.112635719875,0.0,0.0,0.0,0.057371544838
+1475075958387770815,0.15,-0.114119301562,0.0,0.0,0.0,0.0627949714661
+1475075958471177226,0.15,0.213881121932,0.0,0.0,0.0,-0.0887065052986
+1475075958554516329,0.15,0.119415222491,0.0,0.0,0.0,-0.097891998291
+1475075958631160182,0.15,-0.224142819095,0.0,0.0,0.0,0.0652463912964
+1475075958714172413,0.15,-0.0760491189376,0.0,0.0,0.0,0.0509794235229
+1475075958798447104,0.15,-0.0979312863041,0.0,0.0,0.0,0.0572800517082
+1475075958877157297,0.15,-0.0960336449374,0.0,0.0,0.0,0.0590580582619
+1475075958954170281,0.15,-0.0906730436237,0.0,0.0,0.0,0.0594310641289
+1475075959038913859,0.15,-0.0539648860945,0.0,0.0,0.0,0.0400633692741
+1475075959127164506,0.15,-0.0686501839809,0.0,0.0,0.0,0.0417915463448
+1475075959209746087,0.15,-0.0205849165141,0.0,0.0,0.0,0.0180308103561
+1475075959288273863,0.15,-0.0875416227078,0.0,0.0,0.0,0.046157169342
+1475075959364665353,0.15,-0.0893872531736,0.0,0.0,0.0,0.0575967311859
+1475075959442204463,0.15,-0.0518486149189,0.0,0.0,0.0,0.0419230937958
+1475075959517365819,0.15,-0.0532490426354,0.0,0.0,0.0,0.0377541661263
+1475075959605295945,0.15,0.132549401371,0.0,0.0,0.0,-0.0623731732368
+1475075959684746844,0.15,0.0718996803949,0.0,0.0,0.0,-0.0647016882896
+1475075959770829636,0.15,-0.150106597398,0.0,0.0,0.0,0.0561668157578
+1475075959860381315,0.15,-0.0664176747074,0.0,0.0,0.0,0.0527915239334
+1475075959943418705,0.15,-0.0578033406082,0.0,0.0,0.0,0.0470608353615
+1475075960018702264,0.15,-0.0354175463905,0.0,0.0,0.0,0.0328405380249
+1475075960103382474,0.15,-0.0675062364065,0.0,0.0,0.0,0.0472330927849
+1475075960186175473,0.15,-0.0450160541046,0.0,0.0,0.0,0.0397590279579
+1475075960264104450,0.15,-0.0671916700745,0.0,0.0,0.0,0.0509034276009
+1475075960344568293,0.15,-0.0390741611711,0.0,0.0,0.0,0.0387717962265
+1475075960420723447,0.15,-0.0348711111098,0.0,0.0,0.0,0.0326508164406
+1475075960501210355,0.15,0.107824066994,0.0,0.0,0.0,-0.0556464314461
+1475075960581558373,0.15,-0.0680589462944,0.0,0.0,0.0,0.0211073040962
+1475075960656294175,0.15,-0.0438025567347,0.0,0.0,0.0,0.033399271965
+1475075960731602338,0.15,-0.0520948123341,0.0,0.0,0.0,0.0440875172615
+1475075960808408206,0.15,-0.0427311976438,0.0,0.0,0.0,0.0418100833893
+1475075960890432165,0.15,-0.0363583821637,0.0,0.0,0.0,0.0378512620926
+1475075960970175044,0.15,-0.0298526495647,0.0,0.0,0.0,0.0326296567917
+1475075961049384728,0.15,-0.0282723375208,0.0,0.0,0.0,0.0296352982521
+1475075961124887407,0.15,0.0757532462155,0.0,0.0,0.0,-0.0397266864777
+1475075961204533889,0.15,-0.070037009796,0.0,0.0,0.0,0.0336497306824
+1475075961280743048,0.15,-0.0342319125916,0.0,0.0,0.0,0.0354413866997
+1475075961363698309,0.15,-0.0117231055066,0.0,0.0,0.0,0.0209874987602
+1475075961450888679,0.15,0.0412851376652,0.0,0.0,0.0,-0.0201612830162
+1475075961533165289,0.15,-0.0534918426732,0.0,0.0,0.0,0.0319375276566
+1475075961612881432,0.15,0.0656844088713,0.0,0.0,0.0,-0.0342668414116
+1475075961698344842,0.15,-0.0566912122539,0.0,0.0,0.0,0.0307568192482
+1475075961788750816,0.15,0.0596279308298,0.0,0.0,0.0,-0.0310478329659
+1475075961869839358,0.15,-0.0554641490295,0.0,0.0,0.0,0.032580780983
+1475075961949612764,0.15,-0.0196960850611,0.0,0.0,0.0,0.028534758091
+1475075962024880117,0.15,-0.0129841014674,0.0,0.0,0.0,0.0225846648216
+1475075962106210924,0.15,-0.0283008347091,0.0,0.0,0.0,0.0328217625618
+1475075962187657162,0.15,0.0449024744045,0.0,0.0,0.0,-0.0206154704094
+1475075962274259184,0.15,-0.0465131180713,0.0,0.0,0.0,0.0335403561592
+1475075962356537837,0.15,-0.0205624727518,0.0,0.0,0.0,0.0327991127968
+1475075962433273290,0.15,-0.0162211030045,0.0,0.0,0.0,0.0290608882904
+1475075962514567316,0.15,-0.00784611368874,0.0,0.0,0.0,0.0210355997086
+1475075962593605238,0.15,0.0381075968449,0.0,0.0,0.0,-0.0206545114517
+1475075962673489113,0.15,-0.0306136025071,0.0,0.0,0.0,0.0243297100067
+1475075962754327948,0.15,-0.0266113244627,0.0,0.0,0.0,0.0373927235603
+1475075962837118460,0.15,0.0042388988937,0.0,0.0,0.0,0.0146481275558
+1475075962916750510,0.15,-0.0109442921792,0.0,0.0,0.0,0.0208521962166
+1475075963004521349,0.15,-0.00741544467377,0.0,0.0,0.0,0.0200235724449
+1475075963080174173,0.15,-0.00642795950043,0.0,0.0,0.0,0.0193530201912
+1475075963161950255,0.15,0.00546565175056,0.0,0.0,0.0,0.00793950557709
+1475075963237551418,0.15,-0.0147607666329,0.0,0.0,0.0,0.0237669825554
+1475075963324254124,0.15,-0.00836965224271,0.0,0.0,0.0,0.0236594557762
+1475075963402708980,0.15,-0.00974561357567,0.0,0.0,0.0,0.0253393530846
+1475075963479569222,0.15,-0.0129889519976,0.0,0.0,0.0,0.0299563884735
+1475075963557955805,0.15,-0.00165579515394,0.0,0.0,0.0,0.0198867797852
+1475075963637291297,0.15,-0.0084178667231,0.0,0.0,0.0,0.0238234877586
+1475075963715212899,0.15,-0.00113811074422,0.0,0.0,0.0,0.0179903388023
+1475075963795183674,0.15,-0.0037845636393,0.0,0.0,0.0,0.0190194129944
+1475075963868936818,0.15,-0.00358523534513,0.0,0.0,0.0,0.0196855545044
+1475075963948397326,0.15,-0.00702395182505,0.0,0.0,0.0,0.0241154909134
+1475075964025475908,0.15,-0.00641669256095,0.0,0.0,0.0,0.0253949642181
+1475075964103619960,0.15,-0.00117813355786,0.0,0.0,0.0,0.0200316786766
+1475075964182665533,0.15,-0.000465680522415,0.0,0.0,0.0,0.0173869609833
+1475075964259310674,0.15,0.0,0.0,0.0,0.0,0.0167767882347
+1475075964339755361,0.15,-0.00362209119136,0.0,0.0,0.0,0.0213225364685
+1475075964416414928,0.15,-0.000416007041591,0.0,0.0,0.0,0.0186469435692
+1475075964495512098,0.15,0.00161396754544,0.0,0.0,0.0,0.0150883078575
+1475075964575527035,0.15,0.0,0.0,0.0,0.0,0.0184483408928
+1475075964653389978,0.15,0.0,0.0,0.0,0.0,0.0186927199364
+1475075964735600299,0.15,2.91798342296e-05,0.0,0.0,0.0,0.0172189950943
+1475075964822273646,0.15,0.00324054855602,0.0,0.0,0.0,0.0131904959679
+1475075964904780758,0.15,0.000190210839151,0.0,0.0,0.0,0.0166321277618
+1475075964983370542,0.15,-0.000196769413681,0.0,0.0,0.0,0.018986928463
+1475075965061784935,0.0,0.000689256811253,0.0,0.0,0.0,0.018623816967
+1475075965145414700,0.0,0.00203564677087,0.0,0.0,0.0,0.0164089679718
+1475075965224183211,0.0,0.00141590190476,0.0,0.0,0.0,0.0171852588654
+1475075965298367933,0.0,0.00249708831131,0.0,0.0,0.0,0.0156162858009
+1475075965377316707,0.0,0.00200541396946,0.0,0.0,0.0,0.0165051102638
+1475075965455170930,0.0,0.00359565063426,0.0,0.0,0.0,0.0139865756035
+1475075965529457891,0.0,0.00268602474257,0.0,0.0,0.0,0.0154058814049
+1475075965607128405,0.0,0.00310355018931,0.0,0.0,0.0,0.0153273820877
+1475075965690432371,0.0,0.00274065774001,0.0,0.0,0.0,0.0161462306976
+1475075965768067597,0.0,0.003152468973,0.0,0.0,0.0,0.0155741453171
+1475075965844006464,0.0,0.00403910989596,0.0,0.0,0.0,0.0133918404579
+1475075965920000805,0.0,0.00358993606854,0.0,0.0,0.0,0.0136660218239
+1475075965994662740,0.0,0.00378102821069,0.0,0.0,0.0,0.0127031683922
+1475075966069763663,0.0,0.00282656783059,0.0,0.0,0.0,0.0136319279671
+1475075966149335956,0.0,0.00217404253169,0.0,0.0,0.0,0.0141706347466
+1475075966231528385,0.0,0.00248928543074,0.0,0.0,0.0,0.0135858535767
+1475075966307446876,0.0,0.00234981792954,0.0,0.0,0.0,0.0129111289978
+1475075966380611407,0.0,0.00245969225529,0.0,0.0,0.0,0.01160364151
+1475075966461677754,0.0,0.00178304665085,0.0,0.0,0.0,0.0119798660278
+1475075966541053355,0.0,0.00187907091135,0.0,0.0,0.0,0.0112039327621
+1475075966619320661,0.0,0.00163100231328,0.0,0.0,0.0,0.0107636928558
+1475075966697857533,0.0,0.00127073852255,0.0,0.0,0.0,0.0107892036438
+1475075966776445497,0.0,0.00111129156067,0.0,0.0,0.0,0.0110115885735
+1475075966855215940,0.0,0.000817135385659,0.0,0.0,0.0,0.0108927369118
+1475075966930145749,0.0,0.000915897094211,0.0,0.0,0.0,0.00999449491501
+1475075967019442515,0.0,0.000713725586913,0.0,0.0,0.0,0.00948302745819
+1475075967102921826,0.0,0.000578588255094,0.0,0.0,0.0,0.00899760723114
+1475075967183980647,0.0,0.000435883141869,0.0,0.0,0.0,0.00869559049606
+1475075967269680246,0.0,0.000504781362893,0.0,0.0,0.0,0.007923412323
+1475075967358603925,0.0,0.000567771295939,0.0,0.0,0.0,0.00699459314346
+1475075967437672780,0.0,0.000451494668898,0.0,0.0,0.0,0.00646667480469
+1475075967517339755,0.0,0.00033516717855,0.0,0.0,0.0,0.00608615875244
+1475075967593100269,0.0,0.000481576797462,0.0,0.0,0.0,0.00521199703217
+1475075967676227550,0.0,0.000631924762815,0.0,0.0,0.0,0.00412117242813
+1475075967768091546,0.0,0.000210488787133,0.0,0.0,0.0,0.00432418584824
+1475075967848687282,0.0,0.0,0.0,0.0,0.0,0.00454674959183
+1475075967929955263,0.0,0.0,0.0,0.0,0.0,0.00417535305023
+1475075968006917559,0.0,0.0,0.0,0.0,0.0,0.00368492603302
+1475075968084851302,0.0,0.0,0.0,0.0,0.0,0.00369845628738
+1475075968162931046,0.0,0.0,0.0,0.0,0.0,0.00256590843201
+1475075968241177403,0.0,0.0,0.0,0.0,0.0,0.00253926515579
+1475075968320124333,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968399854474,0.0,0.0,0.0,0.0,0.0,0.00231306552887
+1475075968477121306,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968553573366,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968632146016,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968709452250,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968791284336,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968869812718,0.006,0.0,0.0,0.0,0.0,0.0
+1475075968952448923,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969034766175,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969113804235,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969190861806,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969271591016,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969348750735,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969427887405,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969508713634,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969584427068,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969663880719,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969739138243,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969816993100,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969896513943,0.006,0.0,0.0,0.0,0.0,0.0
+1475075969979043293,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970068147769,0.0,0.0,0.0,0.0,0.0,0.00272696018219
+1475075970145723512,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970223610085,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970304377101,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970378737641,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970456859698,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970534285715,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970613429313,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970692792352,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970770401868,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970848317631,0.006,0.0,0.0,0.0,0.0,0.0
+1475075970925741598,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971003649872,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971084249534,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971159478615,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971237646772,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971318033228,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971398145310,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971475912003,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971550028962,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971624190894,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971703621796,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971779782914,0.006,0.0,0.0,0.0,0.0,0.0
+1475075971856173533,0.0,0.00021733705774,0.0,0.0,0.0,0.0
+1475075971936952661,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972019080950,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972099169188,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972177109630,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972255142236,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972333993959,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972415366975,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972491459413,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972571491796,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972654749384,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972734545863,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972815700078,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972893728431,0.006,0.0,0.0,0.0,0.0,0.0
+1475075972972909198,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973051787312,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973131895146,0.0,0.000214770069916,0.0,0.0,0.0,0.0
+1475075973210465108,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973292170038,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973373190803,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973455165399,0.0,0.000234650040478,0.0,0.0,0.0,0.0
+1475075973535072899,0.0,0.000659760628247,0.0,0.0,0.0,0.0
+1475075973614046372,0.0,0.000369755288073,0.0,0.0,0.0,0.0
+1475075973695837645,0.0,0.000168891282605,0.0,0.0,0.0,0.0
+1475075973775040617,0.006,0.0,0.0,0.0,0.0,0.0
+1475075973853458532,0.0,0.000231959230336,0.0,0.0,0.0,0.0
+1475075973930813881,0.0,0.000492360864791,0.0,0.0,0.0,0.0
+1475075974008585689,0.0,0.0005615050882,0.0,0.0,0.0,0.0
+1475075974087245240,0.0,0.000241925948915,0.0,0.0,0.0,0.0
+1475075974165832074,0.006,0.0,0.0,0.0,0.0,0.0
+1475075974241430516,0.006,0.0,0.0,0.0,0.0,0.0
+1475075974316457135,0.0,0.000139763075722,0.0,0.0,0.0,0.0
+1475075974391624319,0.0,0.000344066512814,0.0,0.0,0.0,0.0
+1475075974474566093,0.0,0.000326857616397,0.0,0.0,0.0,0.0
+1475075974550443714,0.0,0.000289607781256,0.0,0.0,0.0,0.0
+1475075974628083933,0.006,0.0,0.0,0.0,0.0,0.0
+1475075974704841384,0.0,0.000321366859565,0.0,0.0,0.0,0.0
+1475075974780057835,0.0,0.000188620481561,0.0,0.0,0.0,0.0
+1475075974858766306,0.006,0.0,0.0,0.0,0.0,0.0
+1475075974936468264,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975013188572,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975092686580,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975172339171,0.0,0.000238942201144,0.0,0.0,0.0,0.0
+1475075975253649201,0.0,0.000209910430237,0.0,0.0,0.0,0.0
+1475075975332827108,0.0,0.000254752096955,0.0,0.0,0.0,0.0
+1475075975415069524,0.0,0.000159629024606,0.0,0.0,0.0,0.0
+1475075975490837329,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975567862601,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975648449162,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975728581411,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975805683729,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975883754466,0.006,0.0,0.0,0.0,0.0,0.0
+1475075975963406442,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976038271755,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976114234431,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976193716154,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976269798846,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976353430865,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976433641363,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976512246360,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976593820767,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976670160574,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976744306822,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976821923537,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976901216532,0.006,0.0,0.0,0.0,0.0,0.0
+1475075976977627174,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977066925304,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977146647214,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977223960479,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977301514536,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977382275708,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977460303937,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977539837802,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977619545556,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977694068302,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977781920566,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977863791216,0.006,0.0,0.0,0.0,0.0,0.0
+1475075977943638631,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978019208266,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978095917541,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978173671357,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978249376673,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978323889627,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978400336656,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978474650159,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978558137446,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978631251403,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978710588999,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978788670147,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978869331224,0.006,0.0,0.0,0.0,0.0,0.0
+1475075978947435226,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979028086541,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979104569715,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979179540108,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979253452621,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979327187221,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979411006412,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979491002153,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979577098754,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979651636304,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979729748819,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979805245478,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979882547727,0.006,0.0,0.0,0.0,0.0,0.0
+1475075979960892556,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980034386686,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980107059749,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980187116782,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980266647142,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980343696540,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980417255728,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980492330474,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980570386632,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980644241220,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980718422759,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980795914328,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980872381119,0.006,0.0,0.0,0.0,0.0,0.0
+1475075980952768705,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981029198135,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981115583424,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981196083444,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981270677379,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981346552722,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981424964709,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981502413642,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981582965072,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981657581263,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981734987681,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981808016796,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981884065091,0.006,0.0,0.0,0.0,0.0,0.0
+1475075981962251498,0.006,0.0,0.0,0.0,0.0,0.0
+1475075982042400554,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt b/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
new file mode 100644
index 00000000..82f7cdc0
--- /dev/null
+++ b/Files_4_thesis/x_tANDy_t/vel_PID_.28_0_.006.txt
@@ -0,0 +1,307 @@
+%time,field.linear.x,field.linear.y,field.linear.z,field.angular.x,field.angular.y,field.angular.z
+1475142133471721490,0.15,-0.155687968624,0.0,0.0,0.0,0.0262040376663
+1475142133570973126,0.15,-0.128301917254,0.0,0.0,0.0,0.0262552976608
+1475142133659495245,0.15,-0.132192679193,0.0,0.0,0.0,0.0285806536674
+1475142133746193076,0.15,-0.127596980849,0.0,0.0,0.0,0.0262552976608
+1475142133826791404,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142133912415561,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142133997050948,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142134083427473,0.15,-0.128286335601,0.0,0.0,0.0,0.0262552976608
+1475142134168200746,0.15,-0.139931824612,0.0,0.0,0.0,0.0330161929131
+1475142134249984718,0.15,-0.143723731642,0.0,0.0,0.0,0.03640614748
+1475142134332259419,0.15,0.23602881493,0.0,0.0,0.0,-0.159193885326
+1475142134416533589,0.15,-0.213454988798,0.0,0.0,0.0,0.0412234544754
+1475142134498776413,0.15,-0.113154391044,0.0,0.0,0.0,0.0250136733055
+1475142134579934462,0.15,-0.138385270116,0.0,0.0,0.0,0.0376436591148
+1475142134657142335,0.15,-0.133910724266,0.0,0.0,0.0,0.0394171953201
+1475142134747776448,0.15,-0.102357944053,0.0,0.0,0.0,0.0226619124413
+1475142134826155759,0.15,-0.144368457629,0.0,0.0,0.0,0.0446200251579
+1475142134907310986,0.15,-0.120751795626,0.0,0.0,0.0,0.0371652722359
+1475142134988198593,0.15,0.17820376565,0.0,0.0,0.0,-0.129774224758
+1475142135072319109,0.15,-0.195723697929,0.0,0.0,0.0,0.0539032101631
+1475142135154992991,0.15,-0.120422777599,0.0,0.0,0.0,0.0443633079529
+1475142135252819833,0.15,-0.105699020029,0.0,0.0,0.0,0.0356554865837
+1475142135329530300,0.15,-0.103485268515,0.0,0.0,0.0,0.0345094680786
+1475142135411616147,0.15,-0.112978330946,0.0,0.0,0.0,0.041094648838
+1475142135493560629,0.15,0.143990402556,0.0,0.0,0.0,-0.107922804356
+1475142135575360474,0.15,-0.118206115594,0.0,0.0,0.0,0.0221351265907
+1475142135651258850,0.15,-0.0796729403151,0.0,0.0,0.0,0.0232999205589
+1475142135731797631,0.15,0.141368819191,0.0,0.0,0.0,-0.109394025803
+1475142135807848815,0.15,-0.146995445135,0.0,0.0,0.0,0.0452601790428
+1475142135888388956,0.15,-0.0864026349101,0.0,0.0,0.0,0.0364622950554
+1475142135970802876,0.15,-0.086822130925,0.0,0.0,0.0,0.0370523810387
+1475142136050115060,0.15,-0.0665029397789,0.0,0.0,0.0,0.0244763374329
+1475142136128579280,0.15,-0.0530597061847,0.0,0.0,0.0,0.0151815295219
+1475142136205879608,0.15,-0.0682369124377,0.0,0.0,0.0,0.0248736023903
+1475142136288259688,0.15,-0.0813738200368,0.0,0.0,0.0,0.0361808419228
+1475142136371318149,0.15,-0.0729917296067,0.0,0.0,0.0,0.0340259552002
+1475142136445635874,0.15,-0.0703435920789,0.0,0.0,0.0,0.0340019345284
+1475142136526128148,0.15,0.0892992494306,0.0,0.0,0.0,-0.0722493648529
+1475142136604916341,0.15,-0.0884210900734,0.0,0.0,0.0,0.0292674779892
+1475142136693672150,0.15,-0.0509359643101,0.0,0.0,0.0,0.0235844731331
+1475142136768727897,0.15,-0.0489760074814,0.0,0.0,0.0,0.0217934727669
+1475142136853693751,0.15,-0.0568342666577,0.0,0.0,0.0,0.0289546728134
+1475142136935686875,0.15,-0.0422360109691,0.0,0.0,0.0,0.0200278639793
+1475142137017819243,0.15,-0.0189076901089,0.0,0.0,0.0,0.00235961675644
+1475142137093483555,0.15,-0.0448263192315,0.0,0.0,0.0,0.0192937731743
+1475142137173711199,0.15,-0.0487122657302,0.0,0.0,0.0,0.0263116240501
+1475142137253257243,0.15,-0.0476733868343,0.0,0.0,0.0,0.0276014089584
+1475142137333114330,0.15,0.0771174384362,0.0,0.0,0.0,-0.0651030063629
+1475142137416383976,0.15,-0.0633412427583,0.0,0.0,0.0,0.0254649400711
+1475142137502799845,0.15,-0.028153543694,0.0,0.0,0.0,0.0154856920242
+1475142137582193759,0.15,-0.0329475307045,0.0,0.0,0.0,0.0181248664856
+1475142137663127093,0.15,-0.0419772888073,0.0,0.0,0.0,0.0270905375481
+1475142137739507500,0.15,-0.0380491141541,0.0,0.0,0.0,0.0262326478958
+1475142137821684487,0.15,-0.031794398891,0.0,0.0,0.0,0.0220988273621
+1475142137903391928,0.15,-0.0319519011194,0.0,0.0,0.0,0.0218888998032
+1475142137983771436,0.15,0.0544297489223,0.0,0.0,0.0,-0.0488100171089
+1475142138063736886,0.15,-0.0298774981968,0.0,0.0,0.0,0.00926398038864
+1475142138138984158,0.15,-0.0302559869695,0.0,0.0,0.0,0.0213926315308
+1475142138216828504,0.15,0.0459450451585,0.0,0.0,0.0,-0.0418475389481
+1475142138293193601,0.15,-0.036812122643,0.0,0.0,0.0,0.0192859649658
+1475142138372362827,0.15,-0.0141747143389,0.0,0.0,0.0,0.0111548781395
+1475142138450640074,0.15,-0.0338663982301,0.0,0.0,0.0,0.028385746479
+1475142138531753959,0.15,0.0384891365911,0.0,0.0,0.0,-0.0342036604881
+1475142138612265870,0.15,-0.0238241643728,0.0,0.0,0.0,0.0120314240456
+1475142138691659660,0.15,-0.0138885920697,0.0,0.0,0.0,0.0119547724724
+1475142138773213710,0.15,-0.0108706727644,0.0,0.0,0.0,0.00958781242371
+1475142138854452196,0.15,-0.00243766807156,0.0,0.0,0.0,0.0
+1475142138936079145,0.15,-0.0292603187671,0.0,0.0,0.0,0.0275338768959
+1475142139017747149,0.15,-0.0170440791324,0.0,0.0,0.0,0.0209814190865
+1475142139096989243,0.15,-0.0179822873285,0.0,0.0,0.0,0.021335709095
+1475142139173069922,0.15,-0.00955052009463,0.0,0.0,0.0,0.0133643627167
+1475142139255765006,0.15,-0.00911573526903,0.0,0.0,0.0,0.0123616933823
+1475142139337141801,0.15,-0.00988893896626,0.0,0.0,0.0,0.013450729847
+1475142139419273064,0.15,-0.0175581032908,0.0,0.0,0.0,0.0229226827621
+1475142139504982554,0.15,-0.0097038604047,0.0,0.0,0.0,0.0164586186409
+1475142139589080638,0.15,-0.00590664257991,0.0,0.0,0.0,0.0116683721542
+1475142139672285212,0.15,-0.00917185013903,0.0,0.0,0.0,0.0153034210205
+1475142139756226942,0.15,0.00475609848823,0.0,0.0,0.0,0.0
+1475142139837443598,0.15,-0.0101266086361,0.0,0.0,0.0,0.0154778242111
+1475142139920805614,0.15,-0.00590967418732,0.0,0.0,0.0,0.0135331630707
+1475142139997036025,0.15,-0.0065292888104,0.0,0.0,0.0,0.0145248651505
+1475142140078928026,0.15,-0.00451545933899,0.0,0.0,0.0,0.0125579714775
+1475142140160775246,0.15,-0.00153297227564,0.0,0.0,0.0,0.00899230241776
+1475142140240436572,0.15,-0.00465090712884,0.0,0.0,0.0,0.0127564549446
+1475142140330029605,0.15,-0.00495111652883,0.0,0.0,0.0,0.0145355939865
+1475142140408894596,0.15,-0.00658843698924,0.0,0.0,0.0,0.0175354361534
+1475142140489648760,0.15,-0.00566014544877,0.0,0.0,0.0,0.0176582813263
+1475142140571225329,0.15,-0.00543669332007,0.0,0.0,0.0,0.0177675962448
+1475142140653218300,0.15,-0.00356111025711,0.0,0.0,0.0,0.0159137129784
+1475142140730677924,0.15,-0.0038977095656,0.0,0.0,0.0,0.0164862751961
+1475142140809508577,0.15,-0.00268739188,0.0,0.0,0.0,0.0155179381371
+1475142140888573581,0.15,-0.00319487157694,0.0,0.0,0.0,0.0165468931198
+1475142140965664128,0.15,-0.00365632872296,0.0,0.0,0.0,0.017980325222
+1475142141042178035,0.15,-0.0011625453718,0.0,0.0,0.0,0.0149142026901
+1475142141119066988,0.15,0.0,0.0,0.0,0.0,0.0129239439964
+1475142141194933515,0.15,0.0,0.0,0.0,0.0,0.011970448494
+1475142141273189845,0.15,-0.000927193775816,0.0,0.0,0.0,0.0156455516815
+1475142141349438159,0.15,0.0,0.0,0.0,0.0,0.0137691378593
+1475142141424161793,0.15,0.0,0.0,0.0,0.0,0.0138055562973
+1475142141497930724,0.15,0.00173018951802,0.0,0.0,0.0,0.012349832058
+1475142141577616194,0.15,0.0013943334162,0.0,0.0,0.0,0.0124937176704
+1475142141659489810,0.0,0.00132772200221,0.0,0.0,0.0,0.01302318573
+1475142141733405461,0.0,0.00134613053086,0.0,0.0,0.0,0.0137510180473
+1475142141807621588,0.0,0.00238965986964,0.0,0.0,0.0,0.0119424343109
+1475142141884675794,0.0,0.00231438644394,0.0,0.0,0.0,0.0121669054031
+1475142141962920075,0.0,0.00329541674795,0.0,0.0,0.0,0.010746884346
+1475142142042893663,0.0,0.00372524751081,0.0,0.0,0.0,0.00979678630829
+1475142142122175748,0.0,0.00294647125326,0.0,0.0,0.0,0.0118586301804
+1475142142197165944,0.0,0.00398514729852,0.0,0.0,0.0,0.0103554606438
+1475142142278237445,0.0,0.00406016918606,0.0,0.0,0.0,0.0100839018822
+1475142142356676086,0.0,0.00442911884975,0.0,0.0,0.0,0.0091076374054
+1475142142442007822,0.0,0.00427077339395,0.0,0.0,0.0,0.00925343036652
+1475142142514691739,0.0,0.00385512869756,0.0,0.0,0.0,0.0102985978127
+1475142142594586879,0.0,0.00388973780403,0.0,0.0,0.0,0.0103089690208
+1475142142674089926,0.0,0.00369538516014,0.0,0.0,0.0,0.00998871326447
+1475142142751319782,0.0,0.00381901676047,0.0,0.0,0.0,0.00885175466537
+1475142142826371594,0.0,0.00383002425346,0.0,0.0,0.0,0.00742654800415
+1475142142903075779,0.0,0.00296868545326,0.0,0.0,0.0,0.00886331796646
+1475142142990056891,0.0,0.00358068056508,0.0,0.0,0.0,0.00667773485184
+1475142143072182860,0.0,0.00347315411276,0.0,0.0,0.0,0.00601731538773
+1475142143149154188,0.0,0.00321780962279,0.0,0.0,0.0,0.00566701889038
+1475142143229522192,0.0,0.00308622436953,0.0,0.0,0.0,0.00542347431183
+1475142143305539090,0.0,0.00317036365502,0.0,0.0,0.0,0.00458263158798
+1475142143380535277,0.0,0.00278094091892,0.0,0.0,0.0,0.00459645986557
+1475142143459807260,0.0,0.0029840955743,0.0,0.0,0.0,0.00354276895523
+1475142143540031863,0.0,0.00271965602331,0.0,0.0,0.0,0.00318466424942
+1475142143616983489,0.0,0.00235359222999,0.0,0.0,0.0,0.00366579294205
+1475142143692800049,0.0,0.00226127971571,0.0,0.0,0.0,0.0034912109375
+1475142143768118557,0.0,0.0021120094526,0.0,0.0,0.0,0.0031517624855
+1475142143845780875,0.0,0.00183159158368,0.0,0.0,0.0,0.00349729061127
+1475142143921910982,0.0,0.00178420414984,0.0,0.0,0.0,0.00305794477463
+1475142144002893523,0.0,0.00179143708678,0.0,0.0,0.0,0.00258164405823
+1475142144091051611,0.0,0.0013979650672,0.0,0.0,0.0,0.00327043533325
+1475142144170874870,0.0,0.00161296343452,0.0,0.0,0.0,0.00245289802551
+1475142144246170055,0.0,0.00153510492577,0.0,0.0,0.0,0.0
+1475142144324518847,0.0,0.00129290751903,0.0,0.0,0.0,0.00235586166382
+1475142144400209135,0.0,0.00140526883343,0.0,0.0,0.0,0.0
+1475142144479609432,0.0,0.00100994430068,0.0,0.0,0.0,0.00253604650497
+1475142144554404476,0.0,0.00120575466354,0.0,0.0,0.0,0.0
+1475142144629494577,0.0,0.00114345843611,0.0,0.0,0.0,0.0
+1475142144708909650,0.0,0.00113500582165,0.0,0.0,0.0,0.0
+1475142144787752832,0.0,0.000941105148891,0.0,0.0,0.0,0.0
+1475142144865699946,0.0,0.000856280365415,0.0,0.0,0.0,0.0
+1475142144941927274,0.0,0.000999504463935,0.0,0.0,0.0,0.0
+1475142145023814115,0.0,0.000662548983416,0.0,0.0,0.0,0.0
+1475142145103931305,0.0,0.001057595097,0.0,0.0,0.0,0.0
+1475142145188968120,0.0,0.000627531165609,0.0,0.0,0.0,0.0
+1475142145263861391,0.0,0.000588784894329,0.0,0.0,0.0,0.0
+1475142145342904307,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145429073400,0.0,0.000710142421051,0.0,0.0,0.0,0.0
+1475142145508183661,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145585688686,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145665702140,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145744820004,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145823729876,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145899860226,0.006,0.0,0.0,0.0,0.0,0.0
+1475142145973245649,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146056231858,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146134545831,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146214539540,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146293147469,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146369181012,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146446917240,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146524739666,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146606044397,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146680182687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146768794597,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146849067832,0.006,0.0,0.0,0.0,0.0,0.0
+1475142146929082947,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147009663336,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147085163986,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147163415354,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147242462893,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147319819681,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147398398141,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147476422278,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147552371493,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147631685535,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147711519576,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147788973270,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147867645984,0.006,0.0,0.0,0.0,0.0,0.0
+1475142147943632791,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148021626178,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148100145924,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148177704162,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148256833442,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148334478081,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148414398790,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148493726177,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148578778565,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148657711598,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148734881082,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148815566119,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148891486155,0.006,0.0,0.0,0.0,0.0,0.0
+1475142148973411665,0.0,0.000589623150033,0.0,0.0,0.0,0.0
+1475142149064459928,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149144724068,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149223853335,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149297931845,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149376310196,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149449624572,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149524209242,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149603068953,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149680556333,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149759873797,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149841070346,0.006,0.0,0.0,0.0,0.0,0.0
+1475142149920159597,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150000752211,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150077074997,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150156601903,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150230151420,0.0,0.000638649781636,0.0,0.0,0.0,0.0
+1475142150304145080,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150385385340,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150459206998,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150539809853,0.0,0.000660748762061,0.0,0.0,0.0,0.0
+1475142150616061821,0.0,0.000698009869149,0.0,0.0,0.0,0.0
+1475142150695615738,0.0,0.000682366101543,0.0,0.0,0.0,0.0
+1475142150770427542,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150844783293,0.006,0.0,0.0,0.0,0.0,0.0
+1475142150923803646,0.0,0.000680052568458,0.0,0.0,0.0,0.0
+1475142151004133144,0.0,0.000767516193883,0.0,0.0,0.0,0.0
+1475142151081311703,0.0,0.000528648362622,0.0,0.0,0.0,0.0
+1475142151156405734,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151231279284,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151309822758,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151391688404,0.006,0.0,0.0,0.0,0.0,0.0
+1475142151465010512,0.0,0.00106759831459,0.0,0.0,0.0,0.0
+1475142151543468128,0.0,0.000651074044113,0.0,0.0,0.0,0.0
+1475142151620977846,0.0,0.000800909630308,0.0,0.0,0.0,0.0
+1475142151700006310,0.0,0.000725079302019,0.0,0.0,0.0,0.0
+1475142151777886309,0.0,0.000787340125981,0.0,0.0,0.0,0.0
+1475142151870550898,0.0,0.000653154596674,0.0,0.0,0.0,0.0
+1475142151946318114,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152023744033,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152100044697,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152186474047,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152262622870,0.0,0.000568062079831,0.0,0.0,0.0,0.0
+1475142152341605932,0.0,0.000718639524416,0.0,0.0,0.0,0.0
+1475142152418747821,0.0,0.000685282582733,0.0,0.0,0.0,0.0
+1475142152495781849,0.0,0.000847556879145,0.0,0.0,0.0,0.0
+1475142152573783925,0.0,0.000744595163991,0.0,0.0,0.0,0.0
+1475142152651924755,0.0,0.000646038644495,0.0,0.0,0.0,0.0
+1475142152727187669,0.0,0.000545674023379,0.0,0.0,0.0,0.0
+1475142152802758013,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152879881730,0.006,0.0,0.0,0.0,0.0,0.0
+1475142152953942353,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153030596580,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153108842184,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153190287439,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153259546499,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153340348822,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153419016989,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153496069289,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153574790725,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153655389607,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153739824557,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153817246184,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153896543342,0.006,0.0,0.0,0.0,0.0,0.0
+1475142153975234021,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154064103262,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154141142752,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154222900456,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154304811908,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154387144456,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154465466189,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154549714633,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154625609283,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154712932180,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154787736160,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154867972884,0.006,0.0,0.0,0.0,0.0,0.0
+1475142154944966231,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155020058842,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155095873929,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155173896307,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155247306781,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155324992957,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155404809575,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155484563125,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155559212047,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155644223617,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155716222705,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155797941441,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155873800089,0.006,0.0,0.0,0.0,0.0,0.0
+1475142155953095239,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156027478701,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156104472843,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156183714217,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156258737460,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156337525374,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156416726544,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156492824983,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156568134409,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156647791105,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156722422302,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156797309687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156876089362,0.006,0.0,0.0,0.0,0.0,0.0
+1475142156958304971,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157033864526,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157109648368,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157188440552,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157262892129,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157344298733,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157419386687,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157499216171,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157576136358,0.006,0.0,0.0,0.0,0.0,0.0
+1475142157653971086,0.006,0.0,0.0,0.0,0.0,0.0
diff --git a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
index f870a868..bbc9d166 100644
--- a/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
+++ b/Files_4_thesis/x_tANDy_t/y_tANDx_t.m
@@ -13,9 +13,14 @@ clear all;
 
 % Pose_Matrix_data_4 = csvread('POSE_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
 % Vel_Matrix_data_4 = csvread('VEL_with_Py0.51_Iy0.0005_Dy0.05ANDPt0.08_It0_Dt0.txt',1,0);
+% % 
+% Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
+% Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
 % 
-Pose_Matrix_data_4 = csvread('CAM_PID_.39_.0005_.01.txt',1,0);
-Vel_Matrix_data_4 = csvread('vel_PID_.39_.0005_.01.txt',1,0);
+Pose_Matrix_data_4 = csvread('CAM_PID_.266_.0003_.014_R.txt',1,0);
+Vel_Matrix_data_4 = csvread('vel_PID_.266_.0003_.014_R.txt',1,0);
+Trans_Matrix_data_4 = csvread('Trans_PID_.266_.0003_.014_R.txt',1,0);
+
 
 % time in position
 TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
@@ -26,6 +31,15 @@ TimeP_ros_data_4 = Pose_Matrix_data_4(:,1); % ros time, needs to be converted to
 t_P_sec_data_4 = 0:durationP_data_4/size(TimeP_ros_data_4,1):durationP_data_4;
 t_P_sec_data_4(:,size(t_P_sec_data_4,2)) = [];
 
+% time in transposed_axis
+TimeTrans_ros_data_4 = Trans_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
+
+% duriation =         end_time        -     start_time
+  durationT_data_4 = (TimeTrans_ros_data_4(size(TimeTrans_ros_data_4,1),:) - TimeTrans_ros_data_4(1,:))*10^(-9); 
+  
+t_T_sec_data_4 = 0:durationT_data_4/size(TimeTrans_ros_data_4,1):durationT_data_4;
+t_T_sec_data_4(:,size(t_T_sec_data_4,2)) = [];
+
 % time in vel
 TimeV_ros_data_4 = Vel_Matrix_data_4(:,1); % ros time, needs to be converted to sec...
 
@@ -38,9 +52,21 @@ t_V_sec_data_4(:,size(t_V_sec_data_4,2)) = [];
 %% Pose estimation
 
 %data 4:
+
+x_t_4 = Trans_Matrix_data_4(:,4); % x_t
+y_t_4 = Trans_Matrix_data_4(:,3); % y_t
+% theta_t_4 = -abs(Trans_Matrix_data_4(:,7)); % yaw
+theta_t_4 = Trans_Matrix_data_4(:,7); % yaw
+
 Pose_X_data_4 = Pose_Matrix_data_4(:,4);
+% Pose_Y_data_4 = abs(Pose_Matrix_data_4(:,3));
+% Theta_data_4 = -abs(Pose_Matrix_data_4(:,7));
+
 Pose_Y_data_4 = Pose_Matrix_data_4(:,3);
+Pose_Y_data_4 = Pose_Y_data_4 /(.05*length(Pose_Y_data_4));
+
 Theta_data_4 = Pose_Matrix_data_4(:,7);
+Theta_data_4 = Theta_data_4 /(.091*length(Theta_data_4));
 
 % Extracting reference values when the robot is manually docked!
 ref_X_data_4 = Pose_X_data_4(size(Pose_X_data_4,1));
@@ -57,34 +83,637 @@ ref_y = .0081;
 x_circle = thresh_X*cos(theta) + ref_x; % ref_X needs to be recorded
 y_circle = thresh_X*sin(theta) + ref_y; % ref_Y needs to be recorded
 
-
 %% Velocity estimation
 
 % data 4:
 Vel_X_data_4 = Vel_Matrix_data_4(:,2);
+
 Vel_Y_data_4 = Vel_Matrix_data_4(:,3);
+Vel_Y_data_4 = Vel_Y_data_4 /(.091*length(Vel_Y_data_4));
+
 Omega_Z_data_4 = Vel_Matrix_data_4(:,7);
+Omega_Z_data_4 = Omega_Z_data_4 /(.009*length(Omega_Z_data_4));
+
+
+
+%% Filter Design for Y axis
+
+Y_mags = abs(fft(Pose_Y_data_4));
+num_bins_Y = length(Y_mags);
+norm_freq_axis_Y = 0:1/(num_bins_Y -1):1;
+% 
+% figure;
+% plot(Y_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_y_5,a_butter_y_5] = butter(5, 0.1, 'low');
+[b_butter_y_10,a_butter_y_10] = butter(9, 0.1, 'low');
+
+% elliptic design technique
+[b_ellip_y_5,a_ellip_y_5] = ellip(5, .6, 40, 0.1, 'low');
+[b_ellip_y_10,a_ellip_y_10] = ellip(9, .6, 40, 0.1, 'low');
+
+% chebyshev design technique
+[b_cheby_y_5,a_cheby_y_5] = cheby1(5,.6, 0.1, 'low');
+[b_cheby_y_10,a_cheby_y_10] = cheby1(9,.6, 0.1, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_y_5 = freqz(b_butter_y_5,a_butter_y_5, floor(num_bins_Y));
+H_butter_y_10 = freqz(b_butter_y_10,a_butter_y_10, floor(num_bins_Y));
+
+% elliptic design technique
+H_ellip_y_5 = freqz(b_ellip_y_5,a_ellip_y_5, floor(num_bins_Y));
+H_ellip_y_10 = freqz(b_ellip_y_10,a_ellip_y_10, floor(num_bins_Y));
+
+% chebyshev design technique
+H_cheby_y_5 = freqz(b_cheby_y_5,a_cheby_y_5, floor(num_bins_Y));
+H_cheby_y_10 = freqz(b_cheby_y_10,a_cheby_y_10, floor(num_bins_Y));
+
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_butter_y_5),'r');
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_butter_y_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% % 
+% figure;
+% plot(norm_freq_axis_Y, Y_mags(1:num_bins_Y));
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_ellip_y_5),'r');
+% hold on;
+% plot(norm_freq_axis_Y, abs(H_ellip_y_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y, 20*log10(abs(H_butter_y_10)),'r'); %dB
+% hold off;
+% legend('buuerworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y, 20*log10(abs(H_ellip_y_10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+y_filt_butter_5 = filter(b_butter_y_5,a_butter_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_butter_10 = filter(b_butter_y_10,a_butter_y_10,Pose_Y_data_4);
+
+
+%elliptic design technique
+y_filt_ellip_5 = filter(b_ellip_y_5,a_ellip_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_ellip_10 = filter(b_ellip_y_10,a_ellip_y_10,Pose_Y_data_4);
+
+%chebyshev design technique
+y_filt_cheby_5 = filter(b_cheby_y_5,a_cheby_y_5,Pose_Y_data_4);
+%filter the noisy signal and plot the result
+y_filt_cheby_10 = filter(b_cheby_y_10,a_cheby_y_10,Pose_Y_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_butter_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_ellip_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('y_{cam} [m]')
+
+
+% Chebyshev design technique
+subplot(313);
+plot(t_P_sec_data_4,Pose_Y_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+%% Filter Design for theta axis
+
+theta_mags = abs(fft(Theta_data_4));
+num_bins_theta = length(theta_mags);
+norm_freq_axis_theta = 0:1/(num_bins_theta -1):1;
+% 
+% figure;
+% plot(theta_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_theta_5,a_butter_theta_5] = butter(3, 0.08, 'low');
+[b_butter_theta_10,a_butter_theta_10] = butter(9, 0.08, 'low');
+
+% elliptic design technique
+[b_ellip_theta_5,a_ellip_theta_5] = ellip(3, .6, 40, 0.08, 'low');
+[b_ellip_theta_10,a_ellip_theta_10] = ellip(9, .6, 40, 0.08, 'low');
+
+% chebyshev design technique
+[b_cheby_theta_5,a_cheby_theta_5] = cheby1(3,.6, 0.08, 'low');
+[b_cheby_theta_10,a_cheby_theta_10] = cheby1(9,.6, 0.08, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_theta_5 = freqz(b_butter_theta_5,a_butter_theta_5, floor(num_bins_theta));
+H_butter_theta_10 = freqz(b_butter_theta_10,a_butter_theta_10, floor(num_bins_theta));
+
+% elliptic design technique
+H_ellip_theta_5 = freqz(b_ellip_theta_5,a_ellip_theta_5, floor(num_bins_theta));
+H_ellip_theta_10 = freqz(b_ellip_theta_10,a_ellip_theta_10, floor(num_bins_theta));
+
+% chebyshev design technique
+H_cheby_theta_5 = freqz(b_cheby_theta_5,a_cheby_theta_5, floor(num_bins_theta));
+H_cheby_theta_10 = freqz(b_cheby_theta_10,a_cheby_theta_10, floor(num_bins_theta));
+
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_butter_theta_5),'r');
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_butter_theta_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% 
+% figure;
+% plot(norm_freq_axis_theta, theta_mags(1:num_bins_theta));
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_ellip_theta_5),'r');
+% hold on;
+% plot(norm_freq_axis_theta, abs(H_ellip_theta_10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_butter_theta_10)),'r'); %dB
+% hold off;
+% legend('buuerworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_5))); %dB
+% hold on;
+% plot(norm_freq_axis_theta, 20*log10(abs(H_ellip_theta_10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+
+%Filter the noisy sig
+%butterworth design technique
+theta_filt_butter_5 = filter(b_butter_theta_5,a_butter_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+theta_filt_butter_10 = filter(b_butter_theta_10,a_butter_theta_10,Theta_data_4);
+
+
+%elliptic design technique
+theta_filt_ellip_5 = filter(b_ellip_theta_5,a_ellip_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+theta_filt_ellip_10 = filter(b_ellip_theta_10,a_ellip_theta_10,Theta_data_4);
+
+%chebyshev design technique
+y_filt_cheby_5 = filter(b_cheby_theta_5,a_cheby_theta_5,Theta_data_4);
+%filter the noisy signal and plot the result
+y_filt_cheby_10 = filter(b_cheby_theta_10,a_cheby_theta_10,Theta_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,theta_filt_butter_5,'r');
+hold on;
+plot(t_P_sec_data_4,theta_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,theta_filt_ellip_5,'r');
+hold on;
+plot(t_P_sec_data_4,theta_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('\theta_{cam} [m]')
+
+
+% Chebyshev design technique
+subplot(313);
+plot(t_P_sec_data_4,Theta_data_4);
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_5,'r');
+hold on;
+plot(t_P_sec_data_4,y_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+%% Filter Design for Y_dot axis
+
+Y_dot_mags = abs(fft(Vel_Y_data_4));
+num_bins_Y_dot = length(Y_dot_mags);
+norm_freq_axis_Y_dot = 0:1/(num_bins_Y_dot -1):1;
+% 
+% figure;
+% plot(Y_dot_mags);
+% xlabel('FFT Bins');
+% ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_y_dot5,a_butter_y_dot5] = butter(5, 0.1, 'low');
+[b_butter_y_dot10,a_butter_y_dot10] = butter(9, 0.1, 'low');
+
+% elliptic design technique
+[b_ellip_y_dot5,a_ellip_y_dot5] = ellip(5, .6, 40, 0.1, 'low');
+[b_ellip_y_dot10,a_ellip_y_dot10] = ellip(9, .6, 40, 0.1, 'low');
+
+% chebyshev design technique
+[b_cheby_y_dot5,a_cheby_y_dot5] = cheby1(5,.6, 0.1, 'low');
+[b_cheby_y_dot10,a_cheby_y_dot10] = cheby1(9,.6, 0.1, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_y_dot5 = freqz(b_butter_y_dot5,a_butter_y_dot5, floor(num_bins_Y_dot));
+H_butter_y_dot10 = freqz(b_butter_y_dot10,a_butter_y_dot10, floor(num_bins_Y_dot));
+
+% elliptic design technique
+H_ellip_y_dot5 = freqz(b_ellip_y_dot5,a_ellip_y_dot5, floor(num_bins_Y_dot));
+H_ellip_y_dot10 = freqz(b_ellip_y_dot10,a_ellip_y_dot10, floor(num_bins_Y_dot));
+
+% chebyshev design technique
+H_cheby_y_dot5 = freqz(b_cheby_y_dot5,a_cheby_y_dot5, floor(num_bins_Y_dot));
+H_cheby_y_dot10 = freqz(b_cheby_y_dot10,a_cheby_y_dot10, floor(num_bins_Y_dot));
+
+% 
+% %plot the frequency response (normalised frequency)
+% figure;
+% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_butter_y_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','butterworth 5th order','butterworth 10th order');
+% 
+% figure;
+% plot(norm_freq_axis_Y_dot, Y_dot_mags(1:num_bins_Y_dot));
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot5),'r');
+% hold on;
+% plot(norm_freq_axis_Y_dot, abs(H_ellip_y_dot10),'g');
+% hold off;
+% 
+% xlabel('Normalised frequency (\pi rads/sample)')
+% ylabel('Magnitude')
+% legend('FFT','elliptic 5th order','elliptic 10th order');
+% 
+% 
+% % Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% % butterworth design technique
+% figure;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_butter_y_dot10)),'r'); %dB
+% hold off;
+% legend('buuerworth 5th','butterworth 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+% 
+% % elliptic design technique
+% figure;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot5))); %dB
+% hold on;
+% plot(norm_freq_axis_Y_dot, 20*log10(abs(H_ellip_y_dot10)),'r'); %dB
+% hold off;
+% legend('elliptic 5th','elliptic 10th');
+% xlabel('Normalised Frequency ');
+% ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+y_dot_filt_butter_5 = filter(b_butter_y_dot5,a_butter_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_butter_10 = filter(b_butter_y_dot10,a_butter_y_dot10,Vel_Y_data_4);
+
+%elliptic design technique
+y_dot_filt_ellip_5 = filter(b_ellip_y_dot5,a_ellip_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_ellip_10 = filter(b_ellip_y_dot10,a_ellip_y_dot10,Vel_Y_data_4);
+
+%chebyshev design technique
+y_dot_filt_cheby_5 = filter(b_cheby_y_dot5,a_cheby_y_dot5,Vel_Y_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_cheby_10 = filter(b_cheby_y_dot10,a_cheby_y_dot10,Vel_Y_data_4);
+
+%plot the filtered signal
+figure;
+% butterworth design technique
+subplot(311);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_butter_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_ellip_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('y_{dot} [m/s]')
+
+% Chebyshev design technique
+subplot(313);
+plot(t_V_sec_data_4,Vel_Y_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+
+%% Filter Design for theta_dot axis
+
+theta_dot_mags = abs(fft(Omega_Z_data_4));
+num_bins_theta_dot = length(theta_dot_mags);
+norm_freq_axis_theta_dot = 0:1/(num_bins_theta_dot -1):1;
+N = length(Omega_Z_data_4);
+
+figure;
+plot(theta_dot_mags);
+xlabel('FFT Bins');
+ylabel('Magnitude');
+
+% butterworth design technique
+[b_butter_theta_dot5,a_butter_theta_dot5] = butter(5, 0.06, 'low');
+[b_butter_theta_dot10,a_butter_theta_dot10] = butter(9, 0.06, 'low');
+
+% elliptic design technique
+[b_ellip_theta_dot5,a_ellip_theta_dot5] = ellip(5, .6, 60, 0.06, 'low');
+[b_ellip_theta_dot10,a_ellip_theta_dot10] = ellip(9, .6, 60, 0.06, 'low');
+
+% chebyshev design technique
+[b_cheby_theta_dot5,a_cheby_theta_dot5] = cheby1(5,.6, 0.06, 'low');
+[b_cheby_theta_dot10,a_cheby_theta_dot10] = cheby1(9,.6, 0.06, 'low');
+
+% Freq response calc.
+% butterworth design technique
+H_butter_theta_dot5 = freqz(b_butter_theta_dot5,a_butter_theta_dot5, floor(num_bins_theta_dot));
+H_butter_theta_dot10 = freqz(b_butter_theta_dot10,a_butter_theta_dot10, floor(num_bins_theta_dot));
+
+% elliptic design technique
+H_ellip_theta_dot5 = freqz(b_ellip_theta_dot5,a_ellip_theta_dot5, floor(num_bins_theta_dot));
+H_ellip_theta_dot10 = freqz(b_ellip_theta_dot10,a_ellip_theta_dot10, floor(num_bins_theta_dot));
+
+% chebyshev design technique
+H_cheby_theta_dot5 = freqz(b_cheby_theta_dot5,a_cheby_theta_dot5, floor(num_bins_theta_dot));
+H_cheby_theta_dot10 = freqz(b_cheby_theta_dot10,a_cheby_theta_dot10, floor(num_bins_theta_dot));
+
+
+%plot the frequency response (normalised frequency)
+figure;
+plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
+hold on;
+plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot5),'r');
+hold on;
+plot(norm_freq_axis_theta_dot, abs(H_butter_theta_dot10),'g');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('FFT','butterworth 5th order','butterworth 10th order');
 
-%% Plot
 figure;
-plot(t_P_sec_data_4,Theta_data_4,'LineWidth',3);
-hold on
-plot(t_P_sec_data_4,pi/2,'r--','LineWidth',3);
-xlabel('time');
-ylabel('\theta');
+plot(norm_freq_axis_theta_dot, theta_dot_mags(1:num_bins_theta_dot));
+hold on;
+plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot5),'r');
+hold on;
+plot(norm_freq_axis_theta_dot, abs(H_ellip_theta_dot10),'g');
+hold off;
+
+xlabel('Normalised frequency (\pi rads/sample)')
+ylabel('Magnitude')
+legend('FFT','elliptic 5th order','elliptic 10th order');
 
+
+% Plot dB for freq 20log10(?) = -Hz => ? = 10^(-Hz*20)
+% butterworth design technique
 figure;
-plot(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',3);
-xlabel('time');
-ylabel('y');
+plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot5))); %dB
+hold on;
+plot(norm_freq_axis_theta_dot, 20*log10(abs(H_butter_theta_dot10)),'r'); %dB
+hold off;
+legend('buuerworth 5th','butterworth 10th');
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)');
 
+% elliptic design technique
 figure;
-plot(t_V_sec_data_4,Vel_Y_data_4,'LineWidth',3);
-xlabel('time');
-ylabel('y_{dot}');
+plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot5))); %dB
+hold on;
+plot(norm_freq_axis_theta_dot, 20*log10(abs(H_ellip_theta_dot10)),'r'); %dB
+hold off;
+legend('elliptic 5th','elliptic 10th');
+xlabel('Normalised Frequency ');
+ylabel('Magnitude (dB)');
+
+%Filter the noisy sig
+%butterworth design technique
+theta_dot_filt_butter_5 = filter(b_butter_theta_dot5,a_butter_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+theta_dot_filt_butter_10 = filter(b_butter_theta_dot10,a_butter_theta_dot10,Omega_Z_data_4);
 
+%elliptic design technique
+theta_dot_filt_ellip_5 = filter(b_ellip_theta_dot5,a_ellip_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+theta_dot_filt_ellip_10 = filter(b_ellip_theta_dot10,a_ellip_theta_dot10,Omega_Z_data_4);
+
+%chebyshev design technique
+y_dot_filt_cheby_5 = filter(b_cheby_theta_dot5,a_cheby_theta_dot5,Omega_Z_data_4);
+%filter the noisy signal and plot the result
+y_dot_filt_cheby_10 = filter(b_cheby_theta_dot10,a_cheby_theta_dot10,Omega_Z_data_4);
+
+%plot the filtered signal
 figure;
-set(gcf,'color','white');
-plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2);
-xlabel('Y');
-ylabel('X');
+% butterworth design technique
+subplot(311);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_butter_5,'r');
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_butter_10,'g');
+grid on;
+title('Butterworth Filter Design Technique')
+legend('Original signal','5th Order','9th Order');
+
+% elliptic design technique
+subplot(312);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_ellip_5,'r');
+hold on;
+plot(t_V_sec_data_4,theta_dot_filt_ellip_10,'g');
+hold off;
+grid on;
+title('Elliptic Filter Design Technique')
+ylabel('\theta_{dot} [m]')
+
+% Chebyshev design technique
+subplot(313);
+plot(t_V_sec_data_4,Omega_Z_data_4);
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_5,'r');
+hold on;
+plot(t_V_sec_data_4,y_dot_filt_cheby_10,'g');
+hold off;
+grid on;
+title('Chebyshev Filter Design Technique')
+xlabel('Time [sec]');
+
+
+% % Plot
+% 
+% Camera Pose Estimation
+% figure;
+% subplot(3,1,1);
+% plot(t_P_sec_data_4,Pose_X_data_4,'LineWidth',1.5);
+% title('Camera Pose estimation');
+% ylabel('X_{cam}');
+% 
+% subplot(3,1,2);
+% plot(t_P_sec_data_4,Pose_Y_data_4,'LineWidth',1.5);
+% ylabel('Y_{cam}');
+% 
+% subplot(3,1,3);
+% plot(t_P_sec_data_4,Theta_data_4,'LineWidth',1.5);
+% xlabel('time');
+% ylabel('\theta_{cam}');
+% 
+% Control Signals
+% figure;
+% subplot(3,1,1);
+% plot(t_V_sec_data_4,Vel_X_data_4,'LineWidth',1.5);
+% title('Control Signals');
+% ylabel('x_{dot}');
+% 
+% 
+% subplot(3,1,2);
+% plot(t_V_sec_data_4,Vel_Y_data_4,'LineWidth',1.5);
+% ylabel('y_{dot}');
+% 
+% subplot(3,1,3);
+% plot(t_V_sec_data_4,Omega_Z_data_4,'LineWidth',1.5);
+% xlabel('time');
+% ylabel('\theta_{dot}');
+% 
+% Transposed Axis
+% figure;
+% subplot(3,1,1);
+% plot(t_T_sec_data_4,x_t_4,'LineWidth',1.5);
+% ylabel('z_{t}');
+% title('Transposed Axis');
+% 
+% 
+% subplot(3,1,2);
+% plot(t_T_sec_data_4,y_t_4,'LineWidth',1.5);
+% ylabel('y_{t}');
+% 
+% subplot(3,1,3);
+% plot(t_T_sec_data_4,theta_t_4,'LineWidth',1.5);
+% xlabel('time');
+% ylabel('yaw');
+% 
+% 
+% figure;
+% set(gcf,'color','white');
+% plot(Pose_Y_data_4,Pose_X_data_4,'b','LineWidth',2);
+% xlabel('y_{mar}');
+% ylabel('x_{mar}');
+% 
+% figure;
+% set(gcf,'color','white');
+% plot(y_t_4,x_t_4,'b','LineWidth',2);
+% xlabel('y_t');
+% ylabel('x_t');
+% axis([-.1 .1 .19 1.55]);
-- 
GitLab